+ python -m lidar_slam --no-model /working/72c4f4b7-97ea-4ff3-ae43-ebdac9d7e672 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/72c4f4b7-97ea-4ff3-ae43-ebdac9d7e672 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 0.025779523 Adjusted end_distance from 9.223372036854776e+18 to 109.115779523 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.025779523 meters 0.041993900608169564 Centerline is valid? [0, True] SLAMing on 0.085779523 meters 0.04902346363488436 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.00, Z:-0.01 [[ 9.99892386e-01 -1.06109372e-02 -1.01304137e-02 6.05878361e-02] [ 1.06191328e-02 9.99943330e-01 7.55560977e-04 -3.87359543e-03] [ 1.01218224e-02 -8.63055875e-04 9.99948401e-01 -7.78844155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.145779523 meters 0.052843512438940435 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.00, Z:-0.01 [[ 0.99976382 -0.01591867 -0.01479556 0.12115312] [ 0.01593693 0.99987237 0.00111725 -0.00257283] [ 0.01477589 -0.00135278 0.99988992 -0.01077849] [ 0. 0. 0. 1. ]] SLAMing on 0.205779523 meters 0.057814547474743724 Centerline is valid? [True, True] Translation: X:0.18, Y:0.00, Z:-0.02 [[ 0.99941853 -0.02080337 -0.02701519 0.18276293] [ 0.02086594 0.99978021 0.00203604 0.00290133] [ 0.02696689 -0.00259855 0.99963295 -0.02176465] [ 0. 0. 0. 1. ]] SLAMing on 0.26577952299999996 meters 0.06906835249099447 Centerline is valid? [True, True] Translation: X:0.25, Y:0.02, Z:-0.05 [[ 0.99767883 -0.02679622 -0.06260122 0.24716131] [ 0.02714408 0.99962042 0.00471276 0.01707016] [ 0.06245117 -0.00640107 0.99802749 -0.04950782] [ 0. 0. 0. 1. ]] SLAMing on 0.325779523 meters 0.08308347331893084 Centerline is valid? [True, True] Translation: X:0.31, Y:0.03, Z:-0.07 [[ 0.99571713 -0.0264194 -0.08859696 0.30906421] [ 0.02711601 0.99961005 0.00666818 0.02628433] [ 0.08838625 -0.00904202 0.99604524 -0.06752188] [ 0. 0. 0. 1. ]] SLAMing on 0.38577952299999996 meters 0.09170068055198906 Centerline is valid? [True, True] Translation: X:0.37, Y:0.06, Z:-0.11 [[ 0.98997042 -0.02049517 -0.13978025 0.37475795] [ 0.02218135 0.99969866 0.0105157 0.05617706] [ 0.13952261 -0.01351075 0.99012671 -0.11078747] [ 0. 0. 0. 1. ]] SLAMing on 0.445779523 meters 0.09403562076995078 Centerline is valid? [True, True] Translation: X:0.44, Y:0.10, Z:-0.14 [[ 0.98492487 -0.00517612 -0.17290521 0.44057513] [ 0.0075373 0.99988706 0.01300216 0.09904023] [ 0.17281838 -0.01410939 0.98485265 -0.13855545] [ 0. 0. 0. 1. ]] SLAMing on 0.505779523 meters 0.09352744383202106 Centerline is valid? [True, True] Translation: X:0.51, Y:0.13, Z:-0.19 [[ 0.94861468 -0.01732015 -0.31595918 0.50685814] [ 0.02615167 0.99937623 0.02373251 0.12560091] [ 0.31535104 -0.03077587 0.94847592 -0.18871578] [ 0. 0. 0. 1. ]] SLAMing on 0.565779523 meters 0.002818607236446784 Centerline is valid? [True, True] Translation: X:-0.55, Y:0.33, Z:1.39 [[-0.98962089 0.06898363 0.12606247 -0.54926915] [ 0.06879136 0.99761372 -0.00588313 0.33121343] [-0.12616749 0.00284994 -0.99200486 1.38843787] [ 0. 0. 0. 1. ]] SLAMing on 0.625779523 meters 0.03819393078188414 Centerline is valid? [True, True] Translation: X:-0.34, Y:0.13, Z:-0.25 [[ 0.90060167 -0.26531711 -0.34427236 -0.34174984] [ 0.28023124 0.9599092 -0.00669124 0.13353273] [ 0.3322455 -0.09044973 0.93884598 -0.24575674] [ 0. 0. 0. 1. ]] SLAMing on 0.6857795229999999 meters 0.1429494661266092 Centerline is valid? [True, False] Translation: X:-0.26, Y:0.92, Z:-0.01 [[ 0.78326454 -0.60349914 0.14928309 -0.26205147] [ 0.36618147 0.25380212 -0.89526287 0.91533473] [ 0.50240201 0.75589237 0.41978441 -0.01099815] [ 0. 0. 0. 1. ]] SLAMing on 0.7457795229999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:137: RuntimeWarning: invalid value encountered in divide ret = um.true_divide( /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:223: RuntimeWarning: Degrees of freedom <= 0 for slice ret = _var(a, axis=axis, dtype=dtype, out=out, ddof=ddof, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:181: RuntimeWarning: invalid value encountered in divide arrmean = um.true_divide(arrmean, div, out=arrmean, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:215: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 0.805779523 meters 0.04956536171854669 Centerline is valid? [False, True] Translation: X:-1.30, Y:-0.97, Z:-1.09 [[ 0.82369667 0.37960724 0.42121507 -1.30061242] [-0.37259955 0.92230606 -0.10257241 -0.97425795] [-0.42742644 -0.07245599 0.90114192 -1.08619824] [ 0. 0. 0. 1. ]] SLAMing on 0.8657795229999999 meters 0.09990324792616231 Centerline is valid? [True, True] SLAMing on 0.9257795229999999 meters 0.12362878818393397 Centerline is valid? [True, False] Translation: X:-1.02, Y:0.22, Z:1.88 [[-0.72176675 0.67230797 0.1644833 -1.02262246] [-0.17512021 0.05252795 -0.98314481 0.21730357] [-0.66961607 -0.73840559 0.07982178 1.87766262] [ 0. 0. 0. 1. ]] SLAMing on 0.9857795229999999 meters 0.19126923704195867 Centerline is valid? [False, False] Translation: X:-0.71, Y:-1.68, Z:1.60 [[ 0.96209163 -0.27167907 -0.02387857 -0.70916175] [ 0.27030308 0.93823506 0.21598892 -1.67652384] [-0.03627596 -0.21425558 0.97610379 1.59849853] [ 0. 0. 0. 1. ]] SLAMing on 1.045779523 meters 0.17707965673310483 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.77, Z:1.97 [[ 0.97230916 -0.14033341 -0.18687278 -1.05871267] [ 0.158815 0.98339334 0.08783702 -1.76708386] [ 0.17144297 -0.11508294 0.9784494 1.96968441] [ 0. 0. 0. 1. ]] SLAMing on 1.105779523 meters 0.186354972777843 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.77, Z:2.04 [[ 0.97962372 -0.10982818 -0.16815214 -0.98329434] [ 0.12950345 0.98536034 0.11087767 -1.77217418] [ 0.15351296 -0.13039467 0.97950549 2.03940641] [ 0. 0. 0. 1. ]] SLAMing on 1.1657795229999999 meters 0.2034464743925948 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.74, Z:2.03 [[ 0.98454796 -0.11594263 -0.13123498 -0.98183397] [ 0.12231891 0.99161911 0.04158881 -1.74084155] [ 0.1253132 -0.0569987 0.99047855 2.02974796] [ 0. 0. 0. 1. ]] SLAMing on 1.225779523 meters 0.2112330094363928 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.75, Z:2.02 [[ 0.98891364 -0.11673171 -0.09177975 -0.98919857] [ 0.11956648 0.99248567 0.02600111 -1.74816867] [ 0.08805493 -0.03668664 0.99543981 2.01935715] [ 0. 0. 0. 1. ]] SLAMing on 1.285779523 meters 0.216476081941033 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.77, Z:2.02 [[ 0.99114769 -0.11736348 -0.06206499 -0.9954491 ] [ 0.11892991 0.99265523 0.02216441 -1.7689054 ] [ 0.05900785 -0.02934959 0.99782597 2.01844029] [ 0. 0. 0. 1. ]] SLAMing on 1.3457795229999998 meters 0.2182640950814587 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.78, Z:2.01 [[ 0.99183982 -0.1171941 -0.0501928 -0.99094652] [ 0.11873994 0.99250176 0.02900127 -1.78031412] [ 0.04641766 -0.0347245 0.99831839 2.01456347] [ 0. 0. 0. 1. ]] SLAMing on 1.4057795229999999 meters 0.22300712591515615 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.80, Z:2.01 [[ 0.99333084 -0.11119436 -0.03049009 -0.98316636] [ 0.11184349 0.99351484 0.02047654 -1.79512837] [ 0.02801548 -0.0237501 0.99932531 2.01019207] [ 0. 0. 0. 1. ]] SLAMing on 1.465779523 meters 0.22598559509680077 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.82, Z:2.02 [[ 0.99432645 -0.10416924 -0.02153338 -0.95910674] [ 0.1043545 0.99451064 0.00766338 -1.82084947] [ 0.02061688 -0.00986701 0.99973876 2.01939009] [ 0. 0. 0. 1. ]] SLAMing on 1.525779523 meters 0.22508304888962252 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.83, Z:2.02 [[ 0.99441203 -0.10312101 -0.02260036 -0.95535733] [ 0.10338367 0.99458318 0.01077597 -1.82977242] [ 0.02136671 -0.01305226 0.9996865 2.01772821] [ 0. 0. 0. 1. ]] SLAMing on 1.585779523 meters 0.2265395582417128 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.83, Z:2.02 [[ 0.99437808 -0.10320941 -0.02366551 -0.9513831 ] [ 0.10351048 0.99455756 0.01186742 -1.83378707] [ 0.02231188 -0.01425033 0.99964949 2.01601122] [ 0. 0. 0. 1. ]] SLAMing on 1.6457795229999999 meters 0.22560710651927016 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.84, Z:2.01 [[ 0.994382 -0.10197952 -0.02836589 -0.93205874] [ 0.10219339 0.99474528 0.00619111 -1.84256937] [ 0.02758546 -0.00905514 0.99957843 2.01481794] [ 0. 0. 0. 1. ]] SLAMing on 1.705779523 meters 0.22392113441078176 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.84, Z:2.01 [[ 0.99513934 -0.09343009 -0.03112087 -0.91607798] [ 0.09358327 0.99560531 0.00349936 -1.84076144] [ 0.03065715 -0.00639475 0.9995095 2.01259923] [ 0. 0. 0. 1. ]] SLAMing on 1.765779523 meters 0.220308309270531 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.83, Z:2.01 [[ 0.99603222 -0.08639214 -0.02135909 -0.90554396] [ 0.08653167 0.99623282 0.0056955 -1.82986242] [ 0.02078658 -0.00752114 0.99975565 2.00621941] [ 0. 0. 0. 1. ]] SLAMing on 1.8257795229999998 meters 0.2187602565327793 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.83, Z:2.00 [[ 9.96429016e-01 -8.16522608e-02 -2.14970859e-02 -8.90891426e-01] [ 8.16204404e-02 9.96660704e-01 -2.35495384e-03 -1.82667860e+00] [ 2.16175880e-02 5.91942720e-04 9.99766137e-01 2.00375544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8857795229999998 meters 0.21211648270560776 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.82, Z:2.00 [[ 0.99706536 -0.07526488 -0.01399522 -0.87699507] [ 0.07520948 0.99715785 -0.00444461 -1.81850501] [ 0.01428997 0.00337899 0.99989218 1.99670273] [ 0. 0. 0. 1. ]] SLAMing on 1.945779523 meters 0.20610726197728352 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.81, Z:2.00 [[ 0.99792668 -0.06388188 -0.00783869 -0.8697325 ] [ 0.0638439 0.99794735 -0.00500366 -1.8135359 ] [ 0.00814224 0.00449284 0.99995676 1.99557541] [ 0. 0. 0. 1. ]] SLAMing on 2.005779523 meters 0.19629548780980238 Centerline is valid? [False, False] Translation: X:-0.86, Y:-1.81, Z:2.00 [[ 0.99882731 -0.04828612 -0.00352994 -0.86370215] [ 0.04827712 0.99883061 -0.00259368 -1.81029476] [ 0.00365105 0.00242022 0.99999041 1.99713361] [ 0. 0. 0. 1. ]] SLAMing on 2.0657795230000002 meters 0.1903772704412642 Centerline is valid? [False, False] Translation: X:-0.86, Y:-1.81, Z:2.00 [[ 0.99929343 -0.03748491 0.00274129 -0.85803259] [ 0.03749411 0.99929111 -0.0033867 -1.80894222] [-0.00261239 0.00348708 0.99999051 1.99801158] [ 0. 0. 0. 1. ]] SLAMing on 2.1257795230000003 meters 0.1855139351462138 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.81, Z:2.00 [[ 9.99599104e-01 -2.83111216e-02 3.34499651e-04 -8.46951040e-01] [ 2.83125474e-02 9.99583570e-01 -5.57555696e-03 -1.80995909e+00] [-1.76510084e-04 5.58279228e-03 9.99984401e-01 1.99926737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1857795230000003 meters 0.17992320556007874 Centerline is valid? [False, False] Translation: X:-0.84, Y:-1.81, Z:2.00 [[ 0.99973003 -0.02235163 0.00634662 -0.84033181] [ 0.02242132 0.99968664 -0.011131 -1.80985594] [-0.00609584 0.0112703 0.99991791 1.99951932] [ 0. 0. 0. 1. ]] SLAMing on 2.245779523 meters 0.17624281540401568 Centerline is valid? [False, False] Translation: X:-0.84, Y:-1.82, Z:2.01 [[ 9.99812511e-01 -1.81097014e-02 6.85434677e-03 -8.41704689e-01] [ 1.81119853e-02 9.99835928e-01 -2.71268665e-04 -1.82192566e+00] [-6.84830957e-03 3.95363633e-04 9.99976472e-01 2.00650009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.305779523 meters 0.1718345039213225 Centerline is valid? [False, False] Translation: X:-0.84, Y:-1.83, Z:2.01 [[ 0.99988214 -0.01353131 0.00725359 -0.8433029 ] [ 0.01349155 0.99989385 0.00550205 -1.82588635] [-0.00732727 -0.00540354 0.99995856 2.00833542] [ 0. 0. 0. 1. ]] SLAMing on 2.365779523 meters 0.165283827396615 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.83, Z:2.01 [[ 0.99989887 -0.0099951 0.01011631 -0.85358697] [ 0.0099431 0.99993716 0.00517795 -1.83193594] [-0.01016743 -0.00507684 0.99993542 2.00982537] [ 0. 0. 0. 1. ]] SLAMing on 2.425779523 meters 0.16002023768341755 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.84, Z:2.01 [[ 0.99990854 -0.00975057 0.00937232 -0.84927664] [ 0.00968929 0.99993153 0.00656185 -1.83746178] [-0.00943566 -0.00647044 0.99993455 2.00571298] [ 0. 0. 0. 1. ]] SLAMing on 2.485779523 meters 0.150520283945291 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.84, Z:2.00 [[ 0.99984349 -0.01487474 0.00957789 -0.84788083] [ 0.01484455 0.99988464 0.00321516 -1.8437394 ] [-0.00962461 -0.00307247 0.99994896 2.0040276 ] [ 0. 0. 0. 1. ]] SLAMing on 2.545779523 meters 0.14007875826186178 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.86, Z:2.00 [[ 0.99961309 -0.02628764 0.0090904 -0.84568417] [ 0.02633716 0.99963869 -0.00537095 -1.85514665] [-0.00894592 0.00560829 0.99994426 2.00373336] [ 0. 0. 0. 1. ]] SLAMing on 2.6057795230000003 meters 0.13201320977200243 Centerline is valid? [False, False] Translation: X:-0.84, Y:-1.86, Z:2.00 [[ 0.99949839 -0.03037077 0.00897689 -0.84485019] [ 0.03044232 0.99950495 -0.0079448 -1.8600907 ] [-0.00873116 0.00821409 0.99992815 2.00334089] [ 0. 0. 0. 1. ]] SLAMing on 2.665779523 meters 0.12141060653940748 Centerline is valid? [False, False] Translation: X:-0.84, Y:-1.87, Z:2.00 [[ 0.99916552 -0.03986317 0.00889887 -0.84301527] [ 0.03998604 0.99910095 -0.01408568 -1.87064445] [-0.00832937 0.01442975 0.99986119 2.00316173] [ 0. 0. 0. 1. ]] SLAMing on 2.725779523 meters 0.11613180911569874 Centerline is valid? [False, False] Translation: X:-0.84, Y:-1.89, Z:2.01 [[ 0.99905883 -0.04261829 0.00807099 -0.84160696] [ 0.04267674 0.99906289 -0.00721376 -1.89133047] [-0.00775599 0.00755141 0.99994141 2.00906718] [ 0. 0. 0. 1. ]] SLAMing on 2.785779523 meters 0.1109155950387588 Centerline is valid? [False, False] Translation: X:-0.84, Y:-1.90, Z:2.01 [[ 0.99908288 -0.04212044 0.00769868 -0.84054718] [ 0.04216094 0.99909743 -0.00517565 -1.89682474] [-0.00747373 0.00549549 0.99995697 2.00845832] [ 0. 0. 0. 1. ]] SLAMing on 2.845779523 meters 0.10321216537837943 Centerline is valid? [False, False] Translation: X:-0.84, Y:-1.90, Z:2.01 [[ 0.99934608 -0.03540937 0.00731979 -0.83902884] [ 0.03539338 0.99937081 0.00230192 -1.89788135] [-0.00739669 -0.00204134 0.99997056 2.00669013] [ 0. 0. 0. 1. ]] SLAMing on 2.905779523 meters 0.10409551827881243 Centerline is valid? [False, False] Translation: X:-0.83, Y:-1.90, Z:2.01 [[ 9.99627955e-01 -2.72467302e-02 -1.25187475e-03 -8.34665569e-01] [ 2.72390170e-02 9.99612048e-01 -5.81283173e-03 -1.90011898e+00] [ 1.40976974e-03 5.77656926e-03 9.99982322e-01 2.00581963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.965779523 meters 0.10601559007197134 Centerline is valid? [False, False] Translation: X:-0.82, Y:-1.90, Z:2.00 [[ 0.99977408 -0.0210049 0.00325461 -0.82495761] [ 0.02104275 0.99970575 -0.01206752 -1.89957018] [-0.00300018 0.01213328 0.99992189 2.00228176] [ 0. 0. 0. 1. ]] SLAMing on 3.025779523 meters 0.09766163844595503 Centerline is valid? [False, True] Translation: X:-0.82, Y:-1.89, Z:2.00 [[ 9.99950911e-01 -9.56286254e-03 2.59370761e-03 -8.22567012e-01] [ 9.56782572e-03 9.99952407e-01 -1.90793791e-03 -1.89413409e+00] [-2.57533882e-03 1.93266040e-03 9.99994816e-01 1.99915736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0857795230000002 meters 0.0881089319992623 Centerline is valid? [True, True] Translation: X:-0.76, Y:-1.89, Z:2.00 [[ 9.99993045e-01 -1.37543654e-03 3.46657612e-03 -7.61532575e-01] [ 1.37599276e-03 9.99999041e-01 -1.58071671e-04 -1.88866999e+00] [-3.46635538e-03 1.62840555e-04 9.99993979e-01 1.99776770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1457795230000003 meters 0.08065488047659486 Centerline is valid? [True, True] Translation: X:-0.70, Y:-1.89, Z:2.00 [[ 9.99944526e-01 5.91527783e-03 8.71516658e-03 -7.00595386e-01] [-5.91204689e-03 9.99982445e-01 -3.96443184e-04 -1.88786464e+00] [-8.71735866e-03 3.44896718e-04 9.99961944e-01 2.00188360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.205779523 meters 0.06760544174614849 Centerline is valid? [True, True] Translation: X:-0.64, Y:-1.88, Z:2.01 [[ 9.99652632e-01 1.54250902e-02 2.13701342e-02 -6.38806161e-01] [-1.54078190e-02 9.99880819e-01 -9.72620813e-04 -1.87704504e+00] [-2.13825901e-02 6.43015794e-04 9.99771160e-01 2.00973591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.265779523 meters 0.061857640402009126 Centerline is valid? [True, True] Translation: X:-0.58, Y:-1.87, Z:2.02 [[ 9.99267861e-01 2.60008701e-02 2.80659231e-02 -5.76811837e-01] [-2.59752442e-02 9.99661770e-01 -1.27731991e-03 -1.87440500e+00] [-2.80896418e-02 5.47365530e-04 9.99605258e-01 2.01766721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.325779523 meters 0.057281721291141875 Centerline is valid? [True, True] Translation: X:-0.52, Y:-1.86, Z:2.02 [[ 9.98306030e-01 4.53166018e-02 3.64894051e-02 -5.15894366e-01] [-4.52861070e-02 9.98972675e-01 -1.66221598e-03 -1.86008868e+00] [-3.65272446e-02 6.93712645e-06 9.99332658e-01 2.02084520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.385779523 meters 0.05545038830750409 Centerline is valid? [True, True] Translation: X:-0.45, Y:-1.85, Z:2.02 [[ 9.97791123e-01 5.49058323e-02 3.73928409e-02 -4.52179798e-01] [-5.48809905e-02 9.98491470e-01 -1.69123303e-03 -1.84900100e+00] [-3.74292913e-02 -3.64658850e-04 9.99299212e-01 2.01966074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.445779523 meters 0.050516830048977016 Centerline is valid? [True, True] Translation: X:-0.39, Y:-1.86, Z:2.02 [[ 9.97846743e-01 5.22244023e-02 3.96798460e-02 -3.90510306e-01] [-5.21934600e-02 9.98635341e-01 -1.81602830e-03 -1.85506931e+00] [-3.97205375e-02 -2.58910536e-04 9.99210795e-01 2.02041861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.505779523 meters 0.04837546932668833 Centerline is valid? [True, True] Translation: X:-0.33, Y:-1.87, Z:2.02 [[ 9.97890271e-01 4.54347263e-02 4.63755706e-02 -3.30832147e-01] [-4.53848778e-02 9.98967309e-01 -2.12780729e-03 -1.86619757e+00] [-4.64243554e-02 1.85685812e-05 9.98921808e-01 2.01922478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5657795230000002 meters 0.045668969522853674 Centerline is valid? [True, True] Translation: X:-0.27, Y:-1.88, Z:2.03 [[ 9.97906870e-01 3.81930406e-02 5.21840091e-02 -2.69237364e-01] [-3.81200777e-02 9.99270300e-01 -2.39314273e-03 -1.87548854e+00] [-5.22373318e-02 3.98875097e-04 9.98634619e-01 2.03484013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.625779523 meters 0.045381146884031075 Centerline is valid? [True, True] Translation: X:-0.21, Y:-1.88, Z:2.03 [[ 9.98028449e-01 3.31766270e-02 5.32778302e-02 -2.08642737e-01] [-3.30936208e-02 9.99449278e-01 -2.43968043e-03 -1.87853493e+00] [-5.33294293e-02 6.71714165e-04 9.98576748e-01 2.02764762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.685779523 meters 0.04262742984477878 Centerline is valid? [True, True] Translation: X:-0.15, Y:-1.88, Z:2.03 [[ 9.98335391e-01 2.70820334e-02 5.09216090e-02 -1.46940567e-01] [-2.69978303e-02 9.99632751e-01 -2.34081732e-03 -1.87521026e+00] [-5.09663023e-02 9.62147821e-04 9.98699910e-01 2.02665132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.745779523 meters 0.04098224506005929 Centerline is valid? [True, True] Translation: X:-0.09, Y:-1.88, Z:2.02 [[ 9.98535572e-01 2.06750638e-02 4.99925288e-02 -8.63023861e-02] [-2.05857787e-02 9.99785444e-01 -2.30025478e-03 -1.88166075e+00] [-5.00293606e-02 1.26775109e-03 9.98746943e-01 2.02055716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.805779523 meters 0.042944015047546746 Centerline is valid? [True, True] Translation: X:-0.03, Y:-1.89, Z:2.01 [[ 9.99022238e-01 1.32600941e-02 4.21750859e-02 -2.61065899e-02] [-1.31899576e-02 9.99911125e-01 -1.94082875e-03 -1.88564431e+00] [-4.21970732e-02 1.38264349e-03 9.99108350e-01 2.00765196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.865779523 meters 0.040761516722981936 Centerline is valid? [True, True] Translation: X:0.04, Y:-1.89, Z:2.01 [[ 9.98748905e-01 9.02406393e-03 4.91852746e-02 3.51701919e-02] [-8.92346541e-03 9.99957621e-01 -2.26450287e-03 -1.88879150e+00] [-4.92036251e-02 1.82276666e-03 9.98787105e-01 2.00811205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.925779523 meters 0.03915534752246867 Centerline is valid? [True, True] Translation: X:0.10, Y:-1.90, Z:2.02 [[ 0.99835333 0.00674596 0.05696604 0.09680866] [-0.00660713 0.99997473 -0.00262512 -1.90419812] [-0.05698231 0.00224441 0.99837267 2.01535228] [ 0. 0. 0. 1. ]] SLAMing on 3.985779523 meters 0.03985088833552041 Centerline is valid? [True, True] Translation: X:0.16, Y:-1.92, Z:2.01 [[ 0.9985906 0.00361892 0.05295018 0.15703186] [-0.00349449 0.99999091 -0.0024424 -1.91543882] [-0.05295854 0.00225393 0.99859417 2.00843841] [ 0. 0. 0. 1. ]] SLAMing on 4.045779522999999 meters 0.041615993429518536 Centerline is valid? [True, True] Translation: X:0.22, Y:-1.92, Z:1.99 [[ 9.98680131e-01 -1.18599948e-03 5.13477245e-02 2.16373294e-01] [ 1.30936018e-03 9.99996337e-01 -2.36888520e-03 -1.91751766e+00] [-5.13447269e-02 2.43299125e-03 9.98678026e-01 1.99371465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.105779523 meters 0.043852985182511676 Centerline is valid? [True, True] Translation: X:0.28, Y:-1.93, Z:1.99 [[ 0.99865266 -0.00766801 0.05132309 0.27636068] [ 0.00779975 0.99996678 -0.00236705 -1.92718303] [-0.05130323 0.00276417 0.9986793 1.98751659] [ 0. 0. 0. 1. ]] SLAMing on 4.165779522999999 meters 0.05047115001603052 Centerline is valid? [True, True] Translation: X:0.33, Y:-1.95, Z:1.99 [[ 0.99826957 -0.02346901 0.05391729 0.33445272] [ 0.02363749 0.9997175 -0.00248901 -1.95384289] [-0.05384365 0.00375917 0.9985423 1.98588741] [ 0. 0. 0. 1. ]] SLAMing on 4.225779523 meters 0.055168479095855046 Centerline is valid? [True, True] Translation: X:0.39, Y:-1.97, Z:1.98 [[ 0.99802162 -0.0322867 0.05394833 0.39481364] [ 0.03246828 0.99946966 -0.00249252 -1.97263868] [-0.05383924 0.0042392 0.99854062 1.98407998] [ 0. 0. 0. 1. ]] SLAMing on 4.2857795229999995 meters 0.060847562483276836 Centerline is valid? [True, True] Translation: X:0.45, Y:-1.99, Z:1.98 [[ 0.99756768 -0.04162014 0.05591496 0.45319414] [ 0.04182973 0.99912142 -0.00258286 -1.99428085] [-0.05575833 0.00491548 0.99843219 1.98391259] [ 0. 0. 0. 1. ]] SLAMing on 4.345779523 meters 0.06382854646500838 Centerline is valid? [True, True] Translation: X:0.51, Y:-2.00, Z:1.98 [[ 0.99737006 -0.04549297 0.05642114 0.51375959] [ 0.04571273 0.99895122 -0.00260977 -2.00274572] [-0.05624324 0.00518207 0.99840365 1.97613944] [ 0. 0. 0. 1. ]] SLAMing on 4.405779523 meters 0.06953391600982944 Centerline is valid? [True, True] Translation: X:0.57, Y:-2.02, Z:1.96 [[ 0.99742216 -0.05083944 0.05063982 0.5715799 ] [ 0.0510233 0.99869471 -0.00234368 -2.0187467 ] [-0.05045457 0.00492145 0.99871423 1.96330625] [ 0. 0. 0. 1. ]] SLAMing on 4.465779522999999 meters 0.07236423415422016 Centerline is valid? [True, True] Translation: X:0.63, Y:-2.03, Z:1.96 [[ 0.99735688 -0.05324115 0.04944314 0.63121079] [ 0.05341939 0.99856954 -0.00228957 -2.02993446] [-0.04925051 0.00492474 0.99877432 1.95713691] [ 0. 0. 0. 1. ]] SLAMing on 4.525779523 meters 0.07032465744820311 Centerline is valid? [True, True] Translation: X:0.69, Y:-2.03, Z:1.96 [[ 0.9971913 -0.04723773 0.05812147 0.69276066] [ 0.04747409 0.99886884 -0.00269179 -2.0338561 ] [-0.05792858 0.00544349 0.99830589 1.96443874] [ 0. 0. 0. 1. ]] SLAMing on 4.585779522999999 meters 0.06461506102350016 Centerline is valid? [True, True] Translation: X:0.75, Y:-2.03, Z:1.97 [[ 0.99729212 -0.03654219 0.0638208 0.75413028] [ 0.03680554 0.99931808 -0.00295521 -2.03230559] [-0.06366929 0.00529616 0.997957 1.97252073] [ 0. 0. 0. 1. ]] SLAMing on 4.645779523 meters 0.04852935195838643 Centerline is valid? [True, True] Translation: X:0.82, Y:-2.01, Z:1.97 [[ 0.99768345 -0.01965995 0.06512468 0.81558293] [ 0.01989848 0.99979746 -0.00301603 -2.01275635] [-0.0650522 0.00430493 0.99787258 1.97271159] [ 0. 0. 0. 1. ]] SLAMing on 4.7057795229999995 meters 0.03902975013346104 Centerline is valid? [True, True] Translation: X:0.88, Y:-2.00, Z:1.97 [[ 0.99766663 -0.0119327 0.06722275 0.87709053] [ 0.01216946 0.9999211 -0.00311369 -1.99854219] [-0.06718029 0.00392449 0.99773313 1.9695455 ] [ 0. 0. 0. 1. ]] SLAMing on 4.765779523 meters 0.04189924830296533 Centerline is valid? [True, True] Translation: X:0.94, Y:-2.00, Z:1.96 [[ 0.99775555 -0.01187832 0.06589964 0.93772362] [ 0.01210552 0.99992208 -0.00304933 -2.00102695] [-0.06585828 0.00384023 0.9978216 1.95791317] [ 0. 0. 0. 1. ]] SLAMing on 4.825779523 meters 0.04901827535435833 Centerline is valid? [True, True] Translation: X:1.00, Y:-2.02, Z:1.95 [[ 0.99775291 -0.02604933 0.06172968 0.99747602] [ 0.02627657 0.99965059 -0.00287206 -2.01760907] [-0.0616333 0.00448765 0.99808877 1.95154085] [ 0. 0. 0. 1. ]] SLAMing on 4.885779522999999 meters 0.05331167202493837 Centerline is valid? [True, True] Translation: X:1.06, Y:-2.03, Z:1.95 [[ 0.99763015 -0.03269652 0.06053939 1.05784286] [ 0.03292724 0.99945378 -0.00281714 -2.02642369] [-0.06041421 0.00480386 0.99816183 1.9462697 ] [ 0. 0. 0. 1. ]] SLAMing on 4.945779523 meters 0.0679888142774845 Centerline is valid? [True, True] Translation: X:1.12, Y:-2.06, Z:1.95 [[ 0.99666294 -0.05309305 0.06200087 1.11589182] [ 0.05337415 0.99857042 -0.00288532 -2.05815034] [-0.06175904 0.00618494 0.99807192 1.94613418] [ 0. 0. 0. 1. ]] SLAMing on 5.005779522999999 meters 0.07049282688957564 Centerline is valid? [True, True] Translation: X:1.18, Y:-2.07, Z:1.94 [[ 0.99641515 -0.05818108 0.06141508 1.1758948 ] [ 0.05846649 0.99828528 -0.00285885 -2.0652165 ] [-0.06114344 0.00643932 0.99810822 1.93763334] [ 0. 0. 0. 1. ]] SLAMing on 5.065779523 meters 0.06966676876360049 Centerline is valid? [True, True] Translation: X:1.24, Y:-2.07, Z:1.93 [[ 0.99609641 -0.05349032 0.07021912 1.23648862] [ 0.05385218 0.99854357 -0.00326901 -2.0690278 ] [-0.06994199 0.0070377 0.99752623 1.93447785] [ 0. 0. 0. 1. ]] SLAMing on 5.125779522999999 meters 0.06614205048659819 Centerline is valid? [True, True] Translation: X:1.30, Y:-2.08, Z:1.94 [[ 0.99644494 -0.04567578 0.0707899 1.29701489] [ 0.04602405 0.9989349 -0.00329566 -2.076482 ] [-0.07056397 0.00654198 0.9974858 1.93570807] [ 0. 0. 0. 1. ]] SLAMing on 5.185779523 meters 0.06236995961477125 Centerline is valid? [True, True] Translation: X:1.36, Y:-2.08, Z:1.92 [[ 0.99729084 -0.03585442 0.06422957 1.35688564] [ 0.0361208 0.99934296 -0.00299056 -2.0753629 ] [-0.06408014 0.00530248 0.99793067 1.92303702] [ 0. 0. 0. 1. ]] SLAMing on 5.2457795229999995 meters 0.06305440038783905 Centerline is valid? [True, True] Translation: X:1.42, Y:-2.08, Z:1.93 [[ 0.99672578 -0.03502761 0.07287515 1.41695974] [ 0.03536861 0.99936857 -0.00339371 -2.082399 ] [-0.07271026 0.00596009 0.9973353 1.92617172] [ 0. 0. 0. 1. ]] SLAMing on 5.305779522999999 meters 0.0690727833086733 Centerline is valid? [True, True] Translation: X:1.48, Y:-2.10, Z:1.92 [[ 0.99628152 -0.04186073 0.07530481 1.47622095] [ 0.04224427 0.99910116 -0.00350687 -2.09854597] [-0.07509032 0.00667502 0.9971544 1.92455997] [ 0. 0. 0. 1. ]] SLAMing on 5.365779523 meters 0.08308718920178888 Centerline is valid? [True, True] Translation: X:1.53, Y:-2.11, Z:1.91 [[ 0.99607249 -0.05155851 0.0719813 1.53382543] [ 0.05193389 0.9986449 -0.00335184 -2.11394566] [-0.07171094 0.00707694 0.99740035 1.91080858] [ 0. 0. 0. 1. ]] SLAMing on 5.425779522999999 meters 0.08105481561207895 Centerline is valid? [True, True] Translation: X:1.59, Y:-2.11, Z:1.90 [[ 0.99604914 -0.05413324 0.07039671 1.5944167 ] [ 0.05449862 0.99850846 -0.00327875 -2.10577621] [-0.07011422 0.00710232 0.99751369 1.90170292] [ 0. 0. 0. 1. ]] SLAMing on 5.485779523 meters 0.08122144001126318 Centerline is valid? [True, True] Translation: X:1.65, Y:-2.10, Z:1.89 [[ 0.99622837 -0.05167874 0.06970185 1.65467081] [ 0.05203103 0.99864019 -0.0032469 -2.10154805] [-0.06943927 0.00686131 0.99756258 1.89479698] [ 0. 0. 0. 1. ]] SLAMing on 5.545779522999999 meters 0.07394221236924733 Centerline is valid? [True, True] Translation: X:1.72, Y:-2.09, Z:1.90 [[ 0.99638417 -0.04136824 0.0742109 1.7166468 ] [ 0.0417394 0.99912255 -0.0034569 -2.08708969] [-0.07400278 0.00654192 0.99723658 1.89736894] [ 0. 0. 0. 1. ]] SLAMing on 5.605779523 meters 0.06977345296227011 Centerline is valid? [True, True] Translation: X:1.78, Y:-2.08, Z:1.90 [[ 0.99621583 -0.03495023 0.07957699 1.77865965] [ 0.03535696 0.99936787 -0.00370743 -2.07707789] [-0.07939711 0.006507 0.99682183 1.90136127] [ 0. 0. 0. 1. ]] SLAMing on 5.665779522999999 meters 0.03133359378207204 Centerline is valid? [True, True] Translation: X:1.84, Y:-2.01, Z:1.90 [[ 0.99610418 -0.01963374 0.08597081 1.84249967] [ 0.02005218 0.99979091 -0.00400629 -2.0105901 ] [-0.08587417 0.00571459 0.9962896 1.90059444] [ 0. 0. 0. 1. ]] SLAMing on 5.725779523 meters 0.027745188706966954 Centerline is valid? [True, True] Translation: X:1.90, Y:-2.00, Z:1.90 [[ 0.99634937 -0.00930838 0.08486045 1.9036579 ] [ 0.0096788 0.99994534 -0.00395458 -2.00346149] [-0.084819 0.00476149 0.996385 1.89503979] [ 0. 0. 0. 1. ]] SLAMing on 5.7857795229999995 meters 0.02991704027637731 Centerline is valid? [True, True] Translation: X:1.96, Y:-2.01, Z:1.89 [[ 0.99670527 -0.01395491 0.07989903 1.96338654] [ 0.01429809 0.99989084 -0.00372462 -2.00552199] [-0.07983834 0.00485476 0.996796 1.88713098] [ 0. 0. 0. 1. ]] SLAMing on 5.845779522999999 meters 0.03448732668565298 Centerline is valid? [True, True] Translation: X:2.02, Y:-2.01, Z:1.88 [[ 0.99638017 -0.02856771 0.08006527 2.02317243] [ 0.02895924 0.99957362 -0.00373294 -2.01204815] [-0.07992449 0.00603806 0.99678263 1.88206584] [ 0. 0. 0. 1. ]] SLAMing on 5.905779523 meters 0.040535797772688516 Centerline is valid? [True, True] Translation: X:2.08, Y:-2.03, Z:1.88 [[ 0.9952698 -0.04417442 0.08652545 2.08347909] [ 0.04469049 0.99899273 -0.00403545 -2.02596445] [-0.08626003 0.00788323 0.99624147 1.8849505 ] [ 0. 0. 0. 1. ]] SLAMing on 5.965779522999999 meters 0.05132464182233184 Centerline is valid? [True, True] Translation: X:2.14, Y:-2.06, Z:1.89 [[ 0.99428463 -0.05603436 0.09087477 2.14260044] [ 0.05665288 0.99838494 -0.00423905 -2.05566005] [-0.09049047 0.00936314 0.99585331 1.88961689] [ 0. 0. 0. 1. ]] SLAMing on 6.025779523 meters 0.046865887499055285 Centerline is valid? [True, True] Translation: X:2.20, Y:-2.05, Z:1.88 [[ 0.9944005 -0.0502102 0.09298698 2.20294251] [ 0.05083287 0.99869775 -0.00433838 -2.05391929] [-0.09264806 0.00904088 0.99565787 1.88454184] [ 0. 0. 0. 1. ]] SLAMing on 6.085779522999999 meters 0.04543948694750664 Centerline is valid? [True, True] Translation: X:2.26, Y:-2.06, Z:1.88 [[ 0.99540131 -0.03959693 0.0872256 2.26178467] [ 0.04010418 0.99918721 -0.00407 -2.05549808] [-0.08699355 0.00754939 0.99618027 1.87502714] [ 0. 0. 0. 1. ]] SLAMing on 6.145779523 meters 0.044998887518471434 Centerline is valid? [True, True] Translation: X:2.32, Y:-2.06, Z:1.87 [[ 0.99570832 -0.03475186 0.08577443 2.32198799] [ 0.03522447 0.99937141 -0.00400218 -2.0578317 ] [-0.08558143 0.00700636 0.99630654 1.86981939] [ 0. 0. 0. 1. ]] SLAMing on 6.2057795229999995 meters 0.04449248326030718 Centerline is valid? [True, True] Translation: X:2.38, Y:-2.06, Z:1.87 [[ 0.99539114 -0.03143076 0.09060125 2.3831385 ] [ 0.03194467 0.9994807 -0.00422732 -2.05953364] [-0.09042133 0.00710206 0.99587828 1.87290848] [ 0. 0. 0. 1. ]] SLAMing on 6.265779523 meters 0.0460759604124587 Centerline is valid? [True, True] Translation: X:2.45, Y:-2.06, Z:1.87 [[ 0.99581201 -0.03111181 0.08596798 2.44524522] [ 0.03157318 0.99949339 -0.00401204 -2.06445496] [-0.0857996 0.00670952 0.99628982 1.86538151] [ 0. 0. 0. 1. ]] SLAMing on 6.325779523 meters 0.04937165453804206 Centerline is valid? [True, True] Translation: X:2.50, Y:-2.07, Z:1.84 [[ 0.99671637 -0.03362185 0.07366175 2.50390321] [ 0.03396742 0.99941701 -0.00344322 -2.06963798] [-0.07350304 0.00593401 0.99727734 1.84353285] [ 0. 0. 0. 1. ]] SLAMing on 6.385779522999999 meters 0.053382583357227384 Centerline is valid? [True, True] Translation: X:2.56, Y:-2.08, Z:1.84 [[ 0.99630047 -0.03814716 0.07700756 2.56435893] [ 0.03853839 0.99925063 -0.00360017 -2.08131169] [-0.07681251 0.0065546 0.99702401 1.84221297] [ 0. 0. 0. 1. ]] SLAMing on 6.445779523 meters 0.058899905332961765 Centerline is valid? [True, True] Translation: X:2.62, Y:-2.09, Z:1.84 [[ 0.99597122 -0.04383893 0.07822712 2.62398534] [ 0.04426015 0.99901334 -0.00365803 -2.08968121] [-0.07798957 0.00710564 0.99692885 1.84117352] [ 0. 0. 0. 1. ]] SLAMing on 6.505779522999999 meters 0.050372972039510126 Centerline is valid? [True, True] Translation: X:2.68, Y:-2.09, Z:1.83 [[ 0.99566522 -0.05313152 0.07634011 2.68430734] [ 0.05355967 0.99855827 -0.00357051 -2.08756093] [-0.07604034 0.00764378 0.99707544 1.83343706] [ 0. 0. 0. 1. ]] SLAMing on 6.565779523 meters 0.07139503392813637 Centerline is valid? [True, True] Translation: X:2.74, Y:-2.13, Z:1.83 [[ 0.99550279 -0.05667795 0.0759066 2.74277081] [ 0.05711139 0.9983615 -0.00354987 -2.12763432] [-0.07558103 0.00786904 0.99710861 1.83021775] [ 0. 0. 0. 1. ]] SLAMing on 6.625779522999999 meters 0.05448873717575253 Centerline is valid? [True, True] Translation: X:2.81, Y:-2.10, Z:1.83 [[ 0.99548865 -0.0568295 0.07597871 2.80636021] [ 0.05726423 0.99835273 -0.00355375 -2.1039525 ] [-0.07565159 0.00788858 0.99710311 1.82703985] [ 0. 0. 0. 1. ]] SLAMing on 6.685779523 meters 0.05395119258699339 Centerline is valid? [True, True] Translation: X:2.87, Y:-2.10, Z:1.82 [[ 0.99580033 -0.05316559 0.0745327 2.86683965] [ 0.05357412 0.99855777 -0.00349122 -2.09930169] [-0.07423959 0.00746958 0.99721246 1.815959 ] [ 0. 0. 0. 1. ]] SLAMing on 6.7457795229999995 meters 0.05461806524999876 Centerline is valid? [True, True] Translation: X:2.93, Y:-2.11, Z:1.81 [[ 0.99593244 -0.04936849 0.0753746 2.9266226 ] [ 0.04977566 0.99875418 -0.00353182 -2.1069903 ] [-0.07510633 0.00726927 0.99714903 1.81105318] [ 0. 0. 0. 1. ]] SLAMing on 6.805779522999999 meters 0.05312993785372408 Centerline is valid? [True, True] Translation: X:2.99, Y:-2.11, Z:1.81 [[ 0.99632018 -0.04302596 0.07412739 2.98692393] [ 0.0434024 0.99905163 -0.00347412 -2.11025063] [-0.07390761 0.00667864 0.99724273 1.8055104 ] [ 0. 0. 0. 1. ]] SLAMing on 6.865779523 meters 0.05115133640406026 Centerline is valid? [True, True] Translation: X:3.05, Y:-2.10, Z:1.80 [[ 0.99681662 -0.03478188 0.0717416 3.04753633] [ 0.03511327 0.99937768 -0.00336278 -2.10231713] [-0.07157999 0.00587116 0.99741758 1.79672627] [ 0. 0. 0. 1. ]] SLAMing on 6.925779522999999 meters 0.0412994748869151 Centerline is valid? [True, True] Translation: X:3.11, Y:-2.08, Z:1.80 [[ 0.99668184 -0.02914039 0.07600097 3.1094862 ] [ 0.02949619 0.99955854 -0.00356298 -2.08158882] [-0.07586359 0.00579289 0.99710138 1.79610448] [ 0. 0. 0. 1. ]] SLAMing on 6.985779523 meters 0.03330660088990197 Centerline is valid? [True, True] Translation: X:3.17, Y:-2.07, Z:1.80 [[ 0.99616012 -0.02693977 0.08330227 3.17163488] [ 0.02735993 0.99961802 -0.00390615 -2.0745331 ] [-0.08316522 0.00617029 0.99651667 1.80247713] [ 0. 0. 0. 1. ]] SLAMing on 7.045779522999999 meters 0.03712144178305859 Centerline is valid? [True, True] Translation: X:3.23, Y:-2.07, Z:1.81 [[ 0.99528639 -0.0333372 0.09106944 3.23233545] [ 0.03386646 0.99941724 -0.00427198 -2.07431719] [-0.09087395 0.00733605 0.99583538 1.80561514] [ 0. 0. 0. 1. ]] SLAMing on 7.105779523 meters 0.04028152691139103 Centerline is valid? [True, True] Translation: X:3.29, Y:-2.07, Z:1.80 [[ 0.99533819 -0.03826204 0.08853194 3.29258721] [ 0.03878145 0.99923908 -0.00415362 -2.07226812] [-0.08830565 0.00756765 0.99606468 1.79558434] [ 0. 0. 0. 1. ]] SLAMing on 7.165779522999999 meters 0.04479265317786131 Centerline is valid? [True, True] Translation: X:3.35, Y:-2.08, Z:1.79 [[ 0.99525383 -0.04651916 0.08547381 3.35278529] [ 0.04703354 0.99888525 -0.00401302 -2.08394781] [-0.08519185 0.00801411 0.99633234 1.79226421] [ 0. 0. 0. 1. ]] SLAMing on 7.225779522999999 meters 0.04143777300211163 Centerline is valid? [True, True] Translation: X:3.41, Y:-2.08, Z:1.78 [[ 0.99514429 -0.05929631 0.07856073 3.4125036 ] [ 0.0597699 0.99820537 -0.00368865 -2.08379067] [-0.07820102 0.00836631 0.99690251 1.78331381] [ 0. 0. 0. 1. ]] SLAMing on 7.2857795229999995 meters 0.04520820908675769 Centerline is valid? [True, True] Translation: X:3.47, Y:-2.09, Z:1.77 [[ 0.99483063 -0.0638141 0.07899232 3.47128448] [ 0.06430703 0.99792327 -0.00370963 -2.08522976] [-0.07859155 0.00877022 0.99686832 1.77438094] [ 0. 0. 0. 1. ]] SLAMing on 7.345779522999999 meters 0.04569189220562802 Centerline is valid? [True, True] Translation: X:3.53, Y:-2.09, Z:1.77 [[ 0.99468041 -0.06039775 0.08344459 3.5319309 ] [ 0.06093637 0.99813395 -0.00392077 -2.09396595] [-0.08305208 0.00898472 0.99650471 1.77264548] [ 0. 0. 0. 1. ]] SLAMing on 7.405779523 meters 0.043620786359771097 Centerline is valid? [True, True] Translation: X:3.59, Y:-2.09, Z:1.77 [[ 0.9951792 -0.05243499 0.08287907 3.59222312] [ 0.05293908 0.99859015 -0.0038949 -2.0941276 ] [-0.08255799 0.00826366 0.996552 1.76854333] [ 0. 0. 0. 1. ]] SLAMing on 7.465779522999999 meters 0.03749803278500274 Centerline is valid? [True, True] Translation: X:3.65, Y:-2.08, Z:1.76 [[ 0.99577282 -0.04274 0.08130055 3.65279324] [ 0.04319301 0.99905944 -0.00382073 -2.08462031] [-0.08106078 0.00731619 0.99668231 1.76320564] [ 0. 0. 0. 1. ]] SLAMing on 7.525779523 meters 0.03498593876589519 Centerline is valid? [True, True] Translation: X:3.71, Y:-2.08, Z:1.76 [[ 0.99627495 -0.03007867 0.08081767 3.7139701 ] [ 0.03048503 0.99952801 -0.00379859 -2.08423432] [-0.08066527 0.00624817 0.99672166 1.76174669] [ 0. 0. 0. 1. ]] SLAMing on 7.585779522999999 meters 0.033301347995418625 Centerline is valid? [True, True] Translation: X:3.78, Y:-2.08, Z:1.76 [[ 0.99626074 -0.02071112 0.08387835 3.7752173 ] [ 0.02111603 0.99976926 -0.00394301 -2.08412748] [-0.08377733 0.00569944 0.9964682 1.75973803] [ 0. 0. 0. 1. ]] SLAMing on 7.645779523 meters 0.03131534840996891 Centerline is valid? [True, True] Translation: X:3.84, Y:-2.08, Z:1.76 [[ 0.99615488 -0.01031832 0.08699988 3.83550847] [ 0.01071473 0.99993423 -0.00409077 -2.07978361] [-0.08695195 0.00500722 0.99619992 1.7568297 ] [ 0. 0. 0. 1. ]] SLAMing on 7.7057795229999995 meters 0.029774756254721313 Centerline is valid? [True, True] Translation: X:3.90, Y:-2.07, Z:1.74 [[ 9.96695801e-01 -6.16689614e-03 8.09904325e-02 3.89568227e+00] [ 6.49666304e-03 9.99971643e-01 -3.80878944e-03 -2.07359810e+00] [-8.09646474e-02 4.32237199e-03 9.96707602e-01 1.74005319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.765779522999999 meters 0.02863738449492985 Centerline is valid? [True, True] Translation: X:3.95, Y:-2.09, Z:1.72 [[ 9.97678727e-01 2.57888101e-04 6.80961957e-02 3.95439702e+00] [-3.98550146e-05 9.99994869e-01 -3.20317861e-03 -2.08570933e+00] [-6.80966724e-02 3.19302918e-03 9.97673618e-01 1.72063505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.825779523 meters 0.028705198645013908 Centerline is valid? [True, True] Translation: X:4.01, Y:-2.09, Z:1.72 [[ 9.97621428e-01 2.92187458e-03 6.88690684e-02 4.01461450e+00] [-2.70512488e-03 9.99991091e-01 -3.24032261e-03 -2.09245225e+00] [-6.88779227e-02 3.04631584e-03 9.97620445e-01 1.71778284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.885779522999999 meters 0.02767768362835871 Centerline is valid? [True, True] Translation: X:4.08, Y:-2.09, Z:1.71 [[ 9.97306335e-01 3.60091849e-03 7.32605481e-02 4.07718280e+00] [-3.35742846e-03 9.99988425e-01 -3.44649533e-03 -2.08671425e+00] [-7.32721107e-02 3.19124458e-03 9.97306880e-01 1.71347591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.945779523 meters 0.0279485159360357 Centerline is valid? [True, True] Translation: X:4.14, Y:-2.11, Z:1.72 [[ 9.97153231e-01 -1.06683073e-03 7.53942705e-02 4.13820923e+00] [ 1.33954304e-03 9.99992742e-01 -3.56667260e-03 -2.10501522e+00] [-7.53899182e-02 3.65751297e-03 9.97147423e-01 1.71683077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.005779523 meters 0.03048591672896907 Centerline is valid? [True, True] Translation: X:4.20, Y:-2.12, Z:1.71 [[ 9.97247194e-01 -6.64446327e-03 7.38504223e-02 4.19839407e+00] [ 6.92152406e-03 9.99969934e-01 -3.49635039e-03 -2.12001242e+00] [-7.38249705e-02 3.99788309e-03 9.97263200e-01 1.71336638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.065779523 meters 0.04134252106613477 Centerline is valid? [True, True] Translation: X:4.26, Y:-2.13, Z:1.70 [[ 9.96630777e-01 -1.80617261e-02 8.00054314e-02 4.25765463e+00] [ 1.84236968e-02 9.99823092e-01 -3.78839871e-03 -2.12656075e+00] [-7.99228527e-02 5.24963056e-03 9.96787229e-01 1.70496454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.125779523 meters 0.032572001024640584 Centerline is valid? [True, True] Translation: X:4.32, Y:-2.12, Z:1.71 [[ 9.95839465e-01 -2.80685097e-02 8.66944034e-02 4.31906503e+00] [ 2.85314602e-02 9.99584465e-01 -4.10531523e-03 -2.12335191e+00] [-8.65431488e-02 6.56175284e-03 9.96226494e-01 1.70961560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.185779523 meters 0.03703163987019882 Centerline is valid? [True, True] Translation: X:4.38, Y:-2.13, Z:1.71 [[ 9.95677404e-01 -3.46028656e-02 8.61925143e-02 4.37782193e+00] [ 3.50847605e-02 9.99376004e-01 -4.08190539e-03 -2.13367032e+00] [-8.59974849e-02 7.08830468e-03 9.96270138e-01 1.70511103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.245779523 meters 0.0367159255130905 Centerline is valid? [True, True] Translation: X:4.44, Y:-2.13, Z:1.69 [[ 9.96323362e-01 -4.00960981e-02 7.57103817e-02 4.43756687e+00] [ 4.04834066e-02 9.99173771e-01 -3.58727837e-03 -2.13014601e+00] [-7.55039917e-02 6.63910341e-03 9.97123397e-01 1.68793055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.305779523 meters 0.0388120492665456 Centerline is valid? [True, True] Translation: X:4.50, Y:-2.12, Z:1.68 [[ 9.96485884e-01 -3.87369918e-02 7.42652631e-02 4.49757769e+00] [ 3.91059229e-02 9.99228872e-01 -3.51953971e-03 -2.12373026e+00] [-7.40716587e-02 6.41138329e-03 9.97232312e-01 1.67821824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.365779523 meters 0.038946733325783536 Centerline is valid? [True, True] Translation: X:4.56, Y:-2.11, Z:1.68 [[ 9.96326330e-01 -3.78787457e-02 7.68052391e-02 4.56006146e+00] [ 3.82715012e-02 9.99260720e-01 -3.64768838e-03 -2.11424134e+00] [-7.66102887e-02 6.57373977e-03 9.97039442e-01 1.67535190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.425779523000001 meters 0.0435922494410401 Centerline is valid? [True, True] Translation: X:4.62, Y:-2.12, Z:1.67 [[ 9.96069061e-01 -4.07948457e-02 7.86270011e-02 4.61960907e+00] [ 4.12171270e-02 9.99143159e-01 -3.75461374e-03 -2.12023277e+00] [-7.84064613e-02 6.98063367e-03 9.96897035e-01 1.67413584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.485779523 meters 0.04536440442836398 Centerline is valid? [True, True] Translation: X:4.68, Y:-2.12, Z:1.67 [[ 9.95378014e-01 -5.51735328e-02 7.86033753e-02 4.68036506e+00] [ 5.56397956e-02 9.98443855e-01 -3.75243982e-03 -2.11770236e+00] [-7.82740217e-02 8.10857183e-03 9.96898906e-01 1.66702105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.545779523 meters 0.04961363627350672 Centerline is valid? [True, True] Translation: X:4.74, Y:-2.13, Z:1.66 [[ 9.95016728e-01 -6.43544803e-02 7.61591240e-02 4.74014794e+00] [ 6.48186535e-02 9.97890435e-01 -3.63612603e-03 -2.13225883e+00] [-7.57644604e-02 8.55453810e-03 9.97089046e-01 1.66255502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.605779523 meters 0.044760223936379046 Centerline is valid? [True, True] Translation: X:4.80, Y:-2.14, Z:1.67 [[ 9.94768763e-01 -6.28213218e-02 8.05517831e-02 4.80112785e+00] [ 6.33358491e-02 9.97984859e-01 -3.84592739e-03 -2.13850437e+00] [-8.01478537e-02 8.92762402e-03 9.96743006e-01 1.66510094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.665779523000001 meters 0.04107813467880636 Centerline is valid? [True, True] Translation: X:4.86, Y:-2.13, Z:1.67 [[ 9.94589254e-01 -5.43907786e-02 8.85090927e-02 4.86271487e+00] [ 5.49796716e-02 9.98478525e-01 -4.22743178e-03 -2.13454401e+00] [-8.81444950e-02 9.07075906e-03 9.96066398e-01 1.66609650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.725779523 meters 0.04572899042180737 Centerline is valid? [True, True] Translation: X:4.92, Y:-2.14, Z:1.66 [[ 9.94649991e-01 -4.95103015e-02 9.06649050e-02 4.92193343e+00] [ 5.01083638e-02 9.98734398e-01 -4.33069918e-03 -2.14301324e+00] [-9.03357451e-02 8.85059995e-03 9.95872040e-01 1.66287546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.785779523 meters 0.04038821936165287 Centerline is valid? [True, True] Translation: X:4.98, Y:-2.14, Z:1.65 [[ 9.95436126e-01 -4.16756419e-02 8.58490537e-02 4.98189565e+00] [ 4.21828433e-02 9.99101488e-01 -4.10173790e-03 -2.13836283e+00] [-8.56009747e-02 7.70437527e-03 9.96299712e-01 1.64916826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.845779523000001 meters 0.04475797084790788 Centerline is valid? [True, True] Translation: X:5.04, Y:-2.15, Z:1.64 [[ 9.95527963e-01 -4.29757617e-02 8.41258500e-02 5.04094064e+00] [ 4.34673550e-02 9.99046761e-01 -4.01983255e-03 -2.14716581e+00] [-8.38729025e-02 7.65858390e-03 9.96447029e-01 1.64090464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.905779523 meters 0.045008301819669666 Centerline is valid? [True, True] Translation: X:5.10, Y:-2.15, Z:1.64 [[ 9.95182724e-01 -5.11283891e-02 8.36494723e-02 5.10135818e+00] [ 5.16428868e-02 9.98657617e-01 -3.99707913e-03 -2.15031234e+00] [-8.33328185e-02 8.29772433e-03 9.96487225e-01 1.63567550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.965779523 meters 0.0477754593861196 Centerline is valid? [True, True] Translation: X:5.16, Y:-2.17, Z:1.64 [[ 9.94498901e-01 -5.98243826e-02 8.59824362e-02 5.16122766e+00] [ 6.04002159e-02 9.98165783e-01 -4.10893915e-03 -2.16613873e+00] [-8.55789110e-02 9.27969318e-03 9.96288180e-01 1.63689212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.025779523 meters 0.04199468197300357 Centerline is valid? [True, True] Translation: X:5.22, Y:-2.16, Z:1.63 [[ 9.94283328e-01 -6.18763273e-02 8.70171423e-02 5.22228262e+00] [ 6.24739813e-02 9.98037927e-01 -4.15914149e-03 -2.16173801e+00] [-8.65890559e-02 9.57167237e-03 9.96198132e-01 1.63100244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.085779523000001 meters 0.04266677321721079 Centerline is valid? [True, True] Translation: X:5.28, Y:-2.16, Z:1.62 [[ 9.94360054e-01 -6.05462176e-02 8.70760548e-02 5.28351314e+00] [ 6.11397958e-02 9.98120529e-01 -4.16357773e-03 -2.16262252e+00] [-8.66603090e-02 9.46390759e-03 9.96192966e-01 1.62360155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.145779523 meters 0.041638381881537255 Centerline is valid? [True, True] Translation: X:5.34, Y:-2.17, Z:1.62 [[ 9.94551351e-01 -5.74496994e-02 8.69893279e-02 5.34412726e+00] [ 5.80307786e-02 9.98306111e-01 -4.16376648e-03 -2.17224165e+00] [-8.66027705e-02 9.18913801e-03 9.96200542e-01 1.62226553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.205779523 meters 0.04309301155850942 Centerline is valid? [True, True] Translation: X:5.41, Y:-2.19, Z:1.62 [[ 9.94787175e-01 -5.73808369e-02 8.42965968e-02 5.40587727e+00] [ 5.79261395e-02 9.98312716e-01 -4.03529384e-03 -2.18619837e+00] [-8.39228160e-02 8.89723499e-03 9.96432537e-01 1.62364777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.265779523 meters 0.04323774769978068 Centerline is valid? [True, True] Translation: X:5.47, Y:-2.18, Z:1.62 [[ 9.94866421e-01 -5.58041334e-02 8.44197987e-02 5.46675335e+00] [ 5.63459188e-02 9.98403105e-01 -4.04694839e-03 -2.18131157e+00] [-8.40591527e-02 8.78288419e-03 9.96422059e-01 1.61637523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.325779523 meters 0.04346787742703918 Centerline is valid? [True, True] Translation: X:5.53, Y:-2.19, Z:1.61 [[ 9.95238154e-01 -5.47951773e-02 8.06133083e-02 5.52770689e+00] [ 5.52858582e-02 9.98463084e-01 -3.86578566e-03 -2.19097071e+00] [-8.02775860e-02 8.30415331e-03 9.96737955e-01 1.60877618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.385779523 meters 0.04165743075121565 Centerline is valid? [True, True] Translation: X:5.59, Y:-2.19, Z:1.60 [[ 9.95219248e-01 -5.72363807e-02 7.91368712e-02 5.58808891e+00] [ 5.77171367e-02 9.98325748e-01 -3.79914878e-03 -2.18938931e+00] [-7.87869266e-02 8.34853960e-03 9.96856520e-01 1.60045075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.445779523 meters 0.04324243410579439 Centerline is valid? [True, True] Translation: X:5.65, Y:-2.19, Z:1.59 [[ 9.95364751e-01 -5.84854475e-02 7.63443871e-02 5.64824793e+00] [ 5.89364005e-02 9.98255011e-01 -3.66529250e-03 -2.18911093e+00] [-7.59968007e-02 8.14776632e-03 9.97074772e-01 1.59085343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.505779523000001 meters 0.04560611411199362 Centerline is valid? [True, True] Translation: X:5.71, Y:-2.20, Z:1.59 [[ 9.95329833e-01 -6.35943931e-02 7.26242130e-02 5.70820100e+00] [ 6.40158443e-02 9.97942787e-01 -3.48800704e-03 -2.19686985e+00] [-7.22529918e-02 8.12081778e-03 9.97353276e-01 1.58721709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.565779523 meters 0.05161240757389111 Centerline is valid? [True, True] Translation: X:5.77, Y:-2.21, Z:1.59 [[ 9.95081386e-01 -6.70896093e-02 7.28836090e-02 5.76736717e+00] [ 6.75233549e-02 9.97711552e-01 -3.50085950e-03 -2.21394719e+00] [-7.24819473e-02 8.40498592e-03 9.97334309e-01 1.58860563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.625779523 meters 0.05358003133205412 Centerline is valid? [True, True] Translation: X:5.83, Y:-2.21, Z:1.58 [[ 9.95069699e-01 -6.61361585e-02 7.39073889e-02 5.82925027e+00] [ 6.65795651e-02 9.97774806e-01 -3.54924071e-03 -2.20793757e+00] [-7.35081975e-02 8.45246370e-03 9.97258793e-01 1.58037401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.685779523 meters 0.04275251755862527 Centerline is valid? [True, True] Translation: X:5.89, Y:-2.19, Z:1.57 [[ 9.95794470e-01 -5.86171278e-02 7.04088476e-02 5.89022158e+00] [ 5.90011468e-02 9.98252175e-01 -3.38509112e-03 -2.19092069e+00] [-7.00873609e-02 7.52505777e-03 9.97512474e-01 1.57010473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.745779523 meters 0.048295384964963044 Centerline is valid? [True, True] Translation: X:5.95, Y:-2.20, Z:1.57 [[ 9.96280807e-01 -5.13473786e-02 6.91953731e-02 5.94963638e+00] [ 5.17009103e-02 9.98657072e-01 -3.32683833e-03 -2.20318334e+00] [-6.89316243e-02 6.89192895e-03 9.97597580e-01 1.56692460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.805779523 meters 0.04699079965062979 Centerline is valid? [True, True] Translation: X:6.01, Y:-2.20, Z:1.57 [[ 9.96172351e-01 -4.86054975e-02 7.26509029e-02 6.01087458e+00] [ 4.89881690e-02 9.98793249e-01 -3.49364874e-03 -2.19924290e+00] [-7.23934208e-02 7.03931098e-03 9.97351313e-01 1.56805377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.865779523 meters 0.04524395177416734 Centerline is valid? [True, True] Translation: X:6.07, Y:-2.19, Z:1.57 [[ 9.95394435e-01 -5.16556928e-02 8.07564769e-02 6.07264209e+00] [ 5.21387822e-02 9.98632298e-01 -3.88340913e-03 -2.19078737e+00] [-8.04454259e-02 8.07606819e-03 9.96726297e-01 1.57312726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.925779523000001 meters 0.04795846334109007 Centerline is valid? [True, True] Translation: X:6.13, Y:-2.20, Z:1.57 [[ 9.95174412e-01 -5.41845935e-02 8.18041492e-02 6.13206294e+00] [ 5.46888160e-02 9.98495697e-01 -3.93411454e-03 -2.20233708e+00] [-8.14679225e-02 8.38890219e-03 9.96640659e-01 1.57066601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.985779523 meters 0.050445413444514337 Centerline is valid? [True, True] Translation: X:6.19, Y:-2.21, Z:1.56 [[ 9.95548618e-01 -5.56713012e-02 7.60503495e-02 6.19181634e+00] [ 5.61110527e-02 9.98417839e-01 -3.65627179e-03 -2.21297124e+00] [-7.57264762e-02 7.90726149e-03 9.97097275e-01 1.56136782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.045779523 meters 0.050924210122680606 Centerline is valid? [True, True] Translation: X:6.25, Y:-2.20, Z:1.55 [[ 9.95865475e-01 -5.50080257e-02 7.22915768e-02 6.25411956e+00] [ 5.54035734e-02 9.98457991e-01 -3.47624322e-03 -2.20026030e+00] [-7.19888812e-02 7.46708228e-03 9.97377483e-01 1.54720297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.105779523 meters 0.05271019082970345 Centerline is valid? [True, True] Translation: X:6.31, Y:-2.20, Z:1.54 [[ 9.96333916e-01 -5.44922105e-02 6.59494252e-02 6.31494700e+00] [ 5.48203870e-02 9.98491183e-01 -3.17545151e-03 -2.20436161e+00] [-6.56768821e-02 6.77918305e-03 9.97817914e-01 1.53611698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.165779523 meters 0.05532190444050829 Centerline is valid? [True, True] Translation: X:6.38, Y:-2.22, Z:1.54 [[ 9.95875083e-01 -5.55640852e-02 7.17318066e-02 6.37548223e+00] [ 5.59554984e-02 9.98427278e-01 -3.45715793e-03 -2.21979408e+00] [-7.14268987e-02 7.45668643e-03 9.97417965e-01 1.54058327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.225779523 meters 0.061671204317143735 Centerline is valid? [True, True] Translation: X:6.44, Y:-2.23, Z:1.55 [[ 9.94631687e-01 -6.47152974e-02 8.07448910e-02 6.43504144e+00] [ 6.52422233e-02 9.97861828e-01 -3.90189071e-03 -2.22881530e+00] [-8.03197325e-02 9.14892036e-03 9.96727163e-01 1.54521742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.285779523 meters 0.06630170055767155 Centerline is valid? [True, True] Translation: X:6.50, Y:-2.23, Z:1.54 [[ 9.94406693e-01 -6.93123655e-02 7.96939417e-02 6.49550438e+00] [ 6.98402471e-02 9.97550750e-01 -3.85232512e-03 -2.23003111e+00] [-7.92317375e-02 9.39662246e-03 9.96811936e-01 1.53809563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.345779523000001 meters 0.0709037649204582 Centerline is valid? [True, True] Translation: X:6.55, Y:-2.23, Z:1.52 [[ 9.94860935e-01 -7.09305223e-02 7.22535926e-02 6.55390994e+00] [ 7.13683330e-02 9.97443915e-01 -3.49254140e-03 -2.23235686e+00] [-7.18211785e-02 8.63121146e-03 9.97380179e-01 1.52352324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.405779523 meters 0.05427755983593639 Centerline is valid? [True, True] Translation: X:6.62, Y:-2.22, Z:1.52 [[ 9.94969278e-01 -7.33743138e-02 6.82081005e-02 6.61541212e+00] [ 7.37700690e-02 9.97269822e-01 -3.29819145e-03 -2.21924210e+00] [-6.77798777e-02 8.31331544e-03 9.97665664e-01 1.52165902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.465779523 meters 0.0572192206070026 Centerline is valid? [True, True] Translation: X:6.68, Y:-2.21, Z:1.52 [[ 9.94508832e-01 -7.48714005e-02 7.31194610e-02 6.67706623e+00] [ 7.53304062e-02 9.97152358e-01 -3.53614007e-03 -2.21454213e+00] [-7.26464872e-02 9.02484123e-03 9.97316921e-01 1.52026277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.525779523 meters 0.05817711331073654 Centerline is valid? [True, True] Translation: X:6.74, Y:-2.21, Z:1.51 [[ 9.94772622e-01 -7.17771433e-02 7.26324517e-02 6.73737617e+00] [ 7.22221141e-02 9.97382379e-01 -3.51528606e-03 -2.21364415e+00] [-7.21900103e-02 8.74257955e-03 9.97352580e-01 1.51367286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.585779523 meters 0.05277305868770525 Centerline is valid? [True, True] Translation: X:6.80, Y:-2.21, Z:1.51 [[ 9.94925263e-01 -6.92009463e-02 7.30407490e-02 6.79777508e+00] [ 6.96441061e-02 9.97565638e-01 -3.53493585e-03 -2.21276110e+00] [-7.26183205e-02 8.60385465e-03 9.97322693e-01 1.51182317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.645779523 meters 0.04421087058957724 Centerline is valid? [True, True] Translation: X:6.86, Y:-2.20, Z:1.51 [[ 9.95251504e-01 -5.93499260e-02 7.71494016e-02 6.85909116e+00] [ 5.98153311e-02 9.98202477e-01 -3.73373051e-03 -2.19812699e+00] [-7.67891272e-02 8.33071791e-03 9.97012552e-01 1.51312913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.705779523 meters 0.043178333023904183 Centerline is valid? [True, True] Translation: X:6.92, Y:-2.19, Z:1.50 [[ 9.95474650e-01 -5.48212118e-02 7.76199510e-02 6.91971464e+00] [ 5.52787714e-02 9.98463892e-01 -3.75696032e-03 -2.18758489e+00] [-7.72947573e-02 8.03069429e-03 9.96975942e-01 1.50323176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.765779523 meters 0.04544506561570779 Centerline is valid? [True, True] Translation: X:6.98, Y:-2.19, Z:1.50 [[ 9.95522287e-01 -5.39048669e-02 7.76507718e-02 6.98029468e+00] [ 5.43600777e-02 9.98514322e-01 -3.75897416e-03 -2.19320220e+00] [-7.73327808e-02 7.96324454e-03 9.96973534e-01 1.49666655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.825779523 meters 0.048227273771913264 Centerline is valid? [True, True] Translation: X:7.04, Y:-2.21, Z:1.49 [[ 9.95461017e-01 -5.68453820e-02 7.63280121e-02 7.03991642e+00] [ 5.72945309e-02 9.98350441e-01 -3.70584564e-03 -2.21305175e+00] [-7.59914444e-02 8.06220252e-03 9.97075875e-01 1.49320339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.885779523 meters 0.05134163334493145 Centerline is valid? [True, True] Translation: X:7.10, Y:-2.22, Z:1.49 [[ 9.95374076e-01 -5.89928006e-02 7.58307163e-02 7.09900583e+00] [ 5.94422747e-02 9.98224954e-01 -3.68206481e-03 -2.22182627e+00] [-7.54788980e-02 8.17258213e-03 9.97113908e-01 1.48819479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.945779523 meters 0.05478529517100753 Centerline is valid? [True, True] Translation: X:7.16, Y:-2.23, Z:1.48 [[ 9.95478787e-01 -5.97663963e-02 7.38238618e-02 7.15984843e+00] [ 6.01943124e-02 9.98180247e-01 -3.58319005e-03 -2.22553016e+00] [-7.34753662e-02 8.01076629e-03 9.97264859e-01 1.48091442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.005779523000001 meters 0.057730756058319906 Centerline is valid? [True, True] Translation: X:7.22, Y:-2.24, Z:1.47 [[ 9.95475367e-01 -6.35526303e-02 7.06389189e-02 7.21985559e+00] [ 6.39539783e-02 9.97946946e-01 -3.43233753e-03 -2.23855784e+00] [-7.02757593e-02 7.93444735e-03 9.97496046e-01 1.47303504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.065779523 meters 0.05759157131793976 Centerline is valid? [True, True] Translation: X:7.28, Y:-2.25, Z:1.47 [[ 9.94459284e-01 -7.26940345e-02 7.59362251e-02 7.27969910e+00] [ 7.31843409e-02 9.97311602e-01 -3.69050674e-03 -2.24748802e+00] [-7.54638005e-02 9.22740127e-03 9.97105847e-01 1.47036473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.125779523 meters 0.0671445116406533 Centerline is valid? [True, True] Translation: X:7.34, Y:-2.26, Z:1.47 [[ 9.94118802e-01 -7.24353663e-02 8.05041879e-02 7.34032991e+00] [ 7.29858611e-02 9.97325300e-01 -3.91275846e-03 -2.26292576e+00] [-8.00054413e-02 9.76541423e-03 9.96746591e-01 1.46991952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.185779523 meters 0.05642365682110186 Centerline is valid? [True, True] Translation: X:7.40, Y:-2.26, Z:1.47 [[ 9.94675903e-01 -6.14697296e-02 8.27122709e-02 7.40194043e+00] [ 6.20139351e-02 9.98067171e-01 -4.02416424e-03 -2.25597578e+00] [-8.23050379e-02 9.13205260e-03 9.96565345e-01 1.47145385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.245779523 meters 0.04711933991968112 Centerline is valid? [True, True] Translation: X:7.46, Y:-2.24, Z:1.46 [[ 9.95583295e-01 -5.09151059e-02 7.88768328e-02 7.46285571e+00] [ 5.13771300e-02 9.98671949e-01 -3.83793744e-03 -2.23729120e+00] [-7.85766713e-02 7.87345169e-03 9.96876981e-01 1.45775359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.305779523 meters 0.04955653599451842 Centerline is valid? [True, True] Translation: X:7.52, Y:-2.25, Z:1.45 [[ 9.95573700e-01 -4.99555151e-02 7.96081311e-02 7.52251645e+00] [ 5.04231817e-02 9.98720429e-01 -3.87397702e-03 -2.24726000e+00] [-7.93127403e-02 7.87092490e-03 9.96818709e-01 1.45067595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.365779523 meters 0.05118773070672997 Centerline is valid? [True, True] Translation: X:7.58, Y:-2.26, Z:1.44 [[ 9.95590505e-01 -5.13694634e-02 7.84902776e-02 7.58270039e+00] [ 5.18284853e-02 9.98648692e-01 -3.82086147e-03 -2.25890207e+00] [-7.81879375e-02 7.87204560e-03 9.96907557e-01 1.44455445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.425779523000001 meters 0.05274600909209878 Centerline is valid? [True, True] Translation: X:7.64, Y:-2.26, Z:1.43 [[ 9.96004284e-01 -5.10188427e-02 7.32976344e-02 7.64410455e+00] [ 5.14180676e-02 9.98670840e-01 -3.56880774e-03 -2.26333105e+00] [-7.30181337e-02 7.32337052e-03 9.97303725e-01 1.43368780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.485779523 meters 0.05140734244723992 Centerline is valid? [True, True] Translation: X:7.70, Y:-2.27, Z:1.43 [[ 9.96034880e-01 -4.46908329e-02 7.69236456e-02 7.70437713e+00] [ 4.51124285e-02 9.98974874e-01 -3.75090298e-03 -2.26843524e+00] [-7.66771582e-02 7.20624266e-03 9.97029931e-01 1.43365303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.545779523 meters 0.050159954388815896 Centerline is valid? [True, True] Translation: X:7.77, Y:-2.27, Z:1.44 [[ 9.95608271e-01 -3.91405245e-02 8.50422834e-02 7.76611907e+00] [ 3.96361342e-02 9.99205576e-01 -4.14655767e-03 -2.27471267e+00] [-8.48124253e-02 7.49909447e-03 9.96368715e-01 1.44224043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.605779523 meters 0.046232254688628086 Centerline is valid? [True, True] Translation: X:7.83, Y:-2.27, Z:1.43 [[ 9.96137221e-01 -2.85645212e-02 8.30343588e-02 7.82637007e+00] [ 2.90004658e-02 9.99571199e-01 -4.04857384e-03 -2.27179307e+00] [-8.28831080e-02 6.44097017e-03 9.96538461e-01 1.43208603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.665779523 meters 0.03299492610455773 Centerline is valid? [True, True] Translation: X:7.89, Y:-2.26, Z:1.42 [[ 9.96495366e-01 -2.40241334e-02 8.01238256e-02 7.88717114e+00] [ 2.44154532e-02 9.99694261e-01 -3.90767247e-03 -2.25903097e+00] [-8.00054502e-02 5.85023702e-03 9.96777258e-01 1.42060028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.725779523 meters 0.04771648980401576 Centerline is valid? [True, True] Translation: X:7.95, Y:-2.29, Z:1.42 [[ 9.96285890e-01 -2.28304708e-02 8.30252642e-02 7.94690691e+00] [ 2.32467070e-02 9.99721555e-01 -4.05000100e-03 -2.28720543e+00] [-8.29096828e-02 5.96502284e-03 9.96539213e-01 1.42181340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.785779523 meters 0.03346467438823609 Centerline is valid? [True, True] Translation: X:8.01, Y:-2.28, Z:1.42 [[ 9.95862972e-01 -2.59882606e-02 8.70721031e-02 8.00877030e+00] [ 2.64598775e-02 9.99640772e-01 -4.26643416e-03 -2.27677870e+00] [-8.69299471e-02 6.55270099e-03 9.96192876e-01 1.42341853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.845779523000001 meters 0.03434600749940517 Centerline is valid? [True, True] Translation: X:8.07, Y:-2.28, Z:1.41 [[ 9.95761572e-01 -3.03857859e-02 8.68078108e-02 8.06926968e+00] [ 3.08711665e-02 9.99514319e-01 -4.25414637e-03 -2.27866692e+00] [-8.66363843e-02 6.91597385e-03 9.96215994e-01 1.41458278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.905779523 meters 0.03695986677720405 Centerline is valid? [True, True] Translation: X:8.13, Y:-2.29, Z:1.41 [[ 9.95926762e-01 -3.20122508e-02 8.42917527e-02 8.12826300e+00] [ 3.24757391e-02 9.99463979e-01 -4.13286178e-03 -2.29491514e+00] [-8.41142683e-02 6.85346462e-03 9.96432547e-01 1.40790272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.965779523 meters 0.04046123818591477 Centerline is valid? [True, True] Translation: X:8.19, Y:-2.32, Z:1.40 [[ 9.96099834e-01 -3.75758403e-02 7.98321784e-02 8.18770026e+00] [ 3.80091206e-02 9.99269726e-01 -3.91420003e-03 -2.31567736e+00] [-7.96267997e-02 6.93328489e-03 9.96800633e-01 1.40277929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.025779523 meters 0.04457122368521702 Centerline is valid? [True, True] Translation: X:8.25, Y:-2.32, Z:1.39 [[ 9.96065351e-01 -4.18504929e-02 7.81175524e-02 8.24722539e+00] [ 4.22783426e-02 9.99098528e-01 -3.83046229e-03 -2.31806443e+00] [-7.78868249e-02 7.11807141e-03 9.96936796e-01 1.39214039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.085779523 meters 0.05002063654914483 Centerline is valid? [True, True] Translation: X:8.31, Y:-2.33, Z:1.39 [[ 9.95777721e-01 -4.76995863e-02 7.84313756e-02 8.30559467e+00] [ 4.81489034e-02 9.98832762e-01 -3.84661991e-03 -2.33216954e+00] [-7.81563453e-02 7.60676312e-03 9.96912094e-01 1.38756458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.145779523 meters 0.04120952806935318 Centerline is valid? [True, True] Translation: X:8.37, Y:-2.34, Z:1.39 [[ 9.96135695e-01 -4.46370133e-02 7.56387127e-02 8.36582958e+00] [ 4.50463763e-02 9.98977993e-01 -3.71383054e-03 -2.33526336e+00] [-7.53956351e-02 7.10672908e-03 9.97128373e-01 1.38749531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.205779523 meters 0.03836012137940435 Centerline is valid? [True, True] Translation: X:8.43, Y:-2.33, Z:1.38 [[ 9.96042271e-01 -4.31966264e-02 7.76778317e-02 8.42776065e+00] [ 4.36240927e-02 9.99040736e-01 -3.81384093e-03 -2.33201771e+00] [-7.74385731e-02 7.18737171e-03 9.96971218e-01 1.38401517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.265779523 meters 0.04109144651125921 Centerline is valid? [True, True] Translation: X:8.49, Y:-2.33, Z:1.38 [[ 9.95397702e-01 -4.74996317e-02 8.32298047e-02 8.48897837e+00] [ 4.80059063e-02 9.98838674e-01 -4.09107922e-03 -2.32902405e+00] [-8.29388230e-02 8.06777306e-03 9.96521983e-01 1.37841161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.325779523 meters 0.06017691144284255 Centerline is valid? [True, True] Translation: X:8.55, Y:-2.36, Z:1.37 [[ 9.95427208e-01 -5.08096135e-02 8.08891677e-02 8.54660200e+00] [ 5.12987000e-02 9.98675431e-01 -3.97839470e-03 -2.35990645e+00] [-8.05798837e-02 8.10971147e-03 9.96715162e-01 1.37234603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.385779523 meters 0.04725640040102912 Centerline is valid? [True, True] Translation: X:8.61, Y:-2.35, Z:1.37 [[ 9.95311986e-01 -5.53199815e-02 7.93331553e-02 8.60784775e+00] [ 5.58044377e-02 9.98434098e-01 -3.90088987e-03 -2.34867619e+00] [-7.89931302e-02 8.30974457e-03 9.96840526e-01 1.36943583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.445779523 meters 0.048860832278558315 Centerline is valid? [True, True] Translation: X:8.67, Y:-2.35, Z:1.37 [[ 9.95160735e-01 -5.57590202e-02 8.09076200e-02 8.67014095e+00] [ 5.62644606e-02 9.98407972e-01 -3.97900432e-03 -2.34690290e+00] [-8.05569474e-02 8.51197246e-03 9.96713662e-01 1.36648342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.505779523000001 meters 0.047001598865092836 Centerline is valid? [True, True] Translation: X:8.73, Y:-2.34, Z:1.36 [[ 9.95139286e-01 -5.19403151e-02 8.36660371e-02 8.73106871e+00] [ 5.24680927e-02 9.98614101e-01 -4.12030012e-03 -2.34073755e+00] [-8.33360747e-02 8.49006991e-03 9.96485332e-01 1.36392051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.565779523 meters 0.04455428677757456 Centerline is valid? [True, True] Translation: X:8.79, Y:-2.34, Z:1.36 [[ 9.95588816e-01 -4.59448530e-02 8.18045281e-02 8.79134967e+00] [ 4.64292918e-02 9.98913456e-01 -4.02852628e-03 -2.33989029e+00] [-8.15305538e-02 7.80888201e-03 9.96640251e-01 1.35841343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.625779523 meters 0.0391315021031329 Centerline is valid? [True, True] Translation: X:8.85, Y:-2.34, Z:1.35 [[ 9.96459271e-01 -3.81796374e-02 7.49081902e-02 8.85142429e+00] [ 3.85638891e-02 9.99249326e-01 -3.68942180e-03 -2.33653977e+00] [-7.47110978e-02 6.56510970e-03 9.97183610e-01 1.34777552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.685779523 meters 0.03519341996761172 Centerline is valid? [True, True] Translation: X:8.91, Y:-2.33, Z:1.34 [[ 9.96660404e-01 -2.95262847e-02 7.61330201e-02 8.91220285e+00] [ 2.98981813e-02 9.99545917e-01 -3.74944027e-03 -2.32613221e+00] [-7.59877424e-02 6.01315749e-03 9.97090620e-01 1.34073680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.745779523 meters 0.03499466593928948 Centerline is valid? [True, True] Translation: X:8.97, Y:-2.33, Z:1.35 [[ 9.96099810e-01 -1.91730310e-02 8.61252775e-02 8.97247130e+00] [ 1.96110898e-02 9.99798681e-01 -4.24302471e-03 -2.32905343e+00] [-8.60265872e-02 5.91548666e-03 9.96275280e-01 1.34611132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.805779523 meters 0.03399308864288717 Centerline is valid? [True, True] Translation: X:9.03, Y:-2.33, Z:1.34 [[ 9.96247855e-01 -1.38913514e-02 8.54238914e-02 9.03348243e+00] [ 1.43030012e-02 9.99888849e-01 -4.20873839e-03 -2.33223036e+00] [-8.53559314e-02 5.41476462e-03 9.96335810e-01 1.34356946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.865779523 meters 0.027480880439730283 Centerline is valid? [True, True] Translation: X:9.09, Y:-2.32, Z:1.33 [[ 9.96928946e-01 -8.32278700e-03 7.78678821e-02 9.09314952e+00] [ 8.64779829e-03 9.99955243e-01 -3.83760202e-03 -2.32187976e+00] [-7.78324575e-02 4.49920227e-03 9.96956301e-01 1.32513759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.925779523000001 meters 0.03234364972269541 Centerline is valid? [True, True] Translation: X:9.15, Y:-2.35, Z:1.33 [[ 9.96505090e-01 -6.97947581e-03 8.32399677e-02 9.15377217e+00] [ 7.34641716e-03 9.99964598e-01 -4.10275717e-03 -2.35416942e+00] [-8.32083858e-02 4.69993393e-03 9.96521086e-01 1.33345740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.985779523 meters 0.02755975042458377 Centerline is valid? [True, True] Translation: X:9.22, Y:-2.35, Z:1.33 [[ 9.96484877e-01 -4.83189276e-03 8.36333843e-02 9.21516533e+00] [ 5.19634314e-03 9.99977927e-01 -4.14058639e-03 -2.35079814e+00] [-8.36115314e-02 4.56061948e-03 9.96487989e-01 1.32894353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.045779523 meters 0.028462077374030035 Centerline is valid? [True, True] Translation: X:9.27, Y:-2.36, Z:1.30 [[ 9.97254930e-01 -1.28325705e-03 7.40334890e-02 9.27301190e+00] [ 1.55906962e-03 9.99992058e-01 -3.66784021e-03 -2.36232127e+00] [-7.40281943e-02 3.77319509e-03 9.97249011e-01 1.30450865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.105779523 meters 0.025034091092336834 Centerline is valid? [True, True] Translation: X:9.33, Y:-2.38, Z:1.30 [[ 9.97424137e-01 1.20359740e-03 7.17191870e-02 9.33332716e+00] [-9.51232272e-04 9.99993236e-01 -3.55284606e-03 -2.38488022e+00] [-7.17229781e-02 3.47547281e-03 9.97418536e-01 1.30277404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.165779523 meters 0.02448399152997035 Centerline is valid? [True, True] Translation: X:9.39, Y:-2.40, Z:1.31 [[ 9.96915720e-01 9.26373750e-03 7.79309316e-02 9.39332684e+00] [-8.98992195e-03 9.99952126e-01 -3.86367101e-03 -2.40086722e+00] [-7.79629927e-02 3.15116138e-03 9.96951274e-01 1.30764547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.225779523 meters 0.019794168024269258 Centerline is valid? [True, True] Translation: X:9.45, Y:-2.39, Z:1.30 [[ 9.96656260e-01 1.54892196e-02 8.02270731e-02 9.45394551e+00] [-1.52190987e-02 9.99876272e-01 -3.97737564e-03 -2.39333694e+00] [-8.02787532e-02 2.74309259e-03 9.96768678e-01 1.29953519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.285779523 meters 0.018076582866974167 Centerline is valid? [True, True] Translation: X:9.51, Y:-2.41, Z:1.30 [[ 9.96427557e-01 2.16974370e-02 8.16170654e-02 9.51432863e+00] [-2.14384993e-02 9.99761975e-01 -4.04769460e-03 -2.40501932e+00] [-8.16854632e-02 2.28348704e-03 9.96655543e-01 1.29551222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.345779523000001 meters 0.01583904899532565 Centerline is valid? [True, True] Translation: X:9.57, Y:-2.43, Z:1.29 [[ 9.96582983e-01 3.04636487e-02 7.67745065e-02 9.57391772e+00] [-3.02604590e-02 9.99534791e-01 -3.80879437e-03 -2.43134870e+00] [-7.68548201e-02 1.47254784e-03 9.97041207e-01 1.29265867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.405779523 meters 0.016055501606113062 Centerline is valid? [True, True] Translation: X:9.64, Y:-2.44, Z:1.29 [[ 9.96150650e-01 3.24085395e-02 8.14467220e-02 9.63524800e+00] [-3.21861600e-02 9.99473718e-01 -4.04214259e-03 -2.43526565e+00] [-8.15348580e-02 1.40512574e-03 9.96669500e-01 1.28871233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.465779523 meters 0.016777992782536253 Centerline is valid? [True, True] Translation: X:9.70, Y:-2.45, Z:1.28 [[ 9.96336907e-01 2.79038083e-02 8.08340613e-02 9.69577891e+00] [-2.76683789e-02 9.99609028e-01 -4.03136512e-03 -2.44519808e+00] [-8.09149479e-02 1.78005041e-03 9.96719420e-01 1.27615171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.525779523 meters 0.019664252707876338 Centerline is valid? [True, True] Translation: X:9.75, Y:-2.49, Z:1.28 [[ 9.96531003e-01 2.02561631e-02 8.07195620e-02 9.75399272e+00] [-1.99948696e-02 9.99791903e-01 -4.04412989e-03 -2.48637688e+00] [-8.07846831e-02 2.41612370e-03 9.96728648e-01 1.28043203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.585779523 meters 0.021477105671356574 Centerline is valid? [True, True] Translation: X:9.81, Y:-2.50, Z:1.26 [[ 9.97043158e-01 1.71133871e-02 7.49137702e-02 9.81375670e+00] [-1.68792273e-02 9.99850474e-01 -3.75778898e-03 -2.49692864e+00] [-7.49668772e-02 2.48219124e-03 9.97182935e-01 1.26495299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.645779523 meters 0.020433287916107313 Centerline is valid? [True, True] Translation: X:9.88, Y:-2.49, Z:1.25 [[ 9.97037649e-01 1.73525099e-02 7.49320768e-02 9.87601168e+00] [-1.71188356e-02 9.99846393e-01 -3.75968348e-03 -2.49219421e+00] [-7.49858066e-02 2.46579607e-03 9.97181553e-01 1.24948519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.705779523 meters 0.021316983479585407 Centerline is valid? [True, True] Translation: X:9.94, Y:-2.52, Z:1.25 [[ 9.96731913e-01 1.83172846e-02 7.86763687e-02 9.93639925e+00] [-1.80607615e-02 9.99829006e-01 -3.97088903e-03 -2.51532362e+00] [-7.87356514e-02 2.53695669e-03 9.96892302e-01 1.25274730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.765779523 meters 0.023156407725288895 Centerline is valid? [True, True] Translation: X:10.00, Y:-2.54, Z:1.27 [[ 9.95882818e-01 9.94370904e-03 9.01029145e-02 9.99714497e+00] [-9.57090304e-03 9.99943761e-01 -4.56868593e-03 -2.54274654e+00] [-9.01432768e-02 3.68750956e-03 9.95921981e-01 1.26604377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.825779523 meters 0.02617422712025489 Centerline is valid? [True, True] Translation: X:10.06, Y:-2.55, Z:1.25 [[ 9.95663776e-01 3.39752274e-03 9.29629017e-02 1.00557953e+01] [-2.97194617e-03 9.99984463e-01 -4.71597589e-03 -2.54819796e+00] [-9.29774800e-02 4.41924563e-03 9.95658405e-01 1.25282457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.885779523 meters 0.028144420308731582 Centerline is valid? [True, True] Translation: X:10.11, Y:-2.56, Z:1.23 [[ 9.96338167e-01 4.65677787e-03 8.53731352e-02 1.01148117e+01] [-4.30268808e-03 9.99981364e-01 -4.33108997e-03 -2.56159362e+00] [-8.53917131e-02 3.94789627e-03 9.96339636e-01 1.23409793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.945779523 meters 0.021514237808687896 Centerline is valid? [True, True] Translation: X:10.18, Y:-2.57, Z:1.23 [[ 9.96851186e-01 1.64399539e-02 7.75721709e-02 1.01756285e+01] [-1.61831686e-02 9.99861290e-01 -3.93778829e-03 -2.57050464e+00] [-7.76261480e-02 2.67002540e-03 9.96978963e-01 1.23362215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.005779523 meters 0.015216727669664346 Centerline is valid? [True, True] Translation: X:10.24, Y:-2.56, Z:1.24 [[ 9.95833388e-01 4.03938073e-02 8.17569748e-02 1.02371551e+01] [-4.01888735e-02 9.99183477e-01 -4.15136200e-03 -2.56385367e+00] [-8.18579076e-02 8.48344168e-04 9.96643649e-01 1.23743907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.065779523 meters 0.0155331911446552 Centerline is valid? [True, True] Translation: X:10.30, Y:-2.56, Z:1.22 [[ 9.95512156e-01 4.01411582e-02 8.56985105e-02 1.02970571e+01] [-3.99148842e-02 9.99193602e-01 -4.35288821e-03 -2.56400947e+00] [-8.58041333e-02 9.12707001e-04 9.96311607e-01 1.22400014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.125779523 meters 0.01801225532857149 Centerline is valid? [True, True] Translation: X:10.36, Y:-2.57, Z:1.22 [[ 9.94862215e-01 4.08091835e-02 9.26487162e-02 1.03591813e+01] [-4.05454382e-02 9.99166509e-01 -4.72802063e-03 -2.56825362e+00] [-9.27644410e-02 9.47246276e-04 9.95687632e-01 1.22189482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.185779523 meters 0.014864981177096915 Centerline is valid? [True, True] Translation: X:10.42, Y:-2.56, Z:1.22 [[ 9.94704037e-01 5.68895508e-02 8.56005705e-02 1.04204287e+01] [-5.67223043e-02 9.98380357e-01 -4.38671090e-03 -2.56489534e+00] [-8.57114861e-02 -4.91982566e-04 9.96319878e-01 1.22086028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.245779523 meters 0.015903978435368678 Centerline is valid? [True, True] Translation: X:10.48, Y:-2.56, Z:1.21 [[ 9.94894794e-01 6.55224101e-02 7.67539121e-02 1.04813544e+01] [-6.54134676e-02 9.97850486e-01 -3.93530963e-03 -2.55873003e+00] [-7.68467794e-02 -1.10552048e-03 9.97042301e-01 1.20645333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.305779523 meters 0.016285809392446147 Centerline is valid? [True, True] Translation: X:10.54, Y:-2.56, Z:1.19 [[ 9.95113359e-01 6.68631562e-02 7.26548120e-02 1.05428313e+01] [-6.67685923e-02 9.97761507e-01 -3.73224223e-03 -2.55605152e+00] [-7.27417242e-02 -1.13705542e-03 9.97350164e-01 1.19249966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.365779523 meters 0.01532140281630073 Centerline is valid? [True, True] Translation: X:10.60, Y:-2.57, Z:1.19 [[ 9.95538398e-01 5.23851361e-02 7.84799115e-02 1.06030213e+01] [-5.22281651e-02 9.98626954e-01 -4.05282304e-03 -2.57117275e+00] [-7.85844627e-02 -6.41208115e-05 9.96907457e-01 1.19258919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.425779523 meters 0.014714853924010134 Centerline is valid? [True, True] Translation: X:10.67, Y:-2.58, Z:1.19 [[ 9.95646713e-01 4.83017992e-02 7.97154919e-02 1.06654218e+01] [-4.81265769e-02 9.98832752e-01 -4.11903527e-03 -2.57832344e+00] [-7.98214009e-02 2.64670170e-04 9.96809146e-01 1.18854339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.485779523 meters 0.016326389485016555 Centerline is valid? [True, True] Translation: X:10.73, Y:-2.59, Z:1.19 [[ 9.95793522e-01 4.54267451e-02 7.95718013e-02 1.07270520e+01] [-4.52412617e-02 9.98967539e-01 -4.13322781e-03 -2.58730967e+00] [-7.96774056e-02 5.15912795e-04 9.96820568e-01 1.18893771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.545779523 meters 0.01441298525101677 Centerline is valid? [True, True] Translation: X:10.79, Y:-2.59, Z:1.19 [[ 9.95509609e-01 5.22683090e-02 7.89217529e-02 1.07894039e+01] [-5.21058400e-02 9.98633078e-01 -4.11797618e-03 -2.58975579e+00] [-7.90291126e-02 -1.27993744e-05 9.96872308e-01 1.19011477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.605779523 meters 0.014589015281373087 Centerline is valid? [True, True] Translation: X:10.85, Y:-2.58, Z:1.18 [[ 9.95034632e-01 5.56521551e-02 8.25161765e-02 1.08522236e+01] [-5.54844069e-02 9.98450180e-01 -4.32639809e-03 -2.58457082e+00] [-8.26290647e-02 -2.73445188e-04 9.96580334e-01 1.18087615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.665779523 meters 0.016957763509390465 Centerline is valid? [True, True] Translation: X:10.91, Y:-2.59, Z:1.17 [[ 9.95349623e-01 5.20830053e-02 8.10338736e-02 1.09144435e+01] [-5.19076610e-02 9.98642758e-01 -4.27037782e-03 -2.59174070e+00] [-8.11463052e-02 4.42401169e-05 9.96702200e-01 1.17142724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.725779523 meters 0.01727580298678555 Centerline is valid? [True, True] Translation: X:10.98, Y:-2.60, Z:1.17 [[ 9.95493631e-01 5.09910253e-02 7.99521441e-02 1.09768578e+01] [-5.08150397e-02 9.98699100e-01 -4.23556709e-03 -2.60158558e+00] [-8.00641102e-02 1.53708686e-04 9.96789704e-01 1.17411138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.785779523 meters 0.014480937916583704 Centerline is valid? [True, True] Translation: X:11.04, Y:-2.60, Z:1.17 [[ 9.95733511e-01 5.15590003e-02 7.65274147e-02 1.10383874e+01] [-5.13978882e-02 9.98669943e-01 -4.07467413e-03 -2.60047905e+00] [-7.66357149e-02 1.23942073e-04 9.97059152e-01 1.16523644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.845779523000001 meters 0.01756371288700372 Centerline is valid? [True, True] Translation: X:11.10, Y:-2.60, Z:1.14 [[ 9.96475136e-01 4.73120032e-02 6.92739280e-02 1.10992191e+01] [-4.71685110e-02 9.98880069e-01 -3.70656977e-03 -2.59841904e+00] [-6.93717113e-02 4.25956585e-04 9.97590790e-01 1.14417748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.905779523 meters 0.016396835187320775 Centerline is valid? [True, True] Translation: X:11.16, Y:-2.61, Z:1.15 [[ 9.96624075e-01 4.19469851e-02 7.05755189e-02 1.11616646e+01] [-4.17843891e-02 9.99119503e-01 -3.77925379e-03 -2.61140536e+00] [-7.06719057e-02 8.17540366e-04 9.97499280e-01 1.14823672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.965779523 meters 0.023727041236889714 Centerline is valid? [True, True] Translation: X:11.22, Y:-2.63, Z:1.16 [[ 9.96745432e-01 1.80825080e-02 7.85593214e-02 1.12226483e+01] [-1.78052316e-02 9.99832532e-01 -4.22860741e-03 -2.63154628e+00] [-7.86226291e-02 2.81607821e-03 9.96900472e-01 1.15551895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.025779523 meters 0.030193265066624394 Centerline is valid? [True, True] Translation: X:11.28, Y:-2.64, Z:1.15 [[ 9.96505067e-01 -1.76932598e-03 8.35136026e-02 1.12811546e+01] [ 2.15238849e-03 9.99987572e-01 -4.49701652e-03 -2.63946477e+00] [-8.35046080e-02 4.66105347e-03 9.96496490e-01 1.14711182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.085779523 meters 0.0321627151191039 Centerline is valid? [True, True] Translation: X:11.34, Y:-2.65, Z:1.15 [[ 9.96228374e-01 -1.30457093e-02 8.57836586e-02 1.13417341e+01] [ 1.34919337e-02 9.99898288e-01 -4.62401326e-03 -2.64883053e+00] [-8.57146099e-02 5.76396065e-03 9.96303058e-01 1.14557116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.145779523 meters 0.028595779440085612 Centerline is valid? [True, True] Translation: X:11.40, Y:-2.64, Z:1.15 [[ 9.96592885e-01 -3.75136350e-03 8.23926562e-02 1.14029668e+01] [ 4.13140601e-03 9.99981597e-01 -4.44257273e-03 -2.64448077e+00] [-8.23744743e-02 4.76783389e-03 9.96590043e-01 1.14595429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.205779523 meters 0.027497658145486326 Centerline is valid? [True, True] Translation: X:11.46, Y:-2.63, Z:1.13 [[ 9.96813579e-01 2.42326282e-03 7.97296440e-02 1.14636995e+01] [-2.08709019e-03 9.99988579e-01 -4.29947111e-03 -2.63126797e+00] [-7.97391522e-02 4.11936822e-03 9.96807252e-01 1.13226657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.265779523 meters 0.023852181994706678 Centerline is valid? [True, True] Translation: X:11.52, Y:-2.63, Z:1.12 [[ 9.96986817e-01 7.34059708e-03 7.72230714e-02 1.15245601e+01] [-7.03995770e-03 9.99966547e-01 -4.16464256e-03 -2.62576411e+00] [-7.72510590e-02 3.60844658e-03 9.97005142e-01 1.12344755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.325779523 meters 0.025835588268503157 Centerline is valid? [True, True] Translation: X:11.59, Y:-2.64, Z:1.13 [[ 9.96934822e-01 8.30183722e-03 7.77948537e-02 1.15851532e+01] [-7.99958293e-03 9.99959199e-01 -4.19610927e-03 -2.64431828e+00] [-7.78265150e-02 3.56092107e-03 9.96960558e-01 1.12835844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.385779523 meters 0.02366005300248247 Centerline is valid? [True, True] Translation: X:11.65, Y:-2.63, Z:1.11 [[ 9.96994754e-01 1.39809894e-02 7.61970690e-02 1.16451641e+01] [-1.37061988e-02 9.99897544e-01 -4.12809391e-03 -2.63053541e+00] [-7.62469770e-02 3.07131580e-03 9.97084232e-01 1.11218504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.445779523 meters 0.02010463270916603 Centerline is valid? [True, True] Translation: X:11.71, Y:-2.62, Z:1.10 [[ 9.96707066e-01 2.55992706e-02 7.69395945e-02 1.17059731e+01] [-2.53536379e-02 9.99669857e-01 -4.16780326e-03 -2.62224245e+00] [-7.70208862e-02 2.20338034e-03 9.97027045e-01 1.10381341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.505779523 meters 0.01877256577810706 Centerline is valid? [True, True] Translation: X:11.77, Y:-2.63, Z:1.12 [[ 9.95965080e-01 4.02221179e-02 8.02230729e-02 1.17679202e+01] [-4.00022360e-02 9.99190135e-01 -4.34679450e-03 -2.63146608e+00] [-8.03329403e-02 1.12015323e-03 9.96767457e-01 1.11617524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.565779523 meters 0.016817189884417032 Centerline is valid? [True, True] Translation: X:11.83, Y:-2.63, Z:1.11 [[ 9.95668865e-01 4.53713196e-02 8.11477322e-02 1.18296722e+01] [-4.51633364e-02 9.98969937e-01 -4.39761277e-03 -2.62802831e+00] [-8.12636704e-02 7.13663782e-04 9.96692383e-01 1.11082516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.625779523 meters 0.014727979892761424 Centerline is valid? [True, True] Translation: X:11.89, Y:-2.62, Z:1.09 [[ 9.95977524e-01 4.77448216e-02 7.58235053e-02 1.18901072e+01] [-4.75688117e-02 9.98859439e-01 -4.12666745e-03 -2.62470687e+00] [-7.59340510e-02 5.03233981e-04 9.97112715e-01 1.08685322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.685779523 meters 0.015209107669409444 Centerline is valid? [True, True] Translation: X:11.95, Y:-2.65, Z:1.09 [[ 9.96316186e-01 4.44790218e-02 7.33189905e-02 1.19514862e+01] [-4.43047803e-02 9.99010045e-01 -4.00196207e-03 -2.65086264e+00] [-7.34244114e-02 7.38837820e-04 9.97300511e-01 1.08865288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.745779523 meters 0.016403940819907387 Centerline is valid? [True, True] Translation: X:12.01, Y:-2.67, Z:1.09 [[ 9.96453820e-01 3.91362799e-02 7.44858088e-02 1.20134697e+01] [-3.89401643e-02 9.99233199e-01 -4.08392900e-03 -2.66905327e+00] [-7.45885227e-02 1.16895703e-03 9.97213711e-01 1.09191813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.805779523 meters 0.01780624779946984 Centerline is valid? [True, True] Translation: X:12.07, Y:-2.66, Z:1.08 [[ 9.96502071e-01 3.41215521e-02 7.62846146e-02 1.20744499e+01] [-3.38996916e-02 9.99416408e-01 -4.20171361e-03 -2.66473254e+00] [-7.63834645e-02 1.60099140e-03 9.97077230e-01 1.07765182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.865779523 meters 0.018037024836972223 Centerline is valid? [True, True] Translation: X:12.14, Y:-2.67, Z:1.07 [[ 9.96463811e-01 3.32751764e-02 7.71533225e-02 1.21355267e+01] [-3.30450327e-02 9.99444793e-01 -4.25804760e-03 -2.66856281e+00] [-7.72521738e-02 1.69345627e-03 9.97010147e-01 1.06963856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.925779523 meters 0.016875920463337215 Centerline is valid? [True, True] Translation: X:12.20, Y:-2.68, Z:1.07 [[ 9.96244593e-01 3.74880081e-02 7.80471609e-02 1.21970130e+01] [-3.72638665e-02 9.99296094e-01 -4.32680035e-03 -2.67581004e+00] [-7.81544262e-02 1.40221246e-03 9.96940279e-01 1.07263077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.985779523 meters 0.016388458615111758 Centerline is valid? [True, True] Translation: X:12.26, Y:-2.68, Z:1.06 [[ 9.96608600e-01 3.91468911e-02 7.23796851e-02 1.22593281e+01] [-3.89585421e-02 9.99232771e-01 -4.01270512e-03 -2.67536570e+00] [-7.24812382e-02 1.17928942e-03 9.97369079e-01 1.06415838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.045779523 meters 0.0170540797655018 Centerline is valid? [True, True] Translation: X:12.32, Y:-2.68, Z:1.05 [[ 9.96810948e-01 3.96080791e-02 6.92757843e-02 1.23204324e+01] [-3.94353882e-02 9.99214670e-01 -3.85916873e-03 -2.67551510e+00] [-6.93742342e-02 1.11494419e-03 9.97590082e-01 1.05182513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.105779523 meters 0.018832289400010954 Centerline is valid? [True, True] Translation: X:12.38, Y:-2.68, Z:1.05 [[ 9.96448010e-01 3.82361037e-02 7.50290864e-02 1.23813806e+01] [-3.80281234e-02 9.99267846e-01 -4.19918596e-03 -2.68194214e+00] [-7.51347140e-02 1.33105514e-03 9.97172504e-01 1.05401678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.165779523 meters 0.018231327689106257 Centerline is valid? [True, True] Translation: X:12.44, Y:-2.68, Z:1.04 [[ 9.96861802e-01 3.75091695e-02 6.97108959e-02 1.24417842e+01] [-3.73269298e-02 9.99295436e-01 -3.91547718e-03 -2.68429881e+00] [-6.98086464e-02 1.30109592e-03 9.97559552e-01 1.04225431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.225779523 meters 0.017364091298711287 Centerline is valid? [True, True] Translation: X:12.50, Y:-2.68, Z:1.02 [[ 9.97137844e-01 4.22638870e-02 6.26887891e-02 1.25030598e+01] [-4.21252367e-02 9.99106094e-01 -3.53235902e-03 -2.68038509e+00] [-6.27820425e-02 8.81468779e-04 9.98026872e-01 1.02367616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.285779523 meters 0.016505983123813007 Centerline is valid? [True, True] Translation: X:12.56, Y:-2.68, Z:1.02 [[ 9.96801518e-01 4.63934060e-02 6.50721529e-02 1.25629141e+01] [-4.62516163e-02 9.98923026e-01 -3.68452711e-03 -2.68142150e+00] [-6.51730097e-02 6.63049967e-04 9.97873759e-01 1.01829578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.345779523 meters 0.014603684643672735 Centerline is valid? [True, True] Translation: X:12.63, Y:-2.69, Z:1.03 [[ 9.95622303e-01 5.09525162e-02 7.83586041e-02 1.26250168e+01] [-5.07601335e-02 9.98700976e-01 -4.44630990e-03 -2.68770841e+00] [-7.84833651e-02 4.49352093e-04 9.96915322e-01 1.03275396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.405779523 meters 0.016870551129851107 Centerline is valid? [True, True] Translation: X:12.69, Y:-2.71, Z:1.04 [[ 9.95632351e-01 4.17348293e-02 8.35130300e-02 1.26864964e+01] [-4.14837167e-02 9.99127934e-01 -4.74061813e-03 -2.70962584e+00] [-8.36380500e-02 1.25548189e-03 9.96495409e-01 1.04277277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.465779523 meters 0.017782767733172482 Centerline is valid? [True, True] Translation: X:12.75, Y:-2.71, Z:1.03 [[ 9.95601899e-01 4.08311959e-02 8.43188717e-02 1.27471063e+01] [-4.05704907e-02 9.99165131e-01 -4.80378296e-03 -2.71190082e+00] [-8.44446207e-02 1.36179744e-03 9.96427243e-01 1.03351353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.525779523 meters 0.01452504409182316 Centerline is valid? [True, True] Translation: X:12.81, Y:-2.70, Z:1.01 [[ 9.95324150e-01 5.15569049e-02 8.16806082e-02 1.28079431e+01] [-5.13470261e-02 9.98669955e-01 -4.66936811e-03 -2.69889638e+00] [-8.18127075e-02 4.53478518e-04 9.96647618e-01 1.01489430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.585779523 meters 0.014168048234684044 Centerline is valid? [True, True] Translation: X:12.87, Y:-2.70, Z:1.01 [[ 9.95205624e-01 5.67817583e-02 7.96341524e-02 1.28702093e+01] [-5.65987980e-02 9.98386614e-01 -4.55464560e-03 -2.70020699e+00] [-7.97642926e-02 2.56116149e-05 9.96813752e-01 1.00966616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.645779523 meters 0.014193394341520121 Centerline is valid? [True, True] Translation: X:12.93, Y:-2.71, Z:1.01 [[ 9.95524228e-01 5.53386134e-02 7.66103717e-02 1.29323992e+01] [-5.51637392e-02 9.98467633e-01 -4.39856209e-03 -2.70510907e+00] [-7.67363868e-02 1.52760571e-04 9.97051405e-01 1.00656463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.705779523 meters 0.01443092879426766 Centerline is valid? [True, True] Translation: X:12.99, Y:-2.71, Z:1.00 [[ 9.95793664e-01 5.20360850e-02 7.54136938e-02 1.29937159e+01] [-5.18558333e-02 9.98645117e-01 -4.34764552e-03 -2.71363640e+00] [-7.55377516e-02 4.18717920e-04 9.97142855e-01 1.00458031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.765779523 meters 0.01695444480189236 Centerline is valid? [True, True] Translation: X:13.05, Y:-2.72, Z:1.00 [[ 9.96286419e-01 4.42896791e-02 7.38362722e-02 1.30538794e+01] [-4.40943286e-02 9.99018227e-01 -4.27453813e-03 -2.72355576e+00] [-7.39530997e-02 1.00290344e-03 9.97261216e-01 9.95963432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.825779523 meters 0.01787694610926995 Centerline is valid? [True, True] Translation: X:13.11, Y:-2.73, Z:0.99 [[ 9.96642519e-01 3.75054938e-02 7.27806751e-02 1.31139632e+01] [-3.72963313e-02 9.99295292e-01 -4.23125708e-03 -2.72775428e+00] [-7.28880814e-02 1.50259854e-03 9.97338994e-01 9.86820344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.885779523 meters 0.019421537306296886 Centerline is valid? [True, True] Translation: X:13.17, Y:-2.73, Z:0.98 [[ 9.96689134e-01 3.02895473e-02 7.54540524e-02 1.31747588e+01] [-3.00439685e-02 9.99538947e-01 -4.38790551e-03 -2.73244983e+00] [-7.55521718e-02 2.10643856e-03 9.97139625e-01 9.81576284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.945779523 meters 0.021623785955164464 Centerline is valid? [True, True] Translation: X:13.24, Y:-2.73, Z:0.98 [[ 9.96581133e-01 2.37049940e-02 7.91461808e-02 1.32358163e+01] [-2.34137828e-02 9.99715251e-01 -4.60552696e-03 -2.73449881e+00] [-7.92328180e-02 2.73666979e-03 9.96852382e-01 9.77334337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.005779523 meters 0.023902308078277798 Centerline is valid? [True, True] Translation: X:13.30, Y:-2.74, Z:0.97 [[ 9.96733685e-01 1.89929702e-02 7.84934970e-02 1.32966529e+01] [-1.86918834e-02 9.99814852e-01 -4.56883582e-03 -2.73849800e+00] [-7.85657399e-02 3.08672127e-03 9.96904156e-01 9.71669206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.065779523 meters 0.027438183834770383 Centerline is valid? [True, True] Translation: X:13.36, Y:-2.76, Z:0.98 [[ 9.97273905e-01 1.18012486e-02 7.28387827e-02 1.33574417e+01] [-1.15227871e-02 9.99924612e-01 -4.24202644e-03 -2.75945245e+00] [-7.28833527e-02 3.39115649e-03 9.97334707e-01 9.79350202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.125779523 meters 0.027555706615205094 Centerline is valid? [True, True] Translation: X:13.42, Y:-2.76, Z:0.98 [[ 9.97259413e-01 7.77750178e-03 7.35742759e-02 1.34182703e+01] [-7.48231649e-03 9.99962818e-01 -4.28685219e-03 -2.76135315e+00] [-7.36048813e-02 3.72459768e-03 9.97280527e-01 9.76257253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.185779523 meters 0.02805046067832339 Centerline is valid? [True, True] Translation: X:13.48, Y:-2.75, Z:0.96 [[ 9.96782672e-01 5.51502441e-03 7.99617979e-02 1.34791432e+01] [-5.15884748e-03 9.99975834e-01 -4.66024238e-03 -2.75056856e+00] [-7.99855669e-02 4.23273813e-03 9.96787035e-01 9.58146904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.245779523 meters 0.024687989910409474 Centerline is valid? [True, True] Translation: X:13.54, Y:-2.75, Z:0.95 [[ 9.97213205e-01 1.23764339e-02 7.35707004e-02 1.35393145e+01] [-1.20924364e-02 9.99917619e-01 -4.30439097e-03 -2.75309647e+00] [-7.36179126e-02 3.40274651e-03 9.97280715e-01 9.46592949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.305779523 meters 0.021550548263512895 Centerline is valid? [True, True] Translation: X:13.60, Y:-2.76, Z:0.95 [[ 9.96965784e-01 2.45184487e-02 7.38787558e-02 1.35999586e+01] [-2.42652619e-02 9.99696209e-01 -4.32281663e-03 -2.75570486e+00] [-7.39623009e-02 2.51701291e-03 9.97257862e-01 9.51312269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.365779523 meters 0.017649567156057352 Centerline is valid? [True, True] Translation: X:13.66, Y:-2.75, Z:0.95 [[ 9.96339286e-01 3.55023592e-02 7.77663805e-02 1.36612323e+01] [-3.52550571e-02 9.99367984e-01 -4.55110226e-03 -2.74656095e+00] [-7.78788058e-02 1.79278379e-03 9.96961222e-01 9.54222926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.425779523 meters 0.015481058748664426 Centerline is valid? [True, True] Translation: X:13.72, Y:-2.74, Z:0.95 [[ 9.95537774e-01 4.50344707e-02 8.29242862e-02 1.37222982e+01] [-4.47861542e-02 9.98984808e-01 -4.85314892e-03 -2.73614661e+00] [-8.30586611e-02 1.11763320e-03 9.96544033e-01 9.47214637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.485779523 meters 0.015181431006926826 Centerline is valid? [True, True] Translation: X:13.78, Y:-2.74, Z:0.94 [[ 9.95643863e-01 4.90205418e-02 7.93113120e-02 1.37830307e+01] [-4.88059891e-02 9.98797488e-01 -4.64259690e-03 -2.74197261e+00] [-7.94435218e-02 7.51506084e-04 9.96839085e-01 9.36380543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.545779523 meters 0.016565313733252277 Centerline is valid? [True, True] Translation: X:13.84, Y:-2.75, Z:0.92 [[ 9.96111744e-01 5.64350779e-02 6.76496562e-02 1.38427151e+01] [-5.62951887e-02 9.98406260e-01 -3.97395249e-03 -2.74612796e+00] [-6.77661106e-02 1.50150581e-04 9.97701224e-01 9.19216117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.605779523 meters 0.017562391899713176 Centerline is valid? [True, True] Translation: X:13.90, Y:-2.76, Z:0.92 [[ 9.96013998e-01 5.93930689e-02 6.65475739e-02 1.39037160e+01] [-5.92633146e-02 9.98234673e-01 -3.92395753e-03 -2.75594150e+00] [-6.66631516e-02 -3.55131815e-05 9.97775537e-01 9.18970935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.665779523 meters 0.014471547769953614 Centerline is valid? [True, True] Translation: X:13.97, Y:-2.76, Z:0.93 [[ 9.95071423e-01 5.91164551e-02 7.96122348e-02 1.39662519e+01] [-5.89280743e-02 9.98251093e-01 -4.71564753e-03 -2.76236970e+00] [-7.97517728e-02 1.01041359e-06 9.96814754e-01 9.28129437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.725779523 meters 0.014665809355100451 Centerline is valid? [True, True] Translation: X:14.03, Y:-2.77, Z:0.92 [[ 9.94864274e-01 5.69609884e-02 8.36691213e-02 1.40284327e+01] [-5.67448520e-02 9.98376387e-01 -4.96096734e-03 -2.76671379e+00] [-8.38158567e-02 1.87697264e-04 9.96481243e-01 9.17089996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.785779523 meters 0.015168724795120983 Centerline is valid? [True, True] Translation: X:14.09, Y:-2.77, Z:0.91 [[ 9.94846439e-01 6.62174016e-02 7.67842352e-02 1.40885959e+01] [-6.60613843e-02 9.97805082e-01 -4.57290310e-03 -2.76855812e+00] [-7.69185058e-02 -5.23136504e-04 9.97037246e-01 9.08622821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.845779523 meters 0.014854769611767245 Centerline is valid? [True, True] Translation: X:14.15, Y:-2.78, Z:0.92 [[ 9.95060028e-01 6.46325196e-02 7.53536860e-02 1.41517925e+01] [-6.44771343e-02 9.97909058e-01 -4.49557002e-03 -2.78089688e+00] [-7.54866859e-02 -3.85227700e-04 9.97146735e-01 9.15540216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.905779523 meters 0.015190142824005931 Centerline is valid? [True, True] Translation: X:14.21, Y:-2.78, Z:0.90 [[ 9.95629111e-01 5.51322376e-02 7.53864013e-02 1.42141393e+01] [-5.49479230e-02 9.98478998e-01 -4.51844917e-03 -2.77888971e+00] [-7.55208506e-02 3.56373361e-04 9.97144159e-01 8.99799720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.965779523 meters 0.017061393737848304 Centerline is valid? [True, True] Translation: X:14.27, Y:-2.78, Z:0.89 [[ 9.95889806e-01 4.35312462e-02 7.94262261e-02 1.42735566e+01] [-4.32878516e-02 9.99051185e-01 -4.78447747e-03 -2.78182423e+00] [-7.95591396e-02 1.32662165e-03 9.96829265e-01 8.89593631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.025779523 meters 0.02016615891535856 Centerline is valid? [True, True] Translation: X:14.33, Y:-2.80, Z:0.89 [[ 9.96286761e-01 2.99740640e-02 8.07108758e-02 1.43342489e+01] [-2.96782199e-02 9.99547675e-01 -4.86289465e-03 -2.80050881e+00] [-8.08201290e-02 2.44948244e-03 9.96725693e-01 8.90529814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.085779523 meters 0.02552000108020489 Centerline is valid? [True, True] Translation: X:14.39, Y:-2.81, Z:0.89 [[ 9.97100572e-01 1.49560357e-02 7.46107638e-02 1.43945573e+01] [-1.46612687e-02 9.99882406e-01 -4.49690541e-03 -2.81078825e+00] [-7.46692459e-02 3.38997850e-03 9.97202593e-01 8.85464405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.145779523 meters 0.030194820566290848 Centerline is valid? [True, True] Translation: X:14.45, Y:-2.82, Z:0.88 [[ 9.97027957e-01 2.51827165e-03 7.69994204e-02 1.44547296e+01] [-2.16722035e-03 9.99986876e-01 -4.64236377e-03 -2.81885983e+00] [-7.70101005e-02 4.46169175e-03 9.97020330e-01 8.84502921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.205779523 meters 0.03215979099334777 Centerline is valid? [True, True] Translation: X:14.52, Y:-2.83, Z:0.88 [[ 9.96691584e-01 -2.43418505e-03 8.12401409e-02 1.45150588e+01] [ 2.84148006e-03 9.99983967e-01 -4.89823426e-03 -2.82687543e+00] [-8.12269151e-02 5.11287111e-03 9.96682521e-01 8.84014930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.265779523 meters 0.036474473587098044 Centerline is valid? [True, True] Translation: X:14.57, Y:-2.82, Z:0.88 [[ 9.96016018e-01 -9.40254340e-03 8.86774180e-02 1.45741914e+01] [ 9.91562746e-03 9.99936542e-01 -5.34721295e-03 -2.82464509e+00] [-8.86215133e-02 6.20520199e-03 9.96046045e-01 8.76808354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.325779523 meters 0.03042116553242215 Centerline is valid? [True, True] Translation: X:14.63, Y:-2.81, Z:0.86 [[ 9.96541177e-01 -5.19634903e-03 8.29378102e-02 1.46346293e+01] [ 5.63038931e-03 9.99971648e-01 -5.00028983e-03 -2.81328370e+00] [-8.29094755e-02 5.44996687e-03 9.96542180e-01 8.62338378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.385779523 meters 0.025692562297980687 Centerline is valid? [True, True] Translation: X:14.69, Y:-2.81, Z:0.86 [[ 9.97113461e-01 1.41121592e-02 7.46029002e-02 1.46948339e+01] [-1.38149929e-02 9.99894452e-01 -4.49787278e-03 -2.81034193e+00] [-7.46585007e-02 3.45425096e-03 9.97203177e-01 8.60990998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.445779523 meters 0.021884445999158727 Centerline is valid? [True, True] Translation: X:14.76, Y:-2.80, Z:0.86 [[ 9.96593356e-01 2.61370980e-02 7.82210616e-02 1.47559929e+01] [-2.58472180e-02 9.99654780e-01 -4.71623920e-03 -2.80138188e+00] [-7.83173269e-02 2.67837582e-03 9.96924883e-01 8.60715773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.505779523 meters 0.018996040057617687 Centerline is valid? [True, True] Translation: X:14.82, Y:-2.80, Z:0.86 [[ 9.95814605e-01 3.55087471e-02 8.42164016e-02 1.48159074e+01] [-3.52059036e-02 9.99367175e-01 -5.07885973e-03 -2.79688646e+00] [-8.43434512e-02 2.09268818e-03 9.96434545e-01 8.55773884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.565779523 meters 0.017165589391061848 Centerline is valid? [True, True] Translation: X:14.88, Y:-2.80, Z:0.85 [[ 9.95485998e-01 3.97577515e-02 8.61797439e-02 1.48769697e+01] [-3.94565254e-02 9.99207776e-01 -5.19653333e-03 -2.79888807e+00] [-8.63180727e-02 1.77272292e-03 9.96266053e-01 8.48052844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.625779523 meters 0.017164944588176207 Centerline is valid? [True, True] Translation: X:14.94, Y:-2.81, Z:0.84 [[ 9.95879609e-01 4.17100309e-02 8.05237649e-02 1.49372809e+01] [-4.14533064e-02 9.99128632e-01 -4.85798877e-03 -2.80830838e+00] [-8.06562259e-02 1.49999566e-03 9.96740851e-01 8.42664424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.685779523 meters 0.01776211563296641 Centerline is valid? [True, True] Translation: X:15.00, Y:-2.81, Z:0.82 [[ 9.96650703e-01 4.14073704e-02 7.05181305e-02 1.49980850e+01] [-4.12088908e-02 9.99141438e-01 -4.26769162e-03 -2.81140536e+00] [-7.06343002e-02 1.34742391e-03 9.97501368e-01 8.23866532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.745779523 meters 0.018189244063735156 Centerline is valid? [True, True] Translation: X:15.06, Y:-2.82, Z:0.83 [[ 9.96164767e-01 3.79642660e-02 7.88319149e-02 1.50604098e+01] [-3.77036655e-02 9.99277474e-01 -4.79212842e-03 -2.82139189e+00] [-7.89568864e-02 1.80149734e-03 9.96876404e-01 8.27079762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.805779522999998 meters 0.022239449109207794 Centerline is valid? [True, True] Translation: X:15.12, Y:-2.84, Z:0.83 [[ 9.95896534e-01 2.27738090e-02 8.75868022e-02 1.51204776e+01] [-2.23914007e-02 9.99734987e-01 -5.34618630e-03 -2.83978992e+00] [-8.76853435e-02 3.36305723e-03 9.96142545e-01 8.33027025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.865779523 meters 0.024089783432283577 Centerline is valid? [True, True] Translation: X:15.18, Y:-2.85, Z:0.82 [[ 9.96679428e-01 1.31671256e-02 8.03538757e-02 1.51807499e+01] [-1.28142628e-02 9.99905861e-01 -4.90547528e-03 -2.85003952e+00] [-8.04109022e-02 3.85951061e-03 9.96754328e-01 8.22359291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.925779523 meters 0.02936902267039519 Centerline is valid? [True, True] Translation: X:15.24, Y:-2.87, Z:0.81 [[ 9.97393705e-01 8.30550782e-03 7.16715853e-02 1.52383507e+01] [-8.01231491e-03 9.99958320e-01 -4.37731625e-03 -2.87260181e+00] [-7.17049539e-02 3.79165236e-03 9.97418680e-01 8.14281530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.985779523 meters 0.0279590587589698 Centerline is valid? [True, True] Translation: X:15.30, Y:-2.87, Z:0.81 [[ 9.97153405e-01 8.69115097e-03 7.48969357e-02 1.53003957e+01] [-8.37193840e-03 9.99954489e-01 -4.57493417e-03 -2.87145495e+00] [-7.49332885e-02 3.93487866e-03 9.97180786e-01 8.06689862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.045779523 meters 0.02991647865273577 Centerline is valid? [True, True] Translation: X:15.36, Y:-2.87, Z:0.79 [[ 9.96954155e-01 9.48733339e-03 7.74106192e-02 1.53613372e+01] [-9.14716151e-03 9.99946893e-01 -4.74778363e-03 -2.87144116e+00] [-7.74515520e-02 4.02523518e-03 9.96987991e-01 7.94981671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.105779523 meters 0.02632523207088496 Centerline is valid? [True, True] Translation: X:15.42, Y:-2.88, Z:0.79 [[ 9.97324410e-01 1.94181256e-02 7.04766414e-02 1.54218648e+01] [-1.91597821e-02 9.99807015e-01 -4.33987481e-03 -2.87742471e+00] [-7.05473128e-02 2.97794599e-03 9.97503989e-01 7.93373616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.165779523 meters 0.018917947682927313 Centerline is valid? [True, True] Translation: X:15.48, Y:-2.87, Z:0.79 [[ 9.96999804e-01 3.79336839e-02 6.74716661e-02 1.54835889e+01] [-3.77391499e-02 9.99278982e-01 -4.15593660e-03 -2.86998080e+00] [-6.75806679e-02 1.59714465e-03 9.97712535e-01 7.92543050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.225779523 meters 0.016161882290957913 Centerline is valid? [True, True] Translation: X:15.54, Y:-2.86, Z:0.78 [[ 9.96596922e-01 4.70924804e-02 6.76525890e-02 1.55443038e+01] [-4.69179215e-02 9.98890054e-01 -4.16767643e-03 -2.85941229e+00] [-6.77737645e-02 9.79374641e-04 9.97700234e-01 7.84244744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.285779523 meters 0.014905708738340356 Centerline is valid? [True, True] Translation: X:15.61, Y:-2.86, Z:0.78 [[ 9.95818435e-01 5.30491720e-02 7.43735836e-02 1.56056654e+01] [-5.28547377e-02 9.98591702e-01 -4.58147563e-03 -2.86132166e+00] [-7.45118869e-02 6.31321642e-04 9.97219926e-01 7.83335605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.345779523 meters 0.014639862834981315 Centerline is valid? [True, True] Translation: X:15.67, Y:-2.87, Z:0.79 [[ 9.95344134e-01 5.29455922e-02 8.05407915e-02 1.56679126e+01] [-5.27169329e-02 9.98597156e-01 -4.96429071e-03 -2.87386714e+00] [-8.06906427e-02 6.95314134e-04 9.96738951e-01 7.85936455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.405779523 meters 0.014998099026967224 Centerline is valid? [True, True] Translation: X:15.73, Y:-2.88, Z:0.77 [[ 9.95571709e-01 5.25277581e-02 7.79602870e-02 1.57301748e+01] [-5.23108236e-02 9.98619202e-01 -4.82363283e-03 -2.87728515e+00] [-7.81060142e-02 7.24105563e-04 9.96944796e-01 7.73964626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.465779523 meters 0.014420530317797099 Centerline is valid? [True, True] Translation: X:15.79, Y:-2.88, Z:0.77 [[ 9.95610221e-01 5.92543886e-02 7.24513935e-02 1.57926510e+01] [-5.90835025e-02 9.98242895e-01 -4.50140957e-03 -2.88475938e+00] [-7.25908171e-02 2.00967285e-04 9.97361786e-01 7.72680325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.525779523 meters 0.014630501132715317 Centerline is valid? [True, True] Translation: X:15.85, Y:-2.88, Z:0.77 [[ 9.95273529e-01 6.84857314e-02 6.88498887e-02 1.58539969e+01] [-6.83521720e-02 9.97652003e-01 -4.29658945e-03 -2.88345801e+00] [-6.89824845e-02 -4.29757685e-04 9.97617779e-01 7.66850654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.585779523 meters 0.015341738740221465 Centerline is valid? [True, True] Translation: X:15.92, Y:-2.88, Z:0.76 [[ 9.95031993e-01 7.34870767e-02 6.71638494e-02 1.59156080e+01] [-7.33703856e-02 9.97295893e-01 -4.20581602e-03 -2.88465310e+00] [-6.72913042e-02 -7.42916029e-04 9.97733095e-01 7.59312980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.645779523 meters 0.014404436176967713 Centerline is valid? [True, True] Translation: X:15.98, Y:-2.89, Z:0.75 [[ 9.95351805e-01 6.56174356e-02 7.04921057e-02 1.59762466e+01] [-6.54677340e-02 9.97844833e-01 -4.43442406e-03 -2.88743445e+00] [-7.06311590e-02 -2.01146431e-04 9.97502481e-01 7.50410788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.705779523 meters 0.015506531988323559 Centerline is valid? [True, True] Translation: X:16.04, Y:-2.90, Z:0.74 [[ 9.95940627e-01 5.72096822e-02 6.94933090e-02 1.60372821e+01] [-5.70437475e-02 9.98362109e-01 -4.37154792e-03 -2.89761960e+00] [-6.96295814e-02 3.89643402e-04 9.97572839e-01 7.44997943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.765779523 meters 0.01669832930865471 Centerline is valid? [True, True] Translation: X:16.10, Y:-2.92, Z:0.75 [[ 9.96439102e-01 4.66846562e-02 7.02115277e-02 1.60979516e+01] [-4.64879185e-02 9.98909010e-01 -4.43436983e-03 -2.91759016e+00] [-7.03419446e-02 1.15459171e-03 9.97522269e-01 7.52658846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.825779523 meters 0.01928028830057149 Centerline is valid? [True, True] Translation: X:16.16, Y:-2.92, Z:0.74 [[ 9.96901477e-01 3.89071897e-02 6.83642863e-02 1.61581344e+01] [-3.87012226e-02 9.99241423e-01 -4.33515316e-03 -2.92073157e+00] [-6.84810953e-02 1.67593913e-03 9.97651007e-01 7.44735114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.885779523 meters 0.019561927313338445 Centerline is valid? [True, True] Translation: X:16.22, Y:-2.92, Z:0.74 [[ 9.96994735e-01 3.43025009e-02 6.94610493e-02 1.62197605e+01] [-3.40787924e-02 9.99409448e-01 -4.40343048e-03 -2.92232580e+00] [-6.95710777e-02 2.02304832e-03 9.97574946e-01 7.41998088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.945779523 meters 0.02432460366722273 Centerline is valid? [True, True] Translation: X:16.28, Y:-2.93, Z:0.73 [[ 9.97638566e-01 2.32287802e-02 6.46352419e-02 1.62787731e+01] [-2.30108277e-02 9.99726749e-01 -4.11453204e-03 -2.92845214e+00] [-6.47131558e-02 2.61750543e-03 9.97900474e-01 7.28476567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.005779523 meters 0.02712540917917402 Centerline is valid? [True, True] Translation: X:16.34, Y:-2.93, Z:0.73 [[ 9.97336730e-01 1.49433108e-02 7.13872855e-02 1.63389772e+01] [-1.46561190e-02 9.99882263e-01 -4.54514466e-03 -2.93265603e+00] [-7.14468001e-02 3.48677916e-03 9.97438317e-01 7.26499236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.065779523 meters 0.02971418142749242 Centerline is valid? [True, True] Translation: X:16.40, Y:-2.95, Z:0.74 [[ 9.97132480e-01 1.05746638e-02 7.49332620e-02 1.63992815e+01] [-1.02458146e-02 9.99936125e-01 -4.77163088e-03 -2.94646831e+00] [-7.49789341e-02 3.99019582e-03 9.97177135e-01 7.35207967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.125779523 meters 0.02665951141087043 Centerline is valid? [True, True] Translation: X:16.46, Y:-2.95, Z:0.73 [[ 9.97165198e-01 1.11702646e-02 7.44096316e-02 1.64614358e+01] [-1.08477835e-02 9.99929943e-01 -4.73661656e-03 -2.94656960e+00] [-7.44573279e-02 3.91600962e-03 9.97216512e-01 7.32987873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.185779523 meters 0.023686645297807018 Centerline is valid? [True, True] Translation: X:16.52, Y:-2.93, Z:0.72 [[ 9.97417962e-01 1.86110931e-02 6.93616394e-02 1.65219935e+01] [-1.83476190e-02 9.99821837e-01 -4.43375623e-03 -2.93391071e+00] [-6.94317988e-02 3.14968717e-03 9.97581728e-01 7.16546960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.245779523 meters 0.022520437400798506 Centerline is valid? [True, True] Translation: X:16.58, Y:-2.93, Z:0.70 [[ 9.97316320e-01 2.66873965e-02 6.81758031e-02 1.65808618e+01] [-2.64516621e-02 9.99640593e-01 -4.35829967e-03 -2.93010270e+00] [-6.82676119e-02 2.54324008e-03 9.97663804e-01 7.03804968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.305779522999998 meters 0.017661640562823527 Centerline is valid? [True, True] Translation: X:16.64, Y:-2.93, Z:0.71 [[ 9.96359868e-01 4.11690053e-02 7.46466817e-02 1.66421225e+01] [-4.09269189e-02 9.99150754e-01 -4.77051686e-03 -2.92725612e+00] [-7.47796858e-02 1.69809286e-03 9.97198634e-01 7.07737531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.365779523 meters 0.015073722420123297 Centerline is valid? [True, True] Translation: X:16.70, Y:-2.92, Z:0.71 [[ 9.95641762e-01 5.00799166e-02 7.86732715e-02 1.67032959e+01] [-4.98386283e-02 9.98744623e-01 -5.02874366e-03 -2.92063684e+00] [-7.88263460e-02 1.08585926e-03 9.96887771e-01 7.08318586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.425779523 meters 0.013823825451542978 Centerline is valid? [True, True] Translation: X:16.76, Y:-2.92, Z:0.70 [[ 9.95659008e-01 5.83816789e-02 7.24894486e-02 1.67634838e+01] [-5.81989962e-02 9.98294258e-01 -4.63157076e-03 -2.92461167e+00] [-7.26361992e-02 3.92652007e-04 9.97358425e-01 6.98662053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.485779523 meters 0.01651359259034573 Centerline is valid? [True, True] Translation: X:16.83, Y:-2.93, Z:0.69 [[ 9.95529926e-01 6.20524859e-02 7.12015092e-02 1.68261610e+01] [-6.18844616e-02 9.98072878e-01 -4.56548893e-03 -2.93017722e+00] [-7.13475952e-02 1.38813793e-04 9.97451503e-01 6.89323882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.545779523 meters 0.014401505135016137 Centerline is valid? [True, True] Translation: X:16.89, Y:-2.92, Z:0.68 [[ 9.94044086e-01 7.49291680e-02 7.91326381e-02 1.68892568e+01] [-7.47614681e-02 9.97188486e-01 -5.08397580e-03 -2.91811758e+00] [-7.92910936e-02 -8.62376115e-04 9.96851132e-01 6.83932844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.605779523 meters 0.016503321501380005 Centerline is valid? [True, True] Translation: X:16.95, Y:-2.92, Z:0.68 [[ 9.93694774e-01 8.07568813e-02 7.77754553e-02 1.69502615e+01] [-8.06110718e-02 9.96733003e-01 -5.01762447e-03 -2.92333419e+00] [-7.79265708e-02 -1.28357559e-03 9.96958275e-01 6.82212614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.665779523 meters 0.015743695353462584 Centerline is valid? [True, True] Translation: X:17.01, Y:-2.94, Z:0.68 [[ 9.93688852e-01 8.19329428e-02 7.66123920e-02 1.70114282e+01] [-8.17937060e-02 9.96636945e-01 -4.95878034e-03 -2.93792120e+00] [-7.67610278e-02 -1.33892672e-03 9.97048621e-01 6.78105750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.725779523 meters 0.015328215690377716 Centerline is valid? [True, True] Translation: X:17.07, Y:-2.95, Z:0.66 [[ 9.94296784e-01 7.61745132e-02 7.46414749e-02 1.70713276e+01] [-7.60248164e-02 9.97094136e-01 -4.84891205e-03 -2.94886685e+00] [-7.47939404e-02 -8.53346771e-04 9.97198645e-01 6.61501085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.785779523 meters 0.014910353220920219 Centerline is valid? [True, True] Translation: X:17.13, Y:-2.96, Z:0.65 [[ 9.94520109e-01 7.43261618e-02 7.35212550e-02 1.71329735e+01] [-7.41745925e-02 9.97233749e-01 -4.79362295e-03 -2.95624753e+00] [-7.36741683e-02 -6.86054707e-04 9.97282130e-01 6.52818642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.845779523 meters 0.01333201255751737 Centerline is valid? [True, True] Translation: X:17.20, Y:-2.98, Z:0.67 [[ 9.95123692e-01 6.35622223e-02 7.54233507e-02 1.71950765e+01] [-6.33705315e-02 9.97977869e-01 -4.93446507e-03 -2.97829027e+00] [-7.55844803e-02 1.30785278e-04 9.97139393e-01 6.67529528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.905779523 meters 0.015030140149782194 Centerline is valid? [True, True] Translation: X:17.26, Y:-2.97, Z:0.65 [[ 9.95372982e-01 5.66769855e-02 7.75908891e-02 1.72553440e+01] [-5.64516985e-02 9.98392328e-01 -5.09559801e-03 -2.97247334e+00] [-7.77549516e-02 6.91883110e-04 9.96972261e-01 6.49276305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.965779523 meters 0.016797514153484117 Centerline is valid? [True, True] Translation: X:17.32, Y:-2.98, Z:0.64 [[ 9.95724548e-01 5.28735938e-02 7.57430330e-02 1.73160537e+01] [-5.26472287e-02 9.98600738e-01 -4.98358349e-03 -2.97516069e+00] [-7.59005486e-02 9.74615639e-04 9.97114917e-01 6.37017785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.025779523 meters 0.019111292586635374 Centerline is valid? [True, True] Translation: X:17.38, Y:-3.00, Z:0.64 [[ 9.95796902e-01 4.69556362e-02 7.86364920e-02 1.73774202e+01] [-4.66923989e-02 9.98895864e-01 -5.18391128e-03 -2.99515741e+00] [-7.87930804e-02 1.49039634e-03 9.96889878e-01 6.43979153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.085779523 meters 0.020171762264255905 Centerline is valid? [True, True] Translation: X:17.44, Y:-3.00, Z:0.65 [[ 9.95872113e-01 3.58445531e-02 8.33900645e-02 1.74386130e+01] [-3.55079857e-02 9.99354169e-01 -5.51613551e-03 -2.99703873e+00] [-8.35339320e-02 2.53235231e-03 9.96501716e-01 6.46948316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.145779522999998 meters 0.023237360782005903 Centerline is valid? [True, True] Translation: X:17.50, Y:-2.99, Z:0.63 [[ 9.96222253e-01 3.19833032e-02 8.07359380e-02 1.74996846e+01] [-3.16551456e-02 9.99484577e-01 -5.34158443e-03 -2.99181270e+00] [-8.08651663e-02 2.76569740e-03 9.96721213e-01 6.33370312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.205779523 meters 0.02199568878238658 Centerline is valid? [True, True] Translation: X:17.56, Y:-3.01, Z:0.63 [[ 9.96662733e-01 2.98096770e-02 7.59919767e-02 1.75609648e+01] [-2.95125713e-02 9.99551753e-01 -5.02993787e-03 -3.00902313e+00] [-7.61078544e-02 2.77043299e-03 9.97095742e-01 6.34120561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.265779523 meters 0.02322494877788132 Centerline is valid? [True, True] Translation: X:17.62, Y:-3.01, Z:0.62 [[ 9.96670290e-01 1.99177352e-02 7.90671719e-02 1.76211500e+01] [-1.95645402e-02 9.99794868e-01 -5.23926030e-03 -3.00504332e+00] [-7.91553069e-02 3.67490222e-03 9.96855522e-01 6.21199451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.325779523 meters 0.026956089284837875 Centerline is valid? [True, True] Translation: X:17.68, Y:-3.01, Z:0.61 [[ 9.96787880e-01 2.12654856e-02 7.72120550e-02 1.76812719e+01] [-2.09327427e-02 9.99767795e-01 -5.11634399e-03 -3.00763027e+00] [-7.73029275e-02 3.48364960e-03 9.97001565e-01 6.07935338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.385779523 meters 0.019944776067021813 Centerline is valid? [True, True] Translation: X:17.74, Y:-3.01, Z:0.61 [[ 9.96545757e-01 3.72311230e-02 7.42320573e-02 1.77419076e+01] [-3.69664547e-02 9.99304313e-01 -4.93665687e-03 -3.00807251e+00] [-7.43642123e-02 2.17550847e-03 9.97228776e-01 6.07423444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.445779523 meters 0.015561561019163301 Centerline is valid? [True, True] Translation: X:17.80, Y:-3.00, Z:0.61 [[ 9.95562869e-01 5.16629223e-02 7.86480515e-02 1.78032948e+01] [-5.14106405e-02 9.98663901e-01 -5.23052688e-03 -3.00005218e+00] [-7.88131943e-02 1.16397165e-03 9.96888723e-01 6.07462947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.505779523 meters 0.013834086715680136 Centerline is valid? [True, True] Translation: X:17.87, Y:-2.99, Z:0.61 [[ 9.94222173e-01 6.46941851e-02 8.56559007e-02 1.78663871e+01] [-6.44429399e-02 9.97905126e-01 -5.69790542e-03 -2.98991186e+00] [-8.58450837e-02 1.45065852e-04 9.96308487e-01 6.08935636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.565779523 meters 0.013748180674797657 Centerline is valid? [True, True] Translation: X:17.93, Y:-3.00, Z:0.60 [[ 9.94595165e-01 6.50099943e-02 8.09577511e-02 1.79267356e+01] [-6.47863298e-02 9.97884606e-01 -5.38925758e-03 -3.00239312e+00] [-8.11368492e-02 1.15173974e-04 9.96702964e-01 5.99661542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.625779523 meters 0.014076908250041447 Centerline is valid? [True, True] Translation: X:17.99, Y:-3.02, Z:0.59 [[ 9.95126514e-01 6.33131649e-02 7.55953987e-02 1.79876791e+01] [-6.31120335e-02 9.97993677e-01 -5.04898989e-03 -3.01588269e+00] [-7.57633974e-02 2.53404377e-04 9.97125791e-01 5.88889163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.685779523 meters 0.014261758915345115 Centerline is valid? [True, True] Translation: X:18.05, Y:-3.01, Z:0.57 [[ 9.94852909e-01 6.27441169e-02 7.95667368e-02 1.80481857e+01] [-6.25178222e-02 9.98029591e-01 -5.33449112e-03 -3.00768638e+00] [-7.97446658e-02 3.32694902e-04 9.96815268e-01 5.71119360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.745779523 meters 0.014086323317984048 Centerline is valid? [True, True] Translation: X:18.11, Y:-3.02, Z:0.57 [[ 9.94648750e-01 6.56269745e-02 7.97932606e-02 1.81108196e+01] [-6.54072369e-02 9.97844219e-01 -5.36725428e-03 -3.01694393e+00] [-7.99734804e-02 1.19476066e-04 9.96796984e-01 5.72375602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.805779522999998 meters 0.013865200691252818 Centerline is valid? [True, True] Translation: X:18.17, Y:-3.05, Z:0.59 [[ 9.94507600e-01 7.03705316e-02 7.74765907e-02 1.81727635e+01] [-7.01761434e-02 9.97520894e-01 -5.23213029e-03 -3.04565919e+00] [-7.76527058e-02 -2.33615008e-04 9.96980442e-01 5.91262658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.865779523 meters 0.014189923300803674 Centerline is valid? [True, True] Translation: X:18.23, Y:-3.03, Z:0.57 [[ 9.94276508e-01 6.81686288e-02 8.22633860e-02 1.82338938e+01] [-6.79400808e-02 9.97673813e-01 -5.57756670e-03 -3.03395220e+00] [-8.24522410e-02 -4.33375591e-05 9.96595016e-01 5.69446289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.925779523 meters 0.014811261888187415 Centerline is valid? [True, True] Translation: X:18.29, Y:-3.04, Z:0.56 [[ 9.95062018e-01 6.03373670e-02 7.88097822e-02 1.82948234e+01] [-6.01016451e-02 9.98177862e-01 -5.36176686e-03 -3.04068492e+00] [-7.89896947e-02 5.98692991e-04 9.96875253e-01 5.55419183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.985779523 meters 0.016837400852469063 Centerline is valid? [True, True] Translation: X:18.36, Y:-3.06, Z:0.56 [[ 9.95800578e-01 4.92284490e-02 7.71865846e-02 1.83551319e+01] [-4.89675441e-02 9.98786465e-01 -5.27034480e-03 -3.05562225e+00] [-7.73523669e-02 1.46857492e-03 9.97002736e-01 5.57572911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.045779523 meters 0.019392073239158033 Centerline is valid? [True, True] Translation: X:18.42, Y:-3.07, Z:0.56 [[ 9.96180964e-01 3.89466881e-02 7.81450032e-02 1.84156821e+01] [-3.86475586e-02 9.99238651e-01 -5.33717788e-03 -3.07018988e+00] [-7.82933730e-02 2.29668141e-03 9.96927717e-01 5.61581911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.105779523 meters 0.02038674923068638 Centerline is valid? [True, True] Translation: X:18.48, Y:-3.08, Z:0.56 [[ 9.96319245e-01 3.47118300e-02 7.83776173e-02 1.84766856e+01] [-3.43977622e-02 9.99393880e-01 -5.35405332e-03 -3.07639038e+00] [-7.85159601e-02 2.63833172e-03 9.96909366e-01 5.58192534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.165779523 meters 0.0260235336517312 Centerline is valid? [True, True] Translation: X:18.54, Y:-3.08, Z:0.55 [[ 9.96609866e-01 2.06653710e-02 7.96348960e-02 1.85359991e+01] [-2.02961791e-02 9.99779196e-01 -5.44278536e-03 -3.08310874e+00] [-7.97297895e-02 3.80804948e-03 9.96809239e-01 5.52214821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.225779523 meters 0.03288775035849469 Centerline is valid? [True, True] Translation: X:18.59, Y:-3.08, Z:0.54 [[ 9.97228381e-01 9.67978925e-03 7.37689550e-02 1.85941970e+01] [-9.33304774e-03 9.99943726e-01 -5.04364539e-03 -3.08487141e+00] [-7.38136252e-02 4.34117714e-03 9.97262605e-01 5.35093357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.285779523 meters 0.03482063706690304 Centerline is valid? [True, True] Translation: X:18.65, Y:-3.09, Z:0.53 [[ 9.97435330e-01 8.17195897e-03 7.11054315e-02 1.86548687e+01] [-7.84568750e-03 9.99957380e-01 -4.86664336e-03 -3.08738626e+00] [-7.11421709e-02 4.29629103e-03 9.97456933e-01 5.27111991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.345779523 meters 0.03046108304430111 Centerline is valid? [True, True] Translation: X:18.72, Y:-3.09, Z:0.54 [[ 9.96978433e-01 8.03879220e-03 7.72617769e-02 1.87177129e+01] [-7.65285899e-03 9.99956724e-01 -5.28992436e-03 -3.09389014e+00] [-7.73009579e-02 4.68266702e-03 9.96996808e-01 5.40782078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.405779523 meters 0.02900362133111794 Centerline is valid? [True, True] Translation: X:18.78, Y:-3.09, Z:0.54 [[ 9.96471372e-01 1.09625863e-02 8.32143461e-02 1.87790454e+01] [-1.05230355e-02 9.99928277e-01 -5.71892229e-03 -3.08908520e+00] [-8.32710719e-02 4.82307482e-03 9.96515262e-01 5.40573810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.465779523 meters 0.027300127437781468 Centerline is valid? [True, True] Translation: X:18.84, Y:-3.07, Z:0.52 [[ 9.96502924e-01 2.26639272e-02 8.04255535e-02 1.88385245e+01] [-2.22912603e-02 9.99736232e-01 -5.52863028e-03 -3.07086542e+00] [-8.05296403e-02 3.71650929e-03 9.96745286e-01 5.18002488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.525779523 meters 0.023210089869268615 Centerline is valid? [True, True] Translation: X:18.90, Y:-3.07, Z:0.51 [[ 9.96742785e-01 3.42229502e-02 7.30247297e-02 1.88989423e+01] [-3.39468931e-02 9.99411038e-01 -5.01848342e-03 -3.07446290e+00] [-7.31534682e-02 2.52317445e-03 9.97317504e-01 5.12043126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.585779523 meters 0.017198107722787053 Centerline is valid? [True, True] Translation: X:18.96, Y:-3.07, Z:0.51 [[ 9.96338593e-01 4.85825546e-02 7.03501435e-02 1.89606601e+01] [-4.83620215e-02 9.98818167e-01 -4.83566399e-03 -3.07072755e+00] [-7.05019303e-02 1.41568350e-03 9.97510638e-01 5.14756314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.645779522999998 meters 0.014846125454809971 Centerline is valid? [True, True] Translation: X:19.02, Y:-3.05, Z:0.50 [[ 9.95074030e-01 5.84264583e-02 8.00875946e-02 1.90227238e+01] [-5.81721764e-02 9.98291378e-01 -5.50656495e-03 -3.04536087e+00] [-8.02724842e-02 8.20570097e-04 9.96772619e-01 4.99960478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.705779523 meters 0.014306068332235328 Centerline is valid? [True, True] Translation: X:19.08, Y:-3.06, Z:0.50 [[ 9.94663490e-01 6.11270260e-02 8.31145548e-02 1.90843872e+01] [-6.08623675e-02 9.98129798e-01 -5.71658250e-03 -3.05788068e+00] [-8.33085515e-02 6.27527317e-04 9.96523603e-01 5.02502411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.765779523 meters 0.015490447061040203 Centerline is valid? [True, True] Translation: X:19.14, Y:-3.09, Z:0.51 [[ 9.95545870e-01 5.58919074e-02 7.59243998e-02 1.91435612e+01] [-5.56546226e-02 9.98436334e-01 -5.23917768e-03 -3.08791485e+00] [-7.60985071e-02 9.90297886e-04 9.97099813e-01 5.06107844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.825779523 meters 0.015557456188133877 Centerline is valid? [True, True] Translation: X:19.20, Y:-3.09, Z:0.50 [[ 9.95641194e-01 5.40870105e-02 7.59816352e-02 1.92049763e+01] [-5.38434852e-02 9.98535579e-01 -5.25143382e-03 -3.08833784e+00] [-7.61544004e-02 1.13742779e-03 9.97095388e-01 4.95814761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.885779523 meters 0.014300809286016467 Centerline is valid? [True, True] Translation: X:19.26, Y:-3.08, Z:0.48 [[ 9.94907683e-01 6.48708787e-02 7.71392991e-02 1.92649933e+01] [-6.46506674e-02 9.97893609e-01 -5.35122326e-03 -3.07612080e+00] [-7.73239522e-02 3.36865967e-04 9.97005964e-01 4.77359209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.945779523 meters 0.014214626150024348 Centerline is valid? [True, True] Translation: X:19.33, Y:-3.08, Z:0.47 [[ 9.94319975e-01 7.45422092e-02 7.59687146e-02 1.93271701e+01] [-7.43562895e-02 9.97217778e-01 -5.27680781e-03 -3.08213929e+00] [-7.61506977e-02 -4.01916319e-04 9.97096239e-01 4.74639109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.005779523 meters 0.01756127396942559 Centerline is valid? [True, True] Translation: X:19.39, Y:-3.11, Z:0.47 [[ 9.95210067e-01 7.24497423e-02 6.56350295e-02 1.93864528e+01] [-7.23052647e-02 9.97372046e-01 -4.57713492e-03 -3.10676758e+00] [-6.57941559e-02 -1.90547428e-04 9.97833199e-01 4.67628679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.065779523 meters 0.014709842199508332 Centerline is valid? [True, True] Translation: X:19.45, Y:-3.12, Z:0.47 [[ 9.95501851e-01 6.20801175e-02 7.15690117e-02 1.94477713e+01] [-6.18809473e-02 9.98071019e-01 -4.99893092e-03 -3.12336021e+00] [-7.17412906e-02 5.47686751e-04 9.97423123e-01 4.69832897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.125779523 meters 0.01616569195787395 Centerline is valid? [True, True] Translation: X:19.51, Y:-3.13, Z:0.47 [[ 9.94958588e-01 5.31079604e-02 8.50702865e-02 1.95095867e+01] [-5.27915994e-02 9.98587732e-01 -5.96568523e-03 -3.13047376e+00] [-8.52669698e-02 1.44461327e-03 9.96357093e-01 4.71446380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.185779523 meters 0.015720467874843925 Centerline is valid? [True, True] Translation: X:19.57, Y:-3.13, Z:0.46 [[ 9.95215208e-01 5.46709718e-02 8.09800836e-02 1.95709988e+01] [-5.43891017e-02 9.98503638e-01 -5.68415206e-03 -3.13366491e+00] [-8.11696663e-02 1.25252057e-03 9.96699512e-01 4.61307937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.245779523 meters 0.014591464084217395 Centerline is valid? [True, True] Translation: X:19.63, Y:-3.14, Z:0.45 [[ 9.95336237e-01 6.44112054e-02 7.18120664e-02 1.96320097e+01] [-6.42138382e-02 9.97923353e-01 -5.05605936e-03 -3.13639703e+00] [-7.19886050e-02 4.21150686e-04 9.97405366e-01 4.52857999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.305779522999998 meters 0.014535956261340681 Centerline is valid? [True, True] Translation: X:19.69, Y:-3.14, Z:0.45 [[ 9.95352224e-01 6.48585276e-02 7.11851192e-02 1.96942828e+01] [-6.46645410e-02 9.97894388e-01 -5.02866260e-03 -3.14140703e+00] [-7.13613826e-02 4.02137446e-04 9.97450446e-01 4.51077941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.365779523 meters 0.01744397636971538 Centerline is valid? [True, True] Translation: X:19.76, Y:-3.14, Z:0.45 [[ 9.95308361e-01 4.85625449e-02 8.36836100e-02 1.97551227e+01] [-4.82345627e-02 9.98818386e-01 -5.93783180e-03 -3.14153486e+00] [-8.38730845e-02 1.87353130e-03 9.96474684e-01 4.47225217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.425779523 meters 0.021516241636188833 Centerline is valid? [True, True] Translation: X:19.81, Y:-3.16, Z:0.44 [[ 9.96096179e-01 3.79012023e-02 7.97239045e-02 1.98137070e+01] [-3.75694123e-02 9.99278002e-01 -5.65814787e-03 -3.15733590e+00] [-7.98807946e-02 2.64087923e-03 9.96800925e-01 4.37364702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.485779523 meters 0.021989426058250956 Centerline is valid? [True, True] Translation: X:19.88, Y:-3.17, Z:0.44 [[ 9.96239129e-01 3.49433424e-02 7.92878338e-02 1.98758971e+01] [-3.46055979e-02 9.99385188e-01 -5.63022119e-03 -3.16699154e+00] [-7.94358254e-02 2.86524375e-03 9.96835864e-01 4.38125885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.545779523 meters 0.021360063931926968 Centerline is valid? [True, True] Translation: X:19.94, Y:-3.16, Z:0.43 [[ 9.96271524e-01 3.63831833e-02 7.82260431e-02 1.99380414e+01] [-3.60584968e-02 9.99334216e-01 -5.55961080e-03 -3.16478920e+00] [-7.83762378e-02 2.71816840e-03 9.96920146e-01 4.29000537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.605779523 meters 0.018862421029690383 Centerline is valid? [True, True] Translation: X:20.00, Y:-3.16, Z:0.42 [[ 9.95542952e-01 4.22595480e-02 8.43111005e-02 1.99991188e+01] [-4.19014391e-02 9.99103653e-01 -6.01328112e-03 -3.15857634e+00] [-8.44896471e-02 2.45372319e-03 9.96421336e-01 4.24551829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.665779523 meters 0.01647551894494607 Centerline is valid? [True, True] Translation: X:20.06, Y:-3.16, Z:0.41 [[ 9.95501967e-01 5.12314890e-02 7.96942208e-02 2.00595251e+01] [-5.09401909e-02 9.98685523e-01 -5.68530775e-03 -3.16070753e+00] [-7.98807314e-02 1.60009623e-03 9.96803144e-01 4.14303400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.725779523 meters 0.015331041842779952 Centerline is valid? [True, True] Translation: X:20.12, Y:-3.16, Z:0.41 [[ 9.95397045e-01 5.69598789e-02 7.70733075e-02 2.01207014e+01] [-5.67045122e-02 9.98375858e-01 -5.49949306e-03 -3.16229159e+00] [-7.72613800e-02 1.10377484e-03 9.97010261e-01 4.05797366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.785779523 meters 0.014018668212165176 Centerline is valid? [True, True] Translation: X:20.18, Y:-3.17, Z:0.41 [[ 9.94845473e-01 6.44109330e-02 7.83180514e-02 2.01830193e+01] [-6.41699868e-02 9.97923315e-01 -5.59195402e-03 -3.16688383e+00] [-7.85155924e-02 5.37461825e-04 9.96912741e-01 4.07279171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.845779523 meters 0.013811893833628141 Centerline is valid? [True, True] Translation: X:20.24, Y:-3.16, Z:0.41 [[ 9.93504787e-01 7.43706371e-02 8.61234420e-02 2.02448381e+01] [-7.41145067e-02 9.97230638e-01 -6.17207936e-03 -3.16061585e+00] [-8.63439565e-02 -2.51006037e-04 9.96265355e-01 4.06570694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.905779523 meters 0.015435594788070993 Centerline is valid? [True, True] Translation: X:20.31, Y:-3.16, Z:0.40 [[ 9.93200084e-01 7.51390909e-02 8.89253101e-02 2.03067405e+01] [-7.48672298e-02 9.97173015e-01 -6.39339789e-03 -3.16235541e+00] [-8.91543137e-02 -3.07668307e-04 9.96017778e-01 3.99987203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.965779523 meters 0.014025740945067604 Centerline is valid? [True, True] Translation: X:20.37, Y:-3.17, Z:0.40 [[ 9.93118832e-01 7.58211958e-02 8.92531917e-02 2.03690894e+01] [-7.55481251e-02 9.97121369e-01 -6.43863639e-03 -3.17026541e+00] [-8.94844498e-02 -3.48580245e-04 9.95988158e-01 3.95263129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.025779523 meters 0.013512892665300733 Centerline is valid? [True, True] Translation: X:20.43, Y:-3.19, Z:0.39 [[ 9.93793409e-01 7.40429378e-02 8.30198992e-02 2.04297484e+01] [-7.37987799e-02 9.97255042e-01 -6.01002881e-03 -3.18803856e+00] [-8.32370133e-02 -1.54040254e-04 9.96529767e-01 3.90796999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.085779523 meters 0.013461497555682902 Centerline is valid? [True, True] Translation: X:20.49, Y:-3.19, Z:0.38 [[ 9.93931632e-01 7.57245994e-02 7.97853156e-02 2.04919197e+01] [-7.55030852e-02 9.97128735e-01 -5.79391618e-03 -3.19038827e+00] [-7.99949729e-02 -2.65280922e-04 9.96795232e-01 3.84157280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.145779522999998 meters 0.017061084760596906 Centerline is valid? [True, True] Translation: X:20.55, Y:-3.18, Z:0.36 [[ 9.94003449e-01 8.16910773e-02 7.26891458e-02 2.05528275e+01] [-8.15218160e-02 9.96657480e-01 -5.29730949e-03 -3.17518999e+00] [-7.28789238e-02 -6.60207268e-04 9.97340577e-01 3.63238328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.205779523 meters 0.015595151920245683 Centerline is valid? [True, True] Translation: X:20.62, Y:-3.17, Z:0.36 [[ 9.93335365e-01 8.77277789e-02 7.47575404e-02 2.06152431e+01] [-8.75645142e-02 9.96143859e-01 -5.46512829e-03 -3.17081787e+00] [-7.49487084e-02 -1.11740250e-03 9.97186764e-01 3.57166467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.265779523 meters 0.014675201149865159 Centerline is valid? [True, True] Translation: X:20.68, Y:-3.19, Z:0.36 [[ 9.93607764e-01 8.41529394e-02 7.52455570e-02 2.06758092e+01] [-8.39759361e-02 9.96452500e-01 -5.51879460e-03 -3.18758595e+00] [-7.54430462e-02 -8.35298923e-04 9.97149763e-01 3.60829920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.325779523 meters 0.01326162301545037 Centerline is valid? [True, True] Translation: X:20.74, Y:-3.21, Z:0.36 [[ 9.94124322e-01 7.36473573e-02 7.93277940e-02 2.07367595e+01] [-7.34157490e-02 9.97284346e-01 -5.83622435e-03 -3.20765538e+00] [-7.95421896e-02 -2.19768328e-05 9.96831500e-01 3.63182151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.385779523 meters 0.013316549533800199 Centerline is valid? [True, True] Translation: X:20.80, Y:-3.21, Z:0.35 [[ 9.94345969e-01 7.21468130e-02 7.79161794e-02 2.07994182e+01] [-7.19173403e-02 9.97394017e-01 -5.75082382e-03 -3.21121071e+00] [-7.81280347e-02 1.14784098e-04 9.96943327e-01 3.54197653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.445779523 meters 0.013502480919314818 Centerline is valid? [True, True] Translation: X:20.86, Y:-3.21, Z:0.35 [[ 9.93712745e-01 7.80156937e-02 8.03027542e-02 2.08618526e+01] [-7.77892192e-02 9.96952075e-01 -5.94959962e-03 -3.20764608e+00] [-8.05221596e-02 -3.34495582e-04 9.96752763e-01 3.49310946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.505779523 meters 0.01338857281000381 Centerline is valid? [True, True] Translation: X:20.92, Y:-3.21, Z:0.34 [[ 9.93857884e-01 7.75601185e-02 7.89362698e-02 2.09243265e+01] [-7.73383077e-02 9.96987640e-01 -5.86793079e-03 -3.21359652e+00] [-7.91536027e-02 -2.72908246e-04 9.96862394e-01 3.42529580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.565779523 meters 0.01320263658401797 Centerline is valid? [True, True] Translation: X:20.98, Y:-3.22, Z:0.33 [[ 9.94526786e-01 7.26150801e-02 7.51233815e-02 2.09848720e+01] [-7.23987622e-02 9.97360032e-01 -5.60238784e-03 -3.22431938e+00] [-7.53318760e-02 1.32884941e-04 9.97158508e-01 3.32370374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.625779523 meters 0.013005165208543546 Centerline is valid? [True, True] Translation: X:21.05, Y:-3.24, Z:0.34 [[ 9.94068890e-01 7.45616920e-02 7.91681442e-02 2.10473449e+01] [-7.43259563e-02 9.97216403e-01 -5.92436963e-03 -3.23507230e+00] [-7.93895030e-02 4.98351604e-06 9.96843672e-01 3.38263400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.685779523 meters 0.012975568024934731 Centerline is valid? [True, True] Translation: X:21.11, Y:-3.24, Z:0.34 [[ 9.93667607e-01 7.63348453e-02 8.24480331e-02 2.11105848e+01] [-7.60834709e-02 9.97082232e-01 -6.19102032e-03 -3.23744610e+00] [-8.26800594e-02 -1.21116180e-04 9.96576135e-01 3.37339549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.745779523 meters 0.013087139049979877 Centerline is valid? [True, True] Translation: X:21.17, Y:-3.23, Z:0.32 [[ 9.93552636e-01 7.72755167e-02 8.29557324e-02 2.11731280e+01] [-7.70223298e-02 9.97009761e-01 -6.25279942e-03 -3.22740365e+00] [-8.31908632e-02 -1.76958439e-04 9.96533617e-01 3.19249376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.805779522999998 meters 0.013101961297787679 Centerline is valid? [True, True] Translation: X:21.23, Y:-3.24, Z:0.31 [[ 9.94178374e-01 7.80687838e-02 7.42605267e-02 2.12342288e+01] [-7.78667784e-02 9.96947955e-01 -5.61600178e-03 -3.24164666e+00] [-7.44723147e-02 -1.99120461e-04 9.97223062e-01 3.12037522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.865779523 meters 0.013346660479585737 Centerline is valid? [True, True] Translation: X:21.30, Y:-3.25, Z:0.31 [[ 9.94368802e-01 7.96336944e-02 6.99225260e-02 2.12958522e+01] [-7.94573650e-02 9.96824155e-01 -5.30394537e-03 -3.25182640e+00] [-7.01228356e-02 -2.81781863e-04 9.97538324e-01 3.11505043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.925779523 meters 0.01334754361015041 Centerline is valid? [True, True] Translation: X:21.36, Y:-3.25, Z:0.31 [[ 9.93876817e-01 8.18724448e-02 7.42009160e-02 2.13583417e+01] [-8.16786413e-02 9.96642716e-01 -5.64774258e-03 -3.24623958e+00] [-7.44141969e-02 -4.47469583e-04 9.97227320e-01 3.07541581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.985779523 meters 0.013212935797594685 Centerline is valid? [True, True] Translation: X:21.42, Y:-3.25, Z:0.30 [[ 9.93672483e-01 8.11253280e-02 7.76767477e-02 2.14205398e+01] [-8.09090507e-02 9.96703832e-01 -5.93263821e-03 -3.24809784e+00] [-7.79019994e-02 -3.89652574e-04 9.96960945e-01 3.02922346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.045779523 meters 0.013204406704452266 Centerline is valid? [True, True] Translation: X:21.48, Y:-3.25, Z:0.30 [[ 9.93788413e-01 7.83997135e-02 7.89814798e-02 2.14811624e+01] [-7.81659055e-02 9.96921993e-01 -6.05239838e-03 -3.25490909e+00] [-7.92128805e-02 -1.58855494e-04 9.96857710e-01 2.97456967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.105779523 meters 0.013450194660220568 Centerline is valid? [True, True] Translation: X:21.54, Y:-3.27, Z:0.30 [[ 9.94490756e-01 7.49528793e-02 7.32816603e-02 2.15413552e+01] [-7.47411560e-02 9.97187069e-01 -5.63105912e-03 -3.27437825e+00] [-7.34975882e-02 1.22880242e-04 9.97295387e-01 2.95253602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.165779523 meters 0.013336231953271292 Centerline is valid? [True, True] Translation: X:21.60, Y:-3.27, Z:0.29 [[ 9.93986609e-01 7.71792475e-02 7.76787311e-02 2.16035953e+01] [-7.69466728e-02 9.97017233e-01 -5.98719143e-03 -3.27473242e+00] [-7.79091205e-02 -2.59318054e-05 9.96960465e-01 2.94503733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.225779523 meters 0.015333208189334145 Centerline is valid? [True, True] Translation: X:21.67, Y:-3.27, Z:0.28 [[ 9.93630387e-01 7.87790253e-02 8.05761704e-02 2.16668308e+01] [-7.85324063e-02 9.96892094e-01 -6.23015728e-03 -3.26906182e+00] [-8.08165529e-02 -1.37366962e-04 9.96728983e-01 2.82713400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.285779523 meters 0.014298183304888894 Centerline is valid? [True, True] Translation: X:21.73, Y:-3.27, Z:0.28 [[ 9.93243914e-01 8.77029946e-02 7.59915223e-02 2.17274855e+01] [-8.75081723e-02 9.96146352e-01 -5.89616571e-03 -3.27187745e+00] [-7.62157891e-02 -7.93548519e-04 9.97091031e-01 2.77159387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.345779523 meters 0.015221209413653876 Centerline is valid? [True, True] Translation: X:21.79, Y:-3.28, Z:0.27 [[ 9.93641422e-01 9.14630304e-02 6.56600248e-02 2.17878680e+01] [-9.13248057e-02 9.95808048e-01 -5.10983786e-03 -3.28365855e+00] [-6.58521424e-02 -9.19042445e-04 9.97828969e-01 2.70734257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.405779523 meters 0.0163183294187749 Centerline is valid? [True, True] Translation: X:21.85, Y:-3.28, Z:0.25 [[ 9.93742650e-01 9.28638299e-02 6.20633091e-02 2.18485837e+01] [-9.27431702e-02 9.95678358e-01 -4.82832699e-03 -3.27946882e+00] [-6.22434706e-02 -9.57833575e-04 9.98060536e-01 2.54627930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.465779523 meters 0.01751333979661951 Centerline is valid? [True, True] Translation: X:21.91, Y:-3.29, Z:0.26 [[ 9.93564149e-01 9.14948157e-02 6.67755944e-02 2.19096031e+01] [-9.13507509e-02 9.95805128e-01 -5.21411543e-03 -3.29080998e+00] [-6.69725438e-02 -9.19442525e-04 9.97754395e-01 2.55070936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.525779523 meters 0.01707732116233161 Centerline is valid? [True, True] Translation: X:21.97, Y:-3.29, Z:0.26 [[ 9.93196526e-01 8.59558286e-02 7.85637145e-02 2.19711334e+01] [-8.57388057e-02 9.96298743e-01 -6.13769476e-03 -3.29451952e+00] [-7.88005007e-02 -6.40021944e-04 9.96890200e-01 2.56578247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.585779523 meters 0.013709759234078644 Centerline is valid? [True, True] Translation: X:22.03, Y:-3.29, Z:0.25 [[ 9.93521511e-01 8.20939264e-02 7.85849490e-02 2.20327520e+01] [-8.18645876e-02 9.96624542e-01 -6.14103690e-03 -3.29250102e+00] [-7.88238306e-02 -3.32072179e-04 9.96888506e-01 2.46390002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.645779522999998 meters 0.013940801600193418 Centerline is valid? [True, True] Translation: X:22.09, Y:-3.31, Z:0.25 [[ 9.93938920e-01 8.35182784e-02 7.14851072e-02 2.20939305e+01] [-8.33311160e-02 9.96506169e-01 -5.60172988e-03 -3.31404083e+00] [-7.17031971e-02 -3.89156412e-04 9.97425937e-01 2.52962529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.705779523 meters 0.014160018911951162 Centerline is valid? [True, True] Translation: X:22.16, Y:-3.32, Z:0.25 [[ 9.93835492e-01 8.50464708e-02 7.11204098e-02 2.21560361e+01] [-8.48639023e-02 9.96376870e-01 -5.59021411e-03 -3.31713791e+00] [-7.13381593e-02 -4.79802323e-04 9.97452072e-01 2.50807535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.765779523 meters 0.01423624659850006 Centerline is valid? [True, True] Translation: X:22.22, Y:-3.30, Z:0.23 [[ 9.93858337e-01 8.52923065e-02 7.05041028e-02 2.22183047e+01] [-8.51122542e-02 9.96355858e-01 -5.55947471e-03 -3.30319512e+00] [-7.07213563e-02 -4.75432838e-04 9.97495997e-01 2.27538297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.825779523 meters 0.014204074251524368 Centerline is valid? [True, True] Translation: X:22.28, Y:-3.30, Z:0.22 [[ 9.93903956e-01 8.50919901e-02 7.01019228e-02 2.22795494e+01] [-8.49120016e-02 9.96373003e-01 -5.54888413e-03 -3.30392498e+00] [-7.03198290e-02 -4.37436702e-04 9.97524401e-01 2.16612299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.885779523 meters 0.014003467034739078 Centerline is valid? [True, True] Translation: X:22.34, Y:-3.33, Z:0.22 [[ 9.94330460e-01 8.02470740e-02 6.97663451e-02 2.23405786e+01] [-8.00560871e-02 9.96775000e-01 -5.53377430e-03 -3.33198063e+00] [-6.99854178e-02 -8.28202564e-05 9.97548011e-01 2.23056432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.945779523 meters 0.016639062881600112 Centerline is valid? [True, True] Translation: X:22.40, Y:-3.34, Z:0.22 [[ 9.94315995e-01 8.17614266e-02 6.81965576e-02 2.24013001e+01] [-8.15812834e-02 9.96651916e-01 -5.42706924e-03 -3.33989921e+00] [-6.84119547e-02 -1.67340937e-04 9.97657144e-01 2.19195679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.005779523 meters 0.01634686190387794 Centerline is valid? [True, True] Translation: X:22.46, Y:-3.32, Z:0.21 [[ 9.93321438e-01 9.23621205e-02 6.91502684e-02 2.24631155e+01] [-9.22019406e-02 9.95725076e-01 -5.51140482e-03 -3.32181680e+00] [-6.93637013e-02 -9.01192379e-04 9.97591031e-01 2.08750948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.065779523 meters 0.016268783649541065 Centerline is valid? [True, True] Translation: X:22.53, Y:-3.33, Z:0.22 [[ 9.92630112e-01 9.62305534e-02 7.36555585e-02 2.25262502e+01] [-9.60582609e-02 9.95358308e-01 -5.88629703e-03 -3.33085287e+00] [-7.38801137e-02 -1.23230917e-03 9.97266369e-01 2.16459982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.125779523 meters 0.014926450097455682 Centerline is valid? [True, True] Translation: X:22.59, Y:-3.35, Z:0.22 [[ 9.93308862e-01 8.98581960e-02 7.25465966e-02 2.25878121e+01] [-8.96725229e-02 9.95954305e-01 -5.81895640e-03 -3.34971215e+00] [-7.27759762e-02 -7.25415390e-04 9.97348049e-01 2.15539341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.185779523 meters 0.014211012802601621 Centerline is valid? [True, True] Translation: X:22.65, Y:-3.36, Z:0.20 [[ 9.93776816e-01 8.03568567e-02 7.71389347e-02 2.26484426e+01] [-8.01178038e-02 9.96766159e-01 -6.19375099e-03 -3.35565932e+00] [-7.73871900e-02 -2.49958971e-05 9.97001114e-01 2.04775533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.245779523 meters 0.014336022417650243 Centerline is valid? [True, True] Translation: X:22.71, Y:-3.36, Z:0.20 [[ 9.93852876e-01 7.82473966e-02 7.83186159e-02 2.27106047e+01] [-7.79929643e-02 9.96933959e-01 -6.30699279e-03 -3.35729565e+00] [-7.85719936e-02 1.59921908e-04 9.96908429e-01 1.96558691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.305779522999998 meters 0.01664083214468283 Centerline is valid? [True, True] Translation: X:22.77, Y:-3.37, Z:0.19 [[ 9.94290202e-01 7.62220034e-02 7.46806580e-02 2.27720684e+01] [-7.59835115e-02 9.97090819e-01 -6.03367499e-03 -3.37019475e+00] [-7.49232972e-02 3.24725288e-04 9.97189247e-01 1.94028300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.365779523 meters 0.016421077931117745 Centerline is valid? [True, True] Translation: X:22.83, Y:-3.38, Z:0.19 [[ 9.94483386e-01 7.71193619e-02 7.11013267e-02 2.28333776e+01] [-7.69043575e-02 9.97021833e-01 -5.76053625e-03 -3.38114776e+00] [-7.13338240e-02 2.60755744e-04 9.97452464e-01 1.94113726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.425779523 meters 0.016426126594927645 Centerline is valid? [True, True] Translation: X:22.90, Y:-3.37, Z:0.18 [[ 9.93852272e-01 8.31041088e-02 7.31530524e-02 2.28956888e+01] [-8.28913472e-02 9.96540859e-01 -5.94488055e-03 -3.36917536e+00] [-7.33940496e-02 -1.55422021e-04 9.97303008e-01 1.80681098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.485779522999998 meters 0.015002134907285983 Centerline is valid? [True, True] Translation: X:22.96, Y:-3.37, Z:0.18 [[ 9.93070962e-01 9.01932745e-02 7.53341671e-02 2.29577314e+01] [-8.99865788e-02 9.95924048e-01 -6.14054265e-03 -3.36717804e+00] [-7.55809443e-02 -6.81069356e-04 9.97139437e-01 1.77180135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.545779523 meters 0.014703432968413189 Centerline is valid? [True, True] Translation: X:23.02, Y:-3.38, Z:0.17 [[ 9.93934961e-01 8.51332822e-02 6.96104762e-02 2.30173456e+01] [-8.49433063e-02 9.96369539e-01 -5.69005442e-03 -3.38498145e+00] [-6.98421711e-02 -2.57399981e-04 9.97558021e-01 1.74622685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.605779523 meters 0.01630424182935952 Centerline is valid? [True, True] Translation: X:23.08, Y:-3.39, Z:0.16 [[ 9.94447358e-01 8.07669322e-02 6.74622502e-02 2.30785157e+01] [-8.05774812e-02 9.96733013e-01 -5.52908411e-03 -3.38995113e+00] [-6.76884191e-02 6.24448824e-05 9.97706507e-01 1.62071121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.665779523 meters 0.01680491433773686 Centerline is valid? [True, True] Translation: X:23.14, Y:-3.39, Z:0.16 [[ 9.93899269e-01 8.34655449e-02 7.20953942e-02 2.31405047e+01] [-8.32548548e-02 9.96510658e-01 -5.92778088e-03 -3.39101891e+00] [-7.23385941e-02 -1.10674490e-04 9.97380126e-01 1.59778193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.725779523 meters 0.01494188478566936 Centerline is valid? [True, True] Translation: X:23.20, Y:-3.39, Z:0.16 [[ 9.93256654e-01 8.99629868e-02 7.31292056e-02 2.32033022e+01] [-8.97624667e-02 9.95944944e-01 -6.03062099e-03 -3.39367362e+00] [-7.33751952e-02 -5.74303451e-04 9.97304242e-01 1.61210668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.785779523 meters 0.014954219783436156 Centerline is valid? [True, True] Translation: X:23.27, Y:-3.40, Z:0.16 [[ 9.93162440e-01 9.09445422e-02 7.31946574e-02 2.32657777e+01] [-9.07450573e-02 9.95855759e-01 -6.05322256e-03 -3.40241139e+00] [-7.34418287e-02 -6.30220098e-04 9.97299303e-01 1.57451954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.845779523 meters 0.016623998661388868 Centerline is valid? [True, True] Translation: X:23.33, Y:-3.40, Z:0.15 [[ 9.93228892e-01 8.66819707e-02 7.73473009e-02 2.33270350e+01] [-8.64445303e-02 9.96235986e-01 -6.41901457e-03 -3.40393572e+00] [-7.76125774e-02 -3.10700364e-04 9.96983546e-01 1.47630438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.905779523 meters 0.014418578965220303 Centerline is valid? [True, True] Translation: X:23.39, Y:-3.40, Z:0.14 [[ 9.93062634e-01 8.69054015e-02 7.92089379e-02 2.33888730e+01] [-8.66555110e-02 9.96216518e-01 -6.59327706e-03 -3.40280429e+00] [-7.94822437e-02 -3.16353905e-04 9.96836232e-01 1.40841089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.965779523 meters 0.016762879157056085 Centerline is valid? [True, True] Translation: X:23.45, Y:-3.42, Z:0.14 [[ 9.93520373e-01 8.78676126e-02 7.20871034e-02 2.34497575e+01] [-8.76619929e-02 9.96132103e-01 -6.01735666e-03 -3.41852713e+00] [-7.23370087e-02 -3.40932710e-04 9.97380189e-01 1.38130237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.025779523 meters 0.014300234257215091 Centerline is valid? [True, True] Translation: X:23.51, Y:-3.42, Z:0.13 [[ 9.93657523e-01 8.57614602e-02 7.27303197e-02 2.35117547e+01] [-8.55452264e-02 9.96315684e-01 -6.08865910e-03 -3.42389240e+00] [-7.29845305e-02 -1.71689744e-04 9.97333058e-01 1.34544508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.085779523 meters 0.014760081922407178 Centerline is valid? [True, True] Translation: X:23.57, Y:-3.42, Z:0.12 [[ 9.93873844e-01 8.29824394e-02 7.29979179e-02 2.35745208e+01] [-8.27558487e-02 9.96551008e-01 -6.12839580e-03 -3.42141473e+00] [-7.32546979e-02 4.98476392e-05 9.97313264e-01 1.21956109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.145779522999998 meters 0.01471475668401518 Centerline is valid? [True, True] Translation: X:23.64, Y:-3.43, Z:0.11 [[ 9.94397970e-01 8.08174148e-02 6.81265189e-02 2.36360794e+01] [-8.06137880e-02 9.96728900e-01 -5.73735176e-03 -3.42828530e+00] [-6.83673482e-02 2.13274190e-04 9.97660193e-01 1.13006370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.205779523 meters 0.017509753527484025 Centerline is valid? [True, True] Translation: X:23.70, Y:-3.44, Z:0.11 [[ 9.94906297e-01 7.39368776e-02 6.85185969e-02 2.36972397e+01] [-7.37134546e-02 9.97262673e-01 -5.78686758e-03 -3.44448687e+00] [-6.87589020e-02 7.06648510e-04 9.97633056e-01 1.11732420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.265779523 meters 0.02177022578982095 Centerline is valid? [True, True] Translation: X:23.76, Y:-3.46, Z:0.12 [[ 9.95361856e-01 5.56381045e-02 7.84804273e-02 2.37561983e+01] [-5.52862406e-02 9.98448395e-01 -6.65084406e-03 -3.46152444e+00] [-7.87286970e-02 2.28110870e-03 9.96893469e-01 1.15017792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.325779523 meters 0.025194798911932516 Centerline is valid? [True, True] Translation: X:23.82, Y:-3.47, Z:0.11 [[ 9.95628446e-01 4.87895820e-02 7.96465571e-02 2.38167387e+01] [-4.84052869e-02 9.98804970e-01 -6.74977603e-03 -3.46857468e+00] [-7.98806958e-02 2.86495457e-03 9.96800314e-01 1.08561433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.385779523 meters 0.02420058390504881 Centerline is valid? [True, True] Translation: X:23.88, Y:-3.47, Z:0.10 [[ 9.96231376e-01 4.93965273e-02 7.12953619e-02 2.38775527e+01] [-4.90903901e-02 9.98776072e-01 -6.04082321e-03 -3.47048939e+00] [-7.15064972e-02 2.51814049e-03 9.97436955e-01 9.58998540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.445779523 meters 0.02157522020970248 Centerline is valid? [True, True] Translation: X:23.94, Y:-3.47, Z:0.09 [[ 9.96025105e-01 5.51386167e-02 6.99551542e-02 2.39372626e+01] [-5.48567954e-02 9.98476535e-01 -5.94480295e-03 -3.47315278e+00] [-7.01763682e-02 2.08365739e-03 9.97532423e-01 9.38102791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.505779523 meters 0.0182955040962972 Centerline is valid? [True, True] Translation: X:24.00, Y:-3.47, Z:0.09 [[ 9.95605924e-01 6.12945341e-02 7.07942333e-02 2.39983426e+01] [-6.10214247e-02 9.98118326e-01 -6.01610805e-03 -3.46509022e+00] [-7.10297761e-02 1.66970784e-03 9.97472798e-01 8.79736305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.565779523 meters 0.017676404498703373 Centerline is valid? [True, True] Translation: X:24.06, Y:-3.47, Z:0.08 [[ 9.95356705e-01 6.45938693e-02 7.13628859e-02 2.40601423e+01] [-6.43249782e-02 9.97910591e-01 -6.06208605e-03 -3.46593270e+00] [-7.16053532e-02 1.44352192e-03 9.97431998e-01 7.99773238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.625779523 meters 0.01665602705822598 Centerline is valid? [True, True] Translation: X:24.12, Y:-3.48, Z:0.08 [[ 9.94962447e-01 6.76805563e-02 7.39531733e-02 2.41217856e+01] [-6.73988877e-02 9.97706215e-01 -6.30060170e-03 -3.47593376e+00] [-7.42099688e-02 1.28450047e-03 9.97241811e-01 8.12952246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.685779523 meters 0.016235680625531556 Centerline is valid? [True, True] Translation: X:24.18, Y:-3.48, Z:0.08 [[ 9.94498258e-01 6.93147156e-02 7.85409756e-02 2.41826069e+01] [-6.90004206e-02 9.97594053e-01 -6.71178262e-03 -3.47696445e+00] [-7.88172354e-02 1.25549578e-03 9.96888292e-01 7.87644470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.745779523 meters 0.016071400823267114 Centerline is valid? [True, True] Translation: X:24.24, Y:-3.48, Z:0.07 [[ 9.94256762e-01 7.09033950e-02 8.01635791e-02 2.42433744e+01] [-7.05796396e-02 9.97482499e-01 -6.86860193e-03 -3.47892629e+00] [-8.04487745e-02 1.17123739e-03 9.96758056e-01 7.34489907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.805779522999998 meters 0.014903097233673378 Centerline is valid? [True, True] Translation: X:24.31, Y:-3.48, Z:0.07 [[ 9.93794316e-01 7.46462468e-02 8.24669361e-02 2.43058497e+01] [-7.43149080e-02 9.97209660e-01 -7.08435690e-03 -3.48253251e+00] [-8.27656459e-02 9.11870848e-04 9.96568621e-01 7.07113602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.865779523 meters 0.01488711206566673 Centerline is valid? [True, True] Translation: X:24.37, Y:-3.49, Z:0.07 [[ 9.93441754e-01 7.72009505e-02 8.43415390e-02 2.43678258e+01] [-7.68625337e-02 9.97015288e-01 -7.25713177e-03 -3.48939517e+00] [-8.46500613e-02 7.26833333e-04 9.96410477e-01 6.91243112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.925779523 meters 0.01418317071568191 Centerline is valid? [True, True] Translation: X:24.43, Y:-3.49, Z:0.05 [[ 9.93666593e-01 7.91900760e-02 7.97222320e-02 2.44296305e+01] [-7.88927175e-02 9.96859386e-01 -6.87779004e-03 -3.48590382e+00] [-8.00165079e-02 5.44726670e-04 9.96793390e-01 5.38299460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.985779522999998 meters 0.014027439770264655 Centerline is valid? [True, True] Translation: X:24.49, Y:-3.49, Z:0.04 [[ 9.93785042e-01 8.16391651e-02 7.56725707e-02 2.44915692e+01] [-8.13770976e-02 9.96661892e-01 -6.54533614e-03 -3.49133821e+00] [-7.59543233e-02 3.46642971e-04 9.97111238e-01 4.41285645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.045779523 meters 0.014184574604228927 Centerline is valid? [True, True] Translation: X:24.55, Y:-3.52, Z:0.05 [[ 9.94260855e-01 8.07651078e-02 7.01594578e-02 2.45517486e+01] [-8.05364634e-02 9.96733082e-01 -6.08616216e-03 -3.51647133e+00] [-7.04218022e-02 4.00838184e-04 9.97517222e-01 4.71157860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.105779523 meters 0.014933942289491296 Centerline is valid? [True, True] Translation: X:24.61, Y:-3.51, Z:0.03 [[ 9.93947059e-01 7.72335815e-02 7.81294936e-02 2.46128852e+01] [-7.69374636e-02 9.97012747e-01 -6.79768341e-03 -3.50909231e+00] [-7.84211105e-02 7.45452363e-04 9.96920044e-01 2.98282335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.165779523 meters 0.01461278090420458 Centerline is valid? [True, True] Translation: X:24.67, Y:-3.52, Z:0.03 [[ 9.93949682e-01 7.62300144e-02 7.90760043e-02 2.46749613e+01] [-7.59220586e-02 9.97089895e-01 -6.89805929e-03 -3.52295756e+00] [-7.93717239e-02 8.52710799e-04 9.96844723e-01 2.72480121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.225779523 meters 0.014475611690966731 Centerline is valid? [True, True] Translation: X:24.74, Y:-3.54, Z:0.04 [[ 9.93531575e-01 7.74186350e-02 8.30744469e-02 2.47369288e+01] [-7.70807829e-02 9.96998336e-01 -7.27129222e-03 -3.54308143e+00] [-8.33880188e-02 8.20815013e-04 9.96516816e-01 4.11018908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.285779523 meters 0.014432474837531871 Centerline is valid? [True, True] Translation: X:24.80, Y:-3.54, Z:0.02 [[ 9.93697805e-01 7.79172340e-02 8.05827302e-02 2.47994054e+01] [-7.75994862e-02 9.96959530e-01 -7.07210884e-03 -3.53730271e+00] [-8.08887600e-02 7.74360568e-04 9.96722835e-01 2.35098975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.345779523 meters 0.014345202371634934 Centerline is valid? [True, True] Translation: X:24.86, Y:-3.54, Z:0.01 [[ 9.93490177e-01 7.90262681e-02 8.20494787e-02 2.48614231e+01] [-7.86986858e-02 9.96872274e-01 -7.22398534e-03 -3.53740521e+00] [-8.23637350e-02 7.19772327e-04 9.96602076e-01 1.19934226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.405779523 meters 0.014437371951091058 Centerline is valid? [True, True] Translation: X:24.92, Y:-3.55, Z:0.01 [[ 9.93324593e-01 7.81397809e-02 8.48553318e-02 2.49229497e+01] [-7.77840995e-02 9.96942055e-01 -7.49481267e-03 -3.54820111e+00] [-8.51814919e-02 8.44386175e-04 9.96365094e-01 1.22805008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.465779523 meters 0.015875308506333875 Centerline is valid? [True, True] Translation: X:24.98, Y:-3.56, Z:0.00 [[ 9.93984893e-01 7.07885386e-02 8.35644344e-02 2.49838325e+01] [-7.04160620e-02 9.97490260e-01 -7.39998919e-03 -3.55807872e+00] [-8.38785438e-02 1.47119908e-03 9.96474900e-01 4.29073888e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.525779523 meters 0.018622516091002787 Centerline is valid? [True, True] Translation: X:25.04, Y:-3.57, Z:-0.00 [[ 9.94348019e-01 6.69533092e-02 8.23970309e-02 2.50448025e+01] [-6.65775780e-02 9.97754530e-01 -7.30226250e-03 -3.56897906e+00] [-8.27009215e-02 1.77519551e-03 9.96572830e-01 -1.90656599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.585779523 meters 0.01506024035653758 Centerline is valid? [True, True] Translation: X:25.11, Y:-3.56, Z:-0.01 [[ 9.93851983e-01 7.33680346e-02 8.29178365e-02 2.51068360e+01] [-7.30093176e-02 9.97304144e-01 -7.35414525e-03 -3.56454185e+00] [-8.32338612e-02 1.25515717e-03 9.96529251e-01 -5.30639009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.645779522999998 meters 0.014570885329656065 Centerline is valid? [True, True] Translation: X:25.17, Y:-3.57, Z:-0.01 [[ 9.93483707e-01 7.70574030e-02 8.39778577e-02 2.51679321e+01] [-7.67022849e-02 9.97026194e-01 -7.45171338e-03 -3.56946202e+00] [-8.43023335e-02 9.61862270e-04 9.96439758e-01 -8.64437285e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.705779523 meters 0.014028191979530794 Centerline is valid? [True, True] Translation: X:25.23, Y:-3.57, Z:-0.02 [[ 9.93562914e-01 7.83640852e-02 8.18034659e-02 2.52292865e+01] [-7.80300979e-02 9.96924447e-01 -7.27671942e-03 -3.57004425e+00] [-8.21221085e-02 8.46746090e-04 9.96621915e-01 -2.04994585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.765779523 meters 0.013280905005639304 Centerline is valid? [True, True] Translation: X:25.29, Y:-3.58, Z:-0.02 [[ 9.92893924e-01 8.40604876e-02 8.42347305e-02 2.52905597e+01] [-8.37249607e-02 9.96460570e-01 -7.51419965e-03 -3.57684984e+00] [-8.45682348e-02 4.08253677e-04 9.96417607e-01 -2.13728123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.825779522999998 meters 0.013056627406371545 Centerline is valid? [True, True] Translation: X:25.35, Y:-3.58, Z:-0.02 [[ 9.92676949e-01 8.59749669e-02 8.48574125e-02 2.53538817e+01] [-8.56396575e-02 9.96297262e-01 -7.59049984e-03 -3.58098661e+00] [-8.51958007e-02 2.67754483e-04 9.96364192e-01 -2.29540718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.885779523 meters 0.013129064986642553 Centerline is valid? [True, True] Translation: X:25.42, Y:-3.58, Z:-0.04 [[ 9.93216274e-01 8.35647649e-02 8.08601415e-02 2.54163013e+01] [-8.32506135e-02 9.96502236e-01 -7.25463513e-03 -3.58042084e+00] [-8.11835437e-02 4.73765285e-04 9.96699056e-01 -3.95144823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.945779523 meters 0.012914146239955807 Centerline is valid? [True, True] Translation: X:25.48, Y:-3.60, Z:-0.04 [[ 9.93301402e-01 8.69880684e-02 7.60618174e-02 2.54782434e+01] [-8.67186234e-02 9.96209333e-01 -6.84437166e-03 -3.59841504e+00] [-7.63688710e-02 2.02547874e-04 9.97079613e-01 -4.00451682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.005779523 meters 0.01288653858922551 Centerline is valid? [True, True] Translation: X:25.54, Y:-3.60, Z:-0.04 [[ 9.92339568e-01 9.34498619e-02 8.08041186e-02 2.55405875e+01] [-9.31651209e-02 9.95623945e-01 -7.29522726e-03 -3.60220591e+00] [-8.11322533e-02 -2.88782811e-04 9.96703303e-01 -3.53470318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.065779523 meters 0.012712566617284647 Centerline is valid? [True, True] Translation: X:25.60, Y:-3.59, Z:-0.05 [[ 9.92552764e-01 8.97181985e-02 8.23993621e-02 2.56036063e+01] [-8.94075169e-02 9.95967190e-01 -7.46005810e-03 -3.59196995e+00] [-8.27363641e-02 3.73789296e-05 9.96571469e-01 -5.31028286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.125779523 meters 0.013079261556236533 Centerline is valid? [True, True] Translation: X:25.66, Y:-3.60, Z:-0.06 [[ 9.93340297e-01 8.41045643e-02 7.87494541e-02 2.56645545e+01] [-8.38015326e-02 9.96456807e-01 -7.15086043e-03 -3.60457141e+00] [-7.90718496e-02 5.03912879e-04 9.96868792e-01 -6.17313605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.185779523 meters 0.013937721919637483 Centerline is valid? [True, True] Translation: X:25.73, Y:-3.62, Z:-0.06 [[ 9.93745000e-01 7.84621166e-02 7.94642729e-02 2.57256042e+01] [-7.81339634e-02 9.96916613e-01 -7.23535348e-03 -3.62423791e+00] [-7.97869550e-02 9.81237755e-04 9.96811456e-01 -5.72981897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.245779523 meters 0.015188242388610468 Centerline is valid? [True, True] Translation: X:25.79, Y:-3.63, Z:-0.06 [[ 9.94542674e-01 7.52308968e-02 7.22854177e-02 2.57862418e+01] [-7.49497518e-02 9.97165484e-01 -6.59783237e-03 -3.63396356e+00] [-7.25768844e-02 1.14405174e-03 9.97362164e-01 -6.14391428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.305779522999998 meters 0.015311455307316958 Centerline is valid? [True, True] Translation: X:25.85, Y:-3.63, Z:-0.08 [[ 9.94805649e-01 7.29377881e-02 7.10056366e-02 2.58483935e+01] [-7.26595927e-02 9.97335641e-01 -6.49641903e-03 -3.62562589e+00] [-7.12902865e-02 1.30343371e-03 9.97454759e-01 -7.59430516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.365779523 meters 0.019009070257820275 Centerline is valid? [True, True] Translation: X:25.91, Y:-3.63, Z:-0.09 [[ 9.95103889e-01 6.75875376e-02 7.21122385e-02 2.59093856e+01] [-6.72851283e-02 9.97711843e-01 -6.61737700e-03 -3.63137103e+00] [-7.23944866e-02 1.73289637e-03 9.97374571e-01 -8.59653108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.425779523 meters 0.021121155860246314 Centerline is valid? [True, True] Translation: X:25.97, Y:-3.66, Z:-0.08 [[ 9.95435061e-01 5.60179256e-02 7.72724552e-02 2.59692080e+01] [-5.56353278e-02 9.98425933e-01 -7.09688457e-03 -3.65541650e+00] [-7.75483759e-02 2.76540935e-03 9.96984755e-01 -7.52606243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.485779522999998 meters 0.02275903927087418 Centerline is valid? [True, True] Translation: X:26.03, Y:-3.66, Z:-0.08 [[ 9.95811684e-01 5.18884890e-02 7.52773125e-02 2.60298887e+01] [-5.15134985e-02 9.98648351e-01 -6.91589914e-03 -3.66266364e+00] [-7.55344196e-02 3.00913545e-03 9.97138655e-01 -7.86325534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.545779523 meters 0.025356242992143962 Centerline is valid? [True, True] Translation: X:26.09, Y:-3.66, Z:-0.08 [[ 9.95782496e-01 4.89066590e-02 7.76231881e-02 2.60897824e+01] [-4.84987305e-02 9.98797775e-01 -7.13285955e-03 -3.66301155e+00] [-7.78787119e-02 3.33815060e-03 9.96957252e-01 -8.34289201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.605779523 meters 0.025128303816766853 Centerline is valid? [True, True] Translation: X:26.15, Y:-3.67, Z:-0.09 [[ 9.96008114e-01 4.53770241e-02 7.68684748e-02 2.61503014e+01] [-4.49665376e-02 9.98963522e-01 -7.06343600e-03 -3.66723604e+00] [-7.71093200e-02 3.57873041e-03 9.97016221e-01 -8.90274265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.665779523 meters 0.0241220756124954 Centerline is valid? [True, True] Translation: X:26.21, Y:-3.67, Z:-0.10 [[ 9.96161555e-01 4.49221575e-02 7.51276045e-02 2.62114854e+01] [-4.45288078e-02 9.98984248e-01 -6.90347131e-03 -3.66880058e+00] [-7.53614123e-02 3.53163005e-03 9.97150031e-01 -9.71601469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.725779523 meters 0.024662039389535827 Centerline is valid? [True, True] Translation: X:26.27, Y:-3.67, Z:-0.11 [[ 9.96372662e-01 4.67835106e-02 7.10831987e-02 2.62721944e+01] [-4.64350875e-02 9.98899854e-01 -6.54711786e-03 -3.67169438e+00] [-7.13112940e-02 3.22261469e-03 9.97448903e-01 -1.07261992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.785779523 meters 0.02371871623622566 Centerline is valid? [True, True] Translation: X:26.33, Y:-3.68, Z:-0.10 [[ 9.96132634e-01 5.05584042e-02 7.18583608e-02 2.63335403e+01] [-5.02107931e-02 9.98716591e-01 -6.63677213e-03 -3.67849218e+00] [-7.21016818e-02 3.00304002e-03 9.97392766e-01 -1.01769357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.845779523 meters 0.02207894624050896 Centerline is valid? [True, True] Translation: X:26.40, Y:-3.67, Z:-0.11 [[ 9.96095046e-01 5.31369596e-02 7.05061867e-02 2.63956330e+01] [-5.28087022e-02 9.98583408e-01 -6.51289704e-03 -3.67077467e+00] [-7.07523837e-02 2.76412426e-03 9.97490080e-01 -1.13383712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.905779523 meters 0.022450091574255614 Centerline is valid? [True, True] Translation: X:26.46, Y:-3.68, Z:-0.12 [[ 9.96128585e-01 5.53591986e-02 6.82876347e-02 2.64560389e+01] [-5.50564325e-02 9.98463311e-01 -6.30923234e-03 -3.67571772e+00] [-6.85319719e-02 2.52513314e-03 9.97645725e-01 -1.24040977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.965779523 meters 0.020793514925336088 Centerline is valid? [True, True] Translation: X:26.52, Y:-3.69, Z:-0.12 [[ 9.95837020e-01 6.13846643e-02 6.73836244e-02 2.65165142e+01] [-6.11024398e-02 9.98111974e-01 -6.24331082e-03 -3.69167087e+00] [-6.76396459e-02 2.10001619e-03 9.97707607e-01 -1.18641158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.025779523 meters 0.019820637410831343 Centerline is valid? [True, True] Translation: X:26.58, Y:-3.68, Z:-0.12 [[ 9.95391654e-01 6.39298373e-02 7.14732829e-02 2.65784106e+01] [-6.36187122e-02 9.97952299e-01 -6.62335405e-03 -3.68395555e+00] [-7.17503569e-02 2.04579313e-03 9.97420524e-01 -1.22865421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.085779523 meters 0.020346017724838985 Centerline is valid? [True, True] Translation: X:26.64, Y:-3.69, Z:-0.13 [[ 9.95745974e-01 5.95091804e-02 7.03463771e-02 2.66390355e+01] [-5.91966322e-02 9.98225041e-01 -6.52124382e-03 -3.69389772e+00] [-7.06095890e-02 2.32923367e-03 9.97501309e-01 -1.28697480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.145779522999998 meters 0.02316446983716817 Centerline is valid? [True, True] Translation: X:26.70, Y:-3.72, Z:-0.13 [[ 9.96100300e-01 5.47574385e-02 6.91795919e-02 2.66976137e+01] [-5.44435795e-02 9.98496238e-01 -6.41562759e-03 -3.71844994e+00] [-6.94268656e-02 2.62422395e-03 9.97583592e-01 -1.28788677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.205779523 meters 0.02492238309583029 Centerline is valid? [True, True] Translation: X:26.76, Y:-3.71, Z:-0.14 [[ 9.95913284e-01 5.57751448e-02 7.10342400e-02 2.67597260e+01] [-5.54468461e-02 9.98439914e-01 -6.58668526e-03 -3.71128310e+00] [-7.12907939e-02 2.62114277e-03 9.97452130e-01 -1.40213979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.265779523 meters 0.022557802528439197 Centerline is valid? [True, True] Translation: X:26.82, Y:-3.71, Z:-0.16 [[ 9.96140189e-01 6.17677241e-02 6.23656301e-02 2.68208918e+01] [-6.15257185e-02 9.98088674e-01 -5.79525847e-03 -3.70792888e+00] [-6.26043889e-02 1.93579967e-03 9.98036544e-01 -1.55391858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.325779522999998 meters 0.022209280291107927 Centerline is valid? [True, True] Translation: X:26.88, Y:-3.73, Z:-0.14 [[ 9.95970905e-01 6.23351210e-02 6.44692813e-02 2.68820200e+01] [-6.20766657e-02 9.98053311e-01 -6.00628595e-03 -3.73493940e+00] [-6.47181822e-02 1.98004803e-03 9.97901617e-01 -1.44939258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.385779523 meters 0.019050319974843747 Centerline is valid? [True, True] Translation: X:26.94, Y:-3.72, Z:-0.16 [[ 9.95642885e-01 6.32633962e-02 6.85053863e-02 2.69443950e+01] [-6.29725515e-02 9.97994745e-01 -6.39897225e-03 -3.72456117e+00] [-6.87728362e-02 2.05713223e-03 9.97630225e-01 -1.56889957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.445779523 meters 0.01961058186724616 Centerline is valid? [True, True] Translation: X:27.01, Y:-3.72, Z:-0.17 [[ 9.95381742e-01 6.39449439e-02 7.15977068e-02 2.70058889e+01] [-6.36276064e-02 9.97951176e-01 -6.70655905e-03 -3.71883803e+00] [-7.18798663e-02 2.11999572e-03 9.97411044e-01 -1.68148065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.505779523 meters 0.01945971932693948 Centerline is valid? [True, True] Translation: X:27.07, Y:-3.76, Z:-0.16 [[ 9.96062752e-01 6.28560627e-02 6.25148781e-02 2.70650335e+01] [-6.26111415e-02 9.98020729e-01 -5.87104545e-03 -3.75676877e+00] [-6.27601750e-02 1.93380181e-03 9.98026764e-01 -1.55782223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.565779523 meters 0.019567542291423226 Centerline is valid? [True, True] Translation: X:27.13, Y:-3.76, Z:-0.16 [[ 9.95805528e-01 6.55398855e-02 6.38425705e-02 2.71251789e+01] [-6.52897897e-02 9.97848319e-01 -5.99805221e-03 -3.76108233e+00] [-6.40983133e-02 1.80462555e-03 9.97941957e-01 -1.62703775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.625779523 meters 0.01690508612933112 Centerline is valid? [True, True] Translation: X:27.19, Y:-3.75, Z:-0.18 [[ 9.94854298e-01 7.41078652e-02 6.90865470e-02 2.71859793e+01] [-7.38353259e-02 9.97249305e-01 -6.49367873e-03 -3.74640255e+00] [-6.93777437e-02 1.35923647e-03 9.97589535e-01 -1.82530214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.685779523 meters 0.015372703703274966 Centerline is valid? [True, True] Translation: X:27.25, Y:-3.76, Z:-0.17 [[ 9.94180098e-01 7.67522694e-02 7.55977670e-02 2.72472135e+01] [-7.64334131e-02 9.97049364e-01 -7.10633783e-03 -3.75881955e+00] [-7.59201330e-02 1.28678429e-03 9.97113072e-01 -1.74857605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.745779523 meters 0.015602333807950952 Centerline is valid? [True, True] Translation: X:27.31, Y:-3.78, Z:-0.17 [[ 9.94250202e-01 7.81439761e-02 7.32123988e-02 2.73083132e+01] [-7.78486718e-02 9.96941428e-01 -6.88284306e-03 -3.77831531e+00] [-7.35263261e-02 1.14378010e-03 9.97292621e-01 -1.71896426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.805779522999998 meters 0.015307918817534327 Centerline is valid? [True, True] Translation: X:27.37, Y:-3.78, Z:-0.19 [[ 9.94021454e-01 8.06946275e-02 7.35508349e-02 2.73692875e+01] [-8.04021091e-02 9.96738390e-01 -6.93413901e-03 -3.77657352e+00] [-7.38704885e-02 9.79040694e-04 9.97267363e-01 -1.85637751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.865779523 meters 0.013957188104911712 Centerline is valid? [True, True] Translation: X:27.43, Y:-3.78, Z:-0.20 [[ 9.93580477e-01 8.87763275e-02 7.01184623e-02 2.74310253e+01] [-8.85295829e-02 9.96051516e-01 -6.62493655e-03 -3.78079453e+00] [-7.04297382e-02 3.74849402e-04 9.97516672e-01 -1.95523046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.925779523 meters 0.01337039623153105 Centerline is valid? [True, True] Translation: X:27.49, Y:-3.79, Z:-0.19 [[ 9.93098820e-01 9.39441999e-02 7.02084160e-02 2.74930127e+01] [-9.37085681e-02 9.95577464e-01 -6.64962898e-03 -3.78824446e+00] [-7.05226108e-02 2.46085577e-05 9.97510181e-01 -1.93448851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.985779522999998 meters 0.013755173809995467 Centerline is valid? [True, True] Translation: X:27.55, Y:-3.79, Z:-0.20 [[ 9.92510513e-01 1.00278844e-01 6.97641384e-02 2.75537501e+01] [-1.00060604e-01 9.94959290e-01 -6.62468302e-03 -3.78929746e+00] [-7.00767932e-02 -4.05574304e-04 9.97541517e-01 -1.99763377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.045779523 meters 0.01374844488062671 Centerline is valid? [True, True] Translation: X:27.62, Y:-3.79, Z:-0.20 [[ 9.92135937e-01 1.02350421e-01 7.20463356e-02 2.76155175e+01] [-1.02121906e-01 9.94748252e-01 -6.85793172e-03 -3.79101263e+00] [-7.23698786e-02 -5.53508638e-04 9.97377709e-01 -2.04569109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.105779523 meters 0.013956932410867302 Centerline is valid? [True, True] Translation: X:27.68, Y:-3.79, Z:-0.22 [[ 9.92478276e-01 1.01017460e-01 6.91544950e-02 2.76756157e+01] [-1.00802503e-01 9.94884564e-01 -6.59996197e-03 -3.79061219e+00] [-6.94674510e-02 -4.20627327e-04 9.97584130e-01 -2.21260488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.165779523 meters 0.013818868154849527 Centerline is valid? [True, True] Translation: X:27.74, Y:-3.81, Z:-0.22 [[ 9.92897239e-01 9.76860824e-02 6.79154065e-02 2.77370246e+01] [-9.74705022e-02 9.95217262e-01 -6.48870322e-03 -3.80732098e+00] [-6.82244408e-02 -1.77133261e-04 9.97669983e-01 -2.20872386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.225779523 meters 0.013552433929185863 Centerline is valid? [True, True] Translation: X:27.80, Y:-3.82, Z:-0.21 [[ 9.92920270e-01 9.53169224e-02 7.08803316e-02 2.77989504e+01] [-9.50746769e-02 9.95446977e-01 -6.79128335e-03 -3.81856988e+00] [-7.12049360e-02 4.27827853e-06 9.97461707e-01 -2.13870412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.285779523 meters 0.013593720998670615 Centerline is valid? [True, True] Translation: X:27.86, Y:-3.81, Z:-0.23 [[ 9.92711045e-01 9.09102022e-02 7.91208966e-02 2.78614067e+01] [-9.05925853e-02 9.95859022e-01 -7.60210117e-03 -3.80711617e+00] [-7.94843673e-02 3.78923223e-04 9.96836041e-01 -2.25700924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.345779523 meters 0.014280366302377279 Centerline is valid? [True, True] Translation: X:27.92, Y:-3.82, Z:-0.23 [[ 9.93307053e-01 8.68319499e-02 7.61663353e-02 2.79216302e+01] [-8.65243100e-02 9.96222730e-01 -7.33598065e-03 -3.82229299e+00] [-7.65156319e-02 6.96641715e-04 9.97068138e-01 -2.29252944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.405779523 meters 0.016952517851417364 Centerline is valid? [True, True] Translation: X:27.98, Y:-3.84, Z:-0.23 [[ 9.94461531e-01 7.71646225e-02 7.13574477e-02 2.79811317e+01] [-7.68686150e-02 9.97017430e-01 -6.88916265e-03 -3.84499803e+00] [-7.16762187e-02 1.36585906e-03 9.97427017e-01 -2.27164978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.465779523 meters 0.01868914538662407 Centerline is valid? [True, True] Translation: X:28.04, Y:-3.84, Z:-0.24 [[ 9.94806343e-01 7.22679508e-02 7.16776327e-02 2.80430186e+01] [-7.19563899e-02 9.97383754e-01 -6.92275943e-03 -3.84367003e+00] [-7.19904001e-02 1.72914131e-03 9.97403826e-01 -2.39258967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.525779523 meters 0.018843779397536724 Centerline is valid? [True, True] Translation: X:28.10, Y:-3.85, Z:-0.25 [[ 9.94920126e-01 7.20800122e-02 7.02738497e-02 2.81049721e+01] [-7.17798885e-02 9.97397385e-01 -6.79000648e-03 -3.84509792e+00] [-7.05803777e-02 1.71126500e-03 9.97504627e-01 -2.50563616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.585779523 meters 0.01721324218607445 Centerline is valid? [True, True] Translation: X:28.17, Y:-3.86, Z:-0.25 [[ 9.94557564e-01 7.49816481e-02 7.23395132e-02 2.81666356e+01] [-7.46699608e-02 9.97183682e-01 -7.00725776e-03 -3.85837929e+00] [-7.26611979e-02 1.56753258e-03 9.97355450e-01 -2.46390766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.645779522999998 meters 0.018005928865092787 Centerline is valid? [True, True] Translation: X:28.23, Y:-3.86, Z:-0.25 [[ 9.94087934e-01 7.70595577e-02 7.64918549e-02 2.82281143e+01] [-7.67156052e-02 9.97025337e-01 -7.42921002e-03 -3.86301335e+00] [-7.68368091e-02 1.51716910e-03 9.97042528e-01 -2.49981695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.705779523 meters 0.01590072743006311 Centerline is valid? [True, True] Translation: X:28.29, Y:-3.86, Z:-0.26 [[ 9.93940832e-01 7.96311080e-02 7.57661532e-02 2.82902660e+01] [-7.92997359e-02 9.96823522e-01 -7.37685701e-03 -3.85841829e+00] [-7.61129110e-02 1.32392346e-03 9.97098326e-01 -2.61453515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.765779523 meters 0.014231407113789434 Centerline is valid? [True, True] Translation: X:28.35, Y:-3.87, Z:-0.27 [[ 9.93427165e-01 8.96675848e-02 7.11490883e-02 2.83511216e+01] [-8.93998178e-02 9.95971603e-01 -6.94542532e-03 -3.86900086e+00] [-7.14852511e-02 5.39058654e-04 9.97441511e-01 -2.65005623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.825779522999998 meters 0.013911537098074332 Centerline is valid? [True, True] Translation: X:28.41, Y:-3.87, Z:-0.26 [[ 9.92348474e-01 9.90811339e-02 7.36711278e-02 2.84121781e+01] [-9.88195723e-02 9.95079348e-01 -7.19601258e-03 -3.87442750e+00] [-7.40216069e-02 -1.39197238e-04 9.97256628e-01 -2.64086682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.885779523 meters 0.014615990445077437 Centerline is valid? [True, True] Translation: X:28.47, Y:-3.87, Z:-0.27 [[ 9.91453056e-01 1.06764667e-01 7.49809512e-02 2.84742924e+01] [-1.06514324e-01 9.94284066e-01 -7.34127245e-03 -3.87120771e+00] [-7.53361535e-02 -7.08018304e-04 9.97157943e-01 -2.70738830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.945779523 meters 0.015423979607783462 Centerline is valid? [True, True] Translation: X:28.54, Y:-3.87, Z:-0.28 [[ 9.90853819e-01 1.10812152e-01 7.70024485e-02 2.85360748e+01] [-1.10558846e-01 9.93840841e-01 -7.55803720e-03 -3.87393128e+00] [-7.73657005e-02 -1.02439185e-03 9.97002256e-01 -2.80029928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.005779523 meters 0.015023737811015507 Centerline is valid? [True, True] Translation: X:28.60, Y:-3.89, Z:-0.28 [[ 9.91008001e-01 1.09296201e-01 7.71847282e-02 2.85973265e+01] [-1.09035600e-01 9.94008828e-01 -7.59524825e-03 -3.88929971e+00] [-7.75524330e-02 -8.88931349e-04 9.96987879e-01 -2.84541471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.065779522999996 meters 0.017261364704654808 Centerline is valid? [True, True] Translation: X:28.66, Y:-3.88, Z:-0.30 [[ 9.90713842e-01 1.14171376e-01 7.38307470e-02 2.86579651e+01] [-1.13946074e-01 9.93460333e-01 -7.27041800e-03 -3.88446237e+00] [-7.41779922e-02 -1.20982002e-03 9.97244284e-01 -2.98104287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.125779523 meters 0.015492083704876078 Centerline is valid? [True, True] Translation: X:28.72, Y:-3.89, Z:-0.30 [[ 9.91370559e-01 1.08560536e-01 7.34780595e-02 2.87192094e+01] [-1.08320768e-01 9.94089542e-01 -7.25214529e-03 -3.89445796e+00] [-7.38310673e-02 -7.69636507e-04 9.97270465e-01 -3.01064585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.185779522999994 meters 0.014143172323961794 Centerline is valid? [True, True] Translation: X:28.78, Y:-3.92, Z:-0.29 [[ 9.91969830e-01 9.93661666e-02 7.82446197e-02 2.87804264e+01] [-9.90641718e-02 9.95050933e-01 -7.74145361e-03 -3.91681670e+00] [-7.86266204e-02 -7.19500263e-05 9.96904132e-01 -2.92926434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.245779522999996 meters 0.016414108478469927 Centerline is valid? [True, True] Translation: X:28.84, Y:-3.92, Z:-0.31 [[ 9.93310004e-01 8.39877306e-02 7.92546356e-02 2.88403364e+01] [-8.36273989e-02 9.96466090e-01 -7.86065745e-03 -3.92142961e+00] [-7.96347556e-02 1.18021065e-03 9.96823411e-01 -3.12941892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.305779523 meters 0.01780456795900369 Centerline is valid? [True, True] Translation: X:28.90, Y:-3.93, Z:-0.33 [[ 9.93996655e-01 8.05754578e-02 7.40151725e-02 2.89009612e+01] [-8.02506220e-02 9.96747566e-01 -7.35716168e-03 -3.92877277e+00] [-7.43672497e-02 1.37323047e-03 9.97229977e-01 -3.26856884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.36577952299999 meters 0.015665802223351805 Centerline is valid? [True, True] Translation: X:28.96, Y:-3.95, Z:-0.31 [[ 9.93196355e-01 8.78967105e-02 7.63882721e-02 2.89625133e+01] [-8.75718557e-02 9.96129225e-01 -7.59847283e-03 -3.94526563e+00] [-7.67604711e-02 8.57312781e-04 9.97049194e-01 -3.08463297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.425779522999996 meters 0.017584235278769553 Centerline is valid? [True, True] Translation: X:29.03, Y:-3.93, Z:-0.32 [[ 9.92658602e-01 9.12873299e-02 7.93443328e-02 2.90253855e+01] [-9.09474079e-02 9.95824401e-01 -7.89500418e-03 -3.93286768e+00] [-7.97337366e-02 6.20882418e-04 9.96816004e-01 -3.21142560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.485779523 meters 0.01486481742929151 Centerline is valid? [True, True] Translation: X:29.09, Y:-3.92, Z:-0.33 [[ 9.92043133e-01 9.50642279e-02 8.25421962e-02 2.90880994e+01] [-9.47076139e-02 9.95471079e-01 -8.23398886e-03 -3.92455474e+00] [-8.29511269e-02 3.51097662e-04 9.96553555e-01 -3.33402444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.54577952299999 meters 0.01488508260089686 Centerline is valid? [True, True] Translation: X:29.15, Y:-3.93, Z:-0.33 [[ 9.91625155e-01 9.70389505e-02 8.52231970e-02 2.91500152e+01] [-9.66641887e-02 9.95280562e-01 -8.52279709e-03 -3.93486991e+00] [-8.56480347e-02 2.13388790e-04 9.96325433e-01 -3.34936946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.605779522999995 meters 0.015301185221804079 Centerline is valid? [True, True] Translation: X:29.21, Y:-3.95, Z:-0.32 [[ 9.91564248e-01 9.90573952e-02 8.35941052e-02 2.92108420e+01] [-9.87021138e-02 9.95081720e-01 -8.38236044e-03 -3.95283745e+00] [-8.40133008e-02 6.07340461e-05 9.96464631e-01 -3.24360164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.665779523 meters 0.01624090618014067 Centerline is valid? [True, True] Translation: X:29.27, Y:-3.94, Z:-0.34 [[ 9.90670088e-01 1.07821489e-01 8.33504816e-02 2.92737717e+01] [-1.07497672e-01 9.94170050e-01 -8.37627748e-03 -3.93553374e+00] [-8.37676952e-02 -6.61855210e-04 9.96485090e-01 -3.39216381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.72577952299999 meters 0.017150775598906712 Centerline is valid? [True, True] Translation: X:29.34, Y:-3.94, Z:-0.35 [[ 9.89951068e-01 1.12576878e-01 8.55764579e-02 2.93350313e+01] [-1.12251456e-01 9.93642439e-01 -8.62053247e-03 -3.94162927e+00] [-8.60028730e-02 -1.07217670e-03 9.96294312e-01 -3.45263344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.785779522999995 meters 0.017425805180561277 Centerline is valid? [True, True] Translation: X:29.40, Y:-3.96, Z:-0.35 [[ 9.89941421e-01 1.10248801e-01 8.86633199e-02 2.93963803e+01] [-1.09888080e-01 9.93903632e-01 -8.95434748e-03 -3.95634021e+00] [-8.91100017e-02 -8.78762495e-04 9.96021403e-01 -3.46748313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.845779523 meters 0.017648198681037616 Centerline is valid? [True, True] Translation: X:29.46, Y:-3.96, Z:-0.36 [[ 9.90140113e-01 1.10146811e-01 8.65461532e-02 2.94573574e+01] [-1.09800919e-01 9.93914984e-01 -8.76147418e-03 -3.95982316e+00] [-8.69845669e-02 -8.27760138e-04 9.96209315e-01 -3.56069666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.90577952299999 meters 0.018897799186571883 Centerline is valid? [True, True] Translation: X:29.52, Y:-3.96, Z:-0.37 [[ 9.89333964e-01 1.15752463e-01 8.84289255e-02 2.95195354e+01] [-1.15411813e-01 9.93277203e-01 -8.97281583e-03 -3.95905347e+00] [-8.88730614e-02 -1.32863116e-03 9.96042074e-01 -3.65364159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.965779522999995 meters 0.02121328346175204 Centerline is valid? [True, True] Translation: X:29.58, Y:-3.96, Z:-0.36 [[ 9.88151042e-01 1.21444697e-01 9.38546899e-02 2.95805976e+01] [-1.21085885e-01 9.92596289e-01 -9.52975711e-03 -3.96042560e+00] [-9.43171553e-02 -1.94763876e-03 9.95540296e-01 -3.64073002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.025779523 meters 0.021672815674861002 Centerline is valid? [True, True] Translation: X:29.64, Y:-3.97, Z:-0.36 [[ 9.87774257e-01 1.21567227e-01 9.75880438e-02 2.96419933e+01] [-1.21179340e-01 9.92581119e-01 -9.91413226e-03 -3.96819581e+00] [-9.80692832e-02 -2.03273015e-03 9.95177514e-01 -3.64012158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.085779523 meters 0.02097768997974513 Centerline is valid? [True, True] Translation: X:29.70, Y:-3.98, Z:-0.37 [[ 9.88384995e-01 1.17442786e-01 9.64484009e-02 2.97011158e+01] [-1.17042508e-01 9.93078385e-01 -9.81699954e-03 -3.98142969e+00] [-9.69337579e-02 -1.58558765e-03 9.95289572e-01 -3.68009929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.145779522999995 meters 0.020848339531155828 Centerline is valid? [True, True] Translation: X:29.76, Y:-3.98, Z:-0.39 [[ 9.88840008e-01 1.18775649e-01 8.99321049e-02 2.97624708e+01] [-1.18433006e-01 9.92919833e-01 -9.15582800e-03 -3.98210576e+00] [-9.03828600e-02 -1.59728046e-03 9.95905812e-01 -3.88700811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.205779523 meters 0.022485126102222263 Centerline is valid? [True, True] Translation: X:29.82, Y:-3.99, Z:-0.40 [[ 9.88657909e-01 1.25119824e-01 8.30696570e-02 2.98240446e+01] [-1.24849295e-01 9.92139615e-01 -8.46387533e-03 -3.98642250e+00] [-8.34756962e-02 -2.00331086e-03 9.96507800e-01 -3.98759196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.265779523 meters 0.025266905389761504 Centerline is valid? [True, True] Translation: X:29.88, Y:-3.99, Z:-0.40 [[ 9.88431668e-01 1.29685880e-01 7.86410255e-02 2.98832356e+01] [-1.29457449e-01 9.91552563e-01 -8.01775182e-03 -3.99254102e+00] [-7.90164996e-02 -2.25566677e-03 9.96870756e-01 -4.02819312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.325779522999994 meters 0.02329665485748369 Centerline is valid? [True, True] Translation: X:29.94, Y:-4.01, Z:-0.40 [[ 9.88025064e-01 1.28608641e-01 8.52425360e-02 2.99446731e+01] [-1.28335503e-01 9.91692654e-01 -8.69931005e-03 -4.00525669e+00] [-8.56532032e-02 -2.34450732e-03 9.96322253e-01 -4.02574763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.385779523 meters 0.023016116950546308 Centerline is valid? [True, True] Translation: X:30.00, Y:-4.02, Z:-0.40 [[ 9.87781481e-01 1.23881518e-01 9.45574707e-02 3.00049744e+01] [-1.23521353e-01 9.92294746e-01 -9.67533094e-03 -4.01581075e+00] [-9.50274761e-02 -2.12275401e-03 9.95472387e-01 -4.00522789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.445779523 meters 0.022569850319828298 Centerline is valid? [True, True] Translation: X:30.07, Y:-4.02, Z:-0.41 [[ 9.87621032e-01 1.23358882e-01 9.68879892e-02 3.00664992e+01] [-1.22975987e-01 9.92359900e-01 -9.93659596e-03 -4.02039099e+00] [-9.73735226e-02 -2.10130490e-03 9.95245689e-01 -4.07979316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.505779522999994 meters 0.023361072507989102 Centerline is valid? [True, True] Translation: X:30.13, Y:-4.03, Z:-0.42 [[ 9.87976756e-01 1.28204737e-01 8.64029801e-02 3.01276990e+01] [-1.27917073e-01 9.91745105e-01 -8.88078431e-03 -4.02691879e+00] [-8.68282912e-02 -2.27840779e-03 9.96220687e-01 -4.23500117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.565779522999996 meters 0.026472835369554068 Centerline is valid? [True, True] Translation: X:30.19, Y:-4.03, Z:-0.43 [[ 9.87706853e-01 1.35209656e-01 7.84443860e-02 3.01872275e+01] [-1.34992935e-01 9.90813586e-01 -8.08365761e-03 -4.03112680e+00] [-7.88167520e-02 -2.60515386e-03 9.96885717e-01 -4.28850703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.625779523 meters 0.02832356040225207 Centerline is valid? [True, True] Translation: X:30.25, Y:-4.03, Z:-0.44 [[ 9.87373035e-01 1.39700528e-01 7.46876925e-02 3.02480991e+01] [-1.39516882e-01 9.90189782e-01 -7.69642371e-03 -4.03102932e+00] [-7.50301845e-02 -2.82095278e-03 9.97177273e-01 -4.37467953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.685779522999994 meters 0.025886059475842757 Centerline is valid? [True, True] Translation: X:30.31, Y:-4.03, Z:-0.44 [[ 9.87206426e-01 1.35255075e-01 8.44365926e-02 3.03092950e+01] [-1.35004010e-01 9.90806833e-01 -8.70269873e-03 -4.03320420e+00] [-8.48374371e-02 -2.80791847e-03 9.96390849e-01 -4.43117996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.745779522999996 meters 0.02500951882477579 Centerline is valid? [True, True] Translation: X:30.37, Y:-4.05, Z:-0.44 [[ 9.87694241e-01 1.29072863e-01 8.83192027e-02 3.03689375e+01] [-1.28773292e-01 9.91632257e-01 -9.10532978e-03 -4.04581905e+00] [-8.87554212e-02 -2.37987270e-03 9.96050607e-01 -4.42412894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.805779523 meters 0.023489239409719375 Centerline is valid? [True, True] Translation: X:30.43, Y:-4.07, Z:-0.44 [[ 9.88496047e-01 1.23022947e-01 8.79824907e-02 3.04288246e+01] [-1.22701562e-01 9.92402144e-01 -9.07257606e-03 -4.06815742e+00] [-8.84301475e-02 -1.82738344e-03 9.96080704e-01 -4.39059232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.86577952299999 meters 0.022596485281837542 Centerline is valid? [True, True] Translation: X:30.49, Y:-4.07, Z:-0.45 [[ 9.88835414e-01 1.20057648e-01 8.82648537e-02 3.04907276e+01] [-1.19722096e-01 9.92765690e-01 -9.10515636e-03 -4.07497008e+00] [-8.87194621e-02 -1.56375223e-03 9.96055426e-01 -4.45227879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.925779522999996 meters 0.022235292648271506 Centerline is valid? [True, True] Translation: X:30.55, Y:-4.08, Z:-0.46 [[ 9.89232482e-01 1.18279443e-01 8.61920481e-02 3.05523948e+01] [-1.17952021e-01 9.92979414e-01 -8.89967791e-03 -4.07700768e+00] [-8.66395783e-02 -1.36267583e-03 9.96238790e-01 -4.58450152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.985779523 meters 0.02196771514685518 Centerline is valid? [True, True] Translation: X:30.61, Y:-4.09, Z:-0.46 [[ 9.89800991e-01 1.16049933e-01 8.26221026e-02 3.06126052e+01] [-1.15739707e-01 9.93242772e-01 -8.55074726e-03 -4.08757318e+00] [-8.30561199e-02 -1.09911981e-03 9.96544265e-01 -4.64680847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.04577952299999 meters 0.02411272612697699 Centerline is valid? [True, True] Translation: X:30.67, Y:-4.09, Z:-0.47 [[ 9.89714710e-01 1.16060415e-01 8.36347635e-02 3.06748633e+01] [-1.15740932e-01 9.93241553e-01 -8.67491193e-03 -4.08964204e+00] [-8.40763363e-02 -1.09427751e-03 9.96458716e-01 -4.71574453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.105779522999995 meters 0.022565394680869818 Centerline is valid? [True, True] Translation: X:30.74, Y:-4.09, Z:-0.47 [[ 9.89688370e-01 1.18552641e-01 8.03878245e-02 3.07372103e+01] [-1.18263979e-01 9.92947002e-01 -8.35953971e-03 -4.09407718e+00] [-8.08118949e-02 -1.23364478e-03 9.96728607e-01 -4.73300690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.165779523 meters 0.024000351911799406 Centerline is valid? [True, True] Translation: X:30.80, Y:-4.11, Z:-0.48 [[ 9.89755604e-01 1.20121144e-01 7.71670652e-02 3.07979547e+01] [-1.19858554e-01 9.92758404e-01 -8.04228379e-03 -4.10704302e+00] [-7.75743009e-02 -1.28923741e-03 9.96985740e-01 -4.75816774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.22577952299999 meters 0.021888365112471934 Centerline is valid? [True, True] Translation: X:30.86, Y:-4.11, Z:-0.49 [[ 9.90003754e-01 1.14534992e-01 8.23061556e-02 3.08594193e+01] [-1.14215236e-01 9.93418817e-01 -8.59843189e-03 -4.10747879e+00] [-8.27493051e-02 -8.88137122e-04 9.96569999e-01 -4.85793547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.285779522999995 meters 0.02148859818928404 Centerline is valid? [True, True] Translation: X:30.92, Y:-4.12, Z:-0.49 [[ 9.90548233e-01 1.08497907e-01 8.39190235e-02 3.09204945e+01] [-1.08143403e-01 9.94096602e-01 -8.77208015e-03 -4.12310014e+00] [-8.43753684e-02 -3.86120259e-04 9.96433966e-01 -4.89198780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.345779523 meters 0.02168251657011159 Centerline is valid? [True, True] Translation: X:30.98, Y:-4.14, Z:-0.48 [[ 9.90487470e-01 1.10037709e-01 8.26212700e-02 3.09813319e+01] [-1.09697754e-01 9.93927293e-01 -8.65674706e-03 -4.14063982e+00] [-8.30721038e-02 -4.88968248e-04 9.96543419e-01 -4.82088481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.40577952299999 meters 0.023627740490642656 Centerline is valid? [True, True] Translation: X:31.04, Y:-4.13, Z:-0.50 [[ 9.89530319e-01 1.19013046e-01 8.16433848e-02 3.10440373e+01] [-1.18709824e-01 9.92891958e-01 -8.57541466e-03 -4.13183753e+00] [-8.20836464e-02 -1.20623906e-03 9.96624714e-01 -4.95292719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.465779522999995 meters 0.024751499354273235 Centerline is valid? [True, True] Translation: X:31.11, Y:-4.13, Z:-0.50 [[ 9.88504491e-01 1.29156694e-01 7.85965594e-02 3.11055415e+01] [-1.28907233e-01 9.91622249e-01 -8.26082177e-03 -4.13274474e+00] [-7.90050374e-02 -1.96580560e-03 9.96872279e-01 -4.99054232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.525779523 meters 0.02319662424084018 Centerline is valid? [True, True] Translation: X:31.16, Y:-4.15, Z:-0.50 [[ 9.89306673e-01 1.21447258e-01 8.07642867e-02 3.11648469e+01] [-1.21157941e-01 9.92596921e-01 -8.49155937e-03 -4.14998671e+00] [-8.11976589e-02 -1.38447833e-03 9.96697057e-01 -4.98711230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.585779523 meters 0.022654511970331862 Centerline is valid? [True, True] Translation: X:31.23, Y:-4.15, Z:-0.51 [[ 9.89674645e-01 1.18004988e-01 8.13567488e-02 3.12267688e+01] [-1.17699663e-01 9.93012384e-01 -8.55543571e-03 -4.15351413e+00] [-8.17978431e-02 -1.10856414e-03 9.96648325e-01 -5.09210187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.645779522999995 meters 0.022932215672371907 Centerline is valid? [True, True] Translation: X:31.29, Y:-4.16, Z:-0.51 [[ 9.89754522e-01 1.21342305e-01 7.52464736e-02 3.12875870e+01] [-1.21090389e-01 9.92609903e-01 -7.91816587e-03 -4.16063286e+00] [-7.56512034e-02 -1.27458427e-03 9.97133527e-01 -5.11539818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.705779523 meters 0.024923926115544625 Centerline is valid? [True, True] Translation: X:31.35, Y:-4.16, Z:-0.52 [[ 9.89656070e-01 1.25268205e-01 6.99195223e-02 3.13469829e+01] [-1.25059307e-01 9.92121861e-01 -7.37451038e-03 -4.16352791e+00] [-7.02924782e-02 -1.44585805e-03 9.97525377e-01 -5.17712878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.765779523 meters 0.02379374996802326 Centerline is valid? [True, True] Translation: X:31.41, Y:-4.17, Z:-0.53 [[ 9.89402901e-01 1.27914518e-01 6.87006156e-02 3.14080774e+01] [-1.27719408e-01 9.91783893e-01 -7.24310366e-03 -4.16627474e+00] [-6.90626621e-02 -1.60805421e-03 9.97611028e-01 -5.27325981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.825779522999994 meters 0.0231309002377367 Centerline is valid? [True, True] Translation: X:31.47, Y:-4.18, Z:-0.53 [[ 9.89667311e-01 1.22880965e-01 7.38842445e-02 3.14680273e+01] [-1.22639784e-01 9.92420523e-01 -7.80958822e-03 -4.17567399e+00] [-7.42838903e-02 -1.33225363e-03 9.97236245e-01 -5.29151994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.885779523 meters 0.02239637368151374 Centerline is valid? [True, True] Translation: X:31.53, Y:-4.19, Z:-0.53 [[ 9.90143228e-01 1.18286010e-01 7.49987167e-02 3.15289682e+01] [-1.18024143e-01 9.92979063e-01 -7.92981463e-03 -4.18925152e+00] [-7.54101416e-02 -1.00000699e-03 9.97152100e-01 -5.28836906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.945779523 meters 0.021977903581792607 Centerline is valid? [True, True] Translation: X:31.59, Y:-4.20, Z:-0.53 [[ 9.90661540e-01 1.17047363e-01 6.99258772e-02 3.15895522e+01] [-1.16816486e-01 9.93125977e-01 -7.39608041e-03 -4.20108585e+00] [-7.03108968e-02 -8.41482813e-04 9.97524771e-01 -5.32280551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.005779522999994 meters 0.02241850861722992 Centerline is valid? [True, True] Translation: X:31.65, Y:-4.20, Z:-0.54 [[ 9.90481177e-01 1.19889697e-01 6.76276527e-02 3.16513136e+01] [-1.19679377e-01 9.92786720e-01 -7.16761959e-03 -4.20206985e+00] [-6.79991593e-02 -9.94243062e-04 9.97684883e-01 -5.39160278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.065779522999996 meters 0.02237922163113899 Centerline is valid? [True, True] Translation: X:31.71, Y:-4.19, Z:-0.55 [[ 9.90289630e-01 1.21765511e-01 6.70791295e-02 3.17131229e+01] [-1.21561774e-01 9.92558288e-01 -7.12596720e-03 -4.19493886e+00] [-6.74476430e-02 -1.09748655e-03 9.97722211e-01 -5.52398858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.125779523 meters 0.02116805569585267 Centerline is valid? [True, True] Translation: X:31.77, Y:-4.22, Z:-0.54 [[ 9.91427882e-01 1.09269445e-01 7.16305981e-02 3.17724109e+01] [-1.09003034e-01 9.94012137e-01 -7.62952076e-03 -4.21684755e+00] [-7.20353574e-02 -2.43832935e-04 9.97402049e-01 -5.44338692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.185779522999994 meters 0.023038010178236853 Centerline is valid? [True, True] Translation: X:31.83, Y:-4.24, Z:-0.54 [[ 9.92757100e-01 9.52851004e-02 7.31716504e-02 3.18319761e+01] [-9.49691316e-02 9.95449712e-01 -7.79326635e-03 -4.23956213e+00] [-7.35812805e-02 7.87772406e-04 9.97288912e-01 -5.44281734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.245779522999996 meters 0.024151985950380445 Centerline is valid? [True, True] Translation: X:31.89, Y:-4.24, Z:-0.56 [[ 9.94182795e-01 8.17197374e-02 7.01602050e-02 3.18919317e+01] [-8.13948331e-02 9.96653851e-01 -7.48213769e-03 -4.23990919e+00] [-7.05368769e-02 1.72793439e-03 9.97507676e-01 -5.58888882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.305779523 meters 0.02520630606531671 Centerline is valid? [True, True] Translation: X:31.95, Y:-4.25, Z:-0.56 [[ 9.94808403e-01 7.32589669e-02 7.06354443e-02 3.19516675e+01] [-7.29081873e-02 9.97310193e-01 -7.53498620e-03 -4.24888314e+00] [-7.09974538e-02 2.34596538e-03 9.97473738e-01 -5.63462979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.36577952299999 meters 0.026996148636817856 Centerline is valid? [True, True] Translation: X:32.01, Y:-4.26, Z:-0.56 [[ 9.95210760e-01 6.74456568e-02 7.07575195e-02 3.20111515e+01] [-6.70789191e-02 9.97719113e-01 -7.54914594e-03 -4.26396512e+00] [-7.11052867e-02 2.76665334e-03 9.97464979e-01 -5.63505651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.425779522999996 meters 0.03036794357172282 Centerline is valid? [True, True] Translation: X:32.07, Y:-4.28, Z:-0.56 [[ 9.95815032e-01 5.70164321e-02 7.14251183e-02 3.20712930e+01] [-5.66158874e-02 9.98366943e-01 -7.62153873e-03 -4.27852353e+00] [-7.17430300e-02 3.54584638e-03 9.97416846e-01 -5.61016997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.485779523 meters 0.031102890139820462 Centerline is valid? [True, True] Translation: X:32.13, Y:-4.28, Z:-0.57 [[ 9.95781173e-01 5.64948970e-02 7.23061666e-02 3.21328710e+01] [-5.60829948e-02 9.98396296e-01 -7.71587794e-03 -4.27777027e+00] [-7.26261166e-02 3.62817963e-03 9.97352637e-01 -5.68394277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.54577952299999 meters 0.027849819524314416 Centerline is valid? [True, True] Translation: X:32.19, Y:-4.27, Z:-0.58 [[ 9.95402556e-01 6.68674382e-02 6.85747576e-02 3.21944154e+01] [-6.65203871e-02 9.97758108e-01 -7.33455487e-03 -4.26837125e+00] [-6.89114633e-02 2.73921524e-03 9.97619019e-01 -5.82873611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.605779522999995 meters 0.02501416790308985 Centerline is valid? [True, True] Translation: X:32.25, Y:-4.27, Z:-0.58 [[ 9.94694193e-01 7.66793682e-02 6.85837876e-02 3.22543000e+01] [-7.63553672e-02 9.97053672e-01 -7.33708751e-03 -4.26730902e+00] [-6.89443205e-02 2.06141806e-03 9.97618380e-01 -5.84596731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.665779523 meters 0.02284766696128342 Centerline is valid? [True, True] Translation: X:32.32, Y:-4.26, Z:-0.58 [[ 9.93549958e-01 8.61515669e-02 7.37318737e-02 3.23157540e+01] [-8.58030889e-02 9.96280899e-01 -7.88675389e-03 -4.26124383e+00] [-7.41371136e-02 1.50946149e-03 9.97246915e-01 -5.80591213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.72577952299999 meters 0.021687465115296598 Centerline is valid? [True, True] Translation: X:32.38, Y:-4.26, Z:-0.58 [[ 9.92765730e-01 9.19877470e-02 7.71651494e-02 3.23780720e+01] [-9.16236422e-02 9.95759505e-01 -8.25322643e-03 -4.26098937e+00] [-7.75971267e-02 1.12336832e-03 9.96984164e-01 -5.81901722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.785779522999995 meters 0.02097243387936924 Centerline is valid? [True, True] Translation: X:32.44, Y:-4.26, Z:-0.59 [[ 9.91933014e-01 1.00370520e-01 7.74251520e-02 3.24389236e+01] [-1.00029111e-01 9.94950016e-01 -8.28506920e-03 -4.26055342e+00] [-7.78657329e-02 4.73464518e-04 9.96963742e-01 -5.89937263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.845779523 meters 0.020908127635545587 Centerline is valid? [True, True] Translation: X:32.50, Y:-4.26, Z:-0.60 [[ 9.91633201e-01 1.04865656e-01 7.52780821e-02 3.25009978e+01] [-1.04555789e-01 9.94486390e-01 -8.05646857e-03 -4.26014180e+00] [-7.57078750e-02 1.18302408e-04 9.97130033e-01 -6.02129779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.90577952299999 meters 0.021212138147432485 Centerline is valid? [True, True] Translation: X:32.56, Y:-4.26, Z:-0.60 [[ 9.90818484e-01 1.12016191e-01 7.57040562e-02 3.25637848e+01] [-1.11722090e-01 9.93706297e-01 -8.12219185e-03 -4.26339057e+00] [-7.61374144e-02 -4.10197556e-04 9.97097250e-01 -6.01528343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.965779522999995 meters 0.02098275309301917 Centerline is valid? [True, True] Translation: X:32.62, Y:-4.28, Z:-0.60 [[ 9.90825375e-01 1.08347445e-01 8.07830913e-02 3.26241567e+01] [-1.07998482e-01 9.94113081e-01 -8.68964163e-03 -4.27693728e+00] [-8.12490282e-02 -1.14533815e-04 9.96693826e-01 -5.97099165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.025779523 meters 0.021074070127567266 Centerline is valid? [True, True] Translation: X:32.68, Y:-4.30, Z:-0.61 [[ 9.92099133e-01 9.83150194e-02 7.79324483e-02 3.26838551e+01] [-9.79586102e-02 9.95155103e-01 -8.39240903e-03 -4.29683115e+00] [-7.83799734e-02 6.91947399e-04 9.96923318e-01 -6.09498149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08577952299999 meters 0.02299354503658319 Centerline is valid? [True, True] Translation: X:32.74, Y:-4.31, Z:-0.62 [[ 9.93010966e-01 8.89593861e-02 7.75593293e-02 3.27422918e+01] [-8.85764523e-02 9.96034210e-01 -8.37041099e-03 -4.31302013e+00] [-7.79963720e-02 1.44197966e-03 9.96952600e-01 -6.22442273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.145779522999995 meters 0.023950981950842137 Centerline is valid? [True, True] Translation: X:32.80, Y:-4.32, Z:-0.63 [[ 9.93524417e-01 8.25772015e-02 7.80399747e-02 3.28024980e+01] [-8.21697422e-02 9.96582750e-01 -8.42349577e-03 -4.32378831e+00] [-7.84688813e-02 1.95642413e-03 9.96914644e-01 -6.28128698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.205779523 meters 0.024043098584786156 Centerline is valid? [True, True] Translation: X:32.86, Y:-4.34, Z:-0.63 [[ 9.94148888e-01 7.95546309e-02 7.30687921e-02 3.28630702e+01] [-7.91892257e-02 9.96828386e-01 -7.88891784e-03 -4.33966481e+00] [-7.34646461e-02 2.05649783e-03 9.97295702e-01 -6.30287775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.265779523 meters 0.02573653286673161 Centerline is valid? [True, True] Translation: X:32.92, Y:-4.36, Z:-0.62 [[ 9.94277888e-01 7.27820287e-02 7.81937183e-02 3.29227403e+01] [-7.23420870e-02 9.97344099e-01 -8.44811227e-03 -4.36219258e+00] [-7.86009142e-02 2.74307446e-03 9.96902388e-01 -6.23981922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.325779522999994 meters 0.028125683054647996 Centerline is valid? [True, True] Translation: X:32.98, Y:-4.36, Z:-0.63 [[ 9.94120142e-01 6.72968002e-02 8.48309149e-02 3.29820867e+01] [-6.67587295e-02 9.97727037e-01 -9.16693333e-03 -4.36328033e+00] [-8.52550026e-02 3.44982896e-03 9.96353192e-01 -6.32743353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.385779523 meters 0.026674016828139146 Centerline is valid? [True, True] Translation: X:33.04, Y:-4.36, Z:-0.65 [[ 9.94579604e-01 6.98846451e-02 7.69905736e-02 3.30428535e+01] [-6.94490780e-02 9.97550772e-01 -8.32368395e-03 -4.35892460e+00] [-7.73837038e-02 2.93164193e-03 9.96997075e-01 -6.53483628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.445779523 meters 0.026332781758859836 Centerline is valid? [True, True] Translation: X:33.10, Y:-4.38, Z:-0.65 [[ 9.94445264e-01 7.75599878e-02 7.11552184e-02 3.31012130e+01] [-7.72074709e-02 9.96985350e-01 -7.69539856e-03 -4.38142827e+00] [-7.15375654e-02 2.15893820e-03 9.97435570e-01 -6.48500182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.505779522999994 meters 0.02617597796192981 Centerline is valid? [True, True] Translation: X:33.16, Y:-4.39, Z:-0.64 [[ 9.93911288e-01 7.81253442e-02 7.76967347e-02 3.31640995e+01] [-7.77066670e-02 9.96940860e-01 -8.40208294e-03 -4.38853112e+00] [-7.81154651e-02 2.31337078e-03 9.96941634e-01 -6.40414340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.565779522999996 meters 0.02470786873138234 Centerline is valid? [True, True] Translation: X:33.23, Y:-4.36, Z:-0.66 [[ 9.93399656e-01 7.72159741e-02 8.48222690e-02 3.32280078e+01] [-7.67116537e-02 9.97010931e-01 -9.19381042e-03 -4.36415879e+00] [-8.52786383e-02 2.62627159e-03 9.96353680e-01 -6.59945602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.625779523 meters 0.024092004654410047 Centerline is valid? [True, True] Translation: X:33.29, Y:-4.38, Z:-0.67 [[ 9.93657587e-01 8.15664377e-02 7.74048894e-02 3.32872338e+01] [-8.11584003e-02 9.96665752e-01 -8.40792848e-03 -4.37795458e+00] [-7.78326071e-02 2.07254492e-03 9.96964287e-01 -6.67967231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.685779522999994 meters 0.023165041640079813 Centerline is valid? [True, True] Translation: X:33.35, Y:-4.40, Z:-0.66 [[ 9.93389913e-01 8.80656497e-02 7.36269174e-02 3.33484265e+01] [-8.77141940e-02 9.96113560e-01 -7.99968715e-03 -4.39524560e+00] [-7.40452685e-02 1.48868279e-03 9.97253770e-01 -6.60557293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.745779522999996 meters 0.023508092749724763 Centerline is valid? [True, True] Translation: X:33.41, Y:-4.39, Z:-0.67 [[ 9.93164651e-01 8.77406810e-02 7.69775859e-02 3.34115714e+01] [-8.73550615e-02 9.96142085e-01 -8.36900299e-03 -4.38959023e+00] [-7.74149149e-02 1.58741619e-03 9.96997699e-01 -6.70780489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.805779523 meters 0.0226650660192498 Centerline is valid? [True, True] Translation: X:33.47, Y:-4.39, Z:-0.68 [[ 9.92308842e-01 9.18871844e-02 8.29452053e-02 3.34733767e+01] [-9.14517182e-02 9.95768458e-01 -9.04224973e-03 -4.39204136e+00] [-8.34250860e-02 1.38722282e-03 9.96513086e-01 -6.75862184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.86577952299999 meters 0.022325254418613275 Centerline is valid? [True, True] Translation: X:33.53, Y:-4.40, Z:-0.68 [[ 9.91537759e-01 1.00313514e-01 8.24018862e-02 3.35346314e+01] [-9.99110996e-02 9.94955636e-01 -9.00305389e-03 -4.40034401e+00] [-8.28893490e-02 6.94004822e-04 9.96558515e-01 -6.76575061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.925779522999996 meters 0.022256063163501646 Centerline is valid? [True, True] Translation: X:33.60, Y:-4.40, Z:-0.69 [[ 9.91183413e-01 1.07556127e-01 7.73764922e-02 3.35953204e+01] [-1.07223123e-01 9.94199010e-01 -8.45752403e-03 -4.39983099e+00] [-7.78372905e-02 8.64083595e-05 9.96966072e-01 -6.87425173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.985779523 meters 0.022577576875749166 Centerline is valid? [True, True] Translation: X:33.66, Y:-4.41, Z:-0.69 [[ 9.90864283e-01 1.12063166e-01 7.50321282e-02 3.36570154e+01] [-1.11762239e-01 9.93701054e-01 -8.21082304e-03 -4.40582582e+00] [-7.54796357e-02 -2.49947370e-04 9.97147312e-01 -6.90457830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.04577952299999 meters 0.023648560510381833 Centerline is valid? [True, True] Translation: X:33.72, Y:-4.41, Z:-0.70 [[ 9.90469078e-01 1.17915466e-01 7.11824968e-02 3.37169669e+01] [-1.17658513e-01 9.93023429e-01 -7.80671219e-03 -4.40947591e+00] [-7.16064191e-02 -6.42919694e-04 9.97432758e-01 -7.00529224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.105779522999995 meters 0.02370756895006271 Centerline is valid? [True, True] Translation: X:33.78, Y:-4.42, Z:-0.71 [[ 9.90397420e-01 1.20962033e-01 6.69413023e-02 3.37779706e+01] [-1.20741224e-01 9.92656809e-01 -7.34956490e-03 -4.41730623e+00] [-6.73387578e-02 -8.03584650e-04 9.97729846e-01 -7.10567755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.165779523 meters 0.02301005692901874 Centerline is valid? [True, True] Translation: X:33.84, Y:-4.43, Z:-0.71 [[ 9.90486812e-01 1.16391641e-01 7.34088593e-02 3.38389094e+01] [-1.16113089e-01 9.93203252e-01 -8.06541532e-03 -4.42784735e+00] [-7.38486647e-02 -5.35041898e-04 9.97269316e-01 -7.11929542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.22577952299999 meters 0.022556470022549135 Centerline is valid? [True, True] Translation: X:33.90, Y:-4.44, Z:-0.71 [[ 9.90703769e-01 1.13926845e-01 7.43418899e-02 3.38990986e+01] [-1.13634018e-01 9.93489079e-01 -8.17070766e-03 -4.43957007e+00] [-7.47887186e-02 -3.53016811e-04 9.97199340e-01 -7.12961481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.285779522999995 meters 0.022612961195590274 Centerline is valid? [True, True] Translation: X:33.96, Y:-4.45, Z:-0.71 [[ 9.90568066e-01 1.15120669e-01 7.43110923e-02 3.39611328e+01] [-1.14830244e-01 9.93351423e-01 -8.18326561e-03 -4.45063548e+00] [-7.47590923e-02 -4.27079277e-04 9.97201532e-01 -7.12953865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.345779523 meters 0.023484099773114334 Centerline is valid? [True, True] Translation: X:34.02, Y:-4.46, Z:-0.72 [[ 9.90168073e-01 1.20613282e-01 7.08492950e-02 3.40228134e+01] [-1.20361875e-01 9.92699262e-01 -7.82266860e-03 -4.45531261e+00] [-7.12755606e-02 -7.81797274e-04 9.97456357e-01 -7.18393018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.40577952299999 meters 0.023370727083653044 Centerline is valid? [True, True] Translation: X:34.08, Y:-4.45, Z:-0.74 [[ 9.90351746e-01 1.21270858e-01 6.70581754e-02 3.40842626e+01] [-1.21047031e-01 9.92619145e-01 -7.40606071e-03 -4.44890810e+00] [-6.74613681e-02 -7.82587865e-04 9.97721580e-01 -7.40836230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.465779522999995 meters 0.02206765755341886 Centerline is valid? [True, True] Translation: X:34.14, Y:-4.46, Z:-0.75 [[ 9.91266329e-01 1.13588915e-01 6.69971948e-02 3.41442170e+01] [-1.13346851e-01 9.93527805e-01 -7.41565646e-03 -4.46284718e+00] [-6.74059122e-02 -2.43030530e-04 9.97725606e-01 -7.47528823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.525779523 meters 0.02172457244903619 Centerline is valid? [True, True] Translation: X:34.20, Y:-4.49, Z:-0.74 [[ 9.91711489e-01 1.07302340e-01 7.06719870e-02 3.42048582e+01] [-1.07015724e-01 9.94226414e-01 -7.84041431e-03 -4.48562694e+00] [-7.11052510e-02 2.12415078e-04 9.97468796e-01 -7.36894471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58577952299999 meters 0.022187610004801024 Centerline is valid? [True, True] Translation: X:34.27, Y:-4.50, Z:-0.74 [[ 9.92402989e-01 9.91535544e-02 7.28346012e-02 3.42665341e+01] [-9.88258424e-02 9.95071791e-01 -8.09839688e-03 -4.49583204e+00] [-7.32786419e-02 8.38932454e-04 9.97311153e-01 -7.38122575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.645779522999995 meters 0.02275245855883483 Centerline is valid? [True, True] Translation: X:34.33, Y:-4.50, Z:-0.76 [[ 9.92972263e-01 9.55082147e-02 6.98875241e-02 3.43263929e+01] [-9.51963319e-02 9.95428056e-01 -7.78736113e-03 -4.49698466e+00] [-7.03117592e-02 1.07959767e-03 9.97524481e-01 -7.55984712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.705779523 meters 0.023591802541194033 Centerline is valid? [True, True] Translation: X:34.39, Y:-4.50, Z:-0.76 [[ 9.93380688e-01 9.08965513e-02 7.02326586e-02 3.43876666e+01] [-9.05688183e-02 9.95859313e-01 -7.84338915e-03 -4.50492439e+00] [-7.06547841e-02 1.43058241e-03 9.97499802e-01 -7.64128240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.765779523 meters 0.026223075448634302 Centerline is valid? [True, True] Translation: X:34.45, Y:-4.52, Z:-0.76 [[ 9.94570470e-01 7.73448027e-02 6.96229924e-02 3.44470389e+01] [-7.69891974e-02 9.97001568e-01 -7.78058056e-03 -4.52413031e+00] [-7.00160200e-02 2.37811737e-03 9.97543032e-01 -7.63039026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.825779522999994 meters 0.03032290868577755 Centerline is valid? [True, True] Translation: X:34.51, Y:-4.54, Z:-0.77 [[ 9.95383106e-01 6.78484597e-02 6.78900479e-02 3.45058060e+01] [-6.74882707e-02 9.97691215e-01 -7.58767684e-03 -4.54050306e+00] [-6.82481166e-02 2.97086341e-03 9.97663956e-01 -7.67278428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.885779523 meters 0.029224027788040945 Centerline is valid? [True, True] Translation: X:34.57, Y:-4.53, Z:-0.77 [[ 9.95362522e-01 6.25642122e-02 7.30696247e-02 3.45679994e+01] [-6.21325979e-02 9.98034486e-01 -8.16730771e-03 -4.53412116e+00] [-7.34369865e-02 3.58942639e-03 9.97293400e-01 -7.72771991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.945779523 meters 0.02976101415224908 Centerline is valid? [True, True] Translation: X:34.63, Y:-4.54, Z:-0.78 [[ 9.95452021e-01 6.23841870e-02 7.19964411e-02 3.46295851e+01] [-6.19646696e-02 9.98045896e-01 -8.04798358e-03 -4.54244580e+00] [-7.23578194e-02 3.55014583e-03 9.97372419e-01 -7.77683081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.005779522999994 meters 0.03364392237735968 Centerline is valid? [True, True] Translation: X:34.69, Y:-4.55, Z:-0.79 [[ 9.96117997e-01 5.66778556e-02 6.73539728e-02 3.46881835e+01] [-5.62965473e-02 9.98385564e-01 -7.54742418e-03 -4.55140985e+00] [-6.76730060e-02 3.72632893e-03 9.97700596e-01 -7.89407259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.065779522999996 meters 0.032162687825211374 Centerline is valid? [True, True] Translation: X:34.75, Y:-4.56, Z:-0.79 [[ 9.96289805e-01 5.11728216e-02 6.91951320e-02 3.47485529e+01] [-5.07570783e-02 9.98680925e-01 -7.75431931e-03 -4.55830226e+00] [-6.95006688e-02 4.21340655e-03 9.97573007e-01 -7.91014100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.125779523 meters 0.035234492118633796 Centerline is valid? [True, True] Translation: X:34.81, Y:-4.57, Z:-0.80 [[ 9.95909753e-01 5.37552973e-02 7.26232126e-02 3.48078705e+01] [-5.33039696e-02 9.98545156e-01 -8.13993822e-03 -4.56630467e+00] [-7.29551219e-02 4.23553835e-03 9.97326231e-01 -7.95421124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.185779522999994 meters 0.030412269490819814 Centerline is valid? [True, True] Translation: X:34.87, Y:-4.56, Z:-0.80 [[ 9.95121939e-01 6.33213415e-02 7.56487549e-02 3.48693119e+01] [-6.28590448e-02 9.97986397e-01 -8.47896109e-03 -4.55537580e+00] [-7.60333275e-02 3.68239173e-03 9.97098477e-01 -8.03182746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.245779522999996 meters 0.02834727537630131 Centerline is valid? [True, True] Translation: X:34.93, Y:-4.56, Z:-0.80 [[ 9.94584937e-01 7.23205772e-02 7.46360305e-02 3.49289871e+01] [-7.18957412e-02 9.97377060e-01 -8.36678144e-03 -4.56262934e+00] [-7.50453551e-02 2.95546206e-03 9.97175742e-01 -8.02876578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.305779523 meters 0.02712590847879383 Centerline is valid? [True, True] Translation: X:34.99, Y:-4.56, Z:-0.81 [[ 9.94026361e-01 7.73312924e-02 7.70159980e-02 3.49902764e+01] [-7.68937707e-02 9.97001901e-01 -8.63470353e-03 -4.56366683e+00] [-7.74528292e-02 2.66107244e-03 9.96992466e-01 -8.05692662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.36577952299999 meters 0.023600007678193237 Centerline is valid? [True, True] Translation: X:35.05, Y:-4.55, Z:-0.81 [[ 9.93368225e-01 8.37469897e-02 7.87782352e-02 3.50522353e+01] [-8.33091407e-02 9.96484594e-01 -8.83406157e-03 -4.55441335e+00] [-7.92411238e-02 2.21252898e-03 9.96853023e-01 -8.13717983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.425779522999996 meters 0.024097192728325154 Centerline is valid? [True, True] Translation: X:35.11, Y:-4.56, Z:-0.83 [[ 9.92780356e-01 9.08214325e-02 7.83494203e-02 3.51122434e+01] [-9.04102082e-02 9.95865843e-01 -8.78735002e-03 -4.55776049e+00] [-7.88235912e-02 1.64032108e-03 9.96887231e-01 -8.26077717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.485779523 meters 0.021128862738198438 Centerline is valid? [True, True] Translation: X:35.17, Y:-4.56, Z:-0.83 [[ 9.92517345e-01 9.74021913e-02 7.36351339e-02 3.51724082e+01] [-9.70570409e-02 9.95244547e-01 -8.25968662e-03 -4.56408087e+00] [-7.40894771e-02 1.05107402e-03 9.97251044e-01 -8.30246984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.54577952299999 meters 0.020425146019228103 Centerline is valid? [True, True] Translation: X:35.23, Y:-4.57, Z:-0.83 [[ 9.91708323e-01 1.02690671e-01 7.72607764e-02 3.52341246e+01] [-1.02326431e-01 9.94713098e-01 -8.66911436e-03 -4.56668233e+00] [-7.77425435e-02 6.91413352e-04 9.96973229e-01 -8.33397980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.605779522999995 meters 0.021673889217768524 Centerline is valid? [True, True] Translation: X:35.30, Y:-4.57, Z:-0.83 [[ 9.90218094e-01 1.08735472e-01 8.74341111e-02 3.52962029e+01] [-1.08291709e-01 9.94070688e-01 -9.81693946e-03 -4.57317698e+00] [-8.79831366e-02 2.52521750e-04 9.96121932e-01 -8.34440778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.665779523 meters 0.019883964085957644 Centerline is valid? [True, True] Translation: X:35.36, Y:-4.57, Z:-0.84 [[ 9.89867438e-01 1.12619127e-01 8.64834536e-02 3.53582289e+01] [-1.12197951e-01 9.93638228e-01 -9.73101222e-03 -4.57324462e+00] [-8.70291637e-02 -7.08541520e-05 9.96205762e-01 -8.44807109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.72577952299999 meters 0.019575467494453457 Centerline is valid? [True, True] Translation: X:35.42, Y:-4.58, Z:-0.86 [[ 9.90006920e-01 1.14643801e-01 8.21163597e-02 3.54190237e+01] [-1.14269547e-01 9.93406640e-01 -9.25846712e-03 -4.58372248e+00] [-8.26363628e-02 -2.17452669e-04 9.96579743e-01 -8.55288424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.785779522999995 meters 0.019334588956553576 Centerline is valid? [True, True] Translation: X:35.48, Y:-4.60, Z:-0.85 [[ 9.90184130e-01 1.15522491e-01 7.86761916e-02 3.54790082e+01] [-1.15180264e-01 9.93304831e-01 -8.88933891e-03 -4.60395069e+00] [-7.91763597e-02 -2.59862171e-04 9.96860590e-01 -8.54335771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.845779523 meters 0.019312309161651785 Centerline is valid? [True, True] Translation: X:35.54, Y:-4.61, Z:-0.86 [[ 9.90017291e-01 1.15247857e-01 8.11399730e-02 3.55403098e+01] [-1.14881096e-01 9.93336741e-01 -9.18979211e-03 -4.61416138e+00] [-8.16584203e-02 -2.23395947e-04 9.96660350e-01 -8.56703626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.90577952299999 meters 0.01888912581098092 Centerline is valid? [True, True] Translation: X:35.60, Y:-4.62, Z:-0.87 [[ 9.90235403e-01 1.11258972e-01 8.39957652e-02 3.56009062e+01] [-1.10849727e-01 9.93791439e-01 -9.53487868e-03 -4.62231106e+00] [-8.45351131e-02 1.30866778e-04 9.96420492e-01 -8.70817269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.965779522999995 meters 0.019311134132049577 Centerline is valid? [True, True] Translation: X:35.66, Y:-4.65, Z:-0.87 [[ 9.90912210e-01 1.02082574e-01 8.75907515e-02 3.56607049e+01] [-1.01599862e-01 9.94775452e-01 -9.96332483e-03 -4.65170008e+00] [-8.81502113e-02 9.73572002e-04 9.96106717e-01 -8.65584741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.025779523 meters 0.019770518096717017 Centerline is valid? [True, True] Translation: X:35.72, Y:-4.66, Z:-0.86 [[ 9.90863237e-01 1.00911443e-01 8.94814299e-02 3.57210686e+01] [-1.00402221e-01 9.94894795e-01 -1.01853434e-02 -4.66221510e+00] [-9.00524265e-02 1.10814802e-03 9.95936410e-01 -8.64830633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08577952299999 meters 0.01959538007135263 Centerline is valid? [True, True] Translation: X:35.78, Y:-4.66, Z:-0.88 [[ 9.91542657e-01 9.79349087e-02 8.51581614e-02 3.57822330e+01] [-9.74618949e-02 9.95191943e-01 -9.70436489e-03 -4.66239534e+00] [-8.56991122e-02 1.32261597e-03 9.96320186e-01 -8.83364608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.145779522999995 meters 0.019556864033428874 Centerline is valid? [True, True] Translation: X:35.84, Y:-4.67, Z:-0.89 [[ 9.91721148e-01 9.70110283e-02 8.41309986e-02 3.58438580e+01] [-9.65443554e-02 9.95282314e-01 -9.60741919e-03 -4.67151977e+00] [-8.46661206e-02 1.40550776e-03 9.96408386e-01 -8.89176202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.205779523 meters 0.0192518787346318 Centerline is valid? [True, True] Translation: X:35.90, Y:-4.68, Z:-0.89 [[ 9.91638975e-01 9.84928501e-02 8.33744674e-02 3.59049479e+01] [-9.80380863e-02 9.95136926e-01 -9.54110653e-03 -4.68028776e+00] [-8.39087420e-02 1.28745986e-03 9.96472612e-01 -8.90802571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.265779523 meters 0.020891197826115405 Centerline is valid? [True, True] Translation: X:35.97, Y:-4.69, Z:-0.90 [[ 9.92451770e-01 9.03514466e-02 8.29222607e-02 3.59654911e+01] [-8.98715933e-02 9.95907966e-01 -9.50894960e-03 -4.68727449e+00] [-8.34420874e-02 1.98481816e-03 9.96510652e-01 -8.97612594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.325779522999994 meters 0.023296915949511953 Centerline is valid? [True, True] Translation: X:36.03, Y:-4.69, Z:-0.91 [[ 9.93407664e-01 8.03212033e-02 8.17906977e-02 3.60253280e+01] [-7.98202187e-02 9.96765124e-01 -9.38196183e-03 -4.69103352e+00] [-8.22796854e-02 2.79156140e-03 9.96605369e-01 -9.11606347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.385779523 meters 0.027697376526614952 Centerline is valid? [True, True] Translation: X:36.08, Y:-4.71, Z:-0.91 [[ 9.94057444e-01 6.97491442e-02 8.35754429e-02 3.60834992e+01] [-6.91885622e-02 9.97557517e-01 -9.58867450e-03 -4.70666061e+00] [-8.40401132e-02 3.74922853e-03 9.96455319e-01 -9.14571885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.445779523 meters 0.028863115820646355 Centerline is valid? [True, True] Translation: X:36.14, Y:-4.72, Z:-0.91 [[ 9.94082083e-01 5.99378935e-02 9.05994546e-02 3.61441405e+01] [-5.92376866e-02 9.98189726e-01 -1.04003565e-02 -4.71822837e+00] [-9.10588202e-02 4.97190597e-03 9.95833104e-01 -9.07889271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.505779522999994 meters 0.03254721139935256 Centerline is valid? [True, True] Translation: X:36.20, Y:-4.73, Z:-0.91 [[ 9.94330294e-01 5.51248306e-02 9.09314049e-02 3.62034969e+01] [-5.43993225e-02 9.98464684e-01 -1.04397630e-02 -4.72857905e+00] [-9.13672866e-02 5.43396579e-03 9.95802436e-01 -9.10367953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.565779522999996 meters 0.03161597445782657 Centerline is valid? [True, True] Translation: X:36.27, Y:-4.73, Z:-0.93 [[ 9.94867426e-01 5.38825318e-02 8.56474077e-02 3.62652226e+01] [-5.32344716e-02 9.98533614e-01 -9.83424400e-03 -4.72506397e+00] [-8.60517095e-02 5.22437451e-03 9.96276974e-01 -9.26588716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.625779523 meters 0.03390414938495941 Centerline is valid? [True, True] Translation: X:36.32, Y:-4.73, Z:-0.94 [[ 9.95235163e-01 5.74685515e-02 7.87676058e-02 3.63242909e+01] [-5.69304210e-02 9.98337017e-01 -9.06242343e-03 -4.72846814e+00] [-7.91574210e-02 4.53496950e-03 9.96851813e-01 -9.44449102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.685779522999994 meters 0.031622384046551266 Centerline is valid? [True, True] Translation: X:36.39, Y:-4.73, Z:-0.95 [[ 9.95029204e-01 6.24281102e-02 7.75861697e-02 3.63852594e+01] [-6.19210491e-02 9.98041132e-01 -8.92645781e-03 -4.73392294e+00] [-7.79914505e-02 4.07786919e-03 9.96945688e-01 -9.46034276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.745779522999996 meters 0.028848065439073946 Centerline is valid? [True, True] Translation: X:36.45, Y:-4.73, Z:-0.94 [[ 9.94360398e-01 6.61706840e-02 8.28784654e-02 3.64469966e+01] [-6.56047392e-02 9.97800118e-01 -9.53639442e-03 -4.73459244e+00] [-8.33271723e-02 4.04539284e-03 9.96514033e-01 -9.39250551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.805779523 meters 0.029567959863623334 Centerline is valid? [True, True] Translation: X:36.51, Y:-4.73, Z:-0.95 [[ 9.93904516e-01 6.54066077e-02 8.87456364e-02 3.65098378e+01] [-6.47541813e-02 9.97848972e-01 -1.02139443e-02 -4.72806583e+00] [-8.92228015e-02 4.40503437e-03 9.96001951e-01 -9.50450111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.86577952299999 meters 0.028012808494726177 Centerline is valid? [True, True] Translation: X:36.57, Y:-4.74, Z:-0.96 [[ 9.94197015e-01 6.45243974e-02 8.60749481e-02 3.65703583e+01] [-6.39069003e-02 9.97906628e-01 -9.91315388e-03 -4.73905451e+00] [-8.65344014e-02 4.35484488e-03 9.96239345e-01 -9.57164216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.925779522999996 meters 0.027119347769208036 Centerline is valid? [True, True] Translation: X:36.63, Y:-4.74, Z:-0.96 [[ 9.94299522e-01 6.36734022e-02 8.55228545e-02 3.66326494e+01] [-6.30588979e-02 9.97960997e-01 -9.87034328e-03 -4.74339237e+00] [-8.59769514e-02 4.42110066e-03 9.96287317e-01 -9.56580976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.985779523 meters 0.02876698835689009 Centerline is valid? [True, True] Translation: X:36.69, Y:-4.74, Z:-0.97 [[ 9.94571443e-01 6.21964027e-02 8.34221331e-02 3.66935549e+01] [-6.16049295e-02 9.98053980e-01 -9.64808180e-03 -4.73840316e+00] [-8.38598680e-02 4.45649200e-03 9.96467592e-01 -9.69457346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.04577952299999 meters 0.028073709932033956 Centerline is valid? [True, True] Translation: X:36.76, Y:-4.74, Z:-0.98 [[ 9.95068574e-01 6.24434973e-02 7.70671326e-02 3.67550748e+01] [-6.19384219e-02 9.98040032e-01 -8.92900647e-03 -4.74401053e+00] [-7.74736419e-02 4.11155716e-03 9.96985923e-01 -9.83726716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.105779522999995 meters 0.02985328174023062 Centerline is valid? [True, True] Translation: X:36.82, Y:-4.76, Z:-0.98 [[ 9.94917583e-01 6.07283737e-02 8.03185418e-02 3.68151860e+01] [-6.01721820e-02 9.98144414e-01 -9.32941528e-03 -4.76279943e+00] [-8.07360641e-02 4.44905738e-03 9.96725586e-01 -9.79601901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.165779523 meters 0.03248109329806429 Centerline is valid? [True, True] Translation: X:36.88, Y:-4.76, Z:-0.99 [[ 9.95074285e-01 5.89270525e-02 7.97168092e-02 3.68761388e+01] [-5.83726823e-02 9.98251831e-01 -9.26884761e-03 -4.75796087e+00] [-8.01236366e-02 4.56990793e-03 9.96774457e-01 -9.88203426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.22577952299999 meters 0.030586021819385016 Centerline is valid? [True, True] Translation: X:36.94, Y:-4.76, Z:-1.00 [[ 9.94896321e-01 6.32477540e-02 7.86195433e-02 3.69367317e+01] [-6.27217906e-02 9.97989161e-01 -9.14396292e-03 -4.75574150e+00] [-7.90397872e-02 4.16613653e-03 9.96862757e-01 -9.97092795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.285779522999995 meters 0.024324379924841308 Centerline is valid? [True, True] Translation: X:37.00, Y:-4.76, Z:-0.99 [[ 9.94156115e-01 7.34195951e-02 7.91402711e-02 3.69976513e+01] [-7.29186165e-02 9.97295408e-01 -9.20563725e-03 -4.76305331e+00] [-7.96021031e-02 3.38104149e-03 9.96820984e-01 -9.93393056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.345779523 meters 0.02261857893709727 Centerline is valid? [True, True] Translation: X:37.06, Y:-4.76, Z:-1.00 [[ 9.93479531e-01 8.10490592e-02 8.01839793e-02 3.70596365e+01] [-8.05593970e-02 9.96706158e-01 -9.32835257e-03 -4.75585836e+00] [-8.06759202e-02 2.80795432e-03 9.96736430e-01 -1.00038313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.40577952299999 meters 0.02055973148763281 Centerline is valid? [True, True] Translation: X:37.12, Y:-4.75, Z:-1.01 [[ 9.92940679e-01 9.10227977e-02 7.60503719e-02 3.71198732e+01] [-9.06114450e-02 9.95847004e-01 -8.84927695e-03 -4.75113475e+00] [-7.65400209e-02 1.89577297e-03 9.97064708e-01 -1.00931875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.465779522999995 meters 0.019370388037126443 Centerline is valid? [True, True] Translation: X:37.18, Y:-4.76, Z:-1.01 [[ 9.92415356e-01 9.63812884e-02 7.63047094e-02 3.71803511e+01] [-9.59830142e-02 9.95343376e-01 -8.87834846e-03 -4.76346577e+00] [-7.68050937e-02 1.48705334e-03 9.97045017e-01 -1.00685883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.525779523 meters 0.017247414964851795 Centerline is valid? [True, True] Translation: X:37.24, Y:-4.76, Z:-1.01 [[ 9.91485459e-01 1.07358432e-01 7.36936365e-02 3.72424860e+01] [-1.07017055e-01 9.94220190e-01 -8.57694106e-03 -4.75604427e+00] [-7.41885083e-02 6.17436355e-04 9.97244044e-01 -1.01386596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58577952299999 meters 0.01678352121514132 Centerline is valid? [True, True] Translation: X:37.30, Y:-4.75, Z:-1.03 [[ 9.90963939e-01 1.12905892e-01 7.24067052e-02 3.73043247e+01] [-1.12591077e-01 9.93605666e-01 -8.42790960e-03 -4.75152912e+00] [-7.28952732e-02 1.99405574e-04 9.97339581e-01 -1.02533796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.645779522999995 meters 0.016965962700270343 Centerline is valid? [True, True] Translation: X:37.37, Y:-4.77, Z:-1.02 [[ 9.90889815e-01 1.13774000e-01 7.20614439e-02 3.73650673e+01] [-1.13463122e-01 9.93506645e-01 -8.40633717e-03 -4.77258909e+00] [-7.25499460e-02 1.53437472e-04 9.97364769e-01 -1.02109260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.705779523 meters 0.017043854392165877 Centerline is valid? [True, True] Translation: X:37.43, Y:-4.77, Z:-1.03 [[ 9.90794732e-01 1.14611911e-01 7.20410274e-02 3.74271770e+01] [-1.14302544e-01 9.93410338e-01 -8.41601458e-03 -4.77251477e+00] [-7.25308768e-02 1.04070181e-04 9.97366162e-01 -1.02741472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.765779523 meters 0.017543044486520522 Centerline is valid? [True, True] Translation: X:37.49, Y:-4.79, Z:-1.04 [[ 9.91213314e-01 1.17924880e-01 5.99156885e-02 3.74864055e+01] [-1.17716006e-01 9.93022514e-01 -7.01633756e-03 -4.78576214e+00] [-6.03250284e-02 -9.83483175e-05 9.98178782e-01 -1.03550092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.825779522999994 meters 0.017817493895647473 Centerline is valid? [True, True] Translation: X:37.55, Y:-4.80, Z:-1.04 [[ 9.91435992e-01 1.18108051e-01 5.57239887e-02 3.75472989e+01] [-1.17927717e-01 9.93000744e-01 -6.52500480e-03 -4.80094827e+00] [-5.61046179e-02 -1.02278152e-04 9.98424890e-01 -1.03834688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.885779523 meters 0.017422990945261306 Centerline is valid? [True, True] Translation: X:37.61, Y:-4.81, Z:-1.04 [[ 9.91654631e-01 1.13862782e-01 6.04678467e-02 3.76082198e+01] [-1.13642202e-01 9.93496474e-01 -7.08569481e-03 -4.80947131e+00] [-6.08813894e-02 1.54862825e-04 9.98144996e-01 -1.04346949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.945779523 meters 0.017763912246964976 Centerline is valid? [True, True] Translation: X:37.67, Y:-4.82, Z:-1.05 [[ 9.92032770e-01 1.09870264e-01 6.16401471e-02 3.76683138e+01] [-1.09633376e-01 9.93945853e-01 -7.22243548e-03 -4.82418694e+00] [-6.20604995e-02 4.07075252e-04 9.98072306e-01 -1.04816435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.005779522999994 meters 0.0213166382939593 Centerline is valid? [True, True] Translation: X:37.73, Y:-4.84, Z:-1.05 [[ 9.92852143e-01 1.02955362e-01 6.03723109e-02 3.77278101e+01] [-1.02714374e-01 9.94685624e-01 -7.08988987e-03 -4.84383318e+00] [-6.07814120e-02 8.38108251e-04 9.98150749e-01 -1.05152376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.065779522999996 meters 0.018937309441745327 Centerline is valid? [True, True] Translation: X:37.79, Y:-4.86, Z:-1.05 [[ 9.93091381e-01 1.00142501e-01 6.11636177e-02 3.77888960e+01] [-9.98889820e-02 9.94972564e-01 -7.19633741e-03 -4.86265302e+00] [-6.15767807e-02 1.03704916e-03 9.98101811e-01 -1.04610112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.125779523 meters 0.019335942896247533 Centerline is valid? [True, True] Translation: X:37.85, Y:-4.87, Z:-1.05 [[ 9.93270893e-01 9.99324192e-02 5.85358351e-02 3.78510295e+01] [-9.96990603e-02 9.94993706e-01 -6.90096000e-03 -4.86758864e+00] [-5.89324171e-02 1.01855495e-03 9.98261455e-01 -1.04807542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.185779522999994 meters 0.019821077215929774 Centerline is valid? [True, True] Translation: X:37.91, Y:-4.88, Z:-1.05 [[ 9.93565713e-01 9.74557611e-02 5.77022324e-02 3.79125036e+01] [-9.72240245e-02 9.95239179e-01 -6.81662235e-03 -4.87618002e+00] [-5.80918415e-02 1.16271900e-03 9.98310566e-01 -1.05376043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.245779522999996 meters 0.022927399280983782 Centerline is valid? [True, True] Translation: X:37.97, Y:-4.90, Z:-1.06 [[ 9.94449660e-01 8.91998170e-02 5.57966458e-02 3.79703169e+01] [-8.89690804e-02 9.96012450e-01 -6.61072936e-03 -4.89686089e+00] [-5.61638297e-02 1.60986130e-03 9.98420269e-01 -1.05938292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.305779523 meters 0.028260232600632547 Centerline is valid? [True, True] Translation: X:38.03, Y:-4.91, Z:-1.07 [[ 9.95657784e-01 7.65759913e-02 5.29310427e-02 3.80277890e+01] [-7.63506137e-02 9.97061318e-01 -6.26996802e-03 -4.91451717e+00] [-5.32556242e-02 2.20142486e-03 9.98578486e-01 -1.07120336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.36577952299999 meters 0.02974372753076956 Centerline is valid? [True, True] Translation: X:38.09, Y:-4.92, Z:-1.08 [[ 9.96070039e-01 7.10070496e-02 5.29384225e-02 3.80887918e+01] [-7.07736192e-02 9.97472675e-01 -6.27351658e-03 -4.91510215e+00] [-5.32500938e-02 2.50221815e-03 9.98578072e-01 -1.07584585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.425779522999996 meters 0.03194828063375106 Centerline is valid? [True, True] Translation: X:38.15, Y:-4.93, Z:-1.07 [[ 9.96088793e-01 6.99329839e-02 5.40045669e-02 3.81491111e+01] [-6.96887383e-02 9.97548287e-01 -6.39495979e-03 -4.93447444e+00] [-5.43193818e-02 2.60643765e-03 9.98520211e-01 -1.06914235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.485779523 meters 0.030451347133706678 Centerline is valid? [True, True] Translation: X:38.21, Y:-4.94, Z:-1.07 [[ 9.96044386e-01 6.79317039e-02 5.72788415e-02 3.82112971e+01] [-6.76528200e-02 9.97685775e-01 -6.79628261e-03 -4.94158633e+00] [-5.76079684e-02 2.89432399e-03 9.98335086e-01 -1.06508063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.54577952299999 meters 0.03392140437463731 Centerline is valid? [True, True] Translation: X:38.27, Y:-4.94, Z:-1.08 [[ 9.96359216e-01 6.15185348e-02 5.90235777e-02 3.82718099e+01] [-6.12099876e-02 9.98100202e-01 -7.02307111e-03 -4.94026446e+00] [-5.93434939e-02 3.38466917e-03 9.98231884e-01 -1.07505817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.605779522999995 meters 0.030928180881199467 Centerline is valid? [True, True] Translation: X:38.33, Y:-4.94, Z:-1.08 [[ 9.96613651e-01 5.95269560e-02 5.67254188e-02 3.83325128e+01] [-5.92387933e-02 9.98221022e-01 -6.74951195e-03 -4.93867620e+00] [-5.70262834e-02 3.36631038e-03 9.98367002e-01 -1.08401237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.665779523 meters 0.034507894341258116 Centerline is valid? [True, True] Translation: X:38.39, Y:-4.95, Z:-1.09 [[ 9.96776319e-01 6.17392822e-02 5.12370061e-02 3.83919471e+01] [-6.15074294e-02 9.98088039e-01 -6.09110546e-03 -4.95118684e+00] [-5.15151034e-02 2.92001315e-03 9.98667947e-01 -1.09072383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.72577952299999 meters 0.028229758482884153 Centerline is valid? [True, True] Translation: X:38.46, Y:-4.94, Z:-1.09 [[ 9.95694503e-01 7.15606427e-02 5.89196990e-02 3.84551372e+01] [-7.12698182e-02 9.97432332e-01 -7.02536638e-03 -4.93585746e+00] [-5.92711526e-02 2.79592244e-03 9.98238004e-01 -1.08537584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.785779522999995 meters 0.02406435928042628 Centerline is valid? [True, True] Translation: X:38.52, Y:-4.92, Z:-1.09 [[ 9.94516851e-01 8.24378991e-02 6.43445903e-02 3.85158598e+01] [-8.21136480e-02 9.96593441e-01 -7.67217489e-03 -4.92441640e+00] [-6.47578747e-02 2.34653817e-03 9.97898247e-01 -1.09150976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.845779523 meters 0.022605502165667684 Centerline is valid? [True, True] Translation: X:38.58, Y:-4.93, Z:-1.10 [[ 9.93857356e-01 9.40147251e-02 5.83848144e-02 3.85771037e+01] [-9.37678258e-02 9.95569761e-01 -6.96026773e-03 -4.92523361e+00] [-5.87805234e-02 1.44289618e-03 9.98269887e-01 -1.09864749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.90577952299999 meters 0.01793613434771825 Centerline is valid? [True, True] Translation: X:38.64, Y:-4.91, Z:-1.11 [[ 9.92757913e-01 1.05049292e-01 5.82784027e-02 3.86382928e+01] [-1.04822143e-01 9.94466702e-01 -6.94957966e-03 -4.91410424e+00] [-5.86859794e-02 7.90383112e-04 9.98276180e-01 -1.10741682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.965779522999995 meters 0.016306230324705465 Centerline is valid? [True, True] Translation: X:38.70, Y:-4.91, Z:-1.11 [[ 9.91768491e-01 1.11454560e-01 6.30328581e-02 3.87004195e+01] [-1.11201724e-01 9.93769431e-01 -7.51622351e-03 -4.90912382e+00] [-6.34778449e-02 4.44991161e-04 9.97983149e-01 -1.11067842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.025779523 meters 0.015926204544553808 Centerline is valid? [True, True] Translation: X:38.76, Y:-4.92, Z:-1.11 [[ 9.90774549e-01 1.19376602e-01 6.41484286e-02 3.87612667e+01] [-1.19131449e-01 9.92849043e-01 -7.64691672e-03 -4.91701149e+00] [-6.46025688e-02 -6.57247905e-05 9.97911070e-01 -1.11257802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08577952299999 meters 0.015767879345137296 Centerline is valid? [True, True] Translation: X:38.82, Y:-4.92, Z:-1.11 [[ 9.90203036e-01 1.22661259e-01 6.67245350e-02 3.88234488e+01] [-1.22402390e-01 9.92448558e-01 -7.96964911e-03 -4.92085284e+00] [-6.71982357e-02 -2.75671815e-04 9.97739606e-01 -1.11404099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.145779522999995 meters 0.016353427722462555 Centerline is valid? [True, True] Translation: X:38.88, Y:-4.92, Z:-1.13 [[ 9.90297019e-01 1.24035975e-01 6.26649129e-02 3.88833724e+01] [-1.23809510e-01 9.92277666e-01 -7.49923987e-03 -4.92384137e+00] [-6.31111691e-02 -3.32037257e-04 9.98006448e-01 -1.12938197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.205779523 meters 0.015647421364436923 Centerline is valid? [True, True] Translation: X:38.95, Y:-4.93, Z:-1.13 [[ 9.89944835e-01 1.24659064e-01 6.68531323e-02 3.89452629e+01] [-1.24401632e-01 9.92199563e-01 -8.01630994e-03 -4.93138057e+00] [-6.73309543e-02 -3.80934136e-04 9.97730624e-01 -1.13314714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26577952299999 meters 0.01773455076913009 Centerline is valid? [True, True] Translation: X:39.01, Y:-4.94, Z:-1.14 [[ 9.89767335e-01 1.22985681e-01 7.23543016e-02 3.90054675e+01] [-1.22678196e-01 9.92408409e-01 -8.69545052e-03 -4.94120079e+00] [-7.28744332e-02 -2.69822314e-04 9.97341087e-01 -1.13568567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.325779522999994 meters 0.017505071527766886 Centerline is valid? [True, True] Translation: X:39.07, Y:-4.96, Z:-1.14 [[ 9.90734382e-01 1.19534228e-01 6.44744351e-02 3.90652617e+01] [-1.19281858e-01 9.92830080e-01 -7.76338281e-03 -4.96158482e+00] [-6.49401485e-02 8.19888530e-07 9.97889161e-01 -1.14227400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.385779523 meters 0.015506017648231486 Centerline is valid? [True, True] Translation: X:39.13, Y:-4.97, Z:-1.14 [[ 9.90758216e-01 1.19234176e-01 6.46635015e-02 3.91270556e+01] [-1.18979604e-01 9.92866160e-01 -7.78736602e-03 -4.97315565e+00] [-6.51307226e-02 2.17590800e-05 9.97876740e-01 -1.14464726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.445779523 meters 0.015387569607242652 Centerline is valid? [True, True] Translation: X:39.19, Y:-4.98, Z:-1.15 [[ 9.90833257e-01 1.18650139e-01 6.45879342e-02 3.91883569e+01] [-1.18393718e-01 9.92936120e-01 -7.79673483e-03 -4.98357534e+00] [-6.50567764e-02 7.84584798e-05 9.97881561e-01 -1.15157558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.505779522999994 meters 0.01533347563807877 Centerline is valid? [True, True] Translation: X:39.25, Y:-5.00, Z:-1.15 [[ 9.90692928e-01 1.13614584e-01 7.49616495e-02 3.92479806e+01] [-1.13252635e-01 9.93524773e-01 -9.07555193e-03 -5.00067930e+00] [-7.55073709e-02 5.01480746e-04 9.97145118e-01 -1.15053306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.565779522999996 meters 0.01648232899001266 Centerline is valid? [True, True] Translation: X:39.31, Y:-5.02, Z:-1.16 [[ 9.91573657e-01 1.05749614e-01 7.48244783e-02 3.93071114e+01] [-1.05366453e-01 9.94392180e-01 -9.06108101e-03 -5.02252240e+00] [-7.53630819e-02 1.10073938e-03 9.97155552e-01 -1.15720054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.625779523 meters 0.016904330615179763 Centerline is valid? [True, True] Translation: X:39.37, Y:-5.04, Z:-1.16 [[ 9.92083911e-01 1.02814900e-01 7.21013806e-02 3.93673658e+01] [-1.02450911e-01 9.94699679e-01 -8.73835352e-03 -5.03961262e+00] [-7.26176531e-02 1.28232779e-03 9.97359029e-01 -1.15981719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.685779522999994 meters 0.01759312183314115 Centerline is valid? [True, True] Translation: X:39.43, Y:-5.05, Z:-1.16 [[ 9.91981088e-01 9.94806129e-02 7.79559410e-02 3.94286143e+01] [-9.90430539e-02 9.95038096e-01 -9.46897977e-03 -5.05107092e+00] [-7.85111110e-02 1.67205438e-03 9.96911836e-01 -1.15953947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.745779522999996 meters 0.018545072538985265 Centerline is valid? [True, True] Translation: X:39.49, Y:-5.07, Z:-1.16 [[ 9.92006541e-01 9.87551871e-02 7.85521225e-02 3.94881711e+01] [-9.83070629e-02 9.95110198e-01 -9.56109704e-03 -5.06583270e+00] [-7.91122261e-02 1.76244236e-03 9.96864158e-01 -1.16235494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.805779523 meters 0.018266086516641945 Centerline is valid? [True, True] Translation: X:39.55, Y:-5.08, Z:-1.18 [[ 9.92566851e-01 1.01391861e-01 6.73107407e-02 3.95478334e+01] [-1.01068205e-01 9.94845662e-01 -8.20527618e-03 -5.07636071e+00] [-6.77957466e-02 1.34130940e-03 9.97698320e-01 -1.18457899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.86577952299999 meters 0.020094778577696946 Centerline is valid? [True, True] Translation: X:39.61, Y:-5.09, Z:-1.19 [[ 9.92396298e-01 9.88614601e-02 7.33212125e-02 3.96096598e+01] [-9.84689966e-02 9.95099807e-01 -8.95719285e-03 -5.08783210e+00] [-7.38474455e-02 1.66921880e-03 9.97268153e-01 -1.18615917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.925779522999996 meters 0.018934217118496154 Centerline is valid? [True, True] Translation: X:39.67, Y:-5.10, Z:-1.18 [[ 9.92504360e-01 9.59072905e-02 7.57422350e-02 3.96703225e+01] [-9.54781241e-02 9.95388313e-01 -9.27542750e-03 -5.10343831e+00] [-7.62825166e-02 1.97417574e-03 9.97084289e-01 -1.18407400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.985779523 meters 0.020485204582619224 Centerline is valid? [True, True] Translation: X:39.73, Y:-5.12, Z:-1.19 [[ 9.92633882e-01 9.44135062e-02 7.59214481e-02 3.97303623e+01] [-9.39764511e-02 9.95530825e-01 -9.31681789e-03 -5.11649140e+00] [-7.64617753e-02 2.11336086e-03 9.97070274e-01 -1.18915129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.04577952299999 meters 0.019307341381292517 Centerline is valid? [True, True] Translation: X:39.79, Y:-5.13, Z:-1.19 [[ 9.92095527e-01 9.73892414e-02 7.91315390e-02 3.97912802e+01] [-9.69229652e-02 9.95244410e-01 -9.72125556e-03 -5.13180571e+00] [-7.97019676e-02 1.97475076e-03 9.96816782e-01 -1.18885806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.105779522999995 meters 0.017139617764271982 Centerline is valid? [True, True] Translation: X:39.85, Y:-5.13, Z:-1.20 [[ 9.91643426e-01 1.03556551e-01 7.69373494e-02 3.98530624e+01] [-1.03132891e-01 9.94622501e-01 -9.47033338e-03 -5.12835131e+00] [-7.75043340e-02 1.45642258e-03 9.96990951e-01 -1.19954236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.165779523 meters 0.016602354860417248 Centerline is valid? [True, True] Translation: X:39.91, Y:-5.13, Z:-1.21 [[ 9.91460995e-01 1.08545068e-01 7.22707653e-02 3.99133171e+01] [-1.08184343e-01 9.94091022e-01 -8.89877555e-03 -5.13308389e+00] [-7.28096371e-02 1.00422360e-03 9.97345351e-01 -1.21161548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.22577952299999 meters 0.01641503310674739 Centerline is valid? [True, True] Translation: X:39.97, Y:-5.16, Z:-1.20 [[ 9.91456997e-01 1.07405291e-01 7.40076173e-02 3.99744022e+01] [-1.07023096e-01 9.94214685e-01 -9.12230847e-03 -5.15851767e+00] [-7.45592441e-02 1.12385222e-03 9.97215953e-01 -1.20326909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.285779522999995 meters 0.016516330556681932 Centerline is valid? [True, True] Translation: X:40.04, Y:-5.16, Z:-1.21 [[ 9.91099902e-01 1.05937898e-01 8.06110842e-02 4.00375083e+01] [-1.05477389e-01 9.94371804e-01 -9.96176517e-03 -5.16119125e+00] [-8.12127177e-02 1.37045782e-03 9.96695849e-01 -1.20959134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.345779523 meters 0.016802348402243653 Centerline is valid? [True, True] Translation: X:40.10, Y:-5.16, Z:-1.23 [[ 9.91273484e-01 1.06727346e-01 7.73702341e-02 4.00980642e+01] [-1.06303902e-01 9.94287508e-01 -9.58285946e-03 -5.16478377e+00] [-7.79510105e-02 1.27447671e-03 9.96956376e-01 -1.22683396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.40577952299999 meters 0.01670081566952498 Centerline is valid? [True, True] Translation: X:40.16, Y:-5.19, Z:-1.23 [[ 9.91454159e-01 1.08982830e-01 7.17035137e-02 4.01589897e+01] [-1.08623856e-01 9.94043095e-01 -8.89853496e-03 -5.18884760e+00] [-7.22461701e-02 1.03377738e-03 9.97386295e-01 -1.22591665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.465779522999995 meters 0.01616169351073072 Centerline is valid? [True, True] Translation: X:40.22, Y:-5.20, Z:-1.23 [[ 9.91004680e-01 1.12125617e-01 7.30586770e-02 4.02200854e+01] [-1.11759904e-01 9.93693685e-01 -9.08761741e-03 -5.19780513e+00] [-7.36169006e-02 8.40840634e-04 9.97286240e-01 -1.22793019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.525779523 meters 0.01564029791393323 Centerline is valid? [True, True] Translation: X:40.28, Y:-5.20, Z:-1.24 [[ 9.90558592e-01 1.13155483e-01 7.73919427e-02 4.02819674e+01] [-1.12746631e-01 9.93576947e-01 -9.64615688e-03 -5.19520467e+00] [-7.79863657e-02 8.29402742e-04 9.96954081e-01 -1.24037582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58577952299999 meters 0.015768459599549645 Centerline is valid? [True, True] Translation: X:40.34, Y:-5.23, Z:-1.24 [[ 9.90682595e-01 1.14660635e-01 7.34910487e-02 4.03408853e+01] [-1.14294911e-01 9.93404480e-01 -9.17675362e-03 -5.22920945e+00] [-7.40585494e-02 6.91597229e-04 9.97253655e-01 -1.23737265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.645779522999995 meters 0.017594457316895757 Centerline is valid? [True, True] Translation: X:40.40, Y:-5.23, Z:-1.24 [[ 9.89707019e-01 1.22840175e-01 7.34187154e-02 4.04029541e+01] [-1.22496211e-01 9.92426462e-01 -9.18675988e-03 -5.23340233e+00] [-7.39911791e-02 9.86862613e-05 9.97258891e-01 -1.24177676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.705779523 meters 0.01725120426663813 Centerline is valid? [True, True] Translation: X:40.47, Y:-5.22, Z:-1.25 [[ 9.87457670e-01 1.39113807e-01 7.46639054e-02 4.04653642e+01] [-1.38802976e-01 9.90275767e-01 -9.36153559e-03 -5.21683987e+00] [-7.52401750e-02 -1.11945213e-03 9.97164812e-01 -1.25463581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76577952299999 meters 0.02049279698023404 Centerline is valid? [True, True] Translation: X:40.53, Y:-5.22, Z:-1.25 [[ 9.86109547e-01 1.47095395e-01 7.71421135e-02 4.05258354e+01] [-1.46787147e-01 9.89120716e-01 -9.68207561e-03 -5.22263412e+00] [-7.77270513e-02 -1.77588354e-03 9.96973095e-01 -1.25467845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.825779522999994 meters 0.017975294777495224 Centerline is valid? [True, True] Translation: X:40.59, Y:-5.24, Z:-1.25 [[ 9.86716086e-01 1.43236827e-01 7.66457849e-02 4.05862737e+01] [-1.42920886e-01 9.89687362e-01 -9.62010133e-03 -5.24455818e+00] [-7.72333175e-02 -1.46197475e-03 9.97011975e-01 -1.25319542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.885779523 meters 0.017094897280909155 Centerline is valid? [True, True] Translation: X:40.65, Y:-5.25, Z:-1.27 [[ 9.87406494e-01 1.40624042e-01 7.24796132e-02 4.06473590e+01] [-1.40333291e-01 9.90062374e-01 -9.11388298e-03 -5.25216197e+00] [-7.30409690e-02 -1.17219538e-03 9.97328252e-01 -1.26568860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.945779523 meters 0.019075509670540773 Centerline is valid? [True, True] Translation: X:40.71, Y:-5.25, Z:-1.27 [[ 9.87278668e-01 1.42414005e-01 7.07041955e-02 4.07077496e+01] [-1.42140541e-01 9.89806385e-01 -8.90990885e-03 -5.25382815e+00] [-7.12523600e-02 -1.25336964e-03 9.97457533e-01 -1.27404764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.005779522999994 meters 0.017490253999861097 Centerline is valid? [True, True] Translation: X:40.77, Y:-5.27, Z:-1.27 [[ 9.87353077e-01 1.41473998e-01 7.15472521e-02 4.07693745e+01] [-1.41191457e-01 9.89941246e-01 -9.01678570e-03 -5.26530735e+00] [-7.21032166e-02 -1.19910968e-03 9.97396455e-01 -1.27446473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.065779522999996 meters 0.015747480654619082 Centerline is valid? [True, True] Translation: X:40.83, Y:-5.28, Z:-1.27 [[ 9.88249586e-01 1.32840009e-01 7.56061304e-02 4.08294633e+01] [-1.32497641e-01 9.91137324e-01 -9.54885648e-03 -5.28079358e+00] [-7.62045279e-02 -5.80980450e-04 9.97092038e-01 -1.27418473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.125779523 meters 0.015424486292837696 Centerline is valid? [True, True] Translation: X:40.89, Y:-5.30, Z:-1.28 [[ 9.89265751e-01 1.25782127e-01 7.43782894e-02 4.08897481e+01] [-1.25430767e-01 9.92057889e-01 -9.39506524e-03 -5.29611440e+00] [-7.49693001e-02 -3.51096377e-05 9.97185842e-01 -1.27948619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.185779522999994 meters 0.017330369152249125 Centerline is valid? [True, True] Translation: X:40.95, Y:-5.30, Z:-1.29 [[ 9.89878476e-01 1.21968635e-01 7.25551913e-02 4.09502713e+01] [-1.21622796e-01 9.92533920e-01 -9.18224560e-03 -5.30368923e+00] [-7.31334344e-02 2.64942081e-04 9.97322130e-01 -1.28892541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.245779522999996 meters 0.01601981617873508 Centerline is valid? [True, True] Translation: X:41.01, Y:-5.31, Z:-1.30 [[ 9.90474833e-01 1.18423708e-01 7.02526147e-02 4.10110388e+01] [-1.18089476e-01 9.92963015e-01 -8.90654136e-03 -5.30789874e+00] [-7.08129937e-02 5.25610585e-04 9.97489470e-01 -1.29697523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.305779523 meters 0.01834800440860778 Centerline is valid? [True, True] Translation: X:41.07, Y:-5.32, Z:-1.30 [[ 9.91093359e-01 1.11041248e-01 7.35105150e-02 4.10721070e+01] [-1.10653667e-01 9.93815168e-01 -9.33692666e-03 -5.31746328e+00] [-7.40926488e-02 1.11955794e-03 9.97250734e-01 -1.30191720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.36577952299999 meters 0.020456549511443097 Centerline is valid? [True, True] Translation: X:41.13, Y:-5.34, Z:-1.30 [[ 9.92230343e-01 9.81543418e-02 7.64504471e-02 4.11307767e+01] [-9.76952401e-02 9.95168801e-01 -9.73123289e-03 -5.33567943e+00] [-7.70362626e-02 2.18677977e-03 9.97025893e-01 -1.29820947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.425779522999996 meters 0.025886916199474565 Centerline is valid? [True, True] Translation: X:41.19, Y:-5.35, Z:-1.30 [[ 9.93913386e-01 8.51213252e-02 6.99324049e-02 4.11882262e+01] [-8.47051033e-02 9.96366305e-01 -8.90122765e-03 -5.35494817e+00] [-7.04359762e-02 2.92341773e-03 9.97512018e-01 -1.30335158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.485779523 meters 0.027325753341833216 Centerline is valid? [True, True] Translation: X:41.25, Y:-5.36, Z:-1.31 [[ 9.94344029e-01 8.25476624e-02 6.68269110e-02 4.12477956e+01] [-8.21616416e-02 9.96582691e-01 -8.50905360e-03 -5.36346716e+00] [-6.73009453e-02 2.97031792e-03 9.97728300e-01 -1.31321517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.54577952299999 meters 0.030951154803741807 Centerline is valid? [True, True] Translation: X:41.31, Y:-5.37, Z:-1.33 [[ 9.94720553e-01 7.71541430e-02 6.76628347e-02 4.13078743e+01] [-7.67457172e-02 9.97013445e-01 -8.61884790e-03 -5.36859173e+00] [-6.81257357e-02 3.38051238e-03 9.97671016e-01 -1.32698627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.605779522999995 meters 0.033446607307662427 Centerline is valid? [True, True] Translation: X:41.37, Y:-5.38, Z:-1.33 [[ 9.94572612e-01 7.23700331e-02 7.47522427e-02 4.13682088e+01] [-7.18577953e-02 9.97369425e-01 -9.52296710e-03 -5.37947120e+00] [-7.52447788e-02 4.09975091e-03 9.97156665e-01 -1.32701878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.665779523 meters 0.033831246446254494 Centerline is valid? [True, True] Translation: X:41.43, Y:-5.39, Z:-1.32 [[ 9.94579949e-01 7.29021019e-02 7.41350667e-02 4.14290673e+01] [-7.23996819e-02 9.97330971e-01 -9.44562676e-03 -5.39300347e+00] [-7.46258041e-02 4.02707574e-03 9.97203476e-01 -1.32405039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.72577952299999 meters 0.026366154005708003 Centerline is valid? [True, True] Translation: X:41.49, Y:-5.39, Z:-1.32 [[ 9.93728420e-01 8.16682021e-02 7.63814857e-02 4.14912258e+01] [-8.11590918e-02 9.96653460e-01 -9.75105539e-03 -5.39001255e+00] [-7.69222232e-02 3.49084886e-03 9.97030985e-01 -1.31569524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.785779522999995 meters 0.021588707735810498 Centerline is valid? [True, True] Translation: X:41.55, Y:-5.38, Z:-1.33 [[ 9.92591683e-01 9.44406565e-02 7.64376447e-02 4.15530941e+01] [-9.39685181e-02 9.95527346e-01 -9.75810596e-03 -5.37598469e+00] [-7.70173275e-02 2.50308262e-03 9.97026612e-01 -1.33022046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.845779523 meters 0.019289117546110512 Centerline is valid? [True, True] Translation: X:41.61, Y:-5.38, Z:-1.34 [[ 9.92196638e-01 9.95007868e-02 7.51360445e-02 4.16145157e+01] [-9.90590179e-02 9.95035320e-01 -9.59290210e-03 -5.37609136e+00] [-7.57175193e-02 2.07514244e-03 9.97127149e-01 -1.34060531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.90577952299999 meters 0.019649807236365138 Centerline is valid? [True, True] Translation: X:41.67, Y:-5.39, Z:-1.35 [[ 9.92203152e-01 1.00617958e-01 7.35454429e-02 4.16744746e+01] [-1.00197597e-01 9.94923225e-01 -9.39243938e-03 -5.38611743e+00] [-7.41171173e-02 1.95013127e-03 9.97247637e-01 -1.34639144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.965779522999995 meters 0.018642700491153276 Centerline is valid? [True, True] Translation: X:41.74, Y:-5.39, Z:-1.35 [[ 9.91795636e-01 1.05023846e-01 7.28794025e-02 4.17362343e+01] [-1.04621633e-01 9.94468378e-01 -9.32519752e-03 -5.39271054e+00] [-7.34556293e-02 1.62392812e-03 9.97297164e-01 -1.34662832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.025779523 meters 0.01698224131974009 Centerline is valid? [True, True] Translation: X:41.80, Y:-5.39, Z:-1.35 [[ 9.90798974e-01 1.10005943e-01 7.88421549e-02 4.17987223e+01] [-1.09550296e-01 9.93929993e-01 -1.00946574e-02 -5.39124180e+00] [-7.94740547e-02 1.36459480e-03 9.96836001e-01 -1.34556361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08577952299999 meters 0.016340912426478695 Centerline is valid? [True, True] Translation: X:41.86, Y:-5.40, Z:-1.36 [[ 9.90458802e-01 1.16115343e-01 7.42198685e-02 4.18586033e+01] [-1.15728668e-01 9.93235394e-01 -9.50407722e-03 -5.39822043e+00] [-7.48213696e-02 8.24030446e-04 9.97196612e-01 -1.35656774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.145779522999995 meters 0.01582094846732158 Centerline is valid? [True, True] Translation: X:41.92, Y:-5.40, Z:-1.37 [[ 9.90133012e-01 1.19940543e-01 7.24629855e-02 4.19198313e+01] [-1.19581035e-01 9.92780931e-01 -9.29513421e-03 -5.40289099e+00] [-7.30547336e-02 5.38220425e-04 9.97327788e-01 -1.36628614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.205779523 meters 0.017839847761223986 Centerline is valid? [True, True] Translation: X:41.98, Y:-5.41, Z:-1.38 [[ 9.89924740e-01 1.22992256e-01 7.01563538e-02 4.19819282e+01] [-1.22661789e-01 9.92407579e-01 -9.01568244e-03 -5.40602885e+00] [-7.07325563e-02 3.19343225e-04 9.97495265e-01 -1.37599293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26577952299999 meters 0.01537828464507885 Centerline is valid? [True, True] Translation: X:42.04, Y:-5.42, Z:-1.37 [[ 9.88697591e-01 1.31624847e-01 7.17772439e-02 4.20430717e+01] [-1.31300068e-01 9.91299561e-01 -9.24515012e-03 -5.41789732e+00] [-7.23696419e-02 -2.83699376e-04 9.97377839e-01 -1.36616539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.325779522999994 meters 0.015894009405257627 Centerline is valid? [True, True] Translation: X:42.10, Y:-5.42, Z:-1.38 [[ 9.88252316e-01 1.35687321e-01 7.03300154e-02 4.21034178e+01] [-1.35384694e-01 9.90751555e-01 -9.07417662e-03 -5.42210583e+00] [-7.09108229e-02 -5.54031569e-04 9.97482505e-01 -1.37653945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.385779523 meters 0.017052678689297333 Centerline is valid? [True, True] Translation: X:42.17, Y:-5.42, Z:-1.39 [[ 9.87239743e-01 1.42019820e-01 7.20281974e-02 4.21659548e+01] [-1.41718019e-01 9.89863292e-01 -9.30948698e-03 -5.41845032e+00] [-7.26202003e-02 -1.01699793e-03 9.97359149e-01 -1.39029391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.445779523 meters 0.020115928640187533 Centerline is valid? [True, True] Translation: X:42.23, Y:-5.43, Z:-1.39 [[ 9.86398234e-01 1.46154174e-01 7.52162288e-02 4.22278089e+01] [-1.45835605e-01 9.89260888e-01 -9.74024710e-03 -5.43008099e+00] [-7.58320510e-02 -1.36144166e-03 9.97119675e-01 -1.38689551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.505779522999994 meters 0.021268082218748624 Centerline is valid? [True, True] Translation: X:42.29, Y:-5.44, Z:-1.38 [[ 9.85891962e-01 1.50040162e-01 7.41956158e-02 4.22889979e+01] [-1.49739751e-01 9.88678577e-01 -9.62693957e-03 -5.44398273e+00] [-7.48000435e-02 -1.61891071e-03 9.97197239e-01 -1.38387354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.565779522999996 meters 0.022422414120802578 Centerline is valid? [True, True] Translation: X:42.35, Y:-5.44, Z:-1.40 [[ 9.85500394e-01 1.52746341e-01 7.38750836e-02 4.23497487e+01] [-1.52455747e-01 9.88263767e-01 -9.59018328e-03 -5.44412710e+00] [-7.44729338e-02 -1.81155163e-03 9.97221390e-01 -1.39749304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.625779523 meters 0.021602574852463342 Centerline is valid? [True, True] Translation: X:42.41, Y:-5.44, Z:-1.41 [[ 9.84973852e-01 1.54835190e-01 7.65021181e-02 4.24102325e+01] [-1.54529059e-01 9.87938228e-01 -9.94116659e-03 -5.44465616e+00] [-7.71186095e-02 -2.03001120e-03 9.97019859e-01 -1.40725631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.685779522999994 meters 0.020452565485571898 Centerline is valid? [True, True] Translation: X:42.47, Y:-5.47, Z:-1.40 [[ 9.86025476e-01 1.51244650e-01 6.98485220e-02 4.24686903e+01] [-1.50980041e-01 9.88495083e-01 -9.08288481e-03 -5.47473918e+00] [-7.04186583e-02 -1.58977691e-03 9.97516258e-01 -1.40209273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.745779522999996 meters 0.020775527311255843 Centerline is valid? [True, True] Translation: X:42.53, Y:-5.48, Z:-1.41 [[ 9.86189662e-01 1.51373465e-01 6.72013711e-02 4.25297664e+01] [-1.51127921e-01 9.88475467e-01 -8.75224996e-03 -5.48485227e+00] [-6.77517651e-02 -1.52462506e-03 9.97701044e-01 -1.40715308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.805779523 meters 0.024766872922936594 Centerline is valid? [True, True] Translation: X:42.59, Y:-5.47, Z:-1.42 [[ 9.85007732e-01 1.55409818e-01 7.48836152e-02 4.25922350e+01] [-1.55115040e-01 9.87848080e-01 -9.77219204e-03 -5.47396750e+00] [-7.54923300e-02 -1.98989021e-03 9.97144397e-01 -1.42181649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.86577952299999 meters 0.01997619863936536 Centerline is valid? [True, True] Translation: X:42.65, Y:-5.50, Z:-1.42 [[ 9.86030254e-01 1.48056007e-01 7.63135441e-02 4.26498092e+01] [-1.47726520e-01 9.88977934e-01 -9.97602267e-03 -5.50189363e+00] [-7.69494213e-02 -1.43687416e-03 9.97033962e-01 -1.41966605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.925779522999996 meters 0.018436648065175386 Centerline is valid? [True, True] Translation: X:42.71, Y:-5.53, Z:-1.42 [[ 9.87244210e-01 1.38532973e-01 7.84696455e-02 4.27083844e+01] [-1.38154475e-01 9.90357565e-01 -1.02583910e-02 -5.52636829e+00] [-7.91341324e-02 -7.13395617e-04 9.96863722e-01 -1.42066926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.985779523 meters 0.016239041395168373 Centerline is valid? [True, True] Translation: X:42.77, Y:-5.53, Z:-1.43 [[ 9.87213465e-01 1.37915819e-01 7.99299747e-02 4.27702333e+01] [-1.37520834e-01 9.90443725e-01 -1.04521339e-02 -5.52670526e+00] [-8.06076565e-02 -6.73549446e-04 9.96745681e-01 -1.42541713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.04577952299999 meters 0.017635529564023193 Centerline is valid? [True, True] Translation: X:42.83, Y:-5.53, Z:-1.43 [[ 9.86585236e-01 1.46050892e-01 7.29294742e-02 4.28305108e+01] [-1.45743070e-01 9.89276346e-01 -9.55349498e-03 -5.53030704e+00] [-7.35427002e-02 -1.20362838e-03 9.97291343e-01 -1.43440086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.105779522999995 meters 0.020424103246003994 Centerline is valid? [True, True] Translation: X:42.89, Y:-5.55, Z:-1.44 [[ 9.86851201e-01 1.47129481e-01 6.69150476e-02 4.28908634e+01] [-1.46872668e-01 9.89116543e-01 -8.76834896e-03 -5.54607206e+00] [-6.74768632e-02 -1.17493586e-03 9.97720147e-01 -1.44289823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.165779523 meters 0.016596245465657786 Centerline is valid? [True, True] Translation: X:42.95, Y:-5.55, Z:-1.45 [[ 9.87551690e-01 1.38928949e-01 7.37591156e-02 4.29513734e+01] [-1.38593542e-01 9.90302124e-01 -9.67129982e-03 -5.55339708e+00] [-7.43874323e-02 -6.71628599e-04 9.97229191e-01 -1.45062378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.22577952299999 meters 0.016038848997860136 Centerline is valid? [True, True] Translation: X:43.01, Y:-5.57, Z:-1.45 [[ 9.88133421e-01 1.31905679e-01 7.86971045e-02 4.30115070e+01] [-1.31501390e-01 9.91262261e-01 -1.03206227e-02 -5.56804796e+00] [-7.93708184e-02 -1.50626368e-04 9.96845149e-01 -1.45258954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.285779522999995 meters 0.015988212289658396 Centerline is valid? [True, True] Translation: X:43.07, Y:-5.59, Z:-1.45 [[ 9.88521165e-01 1.32026099e-01 7.34507639e-02 4.30716452e+01] [-1.31673101e-01 9.91246231e-01 -9.64899591e-03 -5.59007468e+00] [-7.40817122e-02 -1.33253179e-04 9.97252166e-01 -1.45061601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.345779523 meters 0.017695368023700316 Centerline is valid? [True, True] Translation: X:43.13, Y:-5.58, Z:-1.46 [[ 9.87057808e-01 1.43579553e-01 7.14268549e-02 4.31333948e+01] [-1.43274586e-01 9.89638319e-01 -9.40163019e-03 -5.58199261e+00] [-7.20366345e-02 -9.53700552e-04 9.97401531e-01 -1.46128200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.40577952299999 meters 0.018029900590716155 Centerline is valid? [True, True] Translation: X:43.20, Y:-5.58, Z:-1.47 [[ 9.86220418e-01 1.46724173e-01 7.64284201e-02 4.31965931e+01] [-1.46384238e-01 9.89176636e-01 -1.00616947e-02 -5.57704762e+00] [-7.70775013e-02 -1.26486725e-03 9.97024302e-01 -1.47000714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.465779522999995 meters 0.017392965719596202 Centerline is valid? [True, True] Translation: X:43.26, Y:-5.60, Z:-1.46 [[ 9.86296377e-01 1.42625559e-01 8.29301365e-02 4.32578792e+01] [-1.42208680e-01 9.89776211e-01 -1.09426948e-02 -5.59529290e+00] [-8.36429843e-02 -1.00064506e-03 9.96495283e-01 -1.45927979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.525779523 meters 0.017082727467518953 Centerline is valid? [True, True] Translation: X:43.32, Y:-5.60, Z:-1.47 [[ 9.86938325e-01 1.41562391e-01 7.68949374e-02 4.33182868e+01] [-1.41199485e-01 9.89928990e-01 -1.01636324e-02 -5.60495520e+00] [-7.75593159e-02 -8.26647150e-04 9.96987397e-01 -1.46999056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58577952299999 meters 0.01763756651835232 Centerline is valid? [True, True] Translation: X:43.38, Y:-5.60, Z:-1.49 [[ 9.86574746e-01 1.45417131e-01 7.43244841e-02 4.33798759e+01] [-1.45087677e-01 9.89369852e-01 -9.84179960e-03 -5.59905847e+00] [-7.49655702e-02 -1.07389583e-03 9.97185544e-01 -1.48734748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.645779522999995 meters 0.020075462935846167 Centerline is valid? [True, True] Translation: X:43.44, Y:-5.61, Z:-1.49 [[ 9.86448694e-01 1.46838315e-01 7.31948270e-02 4.34414406e+01] [-1.46521513e-01 9.89159841e-01 -9.70846841e-03 -5.60894593e+00] [-7.38269586e-02 -1.14771080e-03 9.97270406e-01 -1.49059328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.705779523 meters 0.018727375588378507 Centerline is valid? [True, True] Translation: X:43.50, Y:-5.63, Z:-1.49 [[ 9.87228820e-01 1.41823650e-01 7.25624478e-02 4.35018122e+01] [-1.41497485e-01 9.89891657e-01 -9.64207319e-03 -5.63039381e+00] [-7.31964357e-02 -7.48471323e-04 9.97317262e-01 -1.48648977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76577952299999 meters 0.01655552810351251 Centerline is valid? [True, True] Translation: X:43.56, Y:-5.64, Z:-1.49 [[ 9.87569099e-01 1.39769008e-01 7.19159104e-02 4.35630807e+01] [-1.39441949e-01 9.90183970e-01 -9.57329225e-03 -5.64087048e+00] [-7.25480313e-02 -5.73807082e-04 9.97364755e-01 -1.48949933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.825779522999994 meters 0.01931699098185192 Centerline is valid? [True, True] Translation: X:43.62, Y:-5.64, Z:-1.51 [[ 9.87757462e-01 1.37391180e-01 7.38840937e-02 4.36243874e+01] [-1.37037876e-01 9.90516790e-01 -9.85442937e-03 -5.63988800e+00] [-7.45373470e-02 -3.91133133e-04 9.97218146e-01 -1.51004132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.885779523 meters 0.015982859538050804 Centerline is valid? [True, True] Translation: X:43.68, Y:-5.65, Z:-1.50 [[ 9.87806416e-01 1.34552052e-01 7.83213255e-02 4.36847565e+01] [-1.34144423e-01 9.90906513e-01 -1.04669204e-02 -5.65407803e+00] [-7.90174571e-02 -1.67077862e-04 9.96873218e-01 -1.50366141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.945779523 meters 0.018658598810842034 Centerline is valid? [True, True] Translation: X:43.74, Y:-5.67, Z:-1.51 [[ 9.88895267e-01 1.28875992e-01 7.40076356e-02 4.37442007e+01] [-1.28495032e-01 9.91660676e-01 -9.90606870e-03 -5.67331550e+00] [-7.46671164e-02 2.86450970e-04 9.97208474e-01 -1.50962731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.005779522999994 meters 0.016137512163874997 Centerline is valid? [True, True] Translation: X:43.81, Y:-5.68, Z:-1.51 [[ 9.89075001e-01 1.28897282e-01 7.15271551e-02 4.38058212e+01] [-1.28540306e-01 9.91657908e-01 -9.59083977e-03 -5.68135834e+00] [-7.21667021e-02 2.91937451e-04 9.97392542e-01 -1.51492051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.065779522999996 meters 0.01576744274652488 Centerline is valid? [True, True] Translation: X:43.87, Y:-5.68, Z:-1.52 [[ 9.88270433e-01 1.33921273e-01 7.33937650e-02 4.38670700e+01] [-1.33557839e-01 9.90991972e-01 -9.85973287e-03 -5.68038328e+00] [-7.40530599e-02 -5.82302105e-05 9.97254301e-01 -1.52344244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.125779523 meters 0.017863426696906104 Centerline is valid? [True, True] Translation: X:43.93, Y:-5.69, Z:-1.53 [[ 9.87904948e-01 1.37080607e-01 7.24756516e-02 4.39279336e+01] [-1.36733550e-01 9.90559857e-01 -9.75218941e-03 -5.68982953e+00] [-7.31283071e-02 -2.75616927e-04 9.97322503e-01 -1.52914846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.185779522999994 meters 0.01902063031667963 Centerline is valid? [True, True] Translation: X:43.99, Y:-5.70, Z:-1.53 [[ 9.87920831e-01 1.36723086e-01 7.29330462e-02 4.39885448e+01] [-1.36369329e-01 9.90609279e-01 -9.83172111e-03 -5.70302488e+00] [-7.35923756e-02 -2.32868460e-04 9.97288378e-01 -1.53023914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.245779522999996 meters 0.015819981791953798 Centerline is valid? [True, True] Translation: X:44.05, Y:-5.70, Z:-1.53 [[ 9.87064856e-01 1.39934766e-01 7.82382995e-02 4.40511154e+01] [-1.39535925e-01 9.90160606e-01 -1.05688118e-02 -5.70382638e+00] [-7.89474263e-02 -4.84950767e-04 9.96878663e-01 -1.53225516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.305779523 meters 0.01633024294802587 Centerline is valid? [True, True] Translation: X:44.11, Y:-5.71, Z:-1.54 [[ 9.86353470e-01 1.45295447e-01 7.74342692e-02 4.41125470e+01] [-1.44919816e-01 9.89387916e-01 -1.04785118e-02 -5.70775610e+00] [-7.81350103e-02 -8.86243529e-04 9.96942393e-01 -1.53851569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.36577952299999 meters 0.018308256310467452 Centerline is valid? [True, True] Translation: X:44.17, Y:-5.71, Z:-1.54 [[ 9.85486795e-01 1.52690078e-01 7.41722128e-02 4.41734040e+01] [-1.52364946e-01 9.88273142e-01 -1.00557960e-02 -5.71025295e+00] [-7.48378261e-02 -1.39139111e-03 9.97194747e-01 -1.54443628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.425779522999996 meters 0.01993007607894131 Centerline is valid? [True, True] Translation: X:44.23, Y:-5.72, Z:-1.55 [[ 9.85347004e-01 1.55780899e-01 6.94520942e-02 4.42330352e+01] [-1.55503462e-01 9.87790462e-01 -9.41678300e-03 -5.71781767e+00] [-7.00710712e-02 -1.52124222e-03 9.97540842e-01 -1.55338740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.485779523 meters 0.020589780721978163 Centerline is valid? [True, True] Translation: X:44.29, Y:-5.73, Z:-1.56 [[ 9.84954285e-01 1.56566569e-01 7.31571344e-02 4.42941915e+01] [-1.56260792e-01 9.87666012e-01 -9.92031321e-03 -5.72526294e+00] [-7.38080047e-02 -1.66053679e-03 9.97271087e-01 -1.55672719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.54577952299999 meters 0.0215233458672495 Centerline is valid? [True, True] Translation: X:44.35, Y:-5.73, Z:-1.56 [[ 9.84859101e-01 1.53819500e-01 7.99506833e-02 4.43537881e+01] [-1.53443580e-01 9.88097715e-01 -1.08615824e-02 -5.73443086e+00] [-8.06698107e-02 -1.57079076e-03 9.96739642e-01 -1.55998320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.605779522999995 meters 0.019799196256134577 Centerline is valid? [True, True] Translation: X:44.42, Y:-5.75, Z:-1.56 [[ 9.84766724e-01 1.54190630e-01 8.03725669e-02 4.44162603e+01] [-1.53811861e-01 9.88039808e-01 -1.09201274e-02 -5.74556499e+00] [-8.10950769e-02 -1.60847597e-03 9.96705072e-01 -1.55899686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.665779523 meters 0.018622933511361066 Centerline is valid? [True, True] Translation: X:44.48, Y:-5.76, Z:-1.57 [[ 9.84999272e-01 1.58013267e-01 6.93414894e-02 4.44754792e+01] [-1.57739652e-01 9.87435626e-01 -9.43859482e-03 -5.76155598e+00] [-6.99616802e-02 -1.64089341e-03 9.97548330e-01 -1.56864407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.72577952299999 meters 0.01873940581509628 Centerline is valid? [True, True] Translation: X:44.54, Y:-5.76, Z:-1.58 [[ 9.84830569e-01 1.58991162e-01 6.95022398e-02 4.45369278e+01] [-1.58718701e-01 9.87278518e-01 -9.46055854e-03 -5.76369969e+00] [-7.01222135e-02 -1.71425797e-03 9.97536935e-01 -1.58071114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.785779522999995 meters 0.017920974047841428 Centerline is valid? [True, True] Translation: X:44.60, Y:-5.77, Z:-1.58 [[ 9.85016256e-01 1.55650288e-01 7.42695303e-02 4.45979235e+01] [-1.55328064e-01 9.87810995e-01 -1.01306302e-02 -5.77383802e+00] [-7.49410942e-02 -1.55730700e-03 9.97186746e-01 -1.58322930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.845779523 meters 0.015381393318425536 Centerline is valid? [True, True] Translation: X:44.66, Y:-5.80, Z:-1.58 [[ 9.86310322e-01 1.45468424e-01 7.76587786e-02 4.46566084e+01] [-1.45084195e-01 9.89362559e-01 -1.05973031e-02 -5.79822773e+00] [-7.83742609e-02 -8.14831911e-04 9.96923674e-01 -1.57967557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.90577952299999 meters 0.01488146384060004 Centerline is valid? [True, True] Translation: X:44.72, Y:-5.81, Z:-1.59 [[ 9.87109395e-01 1.41936577e-01 7.39530302e-02 4.47166678e+01] [-1.41578234e-01 9.89875624e-01 -1.00922456e-02 -5.80810734e+00] [-7.46367607e-02 -5.07988988e-04 9.97210658e-01 -1.59339255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.965779522999995 meters 0.01504470354844566 Centerline is valid? [True, True] Translation: X:44.78, Y:-5.81, Z:-1.60 [[ 9.86892783e-01 1.44797948e-01 7.12473856e-02 4.47781281e+01] [-1.44471641e-01 9.89461010e-01 -9.73936007e-03 -5.81179214e+00] [-7.19067494e-02 -6.81522552e-04 9.97411126e-01 -1.60320621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.025779523 meters 0.014786762456650629 Centerline is valid? [True, True] Translation: X:44.84, Y:-5.83, Z:-1.60 [[ 9.86883769e-01 1.43675248e-01 7.36060410e-02 4.48381142e+01] [-1.43322408e-01 9.89624708e-01 -1.00809310e-02 -5.82756636e+00] [-7.42907370e-02 -6.00687775e-04 9.97236444e-01 -1.59699868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08577952299999 meters 0.014167164968461791 Centerline is valid? [True, True] Translation: X:44.90, Y:-5.84, Z:-1.59 [[ 9.87456883e-01 1.37068001e-01 7.83662363e-02 4.48994500e+01] [-1.36645684e-01 9.90561636e-01 -1.07518459e-02 -5.84132093e+00] [-7.91003213e-02 -9.14237893e-05 9.96866656e-01 -1.59419088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.145779522999995 meters 0.016879041665041093 Centerline is valid? [True, True] Translation: X:44.96, Y:-5.84, Z:-1.61 [[ 9.88143873e-01 1.33092038e-01 7.65388446e-02 4.49607393e+01] [-1.32675881e-01 9.91103653e-01 -1.05194478e-02 -5.84349625e+00] [-7.72579833e-02 2.39869255e-04 9.97011107e-01 -1.61263714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.205779523 meters 0.014301017828118068 Centerline is valid? [True, True] Translation: X:45.02, Y:-5.85, Z:-1.62 [[ 9.88677379e-01 1.32268077e-01 7.08674515e-02 4.50214720e+01] [-1.31908058e-01 9.91213936e-01 -9.75691569e-03 -5.85148389e+00] [-7.15353340e-02 2.98453906e-04 9.97438022e-01 -1.62489645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26577952299999 meters 0.014959665461216945 Centerline is valid? [True, True] Translation: X:45.08, Y:-5.87, Z:-1.62 [[ 9.89357104e-01 1.26387207e-01 7.21026664e-02 4.50821567e+01] [-1.25997559e-01 9.91980698e-01 -9.94539015e-03 -5.87307795e+00] [-7.27814233e-02 7.54782428e-04 9.97347630e-01 -1.61811451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.325779522999994 meters 0.019955868795368457 Centerline is valid? [True, True] Translation: X:45.14, Y:-5.89, Z:-1.61 [[ 9.90751844e-01 1.11109123e-01 7.78816211e-02 4.51409442e+01] [-1.10605493e-01 9.93806097e-01 -1.07641331e-02 -5.89262672e+00] [-7.85952233e-02 2.05044958e-03 9.96904502e-01 -1.61406547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.385779523 meters 0.020642550028410554 Centerline is valid? [True, True] Translation: X:45.20, Y:-5.89, Z:-1.63 [[ 9.91421268e-01 1.04048665e-01 7.91059034e-02 4.52013147e+01] [-1.03506233e-01 9.94568660e-01 -1.09379952e-02 -5.89189670e+00] [-7.98143362e-02 2.65620700e-03 9.96806208e-01 -1.62759208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.445779523 meters 0.022988880980485585 Centerline is valid? [True, True] Translation: X:45.26, Y:-5.91, Z:-1.63 [[ 9.92219307e-01 1.00872397e-01 7.29767568e-02 4.52594712e+01] [-1.00402296e-01 9.94895747e-01 -1.00911962e-02 -5.90697811e+00] [-7.36221881e-02 2.68564573e-03 9.97282588e-01 -1.63444333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.505779522999994 meters 0.02452995756961621 Centerline is valid? [True, True] Translation: X:45.32, Y:-5.92, Z:-1.64 [[ 9.92916550e-01 9.70584129e-02 6.85302019e-02 4.53192863e+01] [-9.66344691e-02 9.95274769e-01 -9.48232678e-03 -5.91559345e+00] [-6.91267204e-02 2.79277952e-03 9.97603978e-01 -1.64141606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.565779522999996 meters 0.027636354215303877 Centerline is valid? [True, True] Translation: X:45.38, Y:-5.92, Z:-1.65 [[ 9.93265597e-01 9.30016727e-02 6.90951712e-02 4.53797287e+01] [-9.25608245e-02 9.95661121e-01 -9.56169751e-03 -5.92120073e+00] [-6.96846294e-02 3.10179918e-03 9.97564249e-01 -1.64733729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.625779523 meters 0.026080187895828503 Centerline is valid? [True, True] Translation: X:45.44, Y:-5.93, Z:-1.64 [[ 9.92765173e-01 9.48449543e-02 7.36325096e-02 4.54413923e+01] [-9.43491524e-02 9.95487010e-01 -1.01907068e-02 -5.92993113e+00] [-7.42667439e-02 3.16981391e-03 9.97233374e-01 -1.64346790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.685779522999994 meters 0.021799182376084813 Centerline is valid? [True, True] Translation: X:45.50, Y:-5.93, Z:-1.65 [[ 9.92268937e-01 9.95347052e-02 7.41296118e-02 4.55033440e+01] [-9.90449129e-02 9.95030032e-01 -1.02635165e-02 -5.92608595e+00] [-7.47827661e-02 2.84200762e-03 9.97195799e-01 -1.64852493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.745779522999996 meters 0.0210009600313703 Centerline is valid? [True, True] Translation: X:45.56, Y:-5.92, Z:-1.66 [[ 9.91624738e-01 1.05886997e-01 7.39481096e-02 4.55640253e+01] [-1.05417103e-01 9.94375372e-01 -1.02398084e-02 -5.92375361e+00] [-7.46164415e-02 2.35865184e-03 9.97209518e-01 -1.65667095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.805779523 meters 0.0164566233133001 Centerline is valid? [True, True] Translation: X:45.63, Y:-5.92, Z:-1.66 [[ 9.90354336e-01 1.16780055e-01 7.45701501e-02 4.56263188e+01] [-1.16332991e-01 9.93156590e-01 -1.03258361e-02 -5.91642230e+00] [-7.52656877e-02 1.55126800e-03 9.97162309e-01 -1.65852627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.86577952299999 meters 0.014711432338289844 Centerline is valid? [True, True] Translation: X:45.69, Y:-5.92, Z:-1.66 [[ 9.89246669e-01 1.24563920e-01 7.66476273e-02 4.56889402e+01] [-1.24114761e-01 9.92211094e-01 -1.06146741e-02 -5.91685954e+00] [-7.73728316e-02 9.87429085e-04 9.97001740e-01 -1.65910728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.925779522999996 meters 0.013641414811681697 Centerline is valid? [True, True] Translation: X:45.75, Y:-5.91, Z:-1.67 [[ 9.88382345e-01 1.35748958e-01 6.83561299e-02 4.57498874e+01] [-1.35418333e-01 9.90743261e-01 -9.46916823e-03 -5.91300052e+00] [-6.90088048e-02 1.02485514e-04 9.97616046e-01 -1.67092610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.985779523 meters 0.014622573609191215 Centerline is valid? [True, True] Translation: X:45.81, Y:-5.90, Z:-1.68 [[ 9.86850915e-01 1.47197516e-01 6.67694785e-02 4.58118875e+01] [-1.46907217e-01 9.89106893e-01 -9.26406699e-03 -5.90458373e+00] [-6.74057991e-02 -6.66665277e-04 9.97725420e-01 -1.68341199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.04577952299999 meters 0.015707087079174797 Centerline is valid? [True, True] Translation: X:45.87, Y:-5.90, Z:-1.69 [[ 9.85763068e-01 1.51889573e-01 7.21161006e-02 4.58745143e+01] [-1.51562138e-01 9.88396912e-01 -1.00230975e-02 -5.90446005e+00] [-7.28017351e-02 -1.04967106e-03 9.97345881e-01 -1.68712257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.105779522999995 meters 0.01482244924465033 Centerline is valid? [True, True] Translation: X:45.94, Y:-5.92, Z:-1.68 [[ 9.85406021e-01 1.52566558e-01 7.54878777e-02 4.59361814e+01] [-1.52208220e-01 9.88292550e-01 -1.05115671e-02 -5.91824135e+00] [-7.62078207e-02 -1.13171399e-03 9.97091313e-01 -1.68389664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.165779523 meters 0.015095937831533991 Centerline is valid? [True, True] Translation: X:46.00, Y:-5.93, Z:-1.69 [[ 9.85397205e-01 1.53160937e-01 7.43913699e-02 4.59968839e+01] [-1.52813234e-01 9.88200599e-01 -1.03774922e-02 -5.92892804e+00] [-7.51030227e-02 -1.14203397e-03 9.97175126e-01 -1.68532257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.22577952299999 meters 0.015847626893241606 Centerline is valid? [True, True] Translation: X:46.06, Y:-5.93, Z:-1.69 [[ 9.85261368e-01 1.54201873e-01 7.40393018e-02 4.60573778e+01] [-1.53858879e-01 9.88038639e-01 -1.03485462e-02 -5.93202067e+00] [-7.47494562e-02 -1.19558124e-03 9.97201629e-01 -1.69221447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.285779522999995 meters 0.015575834526367134 Centerline is valid? [True, True] Translation: X:46.12, Y:-5.94, Z:-1.70 [[ 9.85346843e-01 1.54283085e-01 7.27208893e-02 4.61196446e+01] [-1.53951258e-01 9.88025998e-01 -1.01802022e-02 -5.94182254e+00] [-7.34207622e-02 -1.16444226e-03 9.97300374e-01 -1.69888764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.345779523 meters 0.014476129482420223 Centerline is valid? [True, True] Translation: X:46.18, Y:-5.95, Z:-1.71 [[ 9.85939719e-01 1.50771294e-01 7.20478096e-02 4.61804133e+01] [-1.50434758e-01 9.88568284e-01 -1.01060177e-02 -5.95464547e+00] [-7.27478769e-02 -8.74570558e-04 9.97349979e-01 -1.70572659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.40577952299999 meters 0.013738989726829902 Centerline is valid? [True, True] Translation: X:46.24, Y:-5.97, Z:-1.71 [[ 9.86900053e-01 1.44617927e-01 7.15118192e-02 4.62394058e+01] [-1.44268932e-01 9.89487491e-01 -1.00488793e-02 -5.96760086e+00] [-7.22132986e-02 -3.99694243e-04 9.97389132e-01 -1.71411891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.465779522999995 meters 0.01372783577119332 Centerline is valid? [True, True] Translation: X:46.30, Y:-5.99, Z:-1.71 [[ 9.88134674e-01 1.33696604e-01 7.55981757e-02 4.63001383e+01] [-1.33273117e-01 9.91022212e-01 -1.06420056e-02 -5.98626378e+00] [-7.63422713e-02 4.40530209e-04 9.97081573e-01 -1.71466213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.525779523 meters 0.015960045889121817 Centerline is valid? [True, True] Translation: X:46.36, Y:-6.00, Z:-1.72 [[ 9.89419525e-01 1.22850257e-01 7.71804303e-02 4.63597090e+01] [-1.22375000e-01 9.92424347e-01 -1.08754400e-02 -6.00494913e+00] [-7.79317888e-02 1.31541754e-03 9.96957826e-01 -1.71558449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58577952299999 meters 0.019775347871502647 Centerline is valid? [True, True] Translation: X:46.42, Y:-6.02, Z:-1.72 [[ 9.90409576e-01 1.15661144e-01 7.55736113e-02 4.64191243e+01] [-1.15184404e-01 9.93287017e-01 -1.06515439e-02 -6.02023356e+00] [-7.62982567e-02 1.84448970e-03 9.97083333e-01 -1.72109366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.645779522999995 meters 0.02003398781272512 Centerline is valid? [True, True] Translation: X:46.48, Y:-6.03, Z:-1.73 [[ 9.91277083e-01 1.08662895e-01 7.45796221e-02 4.64789942e+01] [-1.08178655e-01 9.94075868e-01 -1.05141251e-02 -6.03047968e+00] [-7.52802979e-02 2.35448804e-03 9.97159633e-01 -1.72780375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.705779523 meters 0.02539958915021447 Centerline is valid? [True, True] Translation: X:46.54, Y:-6.05, Z:-1.74 [[ 9.92117558e-01 1.01668379e-01 7.32549748e-02 4.65365792e+01] [-1.01182087e-01 9.94814305e-01 -1.03287589e-02 -6.04512832e+00] [-7.39252050e-02 2.83525190e-03 9.97259758e-01 -1.73677133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76577952299999 meters 0.027209772861170024 Centerline is valid? [True, True] Translation: X:46.60, Y:-6.06, Z:-1.75 [[ 9.93624761e-01 9.06759493e-02 6.69903443e-02 4.65954784e+01] [-9.02444913e-02 9.95874852e-01 -9.44518780e-03 -6.05865475e+00] [-6.75704506e-02 3.33946293e-03 9.97708917e-01 -1.74696058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.825779522999994 meters 0.028237981667717797 Centerline is valid? [True, True] Translation: X:46.65, Y:-6.07, Z:-1.75 [[ 9.93620402e-01 8.86585338e-02 6.97005134e-02 4.66549231e+01] [-8.81864994e-02 9.96055511e-01 -9.82655814e-03 -6.07344129e+00] [-7.02967887e-02 3.61722436e-03 9.97519562e-01 -1.74744669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.885779523 meters 0.02769608776927894 Centerline is valid? [True, True] Translation: X:46.72, Y:-6.07, Z:-1.75 [[ 9.92843049e-01 8.85934639e-02 8.00866903e-02 4.67189289e+01] [-8.79679838e-02 9.96059073e-01 -1.13117704e-02 -6.06952402e+00] [-8.07732235e-02 4.18574798e-03 9.96723716e-01 -1.74686504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.945779523 meters 0.02606840156749516 Centerline is valid? [True, True] Translation: X:46.78, Y:-6.07, Z:-1.75 [[ 9.92268202e-01 9.26205964e-02 8.26150143e-02 4.67798935e+01] [-9.19681610e-02 9.95693487e-01 -1.16763626e-02 -6.07079185e+00] [-8.33407033e-02 3.98813234e-03 9.96513132e-01 -1.75033353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.005779522999994 meters 0.023181282735414133 Centerline is valid? [True, True] Translation: X:46.84, Y:-6.08, Z:-1.75 [[ 9.91841996e-01 1.01438547e-01 7.71989383e-02 4.68389475e+01] [-1.00895530e-01 9.94837180e-01 -1.09122506e-02 -6.07971540e+00] [-7.79072969e-02 3.03420060e-03 9.96955990e-01 -1.75199824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.065779522999996 meters 0.022651101857549764 Centerline is valid? [True, True] Translation: X:46.90, Y:-6.08, Z:-1.76 [[ 9.91791240e-01 1.05111035e-01 7.28135108e-02 4.69006469e+01] [-1.04638029e-01 9.94457126e-01 -1.02911747e-02 -6.07771445e+00] [-7.34916307e-02 2.58763460e-03 9.97292477e-01 -1.76241977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.125779523 meters 0.02103540930927262 Centerline is valid? [True, True] Translation: X:46.96, Y:-6.07, Z:-1.77 [[ 9.91342844e-01 1.08637274e-01 7.37380999e-02 4.69635269e+01] [-1.08161693e-01 9.94078659e-01 -1.04244053e-02 -6.06815012e+00] [-7.44339505e-02 2.35852190e-03 9.97223157e-01 -1.77493058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.185779522999994 meters 0.021559117582711874 Centerline is valid? [True, True] Translation: X:47.02, Y:-6.09, Z:-1.77 [[ 9.91277406e-01 1.07183346e-01 7.66866041e-02 4.70229849e+01] [-1.06664247e-01 9.94235948e-01 -1.08451486e-02 -6.09032905e+00] [-7.74069979e-02 2.57083180e-03 9.96996263e-01 -1.76778240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.245779522999996 meters 0.020923064038902747 Centerline is valid? [True, True] Translation: X:47.08, Y:-6.09, Z:-1.78 [[ 9.91447008e-01 1.04733582e-01 7.78698060e-02 4.70847876e+01] [-1.04189958e-01 9.94496330e-01 -1.10227680e-02 -6.08911025e+00] [-7.85956903e-02 2.81523852e-03 9.96902599e-01 -1.77672184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.305779523 meters 0.021385690435371103 Centerline is valid? [True, True] Translation: X:47.15, Y:-6.08, Z:-1.79 [[ 9.91666302e-01 1.02544691e-01 7.79905906e-02 4.71472268e+01] [-1.01991897e-01 9.94723867e-01 -1.10490758e-02 -6.07849171e+00] [-7.87121259e-02 3.00258783e-03 9.96892866e-01 -1.79308274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.36577952299999 meters 0.02298138779475914 Centerline is valid? [True, True] Translation: X:47.21, Y:-6.10, Z:-1.79 [[ 9.92012325e-01 9.98567726e-02 7.70725153e-02 4.72072961e+01] [-9.93074241e-02 9.94996688e-01 -1.09373544e-02 -6.10194558e+00] [-7.77790664e-02 3.19611738e-03 9.96965497e-01 -1.78751553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.425779522999996 meters 0.02398049585221584 Centerline is valid? [True, True] Translation: X:47.27, Y:-6.11, Z:-1.78 [[ 9.92063587e-01 9.67575527e-02 8.02982916e-02 4.72679312e+01] [-9.61505483e-02 9.95301507e-01 -1.14009919e-02 -6.11105687e+00] [-8.10241427e-02 3.58978413e-03 9.96705675e-01 -1.78164151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.485779523 meters 0.024140007449876967 Centerline is valid? [True, True] Translation: X:47.33, Y:-6.10, Z:-1.80 [[ 9.91972744e-01 9.85011966e-02 7.92943182e-02 4.73318878e+01] [-9.79147586e-02 9.95131106e-01 -1.12597341e-02 -6.09641869e+00] [-8.00173398e-02 3.40526536e-03 9.96787655e-01 -1.80023189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.54577952299999 meters 0.022067657213766568 Centerline is valid? [True, True] Translation: X:47.39, Y:-6.11, Z:-1.81 [[ 9.92268923e-01 1.02279241e-01 7.02946749e-02 4.73917394e+01] [-1.01827655e-01 9.94751920e-01 -9.98729445e-03 -6.11318852e+00] [-7.09472557e-02 2.75213998e-03 9.97476272e-01 -1.80696380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.605779522999995 meters 0.0231582892308452 Centerline is valid? [True, True] Translation: X:47.45, Y:-6.13, Z:-1.81 [[ 9.92423942e-01 1.01444591e-01 6.93088384e-02 4.74522876e+01] [-1.01003373e-01 9.94837320e-01 -9.85010429e-03 -6.12989448e+00] [-6.99502589e-02 2.77505286e-03 9.97546621e-01 -1.80793330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.665779523 meters 0.024117316449292887 Centerline is valid? [True, True] Translation: X:47.51, Y:-6.12, Z:-1.81 [[ 9.92113934e-01 9.94398579e-02 7.62997810e-02 4.75145494e+01] [-9.88973985e-02 9.95038321e-01 -1.08648044e-02 -6.12083129e+00] [-7.70016006e-02 3.23327403e-03 9.97025727e-01 -1.81458260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.72577952299999 meters 0.023023142856299656 Centerline is valid? [True, True] Translation: X:47.58, Y:-6.12, Z:-1.82 [[ 9.91742943e-01 1.00682041e-01 7.94295981e-02 4.75771283e+01] [-1.00096515e-01 9.94913230e-01 -1.13293101e-02 -6.11657596e+00] [-8.01662160e-02 3.28513742e-03 9.96776096e-01 -1.82391569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.785779522999995 meters 0.022076180795633123 Centerline is valid? [True, True] Translation: X:47.64, Y:-6.14, Z:-1.82 [[ 9.91659905e-01 1.03103512e-01 7.73323939e-02 4.76370129e+01] [-1.02554445e-01 9.94666029e-01 -1.10487955e-02 -6.13919822e+00] [-7.80590748e-02 3.02586673e-03 9.96944143e-01 -1.82017495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.845779523 meters 0.022198768493460353 Centerline is valid? [True, True] Translation: X:47.70, Y:-6.15, Z:-1.82 [[ 9.91652269e-01 1.03277318e-01 7.71982670e-02 4.76992551e+01] [-1.02729189e-01 9.94647997e-01 -1.10487513e-02 -6.14638434e+00] [-7.79261870e-02 3.02600391e-03 9.96954539e-01 -1.82373855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.90577952299999 meters 0.020238829259076992 Centerline is valid? [True, True] Translation: X:47.76, Y:-6.13, Z:-1.83 [[ 9.90854596e-01 1.08180302e-01 8.06485756e-02 4.77622656e+01] [-1.07596179e-01 9.94127394e-01 -1.15666500e-02 -6.12903496e+00] [-8.14262419e-02 2.78338974e-03 9.96675484e-01 -1.83402230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.965779522999995 meters 0.019240303096321923 Centerline is valid? [True, True] Translation: X:47.82, Y:-6.14, Z:-1.84 [[ 9.90841534e-01 1.13442868e-01 7.32377602e-02 4.78222159e+01] [-1.12975719e-01 9.93542231e-01 -1.05033911e-02 -6.14133466e+00] [-7.39563425e-02 2.13310752e-03 9.97259199e-01 -1.84400222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.025779523 meters 0.019096706316222865 Centerline is valid? [True, True] Translation: X:47.88, Y:-6.15, Z:-1.85 [[ 9.90765836e-01 1.14066678e-01 7.32929175e-02 4.78837912e+01] [-1.13600253e-01 9.93470894e-01 -1.05149984e-02 -6.15249738e+00] [-7.40137912e-02 2.09180718e-03 9.97255024e-01 -1.84767171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08577952299999 meters 0.020277961747281036 Centerline is valid? [True, True] Translation: X:47.95, Y:-6.15, Z:-1.85 [[ 9.90699482e-01 1.10499785e-01 7.93998329e-02 4.79465771e+01] [-1.09940164e-01 9.93872842e-01 -1.13989085e-02 -6.15238940e+00] [-8.01729144e-02 2.56366207e-03 9.96777674e-01 -1.85460215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.145779522999995 meters 0.020441755452334634 Centerline is valid? [True, True] Translation: X:48.01, Y:-6.16, Z:-1.85 [[ 9.90194956e-01 1.11008455e-01 8.48001908e-02 4.80093463e+01] [-1.10371152e-01 9.93815787e-01 -1.21815376e-02 -6.16004228e+00] [-8.56280221e-02 2.70260232e-03 9.96323511e-01 -1.85277937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.205779523 meters 0.021065365747373305 Centerline is valid? [True, True] Translation: X:48.07, Y:-6.18, Z:-1.85 [[ 9.90491408e-01 1.12078662e-01 7.97818513e-02 4.80683472e+01] [-1.11516468e-01 9.93696254e-01 -1.14818451e-02 -6.17935084e+00] [-8.05657965e-02 2.47567865e-03 9.96746218e-01 -1.85390091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26577952299999 meters 0.01971547467889399 Centerline is valid? [True, True] Translation: X:48.13, Y:-6.18, Z:-1.86 [[ 9.90675310e-01 1.11036984e-01 7.89507303e-02 4.81302826e+01] [-1.10481763e-01 9.93813001e-01 -1.13797880e-02 -6.18139859e+00] [-7.97258395e-02 2.55105907e-03 9.96813565e-01 -1.86167775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.325779522999994 meters 0.024150665207236962 Centerline is valid? [True, True] Translation: X:48.19, Y:-6.19, Z:-1.88 [[ 9.91513622e-01 1.05233425e-01 7.63325801e-02 4.81902133e+01] [-1.04695805e-01 9.94443211e-01 -1.10221386e-02 -6.18527299e+00] [-7.70683135e-02 2.93689962e-03 9.97021489e-01 -1.87689494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.385779523 meters 0.02244820033398616 Centerline is valid? [True, True] Translation: X:48.25, Y:-6.20, Z:-1.87 [[ 9.91362888e-01 1.04043293e-01 7.98411974e-02 4.82517564e+01] [-1.03451040e-01 9.94567715e-01 -1.15301073e-02 -6.19921265e+00] [-8.06071076e-02 3.17086551e-03 9.96740909e-01 -1.87429571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44577952299999 meters 0.023169537248016018 Centerline is valid? [True, True] Translation: X:48.31, Y:-6.21, Z:-1.87 [[ 9.91243693e-01 1.03510357e-01 8.19850410e-02 4.83124249e+01] [-1.02882234e-01 9.94622828e-01 -1.18606792e-02 -6.21226608e+00] [-8.27718965e-02 3.32201926e-03 9.96562982e-01 -1.87330940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.505779522999994 meters 0.02227224879293213 Centerline is valid? [True, True] Translation: X:48.37, Y:-6.21, Z:-1.88 [[ 9.91229979e-01 1.05281980e-01 7.98675957e-02 4.83744328e+01] [-1.04690247e-01 9.94437548e-01 -1.15721950e-02 -6.21409304e+00] [-8.06416796e-02 3.10934835e-03 9.96738306e-01 -1.88220226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.565779522999996 meters 0.021403943414101283 Centerline is valid? [True, True] Translation: X:48.44, Y:-6.22, Z:-1.89 [[ 9.90803595e-01 1.07328522e-01 8.23943223e-02 4.84367787e+01] [-1.06703967e-01 9.94218910e-01 -1.19592273e-02 -6.21825623e+00] [-8.32015595e-02 3.05744440e-03 9.96528049e-01 -1.88775166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.625779523 meters 0.020667301695396618 Centerline is valid? [True, True] Translation: X:48.50, Y:-6.23, Z:-1.89 [[ 9.90658838e-01 1.11317574e-01 7.87620798e-02 4.84970419e+01] [-1.10759011e-01 9.93781462e-01 -1.14388663e-02 -6.22772058e+00] [-7.95456417e-02 2.60840395e-03 9.96827812e-01 -1.89230337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.685779522999994 meters 0.021614454059397367 Centerline is valid? [True, True] Translation: X:48.56, Y:-6.23, Z:-1.90 [[ 9.90460075e-01 1.15321264e-01 7.54310641e-02 4.85581909e+01] [-1.14820419e-01 9.93325828e-01 -1.09576711e-02 -6.23058630e+00] [-7.61912767e-02 2.19210938e-03 9.97090810e-01 -1.90221083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.745779522999996 meters 0.018144958158080336 Centerline is valid? [True, True] Translation: X:48.62, Y:-6.23, Z:-1.91 [[ 9.89845064e-01 1.18996611e-01 7.77596078e-02 4.86199605e+01] [-1.18475382e-01 9.92892703e-01 -1.12988499e-02 -6.23262923e+00] [-7.85514720e-02 1.97151157e-03 9.96908110e-01 -1.90539632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.805779523 meters 0.018314910977128847 Centerline is valid? [True, True] Translation: X:48.68, Y:-6.24, Z:-1.91 [[ 9.89746735e-01 1.19201580e-01 7.86917020e-02 4.86820963e+01] [-1.18668207e-01 9.92868097e-01 -1.14367326e-02 -6.24299926e+00] [-7.94937570e-02 1.98126557e-03 9.96833395e-01 -1.90939884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.86577952299999 meters 0.01891663453323859 Centerline is valid? [True, True] Translation: X:48.74, Y:-6.25, Z:-1.91 [[ 9.89943664e-01 1.16818978e-01 7.97801211e-02 4.87430458e+01] [-1.16261095e-01 9.93150729e-01 -1.16184225e-02 -6.25217683e+00] [-8.05909377e-02 2.22625951e-03 9.96744774e-01 -1.91445955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.925779522999996 meters 0.020018687115014734 Centerline is valid? [True, True] Translation: X:48.80, Y:-6.26, Z:-1.92 [[ 9.90117293e-01 1.14542164e-01 8.09187232e-02 4.88039719e+01] [-1.13958917e-01 9.93415324e-01 -1.18050178e-02 -6.26358480e+00] [-8.17380719e-02 2.46694220e-03 9.96650792e-01 -1.91830358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.985779523 meters 0.020915676101528776 Centerline is valid? [True, True] Translation: X:48.86, Y:-6.27, Z:-1.93 [[ 9.90579335e-01 1.10585358e-01 8.07679398e-02 4.88640349e+01] [-1.09989567e-01 9.93862664e-01 -1.18025334e-02 -6.26993236e+00] [-8.15774272e-02 2.80771495e-03 9.96663052e-01 -1.92678739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.04577952299999 meters 0.02102403636928959 Centerline is valid? [True, True] Translation: X:48.92, Y:-6.28, Z:-1.94 [[ 9.91147004e-01 1.09555877e-01 7.50008481e-02 4.89241656e+01] [-1.09039360e-01 9.93977013e-01 -1.09597264e-02 -6.28262531e+00] [-7.57498214e-02 2.68465553e-03 9.97123241e-01 -1.93716630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.105779522999995 meters 0.022275694992243453 Centerline is valid? [True, True] Translation: X:48.98, Y:-6.30, Z:-1.94 [[ 9.91265911e-01 1.07934599e-01 7.57760967e-02 4.89838137e+01] [-1.07401100e-01 9.94153891e-01 -1.10925814e-02 -6.29692654e+00] [-7.65303747e-02 2.85726166e-03 9.97063156e-01 -1.93749259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.165779523 meters 0.022831861098222796 Centerline is valid? [True, True] Translation: X:49.05, Y:-6.30, Z:-1.94 [[ 9.90811150e-01 1.07744954e-01 8.17575046e-02 4.90471697e+01] [-1.07121352e-01 9.94173670e-01 -1.19887072e-02 -6.29763267e+00] [-8.25728811e-02 3.12057040e-03 9.96580143e-01 -1.94036118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22577952299999 meters 0.022912119471337065 Centerline is valid? [True, True] Translation: X:49.11, Y:-6.31, Z:-1.94 [[ 9.91164046e-01 1.05108001e-01 8.09082286e-02 4.91074296e+01] [-1.04486712e-01 9.94455245e-01 -1.18866825e-02 -6.31486541e+00] [-8.17089977e-02 3.32781748e-03 9.96650674e-01 -1.94108277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.285779522999995 meters 0.023106081077187222 Centerline is valid? [True, True] Translation: X:49.17, Y:-6.33, Z:-1.95 [[ 9.91834201e-01 1.04617758e-01 7.29386149e-02 4.91676517e+01] [-1.04111499e-01 9.94507866e-01 -1.07191124e-02 -6.32736219e+00] [-7.36594358e-02 3.03783376e-03 9.97278827e-01 -1.95333222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.345779523 meters 0.022161635729464026 Centerline is valid? [True, True] Translation: X:49.23, Y:-6.32, Z:-1.96 [[ 9.90898938e-01 1.08558350e-01 7.95888149e-02 4.92295052e+01] [-1.07966212e-01 9.94085494e-01 -1.17186821e-02 -6.31829309e+00] [-8.03902472e-02 3.01912675e-03 9.96758894e-01 -1.96201532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.40577952299999 meters 0.021558369448370446 Centerline is valid? [True, True] Translation: X:49.29, Y:-6.34, Z:-1.96 [[ 9.90614042e-01 1.12292432e-01 7.79373476e-02 4.92891205e+01] [-1.11736192e-01 9.93671645e-01 -1.14754268e-02 -6.33503793e+00] [-7.87327360e-02 2.65929642e-03 9.96892213e-01 -1.96244451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.465779522999995 meters 0.020694264663901795 Centerline is valid? [True, True] Translation: X:49.35, Y:-6.34, Z:-1.97 [[ 9.89889908e-01 1.17730460e-01 7.91044129e-02 4.93486680e+01] [-1.17174475e-01 9.93043008e-01 -1.16501706e-02 -6.34157528e+00] [-7.99256641e-02 2.26336825e-03 9.96798257e-01 -1.96578129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.525779523 meters 0.020431894519500206 Centerline is valid? [True, True] Translation: X:49.41, Y:-6.35, Z:-1.97 [[ 9.89757371e-01 1.19163412e-01 7.86156914e-02 4.94107223e+01] [-1.18618819e-01 9.92872362e-01 -1.15779426e-02 -6.34650040e+00] [-7.94350143e-02 2.13405360e-03 9.96837762e-01 -1.97492569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58577952299999 meters 0.020230488167989617 Centerline is valid? [True, True] Translation: X:49.47, Y:-6.35, Z:-1.98 [[ 9.89519749e-01 1.20398177e-01 7.97179104e-02 4.94721897e+01] [-1.19841328e-01 9.92723515e-01 -1.17506958e-02 -6.35146713e+00] [-8.05526066e-02 2.07404534e-03 9.96748201e-01 -1.98195328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.645779522999995 meters 0.019915929076447597 Centerline is valid? [True, True] Translation: X:49.53, Y:-6.37, Z:-1.98 [[ 9.89352091e-01 1.19768522e-01 8.26918470e-02 4.95329693e+01] [-1.19165345e-01 9.92799349e-01 -1.22095139e-02 -6.36871115e+00] [-8.35587273e-02 2.22550557e-03 9.96500369e-01 -1.97675397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.705779523 meters 0.01980178885098685 Centerline is valid? [True, True] Translation: X:49.59, Y:-6.38, Z:-1.99 [[ 9.89989207e-01 1.17559541e-01 7.81096931e-02 4.95934209e+01] [-1.17013215e-01 9.93063183e-01 -1.15508380e-02 -6.37777939e+00] [-7.89257717e-02 2.29533863e-03 9.96877853e-01 -1.98520200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76577952299999 meters 0.02069017853278826 Centerline is valid? [True, True] Translation: X:49.65, Y:-6.38, Z:-2.00 [[ 9.89954661e-01 1.18571341e-01 7.70104359e-02 4.96542054e+01] [-1.18041984e-01 9.92943096e-01 -1.14060155e-02 -6.38169515e+00] [-7.78194072e-02 2.20097354e-03 9.96965042e-01 -1.99861349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.825779522999994 meters 0.019600586785396616 Centerline is valid? [True, True] Translation: X:49.71, Y:-6.39, Z:-2.00 [[ 9.89397564e-01 1.22247124e-01 7.84098316e-02 4.97141248e+01] [-1.21708213e-01 9.92497744e-01 -1.16335564e-02 -6.39369649e+00] [-7.92437497e-02 1.96709193e-03 9.96853329e-01 -2.00297817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.885779523 meters 0.018733384919936317 Centerline is valid? [True, True] Translation: X:49.78, Y:-6.41, Z:-2.00 [[ 9.88891934e-01 1.24930954e-01 8.05294940e-02 4.97755372e+01] [-1.24371090e-01 9.92163801e-01 -1.19509333e-02 -6.40718885e+00] [-8.13914903e-02 1.80264065e-03 9.96680579e-01 -2.00069698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94577952299999 meters 0.017387004022738756 Centerline is valid? [True, True] Translation: X:49.84, Y:-6.40, Z:-2.01 [[ 9.88484790e-01 1.27758956e-01 8.10892705e-02 4.98383563e+01] [-1.27199117e-01 9.91803956e-01 -1.20539441e-02 -6.40359346e+00] [-8.19646586e-02 1.60065680e-03 9.96633951e-01 -2.01141573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.005779522999994 meters 0.017144411164157745 Centerline is valid? [True, True] Translation: X:49.90, Y:-6.41, Z:-2.02 [[ 9.88284943e-01 1.30296036e-01 7.94720935e-02 4.98979080e+01] [-1.29764935e-01 9.91474172e-01 -1.18333766e-02 -6.41466931e+00] [-8.03363701e-02 1.38205684e-03 9.96766852e-01 -2.01887297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.065779522999996 meters 0.016218424318069996 Centerline is valid? [True, True] Translation: X:49.96, Y:-6.44, Z:-2.02 [[ 9.87899044e-01 1.36429828e-01 7.37724884e-02 4.99575323e+01] [-1.35988685e-01 9.90649391e-01 -1.09937223e-02 -6.43516355e+00] [-7.45825423e-02 8.28464108e-04 9.97214500e-01 -2.02334952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.125779523 meters 0.015633734895843434 Centerline is valid? [True, True] Translation: X:50.02, Y:-6.44, Z:-2.03 [[ 9.87184241e-01 1.38922851e-01 7.85347995e-02 5.00203966e+01] [-1.38429000e-01 9.90302957e-01 -1.17245220e-02 -6.43643827e+00] [-7.94020482e-02 7.02769592e-04 9.96842425e-01 -2.02922585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.185779522999994 meters 0.015419336271454784 Centerline is valid? [True, True] Translation: X:50.08, Y:-6.45, Z:-2.03 [[ 9.86763576e-01 1.39640340e-01 8.24513205e-02 5.00826731e+01] [-1.39097741e-01 9.90202053e-01 -1.23171625e-02 -6.44676766e+00] [-8.33634396e-02 6.85334919e-04 9.96518975e-01 -2.03442345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.245779522999996 meters 0.015804202327921027 Centerline is valid? [True, True] Translation: X:50.14, Y:-6.47, Z:-2.03 [[ 9.86811138e-01 1.38150657e-01 8.43692729e-02 5.01428716e+01] [-1.37575002e-01 9.90410858e-01 -1.26274204e-02 -6.46852276e+00] [-8.53047304e-02 8.53776174e-04 9.96354542e-01 -2.03376143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.305779523 meters 0.017190879479105043 Centerline is valid? [True, True] Translation: X:50.20, Y:-6.48, Z:-2.04 [[ 9.87675785e-01 1.33147128e-01 8.22701964e-02 5.02024215e+01] [-1.32580878e-01 9.91095466e-01 -1.23324320e-02 -6.48459207e+00] [-8.31796465e-02 1.27298959e-03 9.96533756e-01 -2.04479972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.36577952299999 meters 0.01636612768402152 Centerline is valid? [True, True] Translation: X:50.26, Y:-6.49, Z:-2.05 [[ 9.87508025e-01 1.35169559e-01 8.09758700e-02 5.02639739e+01] [-1.34626261e-01 9.90821867e-01 -1.21572217e-02 -6.49262625e+00] [-8.18759490e-02 1.10387538e-03 9.96641917e-01 -2.05191379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.425779522999996 meters 0.015739009645758365 Centerline is valid? [True, True] Translation: X:50.33, Y:-6.51, Z:-2.05 [[ 9.86999926e-01 1.38636056e-01 8.13092226e-02 5.03251018e+01] [-1.38098358e-01 9.90343041e-01 -1.22271952e-02 -6.50619265e+00] [-8.22191529e-02 8.39570596e-04 9.96613920e-01 -2.05364960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.485779523 meters 0.015884422720999183 Centerline is valid? [True, True] Translation: X:50.39, Y:-6.52, Z:-2.06 [[ 9.87027956e-01 1.39264851e-01 7.98818813e-02 5.03859160e+01] [-1.38746350e-01 9.90254852e-01 -1.20323730e-02 -6.52417482e+00] [-8.07791072e-02 7.92969077e-04 9.96731713e-01 -2.06006886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.54577952299999 meters 0.01588333060212616 Centerline is valid? [True, True] Translation: X:50.45, Y:-6.53, Z:-2.08 [[ 9.87083251e-01 1.40569509e-01 7.68561618e-02 5.04476392e+01] [-1.40091900e-01 9.90070578e-01 -1.15978542e-02 -6.53252517e+00] [-7.77233292e-02 6.81121836e-04 9.96974734e-01 -2.07516443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.605779522999995 meters 0.015309996647715448 Centerline is valid? [True, True] Translation: X:50.51, Y:-6.54, Z:-2.08 [[ 9.86300225e-01 1.44233342e-01 8.00537913e-02 5.05082614e+01] [-1.43725211e-01 9.89543610e-01 -1.21040388e-02 -6.54365601e+00] [-8.09625236e-02 4.32468113e-04 9.96717053e-01 -2.08143847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.665779523 meters 0.015103626212486024 Centerline is valid? [True, True] Translation: X:50.57, Y:-6.56, Z:-2.08 [[ 9.85374509e-01 1.48832538e-01 8.29816402e-02 5.05689918e+01] [-1.48300985e-01 9.88862412e-01 -1.25677434e-02 -6.56145703e+00] [-8.39279140e-02 7.76750259e-05 9.96471826e-01 -2.07597812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72577952299999 meters 0.017938076196782546 Centerline is valid? [True, True] Translation: X:50.63, Y:-6.57, Z:-2.09 [[ 9.84258757e-01 1.56916146e-01 8.13143406e-02 5.06298742e+01] [-1.56431667e-01 9.87611759e-01 -1.23347513e-02 -6.56756562e+00] [-8.22425206e-02 -5.79550942e-04 9.96612177e-01 -2.08510592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.785779522999995 meters 0.018043158458824836 Centerline is valid? [True, True] Translation: X:50.69, Y:-6.58, Z:-2.10 [[ 9.83604884e-01 1.61578551e-01 8.00862346e-02 5.06886029e+01] [-1.61122428e-01 9.86859411e-01 -1.21682220e-02 -6.58142325e+00] [-8.09999780e-02 -9.34965942e-04 9.96713665e-01 -2.09562450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.845779523 meters 0.015657852828741794 Centerline is valid? [True, True] Translation: X:50.75, Y:-6.60, Z:-2.10 [[ 9.83829527e-01 1.60864451e-01 7.87533460e-02 5.07482960e+01] [-1.60420325e-01 9.86976141e-01 -1.19756537e-02 -6.60090585e+00] [-7.96541305e-02 -8.51635633e-04 9.96822198e-01 -2.09995643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90577952299999 meters 0.01503359816902269 Centerline is valid? [True, True] Translation: X:50.81, Y:-6.62, Z:-2.10 [[ 9.84351482e-01 1.57165599e-01 7.96940070e-02 5.08084507e+01] [-1.56697075e-01 9.87572116e-01 -1.21384924e-02 -6.61976321e+00] [-8.06113326e-02 -5.39274756e-04 9.96745465e-01 -2.10421457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.965779522999995 meters 0.014567445608280874 Centerline is valid? [True, True] Translation: X:50.87, Y:-6.64, Z:-2.10 [[ 9.84963228e-01 1.50282341e-01 8.52212246e-02 5.08681456e+01] [-1.49718790e-01 9.88643118e-01 -1.30026335e-02 -6.64286811e+00] [-8.62074434e-02 4.78973162e-05 9.96277208e-01 -2.10294335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.025779523 meters 0.015080154394739344 Centerline is valid? [True, True] Translation: X:50.93, Y:-6.67, Z:-2.11 [[ 9.85908407e-01 1.43977088e-01 8.51775324e-02 5.09260986e+01] [-1.43388820e-01 9.89580827e-01 -1.30166126e-02 -6.67157647e+00] [-8.61641469e-02 6.19681887e-04 9.96280762e-01 -2.10702515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08577952299999 meters 0.015429080856479005 Centerline is valid? [True, True] Translation: X:50.99, Y:-6.69, Z:-2.12 [[ 9.86415757e-01 1.42109348e-01 8.23947043e-02 5.09857321e+01] [-1.41550831e-01 9.89850661e-01 -1.26107906e-02 -6.68837507e+00] [-8.33505637e-02 7.76443715e-04 9.96519985e-01 -2.11697485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.145779522999995 meters 0.015336587236207691 Centerline is valid? [True, True] Translation: X:51.05, Y:-6.71, Z:-2.13 [[ 9.86921968e-01 1.42056180e-01 7.61910155e-02 5.10455246e+01] [-1.41577678e-01 9.89858325e-01 -1.16729197e-02 -6.70641613e+00] [-7.70765214e-02 7.33313831e-04 9.97024910e-01 -2.12879789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.205779523 meters 0.01805381122526622 Centerline is valid? [True, True] Translation: X:51.11, Y:-6.73, Z:-2.13 [[ 9.86891818e-01 1.41678460e-01 7.72771170e-02 5.11051677e+01] [-1.41183285e-01 9.89912410e-01 -1.18616973e-02 -6.72742516e+00] [-7.81781242e-02 7.95974772e-04 9.96939089e-01 -2.13107598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26577952299999 meters 0.014716852936099933 Centerline is valid? [True, True] Translation: X:51.17, Y:-6.73, Z:-2.13 [[ 9.85125914e-01 1.49836659e-01 8.41184218e-02 5.11674354e+01] [-1.49277346e-01 9.88710747e-01 -1.29357245e-02 -6.73103084e+00] [-8.51070334e-02 1.86342663e-04 9.96371797e-01 -2.12906168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.325779522999994 meters 0.015023749481660994 Centerline is valid? [True, True] Translation: X:51.23, Y:-6.73, Z:-2.15 [[ 9.84147569e-01 1.58981323e-01 7.86034385e-02 5.12291951e+01] [-1.58520693e-01 9.87281439e-01 -1.21057754e-02 -6.72900917e+00] [-7.95283081e-02 -5.46402114e-04 9.96832458e-01 -2.14504110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.385779523 meters 0.01527355399303537 Centerline is valid? [True, True] Translation: X:51.29, Y:-6.74, Z:-2.15 [[ 9.83979115e-01 1.61087967e-01 7.63921951e-02 5.12889537e+01] [-1.60657756e-01 9.86939820e-01 -1.17846152e-02 -6.73705674e+00] [-7.72928590e-02 -6.77183432e-04 9.97008202e-01 -2.15215668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44577952299999 meters 0.015343357133088112 Centerline is valid? [True, True] Translation: X:51.35, Y:-6.75, Z:-2.15 [[ 9.83903765e-01 1.61337912e-01 7.68339781e-02 5.13502411e+01] [-1.60902751e-01 9.86898981e-01 -1.18619175e-02 -6.75353504e+00] [-7.77411517e-02 -6.91813209e-04 9.96973337e-01 -2.14956074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.505779522999994 meters 0.014949347377775155 Centerline is valid? [True, True] Translation: X:51.41, Y:-6.77, Z:-2.14 [[ 9.84968559e-01 1.50867180e-01 8.41191535e-02 5.14108270e+01] [-1.50305080e-01 9.88554027e-01 -1.30122632e-02 -6.77060342e+00] [-8.51194514e-02 1.73134039e-04 9.96370739e-01 -2.14434437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.565779522999996 meters 0.015374980655111246 Centerline is valid? [True, True] Translation: X:51.47, Y:-6.78, Z:-2.16 [[ 9.85993666e-01 1.44160100e-01 8.38710729e-02 5.14719794e+01] [-1.43575298e-01 9.89554077e-01 -1.29947172e-02 -6.77818512e+00] [-8.48682818e-02 7.70894621e-04 9.96391881e-01 -2.15666027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.625779523 meters 0.01594915188994471 Centerline is valid? [True, True] Translation: X:51.53, Y:-6.79, Z:-2.17 [[ 9.87138943e-01 1.40674185e-01 7.59439376e-02 5.15318785e+01] [-1.40183274e-01 9.90055454e-01 -1.17833579e-02 -6.79193126e+00] [-7.68463238e-02 9.85741657e-04 9.97042462e-01 -2.16907351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.685779522999994 meters 0.01644093881337875 Centerline is valid? [True, True] Translation: X:51.59, Y:-6.80, Z:-2.17 [[ 9.87291131e-01 1.41052204e-01 7.32154264e-02 5.15917191e+01] [-1.40595732e-01 9.90001714e-01 -1.13774571e-02 -6.80383539e+00] [-7.40882130e-02 9.39086061e-04 9.97251250e-01 -2.16809933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.745779522999996 meters 0.016452251645711492 Centerline is valid? [True, True] Translation: X:51.65, Y:-6.81, Z:-2.18 [[ 9.87619675e-01 1.38648179e-01 7.33761527e-02 5.16541117e+01] [-1.38181854e-01 9.90341046e-01 -1.14187712e-02 -6.80568407e+00] [-7.42506076e-02 1.13815035e-03 9.97238964e-01 -2.17601689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.805779523 meters 0.019921400172309565 Centerline is valid? [True, True] Translation: X:51.71, Y:-6.82, Z:-2.18 [[ 9.88758318e-01 1.28672128e-01 7.61608348e-02 5.17119124e+01] [-1.28138506e-01 9.91685214e-01 -1.18726755e-02 -6.82118205e+00] [-7.70552561e-02 1.98007107e-03 9.97024858e-01 -2.18223147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.86577952299999 meters 0.02119152823551219 Centerline is valid? [True, True] Translation: X:51.77, Y:-6.84, Z:-2.18 [[ 9.89860016e-01 1.19153694e-01 7.73275245e-02 5.17720287e+01] [-1.18574106e-01 9.92871960e-01 -1.20603388e-02 -6.83509350e+00] [-7.82133648e-02 2.76900512e-03 9.96932797e-01 -2.18331042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.925779522999996 meters 0.02843248790035652 Centerline is valid? [True, True] Translation: X:51.83, Y:-6.86, Z:-2.18 [[ 9.91095498e-01 1.07037576e-01 7.92002033e-02 5.18302493e+01] [-1.06390741e-01 9.94247644e-01 -1.23544311e-02 -6.85508933e+00] [-8.00670040e-02 3.81825277e-03 9.96782171e-01 -2.18033607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.985779523 meters 0.029587677502066794 Centerline is valid? [True, True] Translation: X:51.89, Y:-6.86, Z:-2.18 [[ 9.91372986e-01 1.03949621e-01 7.98378277e-02 5.18895862e+01] [-1.03282324e-01 9.94574110e-01 -1.24539474e-02 -6.86229069e+00] [-8.06992196e-02 4.10067069e-03 9.96730064e-01 -2.18460191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.04577952299999 meters 0.026452517019575874 Centerline is valid? [True, True] Translation: X:51.95, Y:-6.86, Z:-2.20 [[ 9.92053079e-01 9.90257304e-02 7.76182527e-02 5.19506747e+01] [-9.83800972e-02 9.95075254e-01 -1.21076607e-02 -6.85955139e+00] [-7.84349725e-02 4.37535084e-03 9.96909631e-01 -2.19567717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.105779522999995 meters 0.03270267553686904 Centerline is valid? [True, True] Translation: X:52.01, Y:-6.87, Z:-2.20 [[ 9.92810144e-01 9.25049870e-02 7.59660796e-02 5.20086740e+01] [-9.18675153e-02 9.95700714e-01 -1.18510845e-02 -6.87353179e+00] [-7.67357641e-02 4.78706193e-03 9.97039972e-01 -2.19960167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.165779523 meters 0.034902705635454355 Centerline is valid? [True, True] Translation: X:52.07, Y:-6.88, Z:-2.20 [[ 9.93063965e-01 8.90970626e-02 7.67181512e-02 5.20690259e+01] [-8.84362594e-02 9.96009855e-01 -1.19748713e-02 -6.88025118e+00] [-7.74789604e-02 5.10714686e-03 9.96980906e-01 -2.20084751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22577952299999 meters 0.032157644897868855 Centerline is valid? [True, True] Translation: X:52.13, Y:-6.88, Z:-2.20 [[ 9.93032862e-01 8.76703807e-02 7.87377901e-02 5.21316434e+01] [-8.69697095e-02 9.96135132e-01 -1.22910068e-02 -6.87893648e+00] [-7.95110362e-02 5.35757093e-03 9.96819588e-01 -2.20331453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.285779522999995 meters 0.03356550856311713 Centerline is valid? [True, True] Translation: X:52.19, Y:-6.88, Z:-2.21 [[ 9.93182093e-01 8.56788480e-02 7.90472300e-02 5.21931154e+01] [-8.49648803e-02 9.96307307e-01 -1.23579867e-02 -6.87744082e+00] [-7.98141509e-02 5.55749263e-03 9.96794269e-01 -2.21349502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.345779523 meters 0.03168319992783014 Centerline is valid? [True, True] Translation: X:52.26, Y:-6.88, Z:-2.22 [[ 9.93222223e-01 8.52796983e-02 7.89746092e-02 5.22553935e+01] [-8.45657067e-02 9.96341395e-01 -1.23476951e-02 -6.88057688e+00] [-7.97386800e-02 5.58546149e-03 9.96800153e-01 -2.21597401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40577952299999 meters 0.030386941764975327 Centerline is valid? [True, True] Translation: X:52.32, Y:-6.87, Z:-2.22 [[ 9.93665144e-01 8.42397815e-02 7.43857507e-02 5.23191595e+01] [-8.36022396e-02 9.96431117e-01 -1.16488452e-02 -6.87481321e+00] [-7.51015728e-02 5.35623610e-03 9.97161504e-01 -2.22326475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.465779522999995 meters 0.03336290878786748 Centerline is valid? [True, True] Translation: X:52.38, Y:-6.88, Z:-2.22 [[ 9.93567476e-01 8.44955077e-02 7.53935016e-02 5.23814662e+01] [-8.38409117e-02 9.96409150e-01 -1.18112836e-02 -6.87830092e+00] [-7.61207753e-02 5.41424731e-03 9.97083905e-01 -2.22491657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.525779523 meters 0.03157316675153163 Centerline is valid? [True, True] Translation: X:52.44, Y:-6.88, Z:-2.23 [[ 9.93193245e-01 8.60855561e-02 7.84630761e-02 5.24438118e+01] [-8.53795690e-02 9.96272391e-01 -1.23147298e-02 -6.87649318e+00] [-7.92307168e-02 5.53176282e-03 9.96840957e-01 -2.22909319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58577952299999 meters 0.0330664678626494 Centerline is valid? [True, True] Translation: X:52.51, Y:-6.87, Z:-2.24 [[ 9.93193053e-01 8.80860240e-02 7.62129365e-02 5.25056958e+01] [-8.74256891e-02 9.96099195e-01 -1.19642482e-02 -6.87011749e+00] [-7.69695278e-02 5.21983972e-03 9.97019782e-01 -2.24152870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.645779522999995 meters 0.03019725991432967 Centerline is valid? [True, True] Translation: X:52.57, Y:-6.87, Z:-2.25 [[ 9.93128930e-01 9.02095346e-02 7.45464123e-02 5.25677038e+01] [-8.95835780e-02 9.95910523e-01 -1.17052152e-02 -6.86884254e+00] [-7.52974785e-02 4.94665346e-03 9.97148846e-01 -2.24721457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.705779523 meters 0.027347919589326884 Centerline is valid? [True, True] Translation: X:52.63, Y:-6.86, Z:-2.24 [[ 9.92190474e-01 9.44762265e-02 8.14389756e-02 5.26314026e+01] [-9.37428601e-02 9.95514277e-01 -1.27906762e-02 -6.86234393e+00] [-8.22820777e-02 5.05646462e-03 9.96596253e-01 -2.24118005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76577952299999 meters 0.03265432791338903 Centerline is valid? [True, True] Translation: X:52.69, Y:-6.86, Z:-2.24 [[ 9.91594625e-01 9.65126279e-02 8.61708297e-02 5.26924096e+01] [-9.56987949e-02 9.95318305e-01 -1.35356079e-02 -6.86224682e+00] [-8.70737612e-02 5.17539146e-03 9.96188424e-01 -2.24489929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.825779522999994 meters 0.02622335889524262 Centerline is valid? [True, True] Translation: X:52.76, Y:-6.85, Z:-2.26 [[ 9.91273901e-01 1.04207015e-01 8.07276327e-02 5.27550233e+01] [-1.03517712e-01 9.94546670e-01 -1.26887637e-02 -6.85056006e+00] [-8.16096564e-02 4.22130053e-03 9.96655429e-01 -2.25601546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.885779523 meters 0.02709701706629439 Centerline is valid? [True, True] Translation: X:52.82, Y:-6.85, Z:-2.27 [[ 9.91285152e-01 1.05989421e-01 7.82303621e-02 5.28173740e+01] [-1.05347639e-01 9.94359417e-01 -1.22973865e-02 -6.84958317e+00] [-7.90924901e-02 3.94883271e-03 9.96859461e-01 -2.26597916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94577952299999 meters 0.025590567511459297 Centerline is valid? [True, True] Translation: X:52.88, Y:-6.84, Z:-2.27 [[ 9.90811492e-01 1.07554770e-01 8.20034038e-02 5.28814261e+01] [-1.06852986e-01 9.94190989e-01 -1.29118613e-02 -6.84438443e+00] [-8.29157775e-02 4.03091203e-03 9.96548406e-01 -2.26934532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.005779522999994 meters 0.023335044493316172 Centerline is valid? [True, True] Translation: X:52.94, Y:-6.84, Z:-2.27 [[ 9.89936003e-01 1.14083624e-01 8.37355136e-02 5.29438274e+01] [-1.13374418e-01 9.93464751e-01 -1.31920227e-02 -6.84195448e+00] [-8.46932749e-02 3.56579311e-03 9.96400690e-01 -2.27196726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.065779522999996 meters 0.022146858682861877 Centerline is valid? [True, True] Translation: X:53.00, Y:-6.85, Z:-2.27 [[ 9.89241976e-01 1.20882699e-01 8.23874195e-02 5.30033933e+01] [-1.20219488e-01 9.92662452e-01 -1.29819850e-02 -6.84927829e+00] [-8.33521952e-02 2.93775107e-03 9.96515821e-01 -2.27488380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.125779523 meters 0.021024004992780336 Centerline is valid? [True, True] Translation: X:53.07, Y:-6.83, Z:-2.28 [[ 9.87398071e-01 1.32503078e-01 8.65331314e-02 5.30670688e+01] [-1.31815718e-01 9.91180460e-01 -1.36349563e-02 -6.83335524e+00] [-8.75766226e-02 2.05670274e-03 9.96155663e-01 -2.28123770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.185779522999994 meters 0.01551243092999715 Centerline is valid? [True, True] Translation: X:53.13, Y:-6.83, Z:-2.29 [[ 9.86081153e-01 1.45330875e-01 8.07644467e-02 5.31277116e+01] [-1.44775090e-01 9.89382738e-01 -1.27267894e-02 -6.82890132e+00] [-8.17565449e-02 8.56967143e-04 9.96651962e-01 -2.29140814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.245779522999996 meters 0.01819277317728736 Centerline is valid? [True, True] Translation: X:53.19, Y:-6.84, Z:-2.30 [[ 9.85174168e-01 1.52916247e-01 7.77719776e-02 5.31893444e+01] [-1.52424551e-01 9.88239128e-01 -1.22549080e-02 -6.83735795e+00] [-7.87312859e-02 2.18860022e-04 9.96895850e-01 -2.29999484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.305779523 meters 0.017227644890187698 Centerline is valid? [True, True] Translation: X:53.25, Y:-6.84, Z:-2.30 [[ 9.84392860e-01 1.56938051e-01 7.96313133e-02 5.32514667e+01] [-1.56435090e-01 9.87608444e-01 -1.25548422e-02 -6.84464342e+00] [-8.06148899e-02 -9.82345813e-05 9.96745318e-01 -2.30293177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.36577952299999 meters 0.019213980875607547 Centerline is valid? [True, True] Translation: X:53.31, Y:-6.85, Z:-2.31 [[ 9.82842608e-01 1.63976617e-01 8.44516288e-02 5.33130368e+01] [-1.63434608e-01 9.86463983e-01 -1.33393566e-02 -6.84514290e+00] [-8.54958327e-02 -6.91830781e-04 9.96338288e-01 -2.30608477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.425779522999996 meters 0.019259813230225402 Centerline is valid? [True, True] Translation: X:53.37, Y:-6.86, Z:-2.31 [[ 9.82400149e-01 1.66905857e-01 8.38593053e-02 5.33738244e+01] [-1.66380506e-01 9.85972406e-01 -1.32643071e-02 -6.85527944e+00] [-8.48968516e-02 -9.21696392e-04 9.96389319e-01 -2.31211943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.485779523 meters 0.018294660134287783 Centerline is valid? [True, True] Translation: X:53.43, Y:-6.87, Z:-2.32 [[ 9.81339560e-01 1.72715709e-01 8.45100676e-02 5.34344065e+01] [-1.72201973e-01 9.84970700e-01 -1.33866259e-02 -6.87008975e+00] [-8.55520210e-02 -1.41597476e-03 9.96332699e-01 -2.31797104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.54577952299999 meters 0.01763933688056576 Centerline is valid? [True, True] Translation: X:53.49, Y:-6.88, Z:-2.32 [[ 9.80894895e-01 1.75276735e-01 8.43994734e-02 5.34948171e+01] [-1.74773228e-01 9.84517855e-01 -1.33757681e-02 -6.88091938e+00] [-8.54372495e-02 -1.63054575e-03 9.96342219e-01 -2.32334017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.605779522999995 meters 0.017051727053609154 Centerline is valid? [True, True] Translation: X:53.55, Y:-6.90, Z:-2.33 [[ 9.81171252e-01 1.75824319e-01 7.99298671e-02 5.35543022e+01] [-1.75373191e-01 9.84420306e-01 -1.26848285e-02 -6.90474326e+00] [-8.09148856e-02 -1.57156680e-03 9.96719776e-01 -2.33153134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.665779523 meters 0.01808789596293539 Centerline is valid? [True, True] Translation: X:53.61, Y:-6.92, Z:-2.34 [[ 9.81114949e-01 1.76387896e-01 7.93773724e-02 5.36134488e+01] [-1.75942972e-01 9.84319461e-01 -1.26202032e-02 -6.92391470e+00] [-8.03587435e-02 -1.58402079e-03 9.96764748e-01 -2.33638638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72577952299999 meters 0.017575703318673603 Centerline is valid? [True, True] Translation: X:53.67, Y:-6.94, Z:-2.34 [[ 9.81240167e-01 1.74928498e-01 8.10416872e-02 5.36735145e+01] [-1.74457895e-01 9.84580037e-01 -1.29071033e-02 -6.94080099e+00] [-8.20498476e-02 -1.47339392e-03 9.96627138e-01 -2.34078548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.785779522999995 meters 0.019376609658975582 Centerline is valid? [True, True] Translation: X:53.73, Y:-6.97, Z:-2.35 [[ 9.82030611e-01 1.69319126e-01 8.33481457e-02 5.37312260e+01] [-1.68799397e-01 9.85560758e-01 -1.32949695e-02 -6.97157067e+00] [-8.43957543e-02 -1.01304975e-03 9.96431799e-01 -2.34503477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.845779523 meters 0.015151532550202856 Centerline is valid? [True, True] Translation: X:53.79, Y:-6.99, Z:-2.35 [[ 9.82503613e-01 1.66671907e-01 8.31091208e-02 5.37902799e+01] [-1.66143988e-01 9.86012116e-01 -1.32771404e-02 -6.99356630e+00] [-8.41595264e-02 -7.63242272e-04 9.96452002e-01 -2.34851079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90577952299999 meters 0.017884668061058734 Centerline is valid? [True, True] Translation: X:53.85, Y:-7.02, Z:-2.36 [[ 9.83526747e-01 1.61041969e-01 8.21012881e-02 5.38488668e+01] [-1.60505520e-01 9.86947525e-01 -1.31362195e-02 -7.01609859e+00] [-8.31451457e-02 -2.57886705e-04 9.96537414e-01 -2.35541605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.965779522999995 meters 0.014427927693800992 Centerline is valid? [True, True] Translation: X:53.91, Y:-7.04, Z:-2.36 [[ 9.84364163e-01 1.56073457e-01 8.16594810e-02 5.39088584e+01] [-1.55524039e-01 9.87745434e-01 -1.30854882e-02 -7.03827453e+00] [-8.27010769e-02 1.80873322e-04 9.96574382e-01 -2.35773682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.025779523 meters 0.01896347236837335 Centerline is valid? [True, True] Translation: X:53.97, Y:-7.07, Z:-2.37 [[ 9.86447075e-01 1.44574988e-01 7.75902167e-02 5.39651095e+01] [-1.44041850e-01 9.89493225e-01 -1.24540102e-02 -7.07202414e+00] [-7.85755322e-02 1.10898354e-03 9.96907546e-01 -2.36819387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08577952299999 meters 0.018570163767103236 Centerline is valid? [True, True] Translation: X:54.02, Y:-7.10, Z:-2.37 [[ 9.87403080e-01 1.37075574e-01 7.90281322e-02 5.40217722e+01] [-1.36496946e-01 9.90559035e-01 -1.27036112e-02 -7.09816555e+00] [-8.00233851e-02 1.75648610e-03 9.96791439e-01 -2.37150511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.145779522999995 meters 0.022493354476988803 Centerline is valid? [True, True] Translation: X:54.08, Y:-7.12, Z:-2.38 [[ 9.88931435e-01 1.24855208e-01 8.01610502e-02 5.40793006e+01] [-1.24219611e-01 9.92171059e-01 -1.28871354e-02 -7.12098802e+00] [-8.11425000e-02 2.78691885e-03 9.96698614e-01 -2.37966445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.205779523 meters 0.023821199071864023 Centerline is valid? [True, True] Translation: X:54.14, Y:-7.14, Z:-2.38 [[ 9.89431822e-01 1.20110887e-01 8.12283432e-02 5.41382949e+01] [-1.19442067e-01 9.92755257e-01 -1.30611053e-02 -7.14141510e+00] [-8.22086457e-02 3.22099195e-03 9.96609936e-01 -2.38239467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26577952299999 meters 0.025104997913307694 Centerline is valid? [True, True] Translation: X:54.19, Y:-7.17, Z:-2.38 [[ 9.90011186e-01 1.14990507e-01 8.15783946e-02 5.41949992e+01] [-1.14298325e-01 9.93359830e-01 -1.31202705e-02 -7.16725060e+00] [-8.25454068e-02 3.66494076e-03 9.96580566e-01 -2.38216520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.325779522999994 meters 0.027340039746143803 Centerline is valid? [True, True] Translation: X:54.26, Y:-7.18, Z:-2.39 [[ 9.90137262e-01 1.15379594e-01 7.94717046e-02 5.42563038e+01] [-1.14724055e-01 9.93315173e-01 -1.27811536e-02 -7.18084420e+00] [-8.04151343e-02 3.53778027e-03 9.96755181e-01 -2.39179329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.385779523 meters 0.026821508824997876 Centerline is valid? [True, True] Translation: X:54.31, Y:-7.19, Z:-2.40 [[ 9.89786261e-01 1.19169556e-01 7.82417680e-02 5.43148722e+01] [-1.18544247e-01 9.92868756e-01 -1.26053143e-02 -7.19300919e+00] [-7.91859766e-02 3.20145542e-03 9.96854720e-01 -2.39806324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44577952299999 meters 0.023887125001788266 Centerline is valid? [True, True] Translation: X:54.38, Y:-7.20, Z:-2.40 [[ 9.88962989e-01 1.24324152e-01 8.05959732e-02 5.43754568e+01] [-1.23677507e-01 9.92237493e-01 -1.29858592e-02 -7.20389123e+00] [-8.15848023e-02 2.87462513e-03 9.96662258e-01 -2.39748797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.505779522999994 meters 0.021026970351106556 Centerline is valid? [True, True] Translation: X:54.44, Y:-7.21, Z:-2.41 [[ 9.88619286e-01 1.27424752e-01 7.99677469e-02 5.44366797e+01] [-1.26798175e-01 9.91844834e-01 -1.28859562e-02 -7.20651508e+00] [-8.09575864e-02 2.59954039e-03 9.96714157e-01 -2.40782357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.565779522999996 meters 0.019270937623071877 Centerline is valid? [True, True] Translation: X:54.50, Y:-7.22, Z:-2.41 [[ 9.88129213e-01 1.31743720e-01 7.90205677e-02 5.44970321e+01] [-1.31145478e-01 9.91281320e-01 -1.27360674e-02 -7.21510541e+00] [-8.00095096e-02 2.22169013e-03 9.96791624e-01 -2.41373586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62577952299999 meters 0.020696471418670592 Centerline is valid? [True, True] Translation: X:54.56, Y:-7.23, Z:-2.42 [[ 9.87852510e-01 1.35069792e-01 7.68346967e-02 5.45579357e+01] [-1.34514138e-01 9.90834266e-01 -1.23856729e-02 -7.22667787e+00] [-7.78033805e-02 1.89986507e-03 9.96966912e-01 -2.41931673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.685779522999994 meters 0.01752156644244577 Centerline is valid? [True, True] Translation: X:54.62, Y:-7.24, Z:-2.42 [[ 9.87134539e-01 1.39033944e-01 7.89617893e-02 5.46192576e+01] [-1.38458074e-01 9.90286238e-01 -1.27486323e-02 -7.23552448e+00] [-7.99672660e-02 1.65171800e-03 9.96796122e-01 -2.41806487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.745779522999996 meters 0.016078948548671642 Centerline is valid? [True, True] Translation: X:54.68, Y:-7.24, Z:-2.43 [[ 9.86814341e-01 1.41904896e-01 7.78489410e-02 5.46811015e+01] [-1.41353668e-01 9.89879300e-01 -1.25742523e-02 -7.24238604e+00] [-7.88454032e-02 1.40421913e-03 9.96885866e-01 -2.42624324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.805779523 meters 0.015079188476958298 Centerline is valid? [True, True] Translation: X:54.74, Y:-7.25, Z:-2.43 [[ 9.85820025e-01 1.48122308e-01 7.88584762e-02 5.47414992e+01] [-1.47575910e-01 9.88968616e-01 -1.27446890e-02 -7.24753601e+00] [-7.98763309e-02 9.26358300e-04 9.96804351e-01 -2.43323879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.86577952299999 meters 0.014900494927128268 Centerline is valid? [True, True] Translation: X:54.80, Y:-7.26, Z:-2.44 [[ 9.85855746e-01 1.50662551e-01 7.34114691e-02 5.48023699e+01] [-1.50196121e-01 9.88585022e-01 -1.18650736e-02 -7.26088380e+00] [-7.43611011e-02 6.71133086e-04 9.97231155e-01 -2.44199095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.925779522999996 meters 0.014718556917536122 Centerline is valid? [True, True] Translation: X:54.86, Y:-7.28, Z:-2.45 [[ 9.85678540e-01 1.51874228e-01 7.32941666e-02 5.48632819e+01] [-1.51411069e-01 9.88399646e-01 -1.18671301e-02 -7.27619863e+00] [-7.42462395e-02 5.99627347e-04 9.97239759e-01 -2.44501131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.985779523 meters 0.014278886726978657 Centerline is valid? [True, True] Translation: X:54.92, Y:-7.29, Z:-2.45 [[ 9.84926927e-01 1.55275191e-01 7.62139344e-02 5.49231754e+01] [-1.54782718e-01 9.87871181e-01 -1.23628295e-02 -7.28899585e+00] [-7.72091901e-02 3.79883769e-04 9.97014843e-01 -2.44626124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04577952299999 meters 0.014076344497638093 Centerline is valid? [True, True] Translation: X:54.98, Y:-7.29, Z:-2.46 [[ 9.84491117e-01 1.57822767e-01 7.66108001e-02 5.49839604e+01] [-1.57331469e-01 9.87467435e-01 -1.24448418e-02 -7.29496839e+00] [-7.76147496e-02 1.98546464e-04 9.96983406e-01 -2.45554238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.105779522999995 meters 0.014367505228115404 Centerline is valid? [True, True] Translation: X:55.04, Y:-7.32, Z:-2.46 [[ 9.85245037e-01 1.55486985e-01 7.15263197e-02 5.50425771e+01] [-1.55051616e-01 9.87837871e-01 -1.16334350e-02 -7.31933177e+00] [-7.24652551e-02 3.71512584e-04 9.97370868e-01 -2.46371214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.165779523 meters 0.015983993372516835 Centerline is valid? [True, True] Translation: X:55.10, Y:-7.35, Z:-2.46 [[ 9.86371787e-01 1.46556873e-01 7.47782127e-02 5.50999475e+01] [-1.46053785e-01 9.89201640e-01 -1.21822393e-02 -7.34786142e+00] [-7.57561215e-02 1.09457609e-03 9.97125775e-01 -2.46304423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22577952299999 meters 0.01585398930583315 Centerline is valid? [True, True] Translation: X:55.16, Y:-7.36, Z:-2.46 [[ 9.86207246e-01 1.44863356e-01 8.00617011e-02 5.51614845e+01] [-1.44279344e-01 9.89450775e-01 -1.30627401e-02 -7.35727893e+00] [-8.11094245e-02 1.33131922e-03 9.96704314e-01 -2.46480438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.285779522999995 meters 0.015888336274831938 Centerline is valid? [True, True] Translation: X:55.22, Y:-7.37, Z:-2.47 [[ 9.85772564e-01 1.44441669e-01 8.59596183e-02 5.52229194e+01] [-1.43764593e-01 9.89512194e-01 -1.40484788e-02 -7.36797930e+00] [-8.70872762e-02 1.49065545e-03 9.96199571e-01 -2.46613945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.345779523 meters 0.015794081713432245 Centerline is valid? [True, True] Translation: X:55.28, Y:-7.39, Z:-2.47 [[ 9.85715051e-01 1.48689605e-01 7.91027195e-02 5.52808740e+01] [-1.48128585e-01 9.88883366e-01 -1.29464760e-02 -7.39041431e+00] [-8.01483699e-02 1.04416232e-03 9.96782398e-01 -2.47266826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40577952299999 meters 0.01554740861878191 Centerline is valid? [True, True] Translation: X:55.34, Y:-7.40, Z:-2.48 [[ 9.85617934e-01 1.50664400e-01 7.65344774e-02 5.53407574e+01] [-1.50143879e-01 9.88584583e-01 -1.25433984e-02 -7.40435577e+00] [-7.75506480e-02 8.71815082e-04 9.96988032e-01 -2.47932932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.465779522999995 meters 0.015397739168322324 Centerline is valid? [True, True] Translation: X:55.40, Y:-7.41, Z:-2.49 [[ 9.85725022e-01 1.51167872e-01 7.41246004e-02 5.54024003e+01] [-1.50679805e-01 9.88507763e-01 -1.21654831e-02 -7.41463203e+00] [-7.51117732e-02 8.22740824e-04 9.97174781e-01 -2.49079073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.525779523 meters 0.014444748623557336 Centerline is valid? [True, True] Translation: X:55.46, Y:-7.42, Z:-2.49 [[ 9.84483599e-01 1.58082184e-01 7.61713026e-02 5.54633050e+01] [-1.57585673e-01 9.87425905e-01 -1.25235114e-02 -7.42425622e+00] [-7.71932614e-02 3.25685598e-04 9.97016095e-01 -2.49382289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58577952299999 meters 0.0141984270425593 Centerline is valid? [True, True] Translation: X:55.52, Y:-7.43, Z:-2.50 [[ 9.83068061e-01 1.64974710e-01 7.97529493e-02 5.55246520e+01] [-1.64451240e-01 9.86297776e-01 -1.31334019e-02 -7.43002913e+00] [-8.08268357e-02 -2.04443460e-04 9.96728138e-01 -2.49675396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.645779522999995 meters 0.014624238490252498 Centerline is valid? [True, True] Translation: X:55.59, Y:-7.43, Z:-2.50 [[ 9.81814721e-01 1.71440538e-01 8.15352351e-02 5.55862963e+01] [-1.70914017e-01 9.85194196e-01 -1.34460288e-02 -7.43302616e+00] [-8.26332348e-02 -7.34005560e-04 9.96579756e-01 -2.50284362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.705779523 meters 0.01760287372623372 Centerline is valid? [True, True] Translation: X:55.65, Y:-7.45, Z:-2.51 [[ 9.81661335e-01 1.73539221e-01 7.88996983e-02 5.56462838e+01] [-1.73051550e-01 9.84826580e-01 -1.30294803e-02 -7.44800734e+00] [-7.99636460e-02 -8.63178061e-04 9.96797407e-01 -2.50666916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76577952299999 meters 0.015061781065736957 Centerline is valid? [True, True] Translation: X:55.71, Y:-7.46, Z:-2.51 [[ 9.81693400e-01 1.74602387e-01 7.61056794e-02 5.57056752e+01] [-1.74150403e-01 9.84638615e-01 -1.25871225e-02 -7.46076376e+00] [-7.71343323e-02 -8.97139675e-04 9.97020306e-01 -2.50887283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.825779522999994 meters 0.015277432952434472 Centerline is valid? [True, True] Translation: X:55.77, Y:-7.46, Z:-2.53 [[ 9.81320203e-01 1.75918079e-01 7.78684078e-02 5.57688686e+01] [-1.75448185e-01 9.84404288e-01 -1.28892182e-02 -7.45688799e+00] [-7.89214410e-02 -1.01342058e-03 9.96880323e-01 -2.52597632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.885779523 meters 0.015645316496667616 Centerline is valid? [True, True] Translation: X:55.83, Y:-7.46, Z:-2.53 [[ 9.81048239e-01 1.78024993e-01 7.64948007e-02 5.58298444e+01] [-1.77576264e-01 9.84025305e-01 -1.26834410e-02 -7.46356779e+00] [-7.75307891e-02 -1.14059349e-03 9.96989306e-01 -2.53386419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94577952299999 meters 0.01636345405288302 Centerline is valid? [True, True] Translation: X:55.89, Y:-7.48, Z:-2.53 [[ 9.80797013e-01 1.80091842e-01 7.48608594e-02 5.58887987e+01] [-1.79666658e-01 9.83648996e-01 -1.24315718e-02 -7.48327794e+00] [-7.58756339e-02 -1.25715187e-03 9.97116497e-01 -2.52767318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.005779522999994 meters 0.017085445415406023 Centerline is valid? [True, True] Translation: X:55.95, Y:-7.49, Z:-2.53 [[ 9.80501919e-01 1.81770116e-01 7.46700206e-02 5.59488963e+01] [-1.81351304e-01 9.83340091e-01 -1.24084680e-02 -7.49201098e+00] [-7.56815135e-02 -1.37497897e-03 9.97131094e-01 -2.52927644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.065779522999996 meters 0.01645471995691216 Centerline is valid? [True, True] Translation: X:56.01, Y:-7.49, Z:-2.55 [[ 9.80329201e-01 1.82308880e-01 7.56183118e-02 5.60118271e+01] [-1.81879650e-01 9.83240287e-01 -1.25829702e-02 -7.48839248e+00] [-7.66449578e-02 -1.41797895e-03 9.97057441e-01 -2.55218476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12577952299999 meters 0.015877985003515824 Centerline is valid? [True, True] Translation: X:56.07, Y:-7.51, Z:-2.55 [[ 9.80813542e-01 1.79809800e-01 7.53208575e-02 5.60713960e+01] [-1.79374905e-01 9.83700668e-01 -1.25554161e-02 -7.50805702e+00] [-7.63507647e-02 -1.19614946e-03 9.97080303e-01 -2.55339596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.185779522999994 meters 0.014991837996116619 Centerline is valid? [True, True] Translation: X:56.13, Y:-7.53, Z:-2.55 [[ 9.81431666e-01 1.75532119e-01 7.73327815e-02 5.61312276e+01] [-1.75058825e-01 9.84473323e-01 -1.29106181e-02 -7.53230323e+00] [-7.83982886e-02 -8.66896429e-04 9.96921741e-01 -2.54664468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.245779522999996 meters 0.015318130120184542 Centerline is valid? [True, True] Translation: X:56.19, Y:-7.54, Z:-2.55 [[ 9.81052015e-01 1.76797458e-01 7.92439494e-02 5.61929385e+01] [-1.76302886e-01 9.84246775e-01 -1.32505582e-02 -7.53744081e+00] [-8.03382666e-02 -9.71450147e-04 9.96767184e-01 -2.55068587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.305779523 meters 0.01602381578346636 Centerline is valid? [True, True] Translation: X:56.25, Y:-7.54, Z:-2.56 [[ 9.80651913e-01 1.80674359e-01 7.53565003e-02 5.62538992e+01] [-1.80237101e-01 9.83542232e-01 -1.26200656e-02 -7.54367683e+00] [-7.63964227e-02 -1.20614565e-03 9.97076793e-01 -2.56161165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.36577952299999 meters 0.016311377647145967 Centerline is valid? [True, True] Translation: X:56.31, Y:-7.56, Z:-2.57 [[ 9.80664507e-01 1.81401141e-01 7.34217363e-02 5.63133749e+01] [-1.80986748e-01 9.83408438e-01 -1.23142317e-02 -7.55606981e+00] [-7.44373707e-02 -1.21223134e-03 9.97224954e-01 -2.56881413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.425779522999996 meters 0.015886211356619096 Centerline is valid? [True, True] Translation: X:56.37, Y:-7.56, Z:-2.57 [[ 9.80748560e-01 1.79677246e-01 7.64744976e-02 5.63747513e+01] [-1.79220968e-01 9.83724991e-01 -1.28446769e-02 -7.56494658e+00] [-7.75377706e-02 -1.10843517e-03 9.96988799e-01 -2.57242550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.485779523 meters 0.01625006650955179 Centerline is valid? [True, True] Translation: X:56.44, Y:-7.58, Z:-2.58 [[ 9.81828005e-01 1.72726696e-01 7.86082468e-02 5.64353636e+01] [-1.72220703e-01 9.84969634e-01 -1.32230602e-02 -7.57844690e+00] [-7.97107116e-02 -5.55196676e-04 9.96817884e-01 -2.57700543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54577952299999 meters 0.017080080790268733 Centerline is valid? [True, True] Translation: X:56.50, Y:-7.60, Z:-2.58 [[ 9.82485331e-01 1.70149117e-01 7.59727066e-02 5.64960551e+01] [-1.69667455e-01 9.85418275e-01 -1.27975446e-02 -7.59519577e+00] [-7.70423844e-02 -3.16695965e-04 9.97027768e-01 -2.58021989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.605779522999995 meters 0.01428948755710522 Centerline is valid? [True, True] Translation: X:56.56, Y:-7.61, Z:-2.58 [[ 9.83358186e-01 1.65972676e-01 7.38901108e-02 5.65559136e+01] [-1.65503775e-01 9.86130351e-01 -1.24671754e-02 -7.61099374e+00] [-7.49344914e-02 3.06066653e-05 9.97188458e-01 -2.58371742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.665779523 meters 0.015261796292505053 Centerline is valid? [True, True] Translation: X:56.62, Y:-7.62, Z:-2.59 [[ 9.84888695e-01 1.56150338e-01 7.49088167e-02 5.66164652e+01] [-1.55638465e-01 9.87732969e-01 -1.26590301e-02 -7.62235564e+00] [-7.59666197e-02 8.09042400e-04 9.97110033e-01 -2.59358637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.72577952299999 meters 0.017271411729132997 Centerline is valid? [True, True] Translation: X:56.68, Y:-7.64, Z:-2.60 [[ 9.85678338e-01 1.50331765e-01 7.64105597e-02 5.66757266e+01] [-1.49780119e-01 9.88634747e-01 -1.29326075e-02 -7.63906695e+00] [-7.74863161e-02 1.30260835e-03 9.96992565e-01 -2.59691772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.785779522999995 meters 0.018684310432179337 Centerline is valid? [True, True] Translation: X:56.74, Y:-7.65, Z:-2.60 [[ 9.86883277e-01 1.42134572e-01 7.65451600e-02 5.67356830e+01] [-1.41555607e-01 9.89845404e-01 -1.29647905e-02 -7.65071463e+00] [-7.76106198e-02 1.95933836e-03 9.96981822e-01 -2.60116589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.845779523 meters 0.02265650388717396 Centerline is valid? [True, True] Translation: X:56.79, Y:-7.67, Z:-2.61 [[ 9.88058784e-01 1.35712290e-01 7.29521340e-02 5.67942201e+01] [-1.35168931e-01 9.90745506e-01 -1.23572983e-02 -7.66680058e+00] [-7.39540362e-02 2.34887520e-03 9.97258885e-01 -2.60868064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.90577952299999 meters 0.023858489906715356 Centerline is valid? [True, True] Translation: X:56.86, Y:-7.67, Z:-2.61 [[ 9.88571003e-01 1.31402765e-01 7.38964535e-02 5.68551715e+01] [-1.30832987e-01 9.91325363e-01 -1.25201848e-02 -7.67491385e+00] [-7.49006154e-02 2.70899794e-03 9.97187324e-01 -2.61133110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.965779522999995 meters 0.02402400570719231 Centerline is valid? [True, True] Translation: X:56.92, Y:-7.68, Z:-2.61 [[ 9.88469431e-01 1.29499216e-01 7.84737977e-02 5.69172162e+01] [-1.28850320e-01 9.91574884e-01 -1.32982938e-02 -7.67980972e+00] [-7.95347655e-02 3.03358298e-03 9.96827477e-01 -2.61393138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.025779523 meters 0.023790589735512284 Centerline is valid? [True, True] Translation: X:56.98, Y:-7.69, Z:-2.62 [[ 9.88996205e-01 1.25417968e-01 7.84655382e-02 5.69771203e+01] [-1.24754804e-01 9.92098231e-01 -1.33168911e-02 -7.68859107e+00] [-7.95156990e-02 3.38140192e-03 9.96827879e-01 -2.61824857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08577952299999 meters 0.02493829368959316 Centerline is valid? [True, True] Translation: X:57.04, Y:-7.69, Z:-2.62 [[ 9.89148415e-01 1.22461919e-01 8.11695187e-02 5.70389138e+01] [-1.21742104e-01 9.92466143e-01 -1.37773352e-02 -7.68989432e+00] [-8.22451981e-02 3.74608128e-03 9.96605084e-01 -2.62103595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.145779522999995 meters 0.02755382664437152 Centerline is valid? [True, True] Translation: X:57.10, Y:-7.70, Z:-2.63 [[ 9.89151535e-01 1.22951056e-01 8.03882990e-02 5.70990589e+01] [-1.22246438e-01 9.92405941e-01 -1.36475938e-02 -7.69978018e+00] [-8.14558116e-02 3.67235515e-03 9.96670188e-01 -2.62815942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.205779523 meters 0.023407568244710318 Centerline is valid? [True, True] Translation: X:57.16, Y:-7.70, Z:-2.63 [[ 9.88469326e-01 1.31060337e-01 7.58391641e-02 5.71606188e+01] [-1.30455815e-01 9.91370297e-01 -1.28924610e-02 -7.70496870e+00] [-7.68743849e-02 2.85014226e-03 9.97036712e-01 -2.62546472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26577952299999 meters 0.020620052478296787 Centerline is valid? [True, True] Translation: X:57.22, Y:-7.70, Z:-2.64 [[ 9.87606567e-01 1.38412740e-01 7.39944686e-02 5.72228200e+01] [-1.37857780e-01 9.90372137e-01 -1.25802930e-02 -7.70061740e+00] [-7.50233327e-02 2.22366684e-03 9.97179299e-01 -2.63535148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.325779522999994 meters 0.01861921690467466 Centerline is valid? [True, True] Translation: X:57.29, Y:-7.68, Z:-2.65 [[ 9.85886480e-01 1.46065167e-01 8.18096271e-02 5.72869165e+01] [-1.45412621e-01 9.89273299e-01 -1.39107502e-02 -7.68429058e+00] [-8.29639558e-02 1.81826831e-03 9.96550890e-01 -2.64599851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.385779523 meters 0.020153389336125302 Centerline is valid? [True, True] Translation: X:57.35, Y:-7.69, Z:-2.65 [[ 9.85923669e-01 1.47782261e-01 7.81979720e-02 5.73474204e+01] [-1.47191485e-01 9.89018626e-01 -1.32975271e-02 -7.69358049e+00] [-7.93043895e-02 1.60027102e-03 9.96849163e-01 -2.65475829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44577952299999 meters 0.016818664438203464 Centerline is valid? [True, True] Translation: X:57.41, Y:-7.70, Z:-2.65 [[ 9.85154937e-01 1.53364830e-01 7.71296200e-02 5.74094828e+01] [-1.52805632e-01 9.88168961e-01 -1.31355733e-02 -7.70166229e+00] [-7.82316314e-02 1.15473457e-03 9.96934541e-01 -2.64714406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.505779522999994 meters 0.017484238550207677 Centerline is valid? [True, True] Translation: X:57.47, Y:-7.69, Z:-2.65 [[ 9.82969015e-01 1.64466090e-01 8.19928150e-02 5.74737617e+01] [-1.63872087e-01 9.86382694e-01 -1.39685562e-02 -7.68803772e+00] [-8.31736476e-02 2.94324250e-04 9.96535026e-01 -2.65418305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.565779522999996 meters 0.01570700437047892 Centerline is valid? [True, True] Translation: X:57.54, Y:-7.70, Z:-2.66 [[ 9.81902348e-01 1.71570821e-01 8.01949659e-02 5.75358612e+01] [-1.71026022e-01 9.85171744e-01 -1.36651017e-02 -7.69789323e+00] [-8.13503471e-02 -2.97630547e-04 9.96685523e-01 -2.65754026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62577952299999 meters 0.01847002923621037 Centerline is valid? [True, True] Translation: X:57.60, Y:-7.70, Z:-2.67 [[ 9.81337506e-01 1.75934199e-01 7.76135111e-02 5.75967615e+01] [-1.75435858e-01 9.84401736e-01 -1.32469618e-02 -7.70206976e+00] [-7.87334687e-02 -6.16452428e-04 9.96895512e-01 -2.67049383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.685779522999994 meters 0.016976092733852626 Centerline is valid? [True, True] Translation: X:57.66, Y:-7.70, Z:-2.68 [[ 9.80566102e-01 1.79673701e-01 7.87875645e-02 5.76584865e+01] [-1.79170682e-01 9.83725841e-01 -1.34661448e-02 -7.69802415e+00] [-7.99248752e-02 -9.11976534e-04 9.96800473e-01 -2.67914155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.745779522999996 meters 0.019168203529551047 Centerline is valid? [True, True] Translation: X:57.72, Y:-7.72, Z:-2.68 [[ 9.80841460e-01 1.79015241e-01 7.68347201e-02 5.77185081e+01] [-1.78534183e-01 9.83845952e-01 -1.31410795e-02 -7.72481836e+00] [-7.79459818e-02 -8.28308425e-04 9.96957240e-01 -2.67816535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.805779523 meters 0.01682926716318498 Centerline is valid? [True, True] Translation: X:57.78, Y:-7.74, Z:-2.67 [[ 9.80603941e-01 1.78535519e-01 8.08763159e-02 5.77793960e+01] [-1.77998803e-01 9.83933136e-01 -1.38567804e-02 -7.73996095e+00] [-8.20508146e-02 -8.07873975e-04 9.96627820e-01 -2.67196848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.86577952299999 meters 0.017058331398510904 Centerline is valid? [True, True] Translation: X:57.84, Y:-7.73, Z:-2.69 [[ 9.80265565e-01 1.80429500e-01 8.07751027e-02 5.78421747e+01] [-1.79898875e-01 9.83587466e-01 -1.38597440e-02 -7.73446845e+00] [-8.19500852e-02 -9.45120321e-04 9.96635987e-01 -2.68800435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.925779522999996 meters 0.01694087225630359 Centerline is valid? [True, True] Translation: X:57.90, Y:-7.75, Z:-2.70 [[ 9.80900875e-01 1.78769080e-01 7.66491362e-02 5.79003174e+01] [-1.78284873e-01 9.83890775e-01 -1.31698923e-02 -7.75314660e+00] [-7.77687476e-02 -7.47022612e-04 9.96971145e-01 -2.69615787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.985779523 meters 0.016255843187995368 Centerline is valid? [True, True] Translation: X:57.96, Y:-7.78, Z:-2.70 [[ 9.82882022e-01 1.68537556e-01 7.44178946e-02 5.79579611e+01] [-1.68050597e-01 9.85695230e-01 -1.28027539e-02 -7.78470748e+00] [-7.55111086e-02 7.76250579e-05 9.97144958e-01 -2.69838226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.04577952299999 meters 0.01688268257424599 Centerline is valid? [True, True] Translation: X:58.02, Y:-7.80, Z:-2.71 [[ 9.84163894e-01 1.59457088e-01 7.74265201e-02 5.80179733e+01] [-1.58900194e-01 9.87204515e-01 -1.33406973e-02 -7.79872529e+00] [-7.85630790e-02 8.26343582e-04 9.96908802e-01 -2.70647238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.105779522999995 meters 0.01765826058940814 Centerline is valid? [True, True] Translation: X:58.08, Y:-7.82, Z:-2.70 [[ 9.84632114e-01 1.55362817e-01 7.97621141e-02 5.80773576e+01] [-1.54756648e-01 9.87856738e-01 -1.37639280e-02 -7.82131452e+00] [-8.09319445e-02 1.20868813e-03 9.96718897e-01 -2.70498757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.165779523 meters 0.021679386763187564 Centerline is valid? [True, True] Translation: X:58.13, Y:-7.84, Z:-2.71 [[ 9.86006758e-01 1.46148871e-01 8.01946448e-02 5.81349825e+01] [-1.45503992e-01 9.89260594e-01 -1.38587787e-02 -7.84076577e+00] [-8.13588468e-02 1.99620855e-03 9.96682875e-01 -2.71310104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.22577952299999 meters 0.0236039784291736 Centerline is valid? [True, True] Translation: X:58.19, Y:-7.86, Z:-2.72 [[ 9.87033035e-01 1.39703548e-01 7.90487556e-02 5.81923879e+01] [-1.39056255e-01 9.90190237e-01 -1.36620955e-02 -7.85625455e+00] [-8.01819492e-02 2.49271568e-03 9.96777127e-01 -2.72206664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.285779522999995 meters 0.02323126678808167 Centerline is valid? [True, True] Translation: X:58.25, Y:-7.87, Z:-2.72 [[ 9.87247963e-01 1.37623554e-01 8.00076051e-02 5.82524396e+01] [-1.36953116e-01 9.90480927e-01 -1.38339457e-02 -7.87324392e+00] [-8.11498836e-02 2.70024394e-03 9.96698252e-01 -2.72068228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.345779523 meters 0.02376648587567655 Centerline is valid? [True, True] Translation: X:58.31, Y:-7.89, Z:-2.72 [[ 9.88049277e-01 1.31613053e-01 8.02286161e-02 5.83116615e+01] [-1.30918280e-01 9.91295960e-01 -1.38825240e-02 -7.88777031e+00] [-8.13574244e-02 3.21322537e-03 9.96679811e-01 -2.72480306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40577952299999 meters 0.024103390952660342 Centerline is valid? [True, True] Translation: X:58.37, Y:-7.90, Z:-2.74 [[ 9.88443179e-01 1.29104323e-01 7.94490729e-02 5.83724798e+01] [-1.28414700e-01 9.91625225e-01 -1.37505616e-02 -7.89779758e+00] [-8.05589617e-02 3.38922004e-03 9.96744083e-01 -2.73537678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.465779522999995 meters 0.02536539521907215 Centerline is valid? [True, True] Translation: X:58.43, Y:-7.91, Z:-2.74 [[ 9.88177143e-01 1.32689304e-01 7.68080951e-02 5.84308551e+01] [-1.32055241e-01 9.91153145e-01 -1.32987357e-02 -7.91035250e+00] [-7.78931850e-02 2.99859512e-03 9.96957201e-01 -2.74390556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.525779523 meters 0.022699462180050277 Centerline is valid? [True, True] Translation: X:58.49, Y:-7.91, Z:-2.74 [[ 9.86976863e-01 1.39783889e-01 7.96061367e-02 5.84925934e+01] [-1.39124951e-01 9.90178785e-01 -1.37920742e-02 -7.91218993e+00] [-8.07522176e-02 2.53725830e-03 9.96730978e-01 -2.74474259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58577952299999 meters 0.020109138393714667 Centerline is valid? [True, True] Translation: X:58.55, Y:-7.92, Z:-2.74 [[ 9.86184768e-01 1.44264715e-01 8.14082054e-02 5.85521388e+01] [-1.43590612e-01 9.89536637e-01 -1.41060294e-02 -7.92284767e+00] [-8.25914041e-02 2.22169727e-03 9.96581017e-01 -2.74435005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.645779522999995 meters 0.018587601641749368 Centerline is valid? [True, True] Translation: X:58.61, Y:-7.92, Z:-2.75 [[ 9.84913036e-01 1.52062153e-01 8.26039550e-02 5.86121322e+01] [-1.51395258e-01 9.88369650e-01 -1.43147435e-02 -7.92492145e+00] [-8.38199728e-02 1.59293039e-03 9.96479641e-01 -2.75240984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.705779523 meters 0.01702551328173952 Centerline is valid? [True, True] Translation: X:58.67, Y:-7.93, Z:-2.76 [[ 9.83991322e-01 1.59517153e-01 7.94692207e-02 5.86738072e+01] [-1.58924171e-01 9.87194726e-01 -1.37724547e-02 -7.92838550e+00] [-8.06485383e-02 9.22395832e-04 9.96742175e-01 -2.76085213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76577952299999 meters 0.016113821033328188 Centerline is valid? [True, True] Translation: X:58.73, Y:-7.94, Z:-2.76 [[ 9.82649395e-01 1.67746360e-01 7.91285352e-02 5.87349647e+01] [-1.67184736e-01 9.85830156e-01 -1.37174287e-02 -7.93563836e+00] [-8.03083449e-02 2.50339682e-04 9.96770037e-01 -2.76175742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.825779522999994 meters 0.016156417671198957 Centerline is valid? [True, True] Translation: X:58.80, Y:-7.95, Z:-2.76 [[ 9.81485006e-01 1.72704761e-01 8.28266143e-02 5.87969781e+01] [-1.72105251e-01 9.84973627e-01 -1.43783572e-02 -7.94685558e+00] [-8.40652414e-02 -1.42753297e-04 9.96460242e-01 -2.76012843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.885779523 meters 0.016732639478474 Centerline is valid? [True, True] Translation: X:58.86, Y:-7.95, Z:-2.77 [[ 9.80084147e-01 1.79972721e-01 8.39338081e-02 5.88593419e+01] [-1.79381549e-01 9.83671314e-01 -1.45947205e-02 -7.94818562e+00] [-8.51899309e-02 -7.52122381e-04 9.96364446e-01 -2.77108910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.94577952299999 meters 0.017183202383044698 Centerline is valid? [True, True] Translation: X:58.92, Y:-7.96, Z:-2.78 [[ 9.79270860e-01 1.84670560e-01 8.32187906e-02 5.89197254e+01] [-1.84104596e-01 9.82799830e-01 -1.44910649e-02 -7.95667782e+00] [-8.44634863e-02 -1.13028420e-03 9.96425934e-01 -2.78115137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.005779522999994 meters 0.017439727300628212 Centerline is valid? [True, True] Translation: X:58.98, Y:-7.97, Z:-2.78 [[ 9.78978920e-01 1.86311546e-01 8.29956739e-02 5.89799966e+01] [-1.85752838e-01 9.82489923e-01 -1.44718799e-02 -7.96926362e+00] [-8.42386915e-02 -1.24901665e-03 9.96444822e-01 -2.78394154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.065779522999996 meters 0.018399698632454487 Centerline is valid? [True, True] Translation: X:59.04, Y:-7.99, Z:-2.78 [[ 9.78249436e-01 1.90722645e-01 8.15653974e-02 5.90399116e+01] [-1.90196772e-01 9.81642690e-01 -1.42413978e-02 -7.98972501e+00] [-8.27842332e-02 -1.58183599e-03 9.96566239e-01 -2.77941380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12577952299999 meters 0.021087117499782655 Centerline is valid? [True, True] Translation: X:59.10, Y:-8.00, Z:-2.79 [[ 9.77770014e-01 1.93203577e-01 8.14750164e-02 5.91006537e+01] [-1.92685760e-01 9.81157096e-01 -1.42461192e-02 -7.99726013e+00] [-8.26921916e-02 -1.76964725e-03 9.96573565e-01 -2.79204521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.185779522999994 meters 0.020832507327206526 Centerline is valid? [True, True] Translation: X:59.16, Y:-8.01, Z:-2.80 [[ 9.77410945e-01 1.94730842e-01 8.21446477e-02 5.91612250e+01] [-1.94208110e-01 9.80854888e-01 -1.43839695e-02 -8.00523276e+00] [-8.33729817e-02 -1.89410759e-03 9.96516612e-01 -2.80265843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.245779522999996 meters 0.01861466038554306 Centerline is valid? [True, True] Translation: X:59.22, Y:-8.03, Z:-2.80 [[ 9.78003735e-01 1.91595466e-01 8.24613292e-02 5.92198941e+01] [-1.91055813e-01 9.81472657e-01 -1.44602669e-02 -8.03019658e+00] [-8.37040614e-02 -1.61252117e-03 9.96489353e-01 -2.80271694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.305779523 meters 0.017241129916782415 Centerline is valid? [True, True] Translation: X:59.28, Y:-8.06, Z:-2.80 [[ 9.79317940e-01 1.85200893e-01 8.14677951e-02 5.92774488e+01] [-1.84650417e-01 9.82700139e-01 -1.43059809e-02 -8.05503019e+00] [-8.27078940e-02 -1.03295859e-03 9.96573297e-01 -2.80405177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.36577952299999 meters 0.01676488041405649 Centerline is valid? [True, True] Translation: X:59.34, Y:-8.07, Z:-2.81 [[ 9.79560439e-01 1.82428984e-01 8.47408548e-02 5.93383845e+01] [-1.81822609e-01 9.83218684e-01 -1.48848037e-02 -8.06799267e+00] [-8.60342114e-02 -8.27238434e-04 9.96291840e-01 -2.80912519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.425779522999996 meters 0.01607620485414792 Centerline is valid? [True, True] Translation: X:59.40, Y:-8.09, Z:-2.82 [[ 9.80474743e-01 1.77097255e-01 8.54742151e-02 5.93970159e+01] [-1.76458260e-01 9.84193297e-01 -1.50345228e-02 -8.09043856e+00] [-8.67857223e-02 -3.41661434e-04 9.96226943e-01 -2.81555638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.485779523 meters 0.01592607020882386 Centerline is valid? [True, True] Translation: X:59.45, Y:-8.12, Z:-2.82 [[ 9.82304231e-01 1.69652429e-01 7.93501849e-02 5.94548764e+01] [-1.69076142e-01 9.85503910e-01 -1.39750512e-02 -8.11700893e+00] [-8.05708188e-02 3.11528783e-04 9.96748838e-01 -2.82291662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.54577952299999 meters 0.016889173773440656 Centerline is valid? [True, True] Translation: X:59.51, Y:-8.14, Z:-2.83 [[ 9.83679490e-01 1.63482553e-01 7.51539417e-02 5.95125228e+01] [-1.62946373e-01 9.86545908e-01 -1.32533104e-02 -8.13578656e+00] [-7.63094987e-02 7.90947381e-04 9.97083865e-01 -2.83435694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.605779522999995 meters 0.01684870042245909 Centerline is valid? [True, True] Translation: X:59.57, Y:-8.15, Z:-2.83 [[ 9.83868565e-01 1.60711975e-01 7.85767651e-02 5.95737822e+01] [-1.60115472e-01 9.87000768e-01 -1.38751275e-02 -8.14851410e+00] [-7.97852267e-02 1.06994590e-03 9.96811503e-01 -2.83455525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.665779523 meters 0.01801576353356939 Centerline is valid? [True, True] Translation: X:59.63, Y:-8.16, Z:-2.84 [[ 9.84727617e-01 1.54925639e-01 7.94327764e-02 5.96343330e+01] [-1.54295635e-01 9.87924878e-01 -1.40460960e-02 -8.15729207e+00] [-8.06497163e-02 1.57544799e-03 9.96741261e-01 -2.84249425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.72577952299999 meters 0.01937137033956409 Centerline is valid? [True, True] Translation: X:59.69, Y:-8.17, Z:-2.85 [[ 9.85438015e-01 1.51673398e-01 7.68576553e-02 5.96935450e+01] [-1.51072405e-01 9.88429028e-01 -1.36082517e-02 -8.17293355e+00] [-7.80323473e-02 1.79901776e-03 9.96949204e-01 -2.84794847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.785779522999995 meters 0.019919482828153926 Centerline is valid? [True, True] Translation: X:59.75, Y:-8.19, Z:-2.85 [[ 9.86210978e-01 1.48355150e-01 7.33393280e-02 5.97539046e+01] [-1.47798291e-01 9.88932178e-01 -1.29928260e-02 -8.18615275e+00] [-7.44551740e-02 1.97424034e-03 9.97222407e-01 -2.84935803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.845779523 meters 0.02131606886488788 Centerline is valid? [True, True] Translation: X:59.82, Y:-8.18, Z:-2.86 [[ 9.86907525e-01 1.44136493e-01 7.23754688e-02 5.98152936e+01] [-1.43581547e-01 9.89555189e-01 -1.28400613e-02 -8.18328958e+00] [-7.34702421e-02 2.28017133e-03 9.97294803e-01 -2.86470507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.90577952299999 meters 0.02149151228858261 Centerline is valid? [True, True] Translation: X:59.88, Y:-8.19, Z:-2.87 [[ 9.87313920e-01 1.41665591e-01 7.17083175e-02 5.98768531e+01] [-1.41114285e-01 9.89911560e-01 -1.27224913e-02 -8.19017037e+00] [-7.27872317e-02 2.44202476e-03 9.97344502e-01 -2.87245003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.965779522999995 meters 0.02392878905661695 Centerline is valid? [True, True] Translation: X:59.94, Y:-8.21, Z:-2.87 [[ 9.87894666e-01 1.37224298e-01 7.23437751e-02 5.99357675e+01] [-1.36650874e-01 9.90536044e-01 -1.28406821e-02 -8.20719503e+00] [-7.34211704e-02 2.79940118e-03 9.97297095e-01 -2.86894826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.025779523 meters 0.025343642979908546 Centerline is valid? [True, True] Translation: X:60.00, Y:-8.21, Z:-2.87 [[ 9.88045548e-01 1.34960443e-01 7.45095545e-02 5.99974506e+01] [-1.34345456e-01 9.90846262e-01 -1.32281174e-02 -8.21079353e+00] [-7.56127862e-02 3.05996250e-03 9.97132560e-01 -2.87336215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08577952299999 meters 0.0251059261078488 Centerline is valid? [True, True] Translation: X:60.06, Y:-8.21, Z:-2.89 [[ 9.87925869e-01 1.38009262e-01 7.03983015e-02 6.00594940e+01] [-1.37467631e-01 9.90427322e-01 -1.25047834e-02 -8.20821724e+00] [-7.14501772e-02 2.67631134e-03 9.97440579e-01 -2.88796563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.145779522999995 meters 0.023462020982846957 Centerline is valid? [True, True] Translation: X:60.12, Y:-8.22, Z:-2.89 [[ 9.87474590e-01 1.41820484e-01 6.91439409e-02 6.01201465e+01] [-1.41306040e-01 9.89889542e-01 -1.23002858e-02 -8.21547402e+00] [-7.01892965e-02 2.37576320e-03 9.97530861e-01 -2.89150194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.205779523 meters 0.019344125403741648 Centerline is valid? [True, True] Translation: X:60.18, Y:-8.21, Z:-2.89 [[ 9.86414043e-01 1.47532645e-01 7.22596309e-02 6.01828547e+01] [-1.46985784e-01 9.89055038e-01 -1.28573112e-02 -8.21199918e+00] [-7.33656252e-02 2.06149384e-03 9.97302981e-01 -2.89150268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.26577952299999 meters 0.017367242737019728 Centerline is valid? [True, True] Translation: X:60.24, Y:-8.21, Z:-2.90 [[ 9.85001398e-01 1.56697962e-01 7.22356888e-02 6.02438871e+01] [-1.56175896e-01 9.87645606e-01 -1.28548326e-02 -8.20751078e+00] [-7.33575867e-02 1.38055465e-03 9.97304747e-01 -2.89882864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.325779522999994 meters 0.015672228035636997 Centerline is valid? [True, True] Translation: X:60.30, Y:-8.22, Z:-2.90 [[ 9.83957456e-01 1.63771823e-01 7.07567321e-02 6.03049828e+01] [-1.63289200e-01 9.86497892e-01 -1.25914785e-02 -8.21886651e+00] [-7.18634964e-02 8.35668932e-04 9.97414126e-01 -2.89923006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.385779523 meters 0.017269068993283756 Centerline is valid? [True, True] Translation: X:60.37, Y:-8.21, Z:-2.91 [[ 9.82585180e-01 1.71009803e-01 7.26774416e-02 6.03682694e+01] [-1.70520142e-01 9.85269276e-01 -1.29358005e-02 -8.21213672e+00] [-7.38189990e-02 3.17558234e-04 9.97271605e-01 -2.91116194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44577952299999 meters 0.014199626824842783 Centerline is valid? [True, True] Translation: X:60.43, Y:-8.21, Z:-2.91 [[ 9.81150722e-01 1.78430344e-01 7.42015734e-02 6.04305806e+01] [-1.77939663e-01 9.83952520e-01 -1.32255637e-02 -8.21416608e+00] [-7.53706670e-02 -2.27131571e-04 9.97155560e-01 -2.91420681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.505779522999994 meters 0.01510004051401477 Centerline is valid? [True, True] Translation: X:60.49, Y:-8.23, Z:-2.91 [[ 9.79589797e-01 1.86372603e-01 7.52933120e-02 6.04904136e+01] [-1.85889276e-01 9.82478784e-01 -1.34393169e-02 -8.22878115e+00] [-7.64788021e-02 -8.31201581e-04 9.97070861e-01 -2.90912265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.565779522999996 meters 0.017812154921766882 Centerline is valid? [True, True] Translation: X:60.55, Y:-8.23, Z:-2.92 [[ 9.79391768e-01 1.87716721e-01 7.45264835e-02 6.05521162e+01] [-1.87245813e-01 9.82222788e-01 -1.33191980e-02 -8.23285869e+00] [-7.57018466e-02 -9.10059119e-04 9.97130083e-01 -2.92228648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62577952299999 meters 0.015642802084252203 Centerline is valid? [True, True] Translation: X:60.61, Y:-8.24, Z:-2.93 [[ 9.79171573e-01 1.88595395e-01 7.51984536e-02 6.06141595e+01] [-1.88117141e-01 9.82054397e-01 -1.34574551e-02 -8.24422359e+00] [-7.63869860e-02 -9.68960699e-04 9.97077775e-01 -2.92686542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.685779522999994 meters 0.017465376255719083 Centerline is valid? [True, True] Translation: X:60.67, Y:-8.27, Z:-2.93 [[ 9.79979776e-01 1.84099157e-01 7.58098860e-02 6.06734408e+01] [-1.83597960e-01 9.82907492e-01 -1.35886357e-02 -8.26824561e+00] [-7.70157613e-02 -6.01952187e-04 9.97029694e-01 -2.92895212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.745779522999996 meters 0.01429634952033021 Centerline is valid? [True, True] Translation: X:60.73, Y:-8.29, Z:-2.93 [[ 9.80934076e-01 1.78129546e-01 7.77058822e-02 6.07327765e+01] [-1.77583682e-01 9.84007037e-01 -1.39351262e-02 -8.28749160e+00] [-7.89453926e-02 -1.29856550e-04 9.96878934e-01 -2.92554432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.805779523 meters 0.014336889814608084 Centerline is valid? [True, True] Translation: X:60.79, Y:-8.30, Z:-2.93 [[ 9.81398101e-01 1.74788688e-01 7.94146197e-02 6.07942335e+01] [-1.74206122e-01 9.84605956e-01 -1.42596694e-02 -8.30375020e+00] [-8.06845364e-02 1.59899532e-04 9.96739675e-01 -2.92786763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.86577952299999 meters 0.014787778685360358 Centerline is valid? [True, True] Translation: X:60.85, Y:-8.32, Z:-2.93 [[ 9.82324096e-01 1.69825553e-01 7.87315152e-02 6.08527868e+01] [-1.69235178e-01 9.85473966e-01 -1.41603820e-02 -8.32124399e+00] [-7.99926532e-02 5.85942491e-04 9.96795281e-01 -2.93490696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.925779522999996 meters 0.015059664800574517 Centerline is valid? [True, True] Translation: X:60.91, Y:-8.33, Z:-2.94 [[ 9.82678150e-01 1.68380161e-01 7.74065605e-02 6.09131341e+01] [-1.67804234e-01 9.85721882e-01 -1.39323444e-02 -8.33237751e+00] [-7.86472709e-02 7.01861809e-04 9.96902259e-01 -2.94327127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.985779523 meters 0.016435271473856136 Centerline is valid? [True, True] Translation: X:60.97, Y:-8.35, Z:-2.95 [[ 9.83563317e-01 1.63018796e-01 7.76406628e-02 6.09716390e+01] [-1.62421158e-01 9.86622289e-01 -1.39937591e-02 -8.35027685e+00] [-7.88832543e-02 1.15326172e-03 9.96883194e-01 -2.94810782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.045779523 meters 0.016779054953130777 Centerline is valid? [True, True] Translation: X:61.03, Y:-8.37, Z:-2.95 [[ 9.84186602e-01 1.60343909e-01 7.52765752e-02 6.10317174e+01] [-1.59773104e-01 9.87060297e-01 -1.35840173e-02 -8.36959716e+00] [-7.64806331e-02 1.34203576e-03 9.97070164e-01 -2.94939098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.105779523 meters 0.017794640298158255 Centerline is valid? [True, True] Translation: X:61.09, Y:-8.38, Z:-2.96 [[ 9.84785548e-01 1.56676433e-01 7.51659424e-02 6.10922842e+01] [-1.56095137e-01 9.87648618e-01 -1.35836445e-02 -8.38208810e+00] [-7.63657761e-02 1.64393877e-03 9.97078515e-01 -2.95635935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.165779523 meters 0.01890669426363531 Centerline is valid? [True, True] Translation: X:61.15, Y:-8.39, Z:-2.97 [[ 9.85525760e-01 1.52256049e-01 7.45457739e-02 6.11521264e+01] [-1.51671358e-01 9.88339110e-01 -1.34759725e-02 -8.39135949e+00] [-7.57283022e-02 1.97445927e-03 9.97126534e-01 -2.97108368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.225779523 meters 0.021904936028871762 Centerline is valid? [True, True] Translation: X:61.21, Y:-8.41, Z:-2.97 [[ 9.85743479e-01 1.49220061e-01 7.77378149e-02 6.12108747e+01] [-1.48573192e-01 9.88801286e-01 -1.40720812e-02 -8.41306295e+00] [-7.89670882e-02 2.32170701e-03 9.96874520e-01 -2.96893941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28577952299999 meters 0.021389691967917474 Centerline is valid? [True, True] Translation: X:61.27, Y:-8.43, Z:-2.96 [[ 9.86611942e-01 1.43511229e-01 7.74687194e-02 6.12708423e+01] [-1.42849821e-01 9.89644763e-01 -1.40417582e-02 -8.42867517e+00] [-7.86816624e-02 2.78737367e-03 9.96895896e-01 -2.96364748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34577952299999 meters 0.0222176928539657 Centerline is valid? [True, True] Translation: X:61.33, Y:-8.43, Z:-2.97 [[ 9.86862503e-01 1.41401009e-01 7.81546794e-02 6.13323476e+01] [-1.40721114e-01 9.89947905e-01 -1.41673163e-02 -8.43111434e+00] [-7.93723339e-02 2.98317972e-03 9.96840576e-01 -2.97426342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40577952299999 meters 0.022812282987548678 Centerline is valid? [True, True] Translation: X:61.39, Y:-8.44, Z:-2.98 [[ 9.86642207e-01 1.44394607e-01 7.54145454e-02 6.13910227e+01] [-1.43769641e-01 9.89516624e-01 -1.36799729e-02 -8.44378622e+00] [-7.65992607e-02 2.65491657e-03 9.97058426e-01 -2.98181567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.465779523 meters 0.020729037249904655 Centerline is valid? [True, True] Translation: X:61.45, Y:-8.45, Z:-2.99 [[ 9.85727594e-01 1.51397925e-01 7.36191485e-02 6.14527309e+01] [-1.50821786e-01 9.88470747e-01 -1.33555390e-02 -8.44552480e+00] [-7.47923756e-02 2.06155180e-03 9.97196997e-01 -2.98794888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.525779523 meters 0.01945233864663615 Centerline is valid? [True, True] Translation: X:61.51, Y:-8.45, Z:-3.00 [[ 9.85356067e-01 1.54702758e-01 7.16971263e-02 6.15146698e+01] [-1.54165113e-01 9.87959488e-01 -1.30064824e-02 -8.44582072e+00] [-7.28459948e-02 1.76282079e-03 9.97341643e-01 -2.99902558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.585779523 meters 0.017360614392797676 Centerline is valid? [True, True] Translation: X:61.58, Y:-8.46, Z:-2.99 [[ 9.84216794e-01 1.59198637e-01 7.72858097e-02 6.15755984e+01] [-1.58585919e-01 9.87245335e-01 -1.40412200e-02 -8.45898708e+00] [-7.85353981e-02 1.56316340e-03 9.96910100e-01 -2.98972844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.645779523 meters 0.016017499471888182 Centerline is valid? [True, True] Translation: X:61.64, Y:-8.46, Z:-3.00 [[ 9.83354438e-01 1.66138968e-01 7.35655654e-02 6.16358164e+01] [-1.65603126e-01 9.86101880e-01 -1.33673927e-02 -8.45996465e+00] [-7.47639871e-02 9.62197312e-04 9.97200792e-01 -2.99972810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70577952299999 meters 0.018284173350564353 Centerline is valid? [True, True] Translation: X:61.70, Y:-8.46, Z:-3.02 [[ 9.83012015e-01 1.70464345e-01 6.80388545e-02 6.16976239e+01] [-1.70016132e-01 9.85363669e-01 -1.23675163e-02 -8.46297533e+00] [-6.91512358e-02 5.89714251e-04 9.97606014e-01 -3.01742406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76577952299999 meters 0.014972278547688471 Centerline is valid? [True, True] Translation: X:61.76, Y:-8.48, Z:-3.02 [[ 9.82189519e-01 1.74872169e-01 6.87275346e-02 6.17587772e+01] [-1.74424160e-01 9.84591099e-01 -1.25131730e-02 -8.47521063e+00] [-6.98567246e-02 3.02564854e-04 9.97556989e-01 -3.01906652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.825779523 meters 0.014555410179745978 Centerline is valid? [True, True] Translation: X:61.82, Y:-8.48, Z:-3.02 [[ 9.80605094e-01 1.80847429e-01 7.55503657e-02 6.18195020e+01] [-1.80321989e-01 9.83511156e-01 -1.37762914e-02 -8.48400470e+00] [-7.67960344e-02 -1.14290644e-04 9.97046817e-01 -3.01622133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.885779523 meters 0.01482815713031884 Centerline is valid? [True, True] Translation: X:61.88, Y:-8.49, Z:-3.02 [[ 9.79591839e-01 1.85545090e-01 7.72842119e-02 6.18813302e+01] [-1.85008391e-01 9.82635636e-01 -1.41103583e-02 -8.49455164e+00] [-7.85603284e-02 -4.75835904e-04 9.96909248e-01 -3.01839947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.945779523 meters 0.015195988287203473 Centerline is valid? [True, True] Translation: X:61.94, Y:-8.51, Z:-3.02 [[ 9.79083356e-01 1.88157469e-01 7.74115560e-02 6.19420751e+01] [-1.87625442e-01 9.82138648e-01 -1.41551880e-02 -8.50545415e+00] [-7.86922853e-02 -6.65268393e-04 9.96898732e-01 -3.02271267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.005779523 meters 0.015637637570814128 Centerline is valid? [True, True] Translation: X:62.00, Y:-8.52, Z:-3.03 [[ 9.78299254e-01 1.93252317e-01 7.47269083e-02 6.20026578e+01] [-1.92770119e-01 9.81148562e-01 -1.36813971e-02 -8.51507594e+00] [-7.59621603e-02 -1.02061450e-03 9.97110179e-01 -3.03321980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06577952299999 meters 0.015764990492167237 Centerline is valid? [True, True] Translation: X:62.06, Y:-8.53, Z:-3.04 [[ 9.78167988e-01 1.94729668e-01 7.25792238e-02 6.20624931e+01] [-1.94277568e-01 9.80856350e-01 -1.33059206e-02 -8.52853512e+00] [-7.37808500e-02 -1.08508951e-03 9.97273889e-01 -3.04096203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12577952299999 meters 0.015209158095082751 Centerline is valid? [True, True] Translation: X:62.12, Y:-8.55, Z:-3.04 [[ 9.78710256e-01 1.91621539e-01 7.35351685e-02 6.21218579e+01] [-1.91147154e-01 9.81468531e-01 -1.35014425e-02 -8.55193281e+00] [-7.47596210e-02 -8.42037925e-04 9.97201228e-01 -3.04289335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.185779523 meters 0.014409125566429187 Centerline is valid? [True, True] Translation: X:62.18, Y:-8.57, Z:-3.05 [[ 9.79858737e-01 1.83566873e-01 7.86133522e-02 6.21819192e+01] [-1.82998084e-01 9.83007196e-01 -1.44413833e-02 -8.56945684e+00] [-7.99284505e-02 -2.35577256e-04 9.96800575e-01 -3.04828300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.245779523 meters 0.016134102146644815 Centerline is valid? [True, True] Translation: X:62.24, Y:-8.59, Z:-3.06 [[ 9.81520174e-01 1.76370519e-01 7.42400643e-02 6.22394719e+01] [-1.75842036e-01 9.84323790e-01 -1.36475153e-02 -8.59445978e+00] [-7.54832808e-02 3.40787568e-04 9.97147009e-01 -3.05721640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.305779523 meters 0.01826621435732656 Centerline is valid? [True, True] Translation: X:62.30, Y:-8.61, Z:-3.06 [[ 9.82278488e-01 1.72191285e-01 7.40211629e-02 6.22983695e+01] [-1.71653344e-01 9.85063304e-01 -1.36167632e-02 -8.61228598e+00] [-7.52602193e-02 6.69473458e-04 9.97163703e-01 -3.06245110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.365779523 meters 0.018348720815484675 Centerline is valid? [True, True] Translation: X:62.36, Y:-8.63, Z:-3.06 [[ 9.83262592e-01 1.61754752e-01 8.38455484e-02 6.23578423e+01] [-1.61024515e-01 9.86829550e-01 -1.54449091e-02 -8.62966813e+00] [-8.52395522e-02 1.68521260e-03 9.96359061e-01 -3.05735738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42577952299999 meters 0.01799065051214555 Centerline is valid? [True, True] Translation: X:62.42, Y:-8.65, Z:-3.06 [[ 9.84178600e-01 1.56354589e-01 8.33410239e-02 6.24171411e+01] [-1.55613382e-01 9.87698659e-01 -1.53568776e-02 -8.64509894e+00] [-8.47169359e-02 2.14493169e-03 9.96402750e-01 -3.06114152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48577952299999 meters 0.022586634434369354 Centerline is valid? [True, True] Translation: X:62.47, Y:-8.66, Z:-3.08 [[ 9.85653431e-01 1.51466046e-01 7.44671163e-02 6.24735022e+01] [-1.50859524e-01 9.88459774e-01 -1.37360738e-02 -8.66404410e+00] [-7.56882978e-02 2.30493451e-03 9.97128863e-01 -3.07565310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.545779523 meters 0.023271436473928177 Centerline is valid? [True, True] Translation: X:62.53, Y:-8.67, Z:-3.09 [[ 9.86429878e-01 1.47949959e-01 7.11821949e-02 6.25333508e+01] [-1.47386729e-01 9.88991787e-01 -1.31299839e-02 -8.67267802e+00] [-7.23411867e-02 2.46049757e-03 9.97376909e-01 -3.08600712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.605779523 meters 0.023802520958867125 Centerline is valid? [True, True] Translation: X:62.59, Y:-8.69, Z:-3.09 [[ 9.86290580e-01 1.48025756e-01 7.29333108e-02 6.25927201e+01] [-1.47434642e-01 9.88980307e-01 -1.34528209e-02 -8.68908806e+00] [-7.41209721e-02 2.51549392e-03 9.97246085e-01 -3.08783044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.665779523 meters 0.020965875702085645 Centerline is valid? [True, True] Translation: X:62.65, Y:-8.70, Z:-3.09 [[ 9.85373309e-01 1.52374279e-01 7.62988886e-02 6.26536985e+01] [-1.51738748e-01 9.88320164e-01 -1.40927444e-02 -8.69714268e+00] [-7.75551019e-02 2.30911639e-03 9.96985393e-01 -3.08769103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.725779523 meters 0.019691248715529252 Centerline is valid? [True, True] Translation: X:62.72, Y:-8.70, Z:-3.10 [[ 9.84486042e-01 1.57245819e-01 7.78523364e-02 6.27152898e+01] [-1.56599128e-01 9.87557535e-01 -1.43815572e-02 -8.70112848e+00] [-7.91451011e-02 1.96683441e-03 9.96861166e-01 -3.09500135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78577952299999 meters 0.017888489779908014 Centerline is valid? [True, True] Translation: X:62.78, Y:-8.71, Z:-3.10 [[ 9.83879358e-01 1.60554205e-01 7.87639299e-02 6.27768076e+01] [-1.59902511e-01 9.87025518e-01 -1.45538475e-02 -8.70944215e+00] [-8.00786901e-02 1.72468000e-03 9.96787053e-01 -3.09795152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84577952299999 meters 0.016729866866629455 Centerline is valid? [True, True] Translation: X:62.84, Y:-8.72, Z:-3.10 [[ 9.83118814e-01 1.65074458e-01 7.89165447e-02 6.28375835e+01] [-1.64433159e-01 9.86280144e-01 -1.46018571e-02 -8.72187585e+00] [-8.02442147e-02 1.37886369e-03 9.96774280e-01 -3.09785580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90577952299999 meters 0.015980691179474336 Centerline is valid? [True, True] Translation: X:62.90, Y:-8.73, Z:-3.10 [[ 9.82317716e-01 1.70230401e-01 7.79327681e-02 6.28984588e+01] [-1.69619658e-01 9.85403815e-01 -1.44392597e-02 -8.72698332e+00] [-7.92532480e-02 9.65011101e-04 9.96854047e-01 -3.10490540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.965779523 meters 0.015054785346721347 Centerline is valid? [True, True] Translation: X:62.96, Y:-8.73, Z:-3.12 [[ 9.81869585e-01 1.75685393e-01 7.11811871e-02 6.29606974e+01] [-1.75189275e-01 9.84446240e-01 -1.32029685e-02 -8.72667233e+00] [-7.23936207e-02 4.93412621e-04 9.97376017e-01 -3.12288888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.025779523 meters 0.015439691301826024 Centerline is valid? [True, True] Translation: X:63.02, Y:-8.75, Z:-3.12 [[ 9.82208285e-01 1.73637250e-01 7.15331340e-02 6.30193063e+01] [-1.73129373e-01 9.84809454e-01 -1.32875584e-02 -8.74916564e+00] [-7.27537218e-02 6.66663327e-04 9.97349714e-01 -3.12036933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.085779523 meters 0.016331575732589223 Centerline is valid? [True, True] Translation: X:63.08, Y:-8.76, Z:-3.12 [[ 9.82639814e-01 1.69094889e-01 7.63276762e-02 6.30804745e+01] [-1.68501996e-01 9.85599183e-01 -1.41890221e-02 -8.76079023e+00] [-7.76277864e-02 1.08133229e-03 9.96981824e-01 -3.12357518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.145779523 meters 0.019106482224681216 Centerline is valid? [True, True] Translation: X:63.14, Y:-8.78, Z:-3.13 [[ 9.83845445e-01 1.60174555e-01 7.99515561e-02 6.31382789e+01] [-1.59492786e-01 9.87086893e-01 -1.48834283e-02 -8.77709511e+00] [-8.13030796e-02 1.89129668e-03 9.96687630e-01 -3.12840701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20577952299999 meters 0.020622317301006443 Centerline is valid? [True, True] Translation: X:63.20, Y:-8.79, Z:-3.13 [[ 9.84721349e-01 1.55929118e-01 7.75240262e-02 6.31975805e+01] [-1.55275048e-01 9.87765856e-01 -1.44317010e-02 -8.79331531e+00] [-7.88259084e-02 2.17365717e-03 9.96886027e-01 -3.13417432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26577952299999 meters 0.024383175272893902 Centerline is valid? [True, True] Translation: X:63.26, Y:-8.81, Z:-3.14 [[ 9.85888731e-01 1.50799263e-01 7.26842009e-02 6.32563873e+01] [-1.50210344e-01 9.88561432e-01 -1.35332059e-02 -8.81027130e+00] [-7.38935952e-02 2.42431634e-03 9.97263185e-01 -3.14282104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.325779523 meters 0.02573592797679385 Centerline is valid? [True, True] Translation: X:63.32, Y:-8.83, Z:-3.14 [[ 9.86316838e-01 1.48049201e-01 7.25295027e-02 6.33154680e+01] [-1.47455232e-01 9.88976509e-01 -1.35062904e-02 -8.82631786e+00] [-7.37295699e-02 2.62662700e-03 9.97274812e-01 -3.14428564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.385779523 meters 0.023817649812096504 Centerline is valid? [True, True] Translation: X:63.38, Y:-8.83, Z:-3.16 [[ 9.86677335e-01 1.46334658e-01 7.10915200e-02 6.33773077e+01] [-1.45759028e-01 9.89231437e-01 -1.32465163e-02 -8.82903331e+00] [-7.22643909e-02 2.70780659e-03 9.97381835e-01 -3.15650219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.445779523 meters 0.02334388023649219 Centerline is valid? [True, True] Translation: X:63.44, Y:-8.84, Z:-3.16 [[ 9.86359543e-01 1.46819546e-01 7.44236037e-02 6.34384282e+01] [-1.46189621e-01 9.89159323e-01 -1.38718745e-02 -8.84200086e+00] [-7.56534637e-02 2.80269737e-03 9.97130231e-01 -3.15919782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.505779523 meters 0.023267961464314493 Centerline is valid? [True, True] Translation: X:63.50, Y:-8.85, Z:-3.16 [[ 9.85689173e-01 1.48841965e-01 7.91386400e-02 6.34976376e+01] [-1.48134320e-01 9.88856926e-01 -1.47717009e-02 -8.85380977e+00] [-8.04554413e-02 2.83715698e-03 9.96754169e-01 -3.15742039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56577952299999 meters 0.019473696157676284 Centerline is valid? [True, True] Translation: X:63.56, Y:-8.85, Z:-3.16 [[ 9.84066914e-01 1.58454573e-01 8.06502193e-02 6.35595696e+01] [-1.57751608e-01 9.87364051e-01 -1.50552768e-02 -8.85387557e+00] [-8.20167046e-02 2.09269802e-03 9.96628758e-01 -3.16117655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62577952299999 meters 0.015551536523104455 Centerline is valid? [True, True] Translation: X:63.62, Y:-8.86, Z:-3.17 [[ 9.82214352e-01 1.72486783e-01 7.41840761e-02 6.36207294e+01] [-1.71931949e-01 9.85011466e-01 -1.38497579e-02 -8.85716570e+00] [-7.54610658e-02 8.48818136e-04 9.97148388e-01 -3.17033500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.685779523 meters 0.014689628380399835 Centerline is valid? [True, True] Translation: X:63.68, Y:-8.86, Z:-3.18 [[ 9.80981895e-01 1.79328306e-01 7.42689741e-02 6.36815595e+01] [-1.78791702e-01 9.83789232e-01 -1.38662695e-02 -8.86027088e+00] [-7.55516316e-02 3.23883061e-04 9.97141838e-01 -3.18094675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.745779523 meters 0.014419851261915998 Centerline is valid? [True, True] Translation: X:63.74, Y:-8.87, Z:-3.18 [[ 9.79389143e-01 1.86508565e-01 7.75336205e-02 6.37435729e+01] [-1.85944626e-01 9.82453310e-01 -1.44944723e-02 -8.86742633e+00] [-7.88765053e-02 -2.21231262e-04 9.96884370e-01 -3.18466176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.805779523 meters 0.014800134615869879 Centerline is valid? [True, True] Translation: X:63.80, Y:-8.88, Z:-3.19 [[ 9.78392050e-01 1.91146848e-01 7.88154785e-02 6.38040403e+01] [-1.90577416e-01 9.81561277e-01 -1.47549142e-02 -8.87856532e+00] [-8.01825770e-02 -5.84359500e-04 9.96780022e-01 -3.18772486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.865779523 meters 0.01565840604470616 Centerline is valid? [True, True] Translation: X:63.86, Y:-8.89, Z:-3.19 [[ 9.77407235e-01 1.96375814e-01 7.81769593e-02 6.38639682e+01] [-1.95830782e-01 9.80528208e-01 -1.46539469e-02 -8.88713863e+00] [-7.95323945e-02 -9.86581337e-04 9.96831794e-01 -3.19367533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92577952299999 meters 0.01602697173470198 Centerline is valid? [True, True] Translation: X:63.92, Y:-8.90, Z:-3.20 [[ 9.76893908e-01 1.98858788e-01 7.83165091e-02 6.39245347e+01] [-1.98318962e-01 9.80027442e-01 -1.46901767e-02 -8.89905495e+00] [-7.96735988e-02 -1.18090469e-03 9.96820306e-01 -3.19833487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98577952299999 meters 0.016444042413100823 Centerline is valid? [True, True] Translation: X:63.99, Y:-8.91, Z:-3.20 [[ 9.76786846e-01 1.99677575e-01 7.75649571e-02 6.39850899e+01] [-1.99149119e-01 9.79860901e-01 -1.45685574e-02 -8.91307134e+00] [-7.89118830e-02 -1.21661757e-03 9.96880853e-01 -3.20325120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.045779523 meters 0.016250838462044732 Centerline is valid? [True, True] Translation: X:64.05, Y:-8.92, Z:-3.22 [[ 9.77240510e-01 1.98750280e-01 7.41573426e-02 6.40456371e+01] [-1.98263201e-01 9.80049578e-01 -1.39473161e-02 -8.92468711e+00] [-7.54499052e-02 -1.07278986e-03 9.97149016e-01 -3.21591173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.105779523 meters 0.015269158759472275 Centerline is valid? [True, True] Translation: X:64.10, Y:-8.94, Z:-3.22 [[ 9.78115666e-01 1.94739849e-01 7.32539099e-02 6.41049582e+01] [-1.94251809e-01 9.80854654e-01 -1.37978926e-02 -8.94315452e+00] [-7.45384380e-02 -7.33769643e-04 9.97217871e-01 -3.22190442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.165779523 meters 0.01501138870185454 Centerline is valid? [True, True] Translation: X:64.16, Y:-8.96, Z:-3.22 [[ 9.78531492e-01 1.92300702e-01 7.41387891e-02 6.41646574e+01] [-1.91792344e-01 9.81335902e-01 -1.39836903e-02 -8.95894132e+00] [-7.54441290e-02 -5.35770865e-04 9.97149887e-01 -3.22379424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.225779523 meters 0.014821746785384069 Centerline is valid? [True, True] Translation: X:64.23, Y:-8.96, Z:-3.23 [[ 9.78477678e-01 1.91303901e-01 7.73579469e-02 6.42258739e+01] [-1.90745659e-01 9.81530747e-01 -1.46111803e-02 -8.96173063e+00] [-7.87243791e-02 -4.58978794e-04 9.96896314e-01 -3.23146237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28577952299999 meters 0.014687258219980417 Centerline is valid? [True, True] Translation: X:64.29, Y:-8.97, Z:-3.24 [[ 9.78379326e-01 1.91390901e-01 7.83799515e-02 6.42874247e+01] [-1.90816626e-01 9.81513788e-01 -1.48222346e-02 -8.97239551e+00] [-7.97678440e-02 -4.54430060e-04 9.96813365e-01 -3.23570509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34577952299999 meters 0.014525910589947167 Centerline is valid? [True, True] Translation: X:64.35, Y:-9.00, Z:-3.23 [[ 9.79312203e-01 1.87622159e-01 7.57993031e-02 6.43467326e+01] [-1.87072223e-01 9.82241269e-01 -1.43552239e-02 -8.99772120e+00] [-7.71465617e-02 -1.21698161e-04 9.97019756e-01 -3.23393185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40577952299999 meters 0.014941465511162221 Centerline is valid? [True, True] Translation: X:64.41, Y:-9.01, Z:-3.25 [[ 9.80655441e-01 1.79565550e-01 7.79173847e-02 6.44071975e+01] [-1.78957166e-01 9.83745857e-01 -1.47790807e-02 -9.00784476e+00] [-7.93047181e-02 5.49311626e-04 9.96850270e-01 -3.24517429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.465779523 meters 0.015899377664426277 Centerline is valid? [True, True] Translation: X:64.47, Y:-9.02, Z:-3.26 [[ 9.81527080e-01 1.75108180e-01 7.70825378e-02 6.44664722e+01] [-1.74497506e-01 9.84548770e-01 -1.46403491e-02 -9.01982568e+00] [-7.84551626e-02 9.19188526e-04 9.96917220e-01 -3.25595579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.525779523 meters 0.01585856935724486 Centerline is valid? [True, True] Translation: X:64.53, Y:-9.04, Z:-3.25 [[ 9.81464688e-01 1.75201317e-01 7.76631556e-02 6.45270900e+01] [-1.74580242e-01 9.84532184e-01 -1.47688149e-02 -9.03921266e+00] [-7.90493920e-02 9.36617823e-04 9.96870261e-01 -3.25125697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.585779523 meters 0.015555888699210381 Centerline is valid? [True, True] Translation: X:64.59, Y:-9.05, Z:-3.26 [[ 9.81426540e-01 1.75954242e-01 7.64333092e-02 6.45897545e+01] [-1.75353351e-01 9.84397951e-01 -1.45559891e-02 -9.04553155e+00] [-7.78019809e-02 8.82797133e-04 9.96968441e-01 -3.25847185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.645779523 meters 0.014972038623599212 Centerline is valid? [True, True] Translation: X:64.65, Y:-9.05, Z:-3.27 [[ 9.80723687e-01 1.78590984e-01 7.92862550e-02 6.46519380e+01] [-1.77950984e-01 9.83923136e-01 -1.51231254e-02 -9.05145896e+00] [-8.07124346e-02 7.22540161e-04 9.96737167e-01 -3.26636010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70577952299999 meters 0.014862983459899611 Centerline is valid? [True, True] Translation: X:64.71, Y:-9.06, Z:-3.27 [[ 9.80478167e-01 1.79918509e-01 7.93214584e-02 6.47123476e+01] [-1.79281706e-01 9.83681323e-01 -1.51368703e-02 -9.06455184e+00] [-8.07504403e-02 6.20484440e-04 9.96734158e-01 -3.26953939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76577952299999 meters 0.014746781841746215 Centerline is valid? [True, True] Translation: X:64.77, Y:-9.08, Z:-3.28 [[ 9.80304726e-01 1.81081231e-01 7.88177164e-02 6.47742732e+01] [-1.80454675e-01 9.83467994e-01 -1.50603770e-02 -9.07592824e+00] [-8.02418530e-02 5.40733362e-04 9.96775277e-01 -3.27546778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.825779523 meters 0.014470771742681495 Centerline is valid? [True, True] Translation: X:64.84, Y:-9.09, Z:-3.28 [[ 9.80101560e-01 1.83618514e-01 7.54000917e-02 6.48356608e+01] [-1.83051126e-01 9.82997521e-01 -1.44277049e-02 -9.08684204e+00] [-7.67672969e-02 3.38544452e-04 9.97048979e-01 -3.28235301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.885779523 meters 0.014366967445054883 Centerline is valid? [True, True] Translation: X:64.90, Y:-9.09, Z:-3.29 [[ 9.78920616e-01 1.90382123e-01 7.39531952e-02 6.48967703e+01] [-1.89854017e-01 9.81710048e-01 -1.41715650e-02 -9.09422778e+00] [-7.52986075e-02 -1.67474005e-04 9.97161016e-01 -3.28920023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.945779523 meters 0.014733072754549355 Centerline is valid? [True, True] Translation: X:64.96, Y:-9.10, Z:-3.29 [[ 9.77776426e-01 1.95364589e-01 7.60653488e-02 6.49596532e+01] [-1.94819291e-01 9.80730533e-01 -1.45967573e-02 -9.09998322e+00] [-7.74512996e-02 -5.46632185e-04 9.96995987e-01 -3.29431280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.005779523 meters 0.014654875163170336 Centerline is valid? [True, True] Translation: X:65.02, Y:-9.11, Z:-3.30 [[ 9.77472951e-01 1.95909146e-01 7.85253895e-02 6.50210994e+01] [-1.95327859e-01 9.80621876e-01 -1.50918738e-02 -9.11163470e+00] [-7.99603509e-02 -5.86297786e-04 9.96797872e-01 -3.29743645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06577952299999 meters 0.014486094987226654 Centerline is valid? [True, True] Translation: X:65.08, Y:-9.13, Z:-3.30 [[ 9.77808272e-01 1.94257002e-01 7.84550883e-02 6.50809934e+01] [-1.93669630e-01 9.80950577e-01 -1.51010246e-02 -9.12763968e+00] [-7.98940439e-02 -4.28461085e-04 9.96803270e-01 -3.30007074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12577952299999 meters 0.014254236585335815 Centerline is valid? [True, True] Translation: X:65.14, Y:-9.14, Z:-3.31 [[ 9.78272443e-01 1.92314212e-01 7.74485067e-02 6.51412766e+01] [-1.91734205e-01 9.81333370e-01 -1.49268794e-02 -9.14096228e+00] [-7.88734551e-02 -2.46973057e-04 9.96884606e-01 -3.30640870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.185779523 meters 0.014146811438115121 Centerline is valid? [True, True] Translation: X:65.20, Y:-9.16, Z:-3.31 [[ 9.79072204e-01 1.88634409e-01 7.63850675e-02 6.52022420e+01] [-1.88057464e-01 9.82047379e-01 -1.47422903e-02 -9.15658263e+00] [-7.77946585e-02 6.89845395e-05 9.96969401e-01 -3.31273847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.245779523 meters 0.01431691310125957 Centerline is valid? [True, True] Translation: X:65.26, Y:-9.17, Z:-3.32 [[ 9.79801868e-01 1.86128978e-01 7.31047372e-02 6.52626186e+01] [-1.85592111e-01 9.82525281e-01 -1.41294373e-02 -9.17004546e+00] [-7.44571501e-02 2.76386606e-04 9.97224176e-01 -3.32154761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.305779523 meters 0.01458333915783563 Centerline is valid? [True, True] Translation: X:65.32, Y:-9.18, Z:-3.33 [[ 9.80381068e-01 1.84308033e-01 6.98821191e-02 6.53223475e+01] [-1.83811727e-01 9.82868444e-01 -1.35229563e-02 -9.18417223e+00] [-7.11773192e-02 4.12497359e-04 9.97463593e-01 -3.33075908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.365779523 meters 0.01411908674294556 Centerline is valid? [True, True] Translation: X:65.38, Y:-9.19, Z:-3.33 [[ 9.79714938e-01 1.85547446e-01 7.57019478e-02 6.53842054e+01] [-1.84967025e-01 9.82635237e-01 -1.46693940e-02 -9.19249458e+00] [-7.71092700e-02 3.69460437e-04 9.97022579e-01 -3.32951026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42577952299999 meters 0.0139915003285613 Centerline is valid? [True, True] Translation: X:65.45, Y:-9.20, Z:-3.34 [[ 9.79749123e-01 1.84870030e-01 7.69072659e-02 6.54460488e+01] [-1.84267377e-01 9.82762876e-01 -1.49218881e-02 -9.20014163e+00] [-7.83402157e-02 4.48206656e-04 9.96926582e-01 -3.33508054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48577952299999 meters 0.013839252512032961 Centerline is valid? [True, True] Translation: X:65.51, Y:-9.22, Z:-3.34 [[ 9.79665272e-01 1.85842636e-01 7.56205592e-02 6.55067303e+01] [-1.85261259e-01 9.82579445e-01 -1.46935271e-02 -9.21810770e+00] [-7.70338909e-02 3.85178185e-04 9.97028400e-01 -3.33504243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.545779523 meters 0.013736767949112537 Centerline is valid? [True, True] Translation: X:65.57, Y:-9.22, Z:-3.34 [[ 9.78914236e-01 1.89631864e-01 7.59386198e-02 6.55687900e+01] [-1.89055273e-01 9.81855256e-01 -1.47769878e-02 -9.22419704e+00] [-7.73629207e-02 1.08807215e-04 9.97002992e-01 -3.33922189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.605779523 meters 0.01373884408522188 Centerline is valid? [True, True] Translation: X:65.63, Y:-9.23, Z:-3.35 [[ 9.78233164e-01 1.93915080e-01 7.38702863e-02 6.56308063e+01] [-1.93380374e-01 9.81018297e-01 -1.43920755e-02 -9.22506901e+00] [-7.52589429e-02 -2.06258054e-04 9.97164003e-01 -3.35367999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.665779523 meters 0.013924793606565863 Centerline is valid? [True, True] Translation: X:65.69, Y:-9.24, Z:-3.36 [[ 9.77833777e-01 1.96801258e-01 7.14868515e-02 6.56907625e+01] [-1.96307032e-01 9.80443321e-01 -1.39442710e-02 -9.23856386e+00] [-7.28330562e-02 -3.98192511e-04 9.97344067e-01 -3.35957648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.725779523 meters 0.014353407028285546 Centerline is valid? [True, True] Translation: X:65.75, Y:-9.25, Z:-3.35 [[ 9.76802207e-01 2.00365896e-01 7.55708690e-02 6.57522272e+01] [-1.99822618e-01 9.79720900e-01 -1.47607314e-02 -9.25324469e+00] [-7.69959070e-02 -6.82453857e-04 9.97031175e-01 -3.35347949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78577952299999 meters 0.014782943177287127 Centerline is valid? [True, True] Translation: X:65.81, Y:-9.26, Z:-3.36 [[ 9.76007402e-01 2.04411494e-01 7.50032877e-02 6.58144722e+01] [-2.03886659e-01 9.78884566e-01 -1.46709377e-02 -9.25805713e+00] [-7.64184690e-02 -9.73225964e-04 9.97075358e-01 -3.36016820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84577952299999 meters 0.01585299310556745 Centerline is valid? [True, True] Translation: X:65.87, Y:-9.26, Z:-3.37 [[ 9.75668692e-01 2.07397313e-01 7.11122899e-02 6.58745869e+01] [-2.06932232e-01 9.78256144e-01 -1.39272081e-02 -9.26472507e+00] [-7.24545001e-02 -1.12708399e-03 9.97371082e-01 -3.37243251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90577952299999 meters 0.01467070802332822 Centerline is valid? [True, True] Translation: X:65.93, Y:-9.29, Z:-3.38 [[ 9.76732154e-01 2.02440892e-01 7.07953710e-02 6.59332273e+01] [-2.01965756e-01 9.79294204e-01 -1.38814721e-02 -9.28811848e+00] [-7.21396741e-02 -7.39760505e-04 9.97394265e-01 -3.37560313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.965779523 meters 0.01382621535415804 Centerline is valid? [True, True] Translation: X:65.99, Y:-9.31, Z:-3.38 [[ 9.78034022e-01 1.95654325e-01 7.18946290e-02 6.59923379e+01] [-1.95144632e-01 9.80672899e-01 -1.41151783e-02 -9.30794163e+00] [-7.32668099e-02 -2.24726342e-04 9.97312350e-01 -3.37629540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.025779523 meters 0.014342648380296159 Centerline is valid? [True, True] Translation: X:66.05, Y:-9.32, Z:-3.39 [[ 9.79958979e-01 1.86319444e-01 7.04660522e-02 6.60518288e+01] [-1.85804443e-01 9.82489101e-01 -1.38519269e-02 -9.32385564e+00] [-7.18130116e-02 4.81414571e-04 9.97417996e-01 -3.38633069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.085779523 meters 0.014870336684051728 Centerline is valid? [True, True] Translation: X:66.11, Y:-9.34, Z:-3.39 [[ 9.80509421e-01 1.82217871e-01 7.34705588e-02 6.61116751e+01] [-1.81644973e-01 9.83257825e-01 -1.44621191e-02 -9.34081610e+00] [-7.48757584e-02 8.34686301e-04 9.97192521e-01 -3.38839277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.145779523 meters 0.015427063059938122 Centerline is valid? [True, True] Translation: X:66.17, Y:-9.36, Z:-3.39 [[ 9.80811804e-01 1.79748245e-01 7.54902202e-02 6.61717931e+01] [-1.79134550e-01 9.83712062e-01 -1.48792210e-02 -9.35642952e+00] [-7.69351541e-02 1.07080890e-03 9.97035524e-01 -3.38856364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20577952299999 meters 0.017343771463618395 Centerline is valid? [True, True] Translation: X:66.23, Y:-9.37, Z:-3.40 [[ 9.82027004e-01 1.73053249e-01 7.53361610e-02 6.62305652e+01] [-1.72420843e-01 9.84911151e-01 -1.48687034e-02 -9.36572224e+00] [-7.67725024e-02 1.61194390e-03 9.97047333e-01 -3.39576286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26577952299999 meters 0.018641533597865613 Centerline is valid? [True, True] Translation: X:66.29, Y:-9.38, Z:-3.40 [[ 9.82622552e-01 1.70208521e-01 7.40403904e-02 6.62908398e+01] [-1.69589639e-01 9.85406418e-01 -1.46131755e-02 -9.38281917e+00] [-7.54471630e-02 1.80275277e-03 9.97148171e-01 -3.39831067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.325779523 meters 0.01975638523861387 Centerline is valid? [True, True] Translation: X:66.35, Y:-9.39, Z:-3.40 [[ 9.83738430e-01 1.64396342e-01 7.23363256e-02 6.63504366e+01] [-1.63789597e-01 9.86391908e-01 -1.42818980e-02 -9.39474553e+00] [-7.36998580e-02 2.20171431e-03 9.97278037e-01 -3.40104433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.385779523 meters 0.022191950977663088 Centerline is valid? [True, True] Translation: X:66.41, Y:-9.40, Z:-3.41 [[ 9.85568856e-01 1.54458025e-01 6.92585676e-02 6.64105244e+01] [-1.53877136e-01 9.87995319e-01 -1.36776275e-02 -9.40356783e+00] [-7.05397599e-02 2.82293367e-03 9.97504974e-01 -3.41186918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.445779523 meters 0.026885288427658676 Centerline is valid? [True, True] Translation: X:66.47, Y:-9.42, Z:-3.41 [[ 9.86388450e-01 1.48592654e-01 7.04134144e-02 6.64674610e+01] [-1.47977096e-01 9.88892986e-01 -1.39083558e-02 -9.42406004e+00] [-7.16980111e-02 3.29946897e-03 9.97420929e-01 -3.41449354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.505779523 meters 0.024472391211003457 Centerline is valid? [True, True] Translation: X:66.53, Y:-9.43, Z:-3.42 [[ 9.86542071e-01 1.46064779e-01 7.34834811e-02 6.65299386e+01] [-1.45387296e-01 9.89268347e-01 -1.45145343e-02 -9.42766380e+00] [-7.48149442e-02 3.63563410e-03 9.97190807e-01 -3.41579317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56577952299999 meters 0.024920005308510976 Centerline is valid? [True, True] Translation: X:66.59, Y:-9.43, Z:-3.42 [[ 9.86213420e-01 1.47595484e-01 7.48242223e-02 6.65916860e+01] [-1.46897031e-01 9.89041300e-01 -1.47840602e-02 -9.43361472e+00] [-7.61863066e-02 3.58878242e-03 9.97087141e-01 -3.41978883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62577952299999 meters 0.02351436454436741 Centerline is valid? [True, True] Translation: X:66.65, Y:-9.44, Z:-3.42 [[ 9.85629358e-01 1.51953187e-01 7.37902314e-02 6.66524563e+01] [-1.51284617e-01 9.88382426e-01 -1.45994929e-02 -9.43961011e+00] [-7.51514074e-02 3.22636186e-03 9.97166915e-01 -3.42379131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.685779523 meters 0.021639084606926345 Centerline is valid? [True, True] Translation: X:66.71, Y:-9.44, Z:-3.43 [[ 9.84976997e-01 1.57099606e-01 7.16939992e-02 6.67134875e+01] [-1.56482000e-01 9.87578921e-01 -1.41865322e-02 -9.44346618e+00] [-7.30321811e-02 2.75458746e-03 9.97325781e-01 -3.42964680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.745779523 meters 0.019277227465871915 Centerline is valid? [True, True] Translation: X:66.78, Y:-9.44, Z:-3.44 [[ 9.83518905e-01 1.66036016e-01 7.15723703e-02 6.67758405e+01] [-1.65443950e-01 9.86117475e-01 -1.41641894e-02 -9.44168403e+00] [-7.29305307e-02 2.08953241e-03 9.97334834e-01 -3.43526590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.805779523 meters 0.01651500365976652 Centerline is valid? [True, True] Translation: X:66.84, Y:-9.44, Z:-3.43 [[ 9.81775763e-01 1.75046714e-01 7.39932369e-02 6.68388512e+01] [-1.74439113e-01 9.84559029e-01 -1.46463211e-02 -9.43962628e+00] [-7.54144999e-02 1.47208847e-03 9.97151185e-01 -3.43459781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.865779523 meters 0.015857562757381316 Centerline is valid? [True, True] Translation: X:66.90, Y:-9.44, Z:-3.44 [[ 9.81099618e-01 1.80221017e-01 7.04551222e-02 6.69008811e+01] [-1.79683564e-01 9.83625610e-01 -1.39454979e-02 -9.43928080e+00] [-7.18147344e-02 1.02229527e-03 9.97417465e-01 -3.44483650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92577952299999 meters 0.015635567165013926 Centerline is valid? [True, True] Translation: X:66.96, Y:-9.44, Z:-3.45 [[ 9.81078159e-01 1.80365062e-01 7.03852988e-02 6.69642430e+01] [-1.79827911e-01 9.83599203e-01 -1.39474448e-02 -9.44279504e+00] [-7.17465555e-02 1.02629226e-03 9.97422367e-01 -3.45431544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98577952299999 meters 0.016307195975758526 Centerline is valid? [True, True] Translation: X:67.03, Y:-9.45, Z:-3.46 [[ 9.81653935e-01 1.76091905e-01 7.31245076e-02 6.70252278e+01] [-1.75498546e-01 9.84372716e-01 -1.45126305e-02 -9.45369383e+00] [-7.45373269e-02 1.41313608e-03 9.97217223e-01 -3.45533095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.045779523 meters 0.01693362074866543 Centerline is valid? [True, True] Translation: X:67.09, Y:-9.47, Z:-3.45 [[ 9.82085040e-01 1.73132767e-01 7.43909923e-02 6.70860482e+01] [-1.72508668e-01 9.84897052e-01 -1.47836444e-02 -9.46504282e+00] [-7.58270023e-02 1.68570507e-03 9.97119564e-01 -3.45497520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.105779523 meters 0.017594940001149095 Centerline is valid? [True, True] Translation: X:67.15, Y:-9.47, Z:-3.46 [[ 9.82013407e-01 1.71904155e-01 7.80937270e-02 6.71485918e+01] [-1.71210805e-01 9.85111868e-01 -1.55392359e-02 -9.46643689e+00] [-7.96023165e-02 1.88924810e-03 9.96824910e-01 -3.45885644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.165779523 meters 0.01770984604465041 Centerline is valid? [True, True] Translation: X:67.21, Y:-9.47, Z:-3.47 [[ 9.82434433e-01 1.71961004e-01 7.24706744e-02 6.72095768e+01] [-1.71362962e-01 9.85102176e-01 -1.44373552e-02 -9.47392928e+00] [-7.38736812e-02 1.76496543e-03 9.97266045e-01 -3.46834607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.225779523 meters 0.017866708206459855 Centerline is valid? [True, True] Translation: X:67.27, Y:-9.48, Z:-3.47 [[ 9.82548420e-01 1.71635825e-01 7.16920269e-02 6.72713746e+01] [-1.71048391e-01 9.85158843e-01 -1.43003874e-02 -9.48156451e+00] [-7.30824931e-02 1.78801717e-03 9.97324296e-01 -3.47385969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28577952299999 meters 0.018106008847204234 Centerline is valid? [True, True] Translation: X:67.33, Y:-9.48, Z:-3.48 [[ 9.82897437e-01 1.69476481e-01 7.20440942e-02 6.73338399e+01] [-1.68876091e-01 9.85532250e-01 -1.43892520e-02 -9.48275778e+00] [-7.34404180e-02 1.97663392e-03 9.97297648e-01 -3.48113789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34577952299999 meters 0.019278262661383428 Centerline is valid? [True, True] Translation: X:67.40, Y:-9.49, Z:-3.48 [[ 9.82681705e-01 1.69123572e-01 7.57224181e-02 6.73955768e+01] [-1.68457537e-01 9.85592561e-01 -1.51447134e-02 -9.49285950e+00] [-7.71927799e-02 2.12642073e-03 9.97013918e-01 -3.48166451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40577952299999 meters 0.018423338924443422 Centerline is valid? [True, True] Translation: X:67.46, Y:-9.50, Z:-3.49 [[ 9.82305087e-01 1.71034817e-01 7.63138760e-02 6.74584721e+01] [-1.70362363e-01 9.85262928e-01 -1.52848884e-02 -9.49664868e+00] [-7.78034810e-02 2.01341142e-03 9.96966682e-01 -3.48788829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.465779523 meters 0.017070323250280402 Centerline is valid? [True, True] Translation: X:67.52, Y:-9.50, Z:-3.49 [[ 9.81638612e-01 1.74594042e-01 7.68280969e-02 6.75202890e+01] [-1.73922784e-01 9.84638948e-01 -1.53950636e-02 -9.49829522e+00] [-7.83358229e-02 1.75023233e-03 9.96925491e-01 -3.49135564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.525779523 meters 0.01683485477794548 Centerline is valid? [True, True] Translation: X:67.58, Y:-9.50, Z:-3.50 [[ 9.81279290e-01 1.76401013e-01 7.72893134e-02 6.75818865e+01] [-1.75727064e-01 9.84317055e-01 -1.54898181e-02 -9.50463536e+00] [-7.88096090e-02 1.61801354e-03 9.96888373e-01 -3.49561616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.585779523 meters 0.016746477806833703 Centerline is valid? [True, True] Translation: X:67.65, Y:-9.51, Z:-3.51 [[ 9.81343942e-01 1.76753274e-01 7.56462014e-02 6.76450480e+01] [-1.76107327e-01 9.84253932e-01 -1.51791665e-02 -9.50624555e+00] [-7.71380385e-02 1.57413274e-03 9.97019180e-01 -3.50502441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64577952299999 meters 0.017072975554195534 Centerline is valid? [True, True] Translation: X:67.71, Y:-9.52, Z:-3.51 [[ 9.81528132e-01 1.75569024e-01 7.60134467e-02 6.77058813e+01] [-1.74911485e-01 9.84465660e-01 -1.52753518e-02 -9.51756120e+00] [-7.75145066e-02 1.69756266e-03 9.96989779e-01 -3.50740302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70577952299999 meters 0.01750545109730839 Centerline is valid? [True, True] Translation: X:67.77, Y:-9.52, Z:-3.51 [[ 9.82150192e-01 1.71736955e-01 7.67295201e-02 6.77673036e+01] [-1.71053675e-01 9.85140731e-01 -1.54395582e-02 -9.52434895e+00] [-7.82409183e-02 2.03909863e-03 9.96932395e-01 -3.51402979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76577952299999 meters 0.02160318828877631 Centerline is valid? [True, True] Translation: X:67.83, Y:-9.53, Z:-3.52 [[ 9.83055671e-01 1.65998887e-01 7.77554990e-02 6.78263234e+01] [-1.65278785e-01 9.86122681e-01 -1.56518824e-02 -9.53127091e+00] [-7.92746562e-02 2.53533735e-03 9.96849588e-01 -3.52169749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.825779523 meters 0.021155127015748353 Centerline is valid? [True, True] Translation: X:67.89, Y:-9.54, Z:-3.53 [[ 9.83685866e-01 1.62272363e-01 7.76517689e-02 6.78863747e+01] [-1.61542083e-01 9.86741924e-01 -1.56375047e-02 -9.54289236e+00] [-7.91597907e-02 2.83836387e-03 9.96857899e-01 -3.52509215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.885779523 meters 0.021474313003290023 Centerline is valid? [True, True] Translation: X:67.95, Y:-9.55, Z:-3.53 [[ 9.83461525e-01 1.63138064e-01 7.86727477e-02 6.79481236e+01] [-1.62390962e-01 9.86599254e-01 -1.58457525e-02 -9.54774943e+00] [-8.02035195e-02 2.80794471e-03 9.96774554e-01 -3.53211024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.945779523 meters 0.0212314980256988 Centerline is valid? [True, True] Translation: X:68.01, Y:-9.55, Z:-3.54 [[ 9.83019491e-01 1.66652280e-01 7.68094942e-02 6.80107179e+01] [-1.65949391e-01 9.86012609e-01 -1.54897970e-02 -9.54872598e+00] [-7.83165398e-02 2.48028362e-03 9.96925457e-01 -3.53817271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.005779523 meters 0.02055113732495772 Centerline is valid? [True, True] Translation: X:68.07, Y:-9.55, Z:-3.55 [[ 9.82648163e-01 1.69650675e-01 7.49749099e-02 6.80732592e+01] [-1.68989492e-01 9.85501827e-01 -1.51228768e-02 -9.55225763e+00] [-7.64535169e-02 2.19049520e-03 9.97070740e-01 -3.54516102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06577952299999 meters 0.017534511445007513 Centerline is valid? [True, True] Translation: X:68.13, Y:-9.56, Z:-3.55 [[ 9.81596788e-01 1.74721593e-01 7.70721205e-02 6.81347380e+01] [-1.74036773e-01 9.84616108e-01 -1.55666846e-02 -9.55949008e+00] [-7.86062873e-02 1.86682451e-03 9.96903991e-01 -3.54718372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12577952299999 meters 0.015958934714276837 Centerline is valid? [True, True] Translation: X:68.20, Y:-9.56, Z:-3.55 [[ 9.80309266e-01 1.80110876e-01 8.09556322e-02 6.81970905e+01] [-1.79373095e-01 9.83645152e-01 -1.63556653e-02 -9.56078317e+00] [-8.25774484e-02 1.51234792e-03 9.96583503e-01 -3.54843276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.185779523 meters 0.015739517707537395 Centerline is valid? [True, True] Translation: X:68.26, Y:-9.57, Z:-3.56 [[ 9.79869735e-01 1.83122043e-01 7.95086123e-02 6.82577522e+01] [-1.82420112e-01 9.83089407e-01 -1.60661072e-02 -9.56795107e+00] [-8.11061329e-02 1.23872227e-03 9.96704701e-01 -3.55773665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.245779523 meters 0.0149281088731253 Centerline is valid? [True, True] Translation: X:68.32, Y:-9.58, Z:-3.56 [[ 9.79262087e-01 1.86675213e-01 7.87282030e-02 6.83191318e+01] [-1.85997009e-01 9.82421221e-01 -1.59265937e-02 -9.57870923e+00] [-8.03173576e-02 9.53099145e-04 9.96768887e-01 -3.56418922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.305779523 meters 0.013995354644410549 Centerline is valid? [True, True] Translation: X:68.38, Y:-9.59, Z:-3.57 [[ 9.78578624e-01 1.89367211e-01 8.07708821e-02 6.83808392e+01] [-1.88661531e-01 9.81906044e-01 -1.63507916e-02 -9.58528329e+00] [-8.24057210e-02 7.62176865e-04 9.96598573e-01 -3.56853645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.365779523 meters 0.013699144122371222 Centerline is valid? [True, True] Translation: X:68.44, Y:-9.59, Z:-3.57 [[ 9.77591203e-01 1.93592208e-01 8.26891547e-02 6.84415491e+01] [-1.92865802e-01 9.81081987e-01 -1.67605603e-02 -9.59110912e+00] [-8.43695541e-02 4.37066177e-04 9.96434437e-01 -3.57355284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42577952299999 meters 0.013381011556936013 Centerline is valid? [True, True] Translation: X:68.50, Y:-9.61, Z:-3.58 [[ 9.76999681e-01 1.97530259e-01 8.03331787e-02 6.85006919e+01] [-1.96856515e-01 9.80296784e-01 -1.63011730e-02 -9.60737090e+00] [-8.19703316e-02 1.12131226e-04 9.96634764e-01 -3.57684704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48577952299999 meters 0.013288816938610658 Centerline is valid? [True, True] Translation: X:68.56, Y:-9.61, Z:-3.58 [[ 9.76446612e-01 2.00867509e-01 7.87671095e-02 6.85630275e+01] [-2.00229233e-01 9.79618406e-01 -1.60009987e-02 -9.61480134e+00] [-8.03757910e-02 -1.47356991e-04 9.96764621e-01 -3.58412201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.545779523 meters 0.01331311174421063 Centerline is valid? [True, True] Translation: X:68.62, Y:-9.62, Z:-3.59 [[ 9.76100870e-01 2.02445015e-01 7.90133434e-02 6.86237593e+01] [-2.01805978e-01 9.79293598e-01 -1.60747049e-02 -9.62402843e+00] [-8.06315052e-02 -2.54831583e-04 9.96743947e-01 -3.59098760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.605779523 meters 0.013514119200523372 Centerline is valid? [True, True] Translation: X:68.68, Y:-9.64, Z:-3.60 [[ 9.75322572e-01 2.06263996e-01 7.87467143e-02 6.86832750e+01] [-2.05639943e-01 9.78496226e-01 -1.60421099e-02 -9.64137110e+00] [-8.03622724e-02 -5.47238011e-04 9.96765572e-01 -3.59516729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.665779523 meters 0.013696370906805356 Centerline is valid? [True, True] Translation: X:68.74, Y:-9.66, Z:-3.60 [[ 9.75006379e-01 2.08908425e-01 7.56295573e-02 6.87435832e+01] [-2.08339355e-01 9.77934945e-01 -1.54258299e-02 -9.65657128e+00] [-7.71833728e-02 -7.16330685e-04 9.97016657e-01 -3.60234081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.725779523 meters 0.018262887775140367 Centerline is valid? [True, True] Translation: X:68.80, Y:-9.67, Z:-3.61 [[ 9.74400392e-01 2.12838472e-01 7.24131219e-02 6.88022944e+01] [-2.12326254e-01 9.77086922e-01 -1.47888005e-02 -9.67035937e+00] [-7.39015401e-02 -9.64993907e-04 9.97265076e-01 -3.61102153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78577952299999 meters 0.014769634837609671 Centerline is valid? [True, True] Translation: X:68.86, Y:-9.69, Z:-3.61 [[ 9.73256529e-01 2.15072434e-01 8.07191188e-02 6.88629740e+01] [-2.14442453e-01 9.76597295e-01 -1.64972095e-02 -9.69067031e+00] [-8.23781681e-02 -1.25358893e-03 9.96600354e-01 -3.60576472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84577952299999 meters 0.014640767529885286 Centerline is valid? [True, True] Translation: X:68.92, Y:-9.71, Z:-3.61 [[ 9.72776353e-01 2.14613542e-01 8.74482426e-02 6.89238130e+01] [-2.13869664e-01 9.76698195e-01 -1.78998148e-02 -9.70599697e+00] [-8.92520834e-02 -1.29000969e-03 9.96008234e-01 -3.60674137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90577952299999 meters 0.014457943983661724 Centerline is valid? [True, True] Translation: X:68.98, Y:-9.73, Z:-3.62 [[ 9.73613756e-01 2.14465815e-01 7.79786381e-02 6.89805396e+01] [-2.13872612e-01 9.76730854e-01 -1.59795194e-02 -9.72753201e+00] [-7.95912024e-02 -1.11961514e-03 9.96826959e-01 -3.62098918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.965779523 meters 0.01623143976296623 Centerline is valid? [True, True] Translation: X:69.04, Y:-9.75, Z:-3.62 [[ 9.72945021e-01 2.19027942e-01 7.35169775e-02 6.90376298e+01] [-2.18512465e-01 9.75717596e-01 -1.50822702e-02 -9.75116539e+00] [-7.50352472e-02 -1.39015620e-03 9.97179913e-01 -3.62361718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.025779523 meters 0.01622731096551732 Centerline is valid? [True, True] Translation: X:69.10, Y:-9.76, Z:-3.63 [[ 9.72307250e-01 2.21523700e-01 7.44705407e-02 6.90979493e+01] [-2.21001374e-01 9.75153684e-01 -1.52867689e-02 -9.76167582e+00] [-7.60066037e-02 -1.59465555e-03 9.97106039e-01 -3.63064791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.085779523 meters 0.017806016216293973 Centerline is valid? [True, True] Translation: X:69.16, Y:-9.79, Z:-3.64 [[ 9.72670553e-01 2.18968361e-01 7.72324576e-02 6.91553594e+01] [-2.18396989e-01 9.75730914e-01 -1.58725915e-02 -9.78870922e+00] [-7.88336918e-02 -1.42853385e-03 9.96886758e-01 -3.63668711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14577952299999 meters 0.0141707239067234 Centerline is valid? [True, True] Translation: X:69.21, Y:-9.82, Z:-3.64 [[ 9.73585793e-01 2.14891877e-01 7.71504030e-02 6.92120264e+01] [-2.14307352e-01 9.76637251e-01 -1.58757285e-02 -9.82392034e+00] [-7.87595227e-02 -1.07751484e-03 9.96893062e-01 -3.63700699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20577952299999 meters 0.015742841392416888 Centerline is valid? [True, True] Translation: X:69.27, Y:-9.84, Z:-3.65 [[ 9.74067251e-01 2.13365800e-01 7.52862972e-02 6.92726427e+01] [-2.12803208e-01 9.76971956e-01 -1.55110126e-02 -9.83543997e+00] [-7.68621207e-02 -9.12396151e-04 9.97041314e-01 -3.64668903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26577952299999 meters 0.013722400081517741 Centerline is valid? [True, True] Translation: X:69.33, Y:-9.86, Z:-3.65 [[ 9.73824263e-01 2.13950737e-01 7.67553766e-02 6.93327778e+01] [-2.13366144e-01 9.76843982e-01 -1.58342287e-02 -9.85789587e+00] [-7.83657726e-02 -9.57242676e-04 9.96924214e-01 -3.64672913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.325779523 meters 0.01340518782198228 Centerline is valid? [True, True] Translation: X:69.39, Y:-9.89, Z:-3.65 [[ 9.74639372e-01 2.10892214e-01 7.48503018e-02 6.93895379e+01] [-2.10325625e-01 9.77509091e-01 -1.54631512e-02 -9.88913045e+00] [-7.64279087e-02 -6.71940571e-04 9.97074883e-01 -3.64670499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.385779523 meters 0.01292713412493165 Centerline is valid? [True, True] Translation: X:69.45, Y:-9.90, Z:-3.66 [[ 9.75588432e-01 2.07283136e-01 7.25321481e-02 6.94493985e+01] [-2.06739818e-01 9.78280927e-01 -1.50025000e-02 -9.90162365e+00] [-7.40665823e-02 -3.59017615e-04 9.97253234e-01 -3.66102707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.445779523 meters 0.013310729445247766 Centerline is valid? [True, True] Translation: X:69.51, Y:-9.93, Z:-3.67 [[ 9.77806684e-01 1.97732644e-01 6.92523739e-02 6.95068334e+01] [-1.97212230e-01 9.80255920e-01 -1.43411400e-02 -9.92859829e+00] [-7.07207610e-02 3.65447500e-04 9.97496085e-01 -3.67098821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.505779523 meters 0.015222867267400948 Centerline is valid? [True, True] Translation: X:69.56, Y:-9.96, Z:-3.67 [[ 9.79677779e-01 1.87341799e-01 7.16554194e-02 6.95645926e+01] [-1.86755273e-01 9.82294085e-01 -1.48593136e-02 -9.96066052e+00] [-7.31704652e-02 1.17531200e-03 9.97318756e-01 -3.66618888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56577952299999 meters 0.01678903835460479 Centerline is valid? [True, True] Translation: X:69.62, Y:-9.98, Z:-3.67 [[ 9.80896085e-01 1.80244320e-01 7.31768741e-02 6.96237787e+01] [-1.79612415e-01 9.83620320e-01 -1.51804905e-02 -9.97561875e+00] [-7.47144575e-02 1.74700857e-03 9.97203439e-01 -3.67287663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62577952299999 meters 0.018766799731646338 Centerline is valid? [True, True] Translation: X:69.68, Y:-10.00, Z:-3.68 [[ 9.81823613e-01 1.73978481e-01 7.58543481e-02 6.96821018e+01] [-1.73280500e-01 9.84746748e-01 -1.57387992e-02 -9.99718170e+00] [-7.74355350e-02 2.30864529e-03 9.96994688e-01 -3.67513572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.685779523 meters 0.020347670771452574 Centerline is valid? [True, True] Translation: X:69.74, Y:-10.02, Z:-3.67 [[ 9.82497628e-01 1.70212860e-01 7.56702961e-02 6.97394570e+01] [-1.69506924e-01 9.85403883e-01 -1.57031648e-02 -1.00211366e+01] [-7.72386842e-02 2.60168307e-03 9.97009236e-01 -3.67491417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.745779523 meters 0.019495649482296405 Centerline is valid? [True, True] Translation: X:69.80, Y:-10.02, Z:-3.69 [[ 9.82569565e-01 1.70705288e-01 7.35985986e-02 6.98022130e+01] [-1.70038584e-01 9.85318969e-01 -1.52777501e-02 -1.00243572e+01] [-7.51260881e-02 2.49685078e-03 9.97170916e-01 -3.68777098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.805779523 meters 0.019805651033336622 Centerline is valid? [True, True] Translation: X:69.86, Y:-10.03, Z:-3.70 [[ 9.82208040e-01 1.73032972e-01 7.29859993e-02 6.98620525e+01] [-1.72382127e-01 9.84913298e-01 -1.51722853e-02 -1.00329135e+01] [-7.45101869e-02 2.32085888e-03 9.97217552e-01 -3.69616775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.865779523 meters 0.0182038214707065 Centerline is valid? [True, True] Translation: X:69.92, Y:-10.05, Z:-3.69 [[ 9.81686175e-01 1.76946863e-01 7.05837172e-02 6.99206916e+01] [-1.76347028e-01 9.84218426e-01 -1.46906947e-02 -1.00530319e+01] [-7.20692674e-02 1.97442318e-03 9.97397675e-01 -3.69255469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92577952299999 meters 0.020705936846084256 Centerline is valid? [True, True] Translation: X:69.98, Y:-10.06, Z:-3.70 [[ 9.82648412e-01 1.72463382e-01 6.82530549e-02 6.99796966e+01] [-1.71891631e-01 9.85013408e-01 -1.42074997e-02 -1.00603618e+01] [-6.96804477e-02 2.22884814e-03 9.97566874e-01 -3.70342503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98577952299999 meters 0.02226418939475698 Centerline is valid? [True, True] Translation: X:70.04, Y:-10.07, Z:-3.71 [[ 9.83514773e-01 1.65166439e-01 7.36120878e-02 7.00395426e+01] [-1.64480296e-01 9.86261239e-01 -1.53297611e-02 -1.00714579e+01] [-7.51327109e-02 2.96930850e-03 9.97169123e-01 -3.70851665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.045779523 meters 0.021800691952417958 Centerline is valid? [True, True] Translation: X:70.10, Y:-10.09, Z:-3.71 [[ 9.83744485e-01 1.62836380e-01 7.57040356e-02 7.01002291e+01] [-1.62103507e-01 9.86647767e-01 -1.57682472e-02 -1.00865072e+01] [-7.72608619e-02 3.24003655e-03 9.97005648e-01 -3.70668439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.105779523 meters 0.02200820026350298 Centerline is valid? [True, True] Translation: X:70.16, Y:-10.10, Z:-3.71 [[ 9.83444444e-01 1.64030624e-01 7.70128556e-02 7.01624619e+01] [-1.63275333e-01 9.86450035e-01 -1.60466093e-02 -1.00955497e+01] [-7.86014694e-02 3.20664910e-03 9.96900961e-01 -3.70677884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.165779523 meters 0.020655034582591207 Centerline is valid? [True, True] Translation: X:70.23, Y:-10.09, Z:-3.72 [[ 9.82887522e-01 1.67835543e-01 7.59167226e-02 7.02259676e+01] [-1.67112409e-01 9.85810837e-01 -1.58251738e-02 -1.00916918e+01] [-7.74955545e-02 2.86773943e-03 9.96988573e-01 -3.71678923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.225779523 meters 0.018445874160827228 Centerline is valid? [True, True] Translation: X:70.29, Y:-10.10, Z:-3.73 [[ 9.82143100e-01 1.73773964e-01 7.20939721e-02 7.02864214e+01] [-1.73137591e-01 9.84782922e-01 -1.50323482e-02 -1.00964664e+01] [-7.36091432e-02 2.28174037e-03 9.97284557e-01 -3.72799846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28577952299999 meters 0.016166941767638374 Centerline is valid? [True, True] Translation: X:70.35, Y:-10.11, Z:-3.73 [[ 9.80536162e-01 1.83425525e-01 7.00279304e-02 7.03463723e+01] [-1.82849620e-01 9.83032444e-01 -1.46024108e-02 -1.01055951e+01] [-7.15181824e-02 1.51361132e-03 9.97438148e-01 -3.73112480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34577952299999 meters 0.014083030581654913 Centerline is valid? [True, True] Translation: X:70.41, Y:-10.10, Z:-3.74 [[ 9.78869160e-01 1.90474800e-01 7.43943472e-02 7.04107659e+01] [-1.89844880e-01 9.81691509e-01 -1.55145734e-02 -1.00958136e+01] [-7.59874343e-02 1.06335158e-03 9.97108208e-01 -3.73690407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40577952299999 meters 0.012870870073840641 Centerline is valid? [True, True] Translation: X:70.47, Y:-10.11, Z:-3.74 [[ 9.77218784e-01 2.00063704e-01 7.08375746e-02 7.04718404e+01] [-1.99517631e-01 9.79782844e-01 -1.47747567e-02 -1.01090927e+01] [-7.23613329e-02 3.04824687e-04 9.97378436e-01 -3.74148237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.465779523 meters 0.012748382767894853 Centerline is valid? [True, True] Translation: X:70.53, Y:-10.12, Z:-3.74 [[ 9.76305830e-01 2.04637694e-01 7.03586634e-02 7.05328068e+01] [-2.04110515e-01 9.78837787e-01 -1.46793793e-02 -1.01238089e+01] [-7.18736727e-02 -2.93794108e-05 9.97413743e-01 -3.74330547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.525779523 meters 0.013489476667735145 Centerline is valid? [True, True] Translation: X:70.60, Y:-10.12, Z:-3.74 [[ 9.73406479e-01 2.16106552e-01 7.60117365e-02 7.05964847e+01] [-2.15524042e-01 9.76369351e-01 -1.58832693e-02 -1.01212014e+01] [-7.76480084e-02 -9.21479430e-04 9.96980410e-01 -3.74341602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.585779523 meters 0.019266337476981966 Centerline is valid? [True, True] Translation: X:70.66, Y:-10.11, Z:-3.76 [[ 9.72190035e-01 2.21813239e-01 7.51360361e-02 7.06591983e+01] [-2.21259701e-01 9.75088243e-01 -1.57182281e-02 -1.01137500e+01] [-7.67507765e-02 -1.34347213e-03 9.97049404e-01 -3.75894716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64577952299999 meters 0.01584953193763739 Centerline is valid? [True, True] Translation: X:70.72, Y:-10.15, Z:-3.75 [[ 9.71559546e-01 2.26133154e-01 7.02555748e-02 7.07152479e+01] [-2.25659279e-01 9.74095155e-01 -1.47146126e-02 -1.01488184e+01] [-7.17630768e-02 -1.55769998e-03 9.97420490e-01 -3.75488664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70577952299999 meters 0.01592675372593126 Centerline is valid? [True, True] Translation: X:70.78, Y:-10.16, Z:-3.76 [[ 9.71560351e-01 2.25401649e-01 7.25574351e-02 7.07772673e+01] [-2.24893945e-01 9.74264693e-01 -1.51993920e-02 -1.01568081e+01] [-7.41161153e-02 -1.55060121e-03 9.97248413e-01 -3.76179360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76577952299999 meters 0.015556359868227341 Centerline is valid? [True, True] Translation: X:70.84, Y:-10.16, Z:-3.77 [[ 9.71315971e-01 2.25747387e-01 7.47221665e-02 7.08396868e+01] [-2.25209444e-01 9.74184530e-01 -1.56591072e-02 -1.01569731e+01] [-7.63281812e-02 -1.61819667e-03 9.97081436e-01 -3.77393120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.825779523 meters 0.01421019829125356 Centerline is valid? [True, True] Translation: X:70.90, Y:-10.20, Z:-3.77 [[ 9.72899748e-01 2.20444954e-01 6.97861213e-02 7.08950687e+01] [-2.19960966e-01 9.75398790e-01 -1.46414963e-02 -1.01981635e+01] [-7.12969423e-02 -1.10551463e-03 9.97454522e-01 -3.77216943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.885779523 meters 0.012988091935650214 Centerline is valid? [True, True] Translation: X:70.95, Y:-10.22, Z:-3.77 [[ 9.75127464e-01 2.10589649e-01 6.91261748e-02 7.09526079e+01] [-2.10088587e-01 9.77574483e-01 -1.45229562e-02 -1.02244682e+01] [-7.06343688e-02 -3.60886915e-04 9.97502208e-01 -3.77497089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.945779523 meters 0.012946138156333498 Centerline is valid? [True, True] Translation: X:71.01, Y:-10.24, Z:-3.79 [[ 9.76716684e-01 2.02712142e-01 7.02303894e-02 7.10116971e+01] [-2.02174386e-01 9.79238348e-01 -1.47572394e-02 -1.02359433e+01] [-7.17637621e-02 2.14856097e-04 9.97421634e-01 -3.78906463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.005779523 meters 0.014140640021639218 Centerline is valid? [True, True] Translation: X:71.07, Y:-10.27, Z:-3.79 [[ 9.78033591e-01 1.96340811e-01 7.00041461e-02 7.10670364e+01] [-1.95789005e-01 9.80535466e-01 -1.47263428e-02 -1.02704893e+01] [-7.15329302e-02 6.96815777e-04 9.97437995e-01 -3.78801861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06577952299999 meters 0.01616469070648684 Centerline is valid? [True, True] Translation: X:71.12, Y:-10.30, Z:-3.79 [[ 9.79739687e-01 1.88055734e-01 6.88853168e-02 7.11243485e+01] [-1.87499708e-01 9.82157499e-01 -1.45088095e-02 -1.02962468e+01] [-7.03846954e-02 1.29887969e-03 9.97519076e-01 -3.79116550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12577952299999 meters 0.016677695246000265 Centerline is valid? [True, True] Translation: X:71.18, Y:-10.31, Z:-3.80 [[ 9.79906058e-01 1.86739309e-01 7.00895696e-02 7.11838019e+01] [-1.86160166e-01 9.82408477e-01 -1.47640537e-02 -1.03072371e+01] [-7.16136165e-02 1.41949975e-03 9.97431439e-01 -3.79899280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.185779523 meters 0.016603334912278302 Centerline is valid? [True, True] Translation: X:71.24, Y:-10.33, Z:-3.79 [[ 9.79557939e-01 1.87221415e-01 7.35825159e-02 7.12428997e+01] [-1.86583626e-01 9.82316650e-01 -1.55096738e-02 -1.03289421e+01] [-7.51850736e-02 1.46333147e-03 9.97168523e-01 -3.79409843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.245779523 meters 0.015939863183062845 Centerline is valid? [True, True] Translation: X:71.30, Y:-10.34, Z:-3.80 [[ 9.79911521e-01 1.86078030e-01 7.17521949e-02 7.13031317e+01] [-1.85467328e-01 9.82533780e-01 -1.51407094e-02 -1.03420572e+01] [-7.33163086e-02 1.52886771e-03 9.97307566e-01 -3.79880606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.305779523 meters 0.018201927949158453 Centerline is valid? [True, True] Translation: X:71.36, Y:-10.36, Z:-3.81 [[ 9.81274164e-01 1.80958963e-01 6.59914345e-02 7.13613244e+01] [-1.80429715e-01 9.83489045e-01 -1.39433244e-02 -1.03577528e+01] [-6.74250224e-02 1.77540820e-03 9.97722764e-01 -3.81349129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.365779523 meters 0.020228374639459624 Centerline is valid? [True, True] Translation: X:71.42, Y:-10.37, Z:-3.82 [[ 9.82030276e-01 1.76095499e-01 6.78742357e-02 7.14203053e+01] [-1.75523763e-01 9.84370689e-01 -1.43441516e-02 -1.03749302e+01] [-6.93393487e-02 2.17284987e-03 9.97590765e-01 -3.81676532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42577952299999 meters 0.02146303293408138 Centerline is valid? [True, True] Translation: X:71.48, Y:-10.39, Z:-3.82 [[ 9.82752732e-01 1.71991363e-01 6.79414402e-02 7.14794020e+01] [-1.71408532e-01 9.85095368e-01 -1.43607715e-02 -1.03906814e+01] [-6.93987267e-02 2.46734494e-03 9.97585951e-01 -3.82070981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48577952299999 meters 0.021502711086317638 Centerline is valid? [True, True] Translation: X:71.54, Y:-10.40, Z:-3.82 [[ 9.82555937e-01 1.71740144e-01 7.13382996e-02 7.15403046e+01] [-1.71096748e-01 9.85138826e-01 -1.50796729e-02 -1.04046309e+01] [-7.28679139e-02 2.61087107e-03 9.97338183e-01 -3.82087795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.545779523 meters 0.019712138761880108 Centerline is valid? [True, True] Translation: X:71.60, Y:-10.41, Z:-3.83 [[ 9.81209314e-01 1.77997835e-01 7.44651115e-02 7.16009630e+01] [-1.77313061e-01 9.84028280e-01 -1.57614256e-02 -1.04060301e+01] [-7.60812753e-02 2.26162067e-03 9.97099055e-01 -3.82618490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.605779523 meters 0.016323414237744274 Centerline is valid? [True, True] Translation: X:71.66, Y:-10.41, Z:-3.83 [[ 9.80009673e-01 1.85366592e-01 7.22514234e-02 7.16626746e+01] [-1.84741947e-01 9.82668072e-01 -1.52929385e-02 -1.04081429e+01] [-7.38339668e-02 1.63935908e-03 9.97269200e-01 -3.83396312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.665779523 meters 0.014938324539286847 Centerline is valid? [True, True] Translation: X:71.72, Y:-10.42, Z:-3.84 [[ 9.78913575e-01 1.92242078e-01 6.90738382e-02 7.17229136e+01] [-1.91688174e-01 9.81346947e-01 -1.46223426e-02 -1.04193198e+01] [-7.05964298e-02 1.07337180e-03 9.97504382e-01 -3.83583505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.725779523 meters 0.01450802455284392 Centerline is valid? [True, True] Translation: X:71.78, Y:-10.43, Z:-3.84 [[ 9.78246720e-01 1.95106444e-01 7.04757501e-02 7.17841463e+01] [-1.94537151e-01 9.80781674e-01 -1.49199506e-02 -1.04264027e+01] [-7.20323026e-02 8.85241056e-04 9.97401907e-01 -3.83936479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78577952299999 meters 0.016803125873092618 Centerline is valid? [True, True] Translation: X:71.85, Y:-10.43, Z:-3.85 [[ 9.78336236e-01 1.95090915e-01 6.92657493e-02 7.18451893e+01] [-1.94539806e-01 9.80784761e-01 -1.46804807e-02 -1.04323818e+01] [-7.07988197e-02 8.87500792e-04 9.97490220e-01 -3.85023013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84577952299999 meters 0.014359686969032288 Centerline is valid? [True, True] Translation: X:71.91, Y:-10.45, Z:-3.85 [[ 9.78307722e-01 1.94581189e-01 7.10785607e-02 7.19068406e+01] [-1.93998808e-01 9.80885949e-01 -1.50737726e-02 -1.04470118e+01] [-7.26530340e-02 9.57632124e-04 9.97356817e-01 -3.85167814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90577952299999 meters 0.016167524674619346 Centerline is valid? [True, True] Translation: X:71.97, Y:-10.46, Z:-3.86 [[ 9.79413436e-01 1.89739096e-01 6.89086104e-02 7.19654470e+01] [-1.89178351e-01 9.81833689e-01 -1.46341340e-02 -1.04632043e+01] [-7.04334625e-02 1.29685010e-03 9.97515637e-01 -3.85698370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.965779523 meters 0.017112953216754906 Centerline is valid? [True, True] Translation: X:72.03, Y:-10.48, Z:-3.86 [[ 9.80137727e-01 1.85464157e-01 7.02359110e-02 7.20259659e+01] [-1.84869257e-01 9.82649638e-01 -1.49347233e-02 -1.04769669e+01] [-7.17871484e-02 1.65362507e-03 9.97418604e-01 -3.85887164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.025779523 meters 0.019359787405429367 Centerline is valid? [True, True] Translation: X:72.09, Y:-10.49, Z:-3.86 [[ 9.81228476e-01 1.79299196e-01 7.10103883e-02 7.20852678e+01] [-1.78674537e-01 9.83792277e-01 -1.51051253e-02 -1.04906459e+01] [-7.25678084e-02 2.13383081e-03 9.97361198e-01 -3.86354306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.085779523 meters 0.020109705579746732 Centerline is valid? [True, True] Translation: X:72.15, Y:-10.50, Z:-3.88 [[ 9.81940573e-01 1.76832037e-01 6.72543082e-02 7.21458290e+01] [-1.76265966e-01 9.84238598e-01 -1.43070685e-02 -1.04977107e+01] [-6.87242340e-02 2.19404538e-03 9.97633282e-01 -3.87643564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14577952299999 meters 0.022061067191979103 Centerline is valid? [True, True] Translation: X:72.21, Y:-10.51, Z:-3.88 [[ 9.82721128e-01 1.73469135e-01 6.45572842e-02 7.22052397e+01] [-1.72940227e-01 9.84836541e-01 -1.37355330e-02 -1.05124703e+01] [-6.59610635e-02 2.33364712e-03 9.97819469e-01 -3.88240244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20577952299999 meters 0.022252340224311815 Centerline is valid? [True, True] Translation: X:72.27, Y:-10.52, Z:-3.88 [[ 9.82732401e-01 1.69696116e-01 7.37580920e-02 7.22662310e+01] [-1.68994653e-01 9.85491994e-01 -1.56951235e-02 -1.05204363e+01] [-7.53514106e-02 2.95938329e-03 9.97152650e-01 -3.88026810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26577952299999 meters 0.02389194696523279 Centerline is valid? [True, True] Translation: X:72.33, Y:-10.53, Z:-3.88 [[ 9.83097139e-01 1.66258595e-01 7.66687396e-02 7.23266847e+01] [-1.65488604e-01 9.86076428e-01 -1.63340130e-02 -1.05315574e+01] [-7.83169070e-02 3.37011877e-03 9.96922818e-01 -3.88435455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.325779523 meters 0.025364305728357003 Centerline is valid? [True, True] Translation: X:72.38, Y:-10.55, Z:-3.89 [[ 9.83730130e-01 1.63306443e-01 7.48734685e-02 7.23849233e+01] [-1.62563428e-01 9.86569103e-01 -1.59542378e-02 -1.05507397e+01] [-7.64732805e-02 3.52297678e-03 9.97065407e-01 -3.88699136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.385779523 meters 0.026092891174075143 Centerline is valid? [True, True] Translation: X:72.45, Y:-10.56, Z:-3.89 [[ 9.83758950e-01 1.64226225e-01 7.24436027e-02 7.24462811e+01] [-1.63533255e-01 9.86417053e-01 -1.54360832e-02 -1.05596490e+01] [-7.39946148e-02 3.33844684e-03 9.97253053e-01 -3.89392601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.445779523 meters 0.02289300104632494 Centerline is valid? [True, True] Translation: X:72.51, Y:-10.55, Z:-3.91 [[ 9.82991813e-01 1.70925258e-01 6.71688380e-02 7.25090250e+01] [-1.70344023e-01 9.85280449e-01 -1.43300798e-02 -1.05518351e+01] [-6.86295155e-02 2.64454108e-03 9.97638710e-01 -3.90960850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.505779523 meters 0.020568390082399142 Centerline is valid? [True, True] Translation: X:72.57, Y:-10.56, Z:-3.91 [[ 9.82162859e-01 1.74902443e-01 6.90308178e-02 7.25695034e+01] [-1.74298193e-01 9.84582760e-01 -1.47284755e-02 -1.05636040e+01] [-7.05425995e-02 2.43381481e-03 9.97505799e-01 -3.91000306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56577952299999 meters 0.01813686312744646 Centerline is valid? [True, True] Translation: X:72.63, Y:-10.57, Z:-3.91 [[ 9.80838059e-01 1.79379926e-01 7.60233081e-02 7.26307653e+01] [-1.78660018e-01 9.83777116e-01 -1.62229226e-02 -1.05703661e+01] [-7.77000574e-02 2.32973427e-03 9.96974059e-01 -3.90828473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62577952299999 meters 0.01605293229956005 Centerline is valid? [True, True] Translation: X:72.69, Y:-10.56, Z:-3.92 [[ 9.78915163e-01 1.90067280e-01 7.48300308e-02 7.26928958e+01] [-1.89400819e-01 9.81769982e-01 -1.59697444e-02 -1.05648766e+01] [-7.65012039e-02 1.46015581e-03 9.97068420e-01 -3.91822065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.685779523 meters 0.013963399259438692 Centerline is valid? [True, True] Translation: X:72.76, Y:-10.57, Z:-3.93 [[ 9.76779724e-01 2.01925175e-01 7.16072217e-02 7.27554101e+01] [-2.01346735e-01 9.79400819e-01 -1.52816096e-02 -1.05655941e+01] [-7.32179133e-02 5.08886136e-04 9.97315837e-01 -3.92633563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.745779523 meters 0.013708118916779189 Centerline is valid? [True, True] Translation: X:72.81, Y:-10.58, Z:-3.93 [[ 9.75732366e-01 2.06927099e-01 7.16067397e-02 7.28146832e+01] [-2.06361917e-01 9.78356355e-01 -1.52840481e-02 -1.05792731e+01] [-7.32195926e-02 1.36236311e-04 9.97315834e-01 -3.92735375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.805779523 meters 0.013675031328752783 Centerline is valid? [True, True] Translation: X:72.88, Y:-10.59, Z:-3.93 [[ 9.74919611e-01 2.10197804e-01 7.31343629e-02 7.28757988e+01] [-2.09616073e-01 9.77658874e-01 -1.56277936e-02 -1.05886152e+01] [-7.47853868e-02 -9.42954900e-05 9.97199648e-01 -3.93130218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.865779523 meters 0.013816399187667366 Centerline is valid? [True, True] Translation: X:72.94, Y:-10.59, Z:-3.94 [[ 9.73393585e-01 2.15011968e-01 7.92135266e-02 7.29403258e+01] [-2.14343452e-01 9.76611295e-01 -1.69488146e-02 -1.05861927e+01] [-8.10050228e-02 -4.81033287e-04 9.96713577e-01 -3.93921800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92577952299999 meters 0.014338440029132765 Centerline is valid? [True, True] Translation: X:73.00, Y:-10.60, Z:-3.94 [[ 9.72715280e-01 2.19226464e-01 7.59258935e-02 7.29997179e+01] [-2.18623471e-01 9.75673693e-01 -1.62672162e-02 -1.06031738e+01] [-7.76451012e-02 -7.75812559e-04 9.96980760e-01 -3.94430670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98577952299999 meters 0.015194202544818448 Centerline is valid? [True, True] Translation: X:73.06, Y:-10.62, Z:-3.95 [[ 9.72376603e-01 2.22339812e-01 7.10545582e-02 7.30580746e+01] [-2.21818836e-01 9.74968780e-01 -1.52408133e-02 -1.06207928e+01] [-7.26646155e-02 -9.41429075e-04 9.97355988e-01 -3.94700490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.045779523 meters 0.014615425253716476 Centerline is valid? [True, True] Translation: X:73.12, Y:-10.63, Z:-3.96 [[ 9.72549517e-01 2.20387099e-01 7.46790704e-02 7.31201036e+01] [-2.19804373e-01 9.75412147e-01 -1.60368393e-02 -1.06267236e+01] [-7.63771849e-02 -8.18165956e-04 9.97078661e-01 -3.95517149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.105779523 meters 0.014224563579237409 Centerline is valid? [True, True] Translation: X:73.18, Y:-10.65, Z:-3.96 [[ 9.72997676e-01 2.18224875e-01 7.51892760e-02 7.31780420e+01] [-2.17626203e-01 9.75898305e-01 -1.61658156e-02 -1.06541317e+01] [-7.69048701e-02 -6.33855666e-04 9.97038234e-01 -3.95691204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.165779523 meters 0.01761927246866279 Centerline is valid? [True, True] Translation: X:73.24, Y:-10.67, Z:-3.96 [[ 9.73811723e-01 2.15510429e-01 7.24291585e-02 7.32382997e+01] [-2.14946139e-01 9.76501462e-01 -1.55901058e-02 -1.06729250e+01] [-7.40870096e-02 -3.86540216e-04 9.97251706e-01 -3.96490474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.225779523 meters 0.013746574754003822 Centerline is valid? [True, True] Translation: X:73.30, Y:-10.68, Z:-3.97 [[ 9.74095850e-01 2.12883789e-01 7.62742879e-02 7.32980514e+01] [-2.12247945e-01 9.77077511e-01 -1.64422378e-02 -1.06835829e+01] [-7.80261773e-02 -1.72745194e-04 9.96951296e-01 -3.96740355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28577952299999 meters 0.013726335948166845 Centerline is valid? [True, True] Translation: X:73.36, Y:-10.71, Z:-3.97 [[ 9.74541076e-01 2.10970677e-01 7.59016742e-02 7.33570266e+01] [-2.10333844e-01 9.77492390e-01 -1.63798895e-02 -1.07103797e+01] [-7.76489853e-02 -1.81578034e-06 9.96980760e-01 -3.96967880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34577952299999 meters 0.013913847709198214 Centerline is valid? [True, True] Translation: X:73.42, Y:-10.72, Z:-3.98 [[ 9.74556126e-01 2.12217130e-01 7.21404720e-02 7.34154857e+01] [-2.11643821e-01 9.77222536e-01 -1.55887552e-02 -1.07235233e+01] [-7.38054958e-02 -7.59682708e-05 9.97272652e-01 -3.98141450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40577952299999 meters 0.014240915489939839 Centerline is valid? [True, True] Translation: X:73.48, Y:-10.74, Z:-3.99 [[ 9.73546952e-01 2.17073461e-01 7.13122992e-02 7.34759109e+01] [-2.16525042e-01 9.76155179e-01 -1.54263410e-02 -1.07360384e+01] [-7.29605194e-02 -4.22631303e-04 9.97334740e-01 -3.98969560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.465779523 meters 0.014238769045437728 Centerline is valid? [True, True] Translation: X:73.53, Y:-10.76, Z:-3.99 [[ 9.73017226e-01 2.19442345e-01 7.12918978e-02 7.35344590e+01] [-2.18899355e-01 9.75625295e-01 -1.54387668e-02 -1.07584528e+01] [-7.29420980e-02 -5.83564343e-04 9.97336006e-01 -3.98938398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.525779523 meters 0.01459015203906655 Centerline is valid? [True, True] Translation: X:73.59, Y:-10.77, Z:-3.99 [[ 9.72081368e-01 2.22799601e-01 7.36080906e-02 7.35943727e+01] [-2.22228825e-01 9.74863902e-01 -1.59600443e-02 -1.07749203e+01] [-7.53137618e-02 -8.43377771e-04 9.97159529e-01 -3.99336941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.585779523 meters 0.01678588216708569 Centerline is valid? [True, True] Translation: X:73.65, Y:-10.79, Z:-4.01 [[ 9.71072661e-01 2.27796956e-01 7.15991184e-02 7.36538346e+01] [-2.27269159e-01 9.73707942e-01 -1.55426197e-02 -1.07862676e+01] [-7.32571916e-02 -1.17925834e-03 9.97312385e-01 -4.00649942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64577952299999 meters 0.01688838456999084 Centerline is valid? [True, True] Translation: X:73.71, Y:-10.81, Z:-4.00 [[ 9.70350859e-01 2.29541183e-01 7.56971280e-02 7.37125037e+01] [-2.28954989e-01 9.73297988e-01 -1.64510995e-02 -1.08104032e+01] [-7.74520672e-02 -1.36789658e-03 9.96995138e-01 -4.00182484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70577952299999 meters 0.015655638826448423 Centerline is valid? [True, True] Translation: X:73.77, Y:-10.83, Z:-4.00 [[ 9.70579851e-01 2.27933234e-01 7.75963564e-02 7.37716299e+01] [-2.27310384e-01 9.73675962e-01 -1.68852333e-02 -1.08338783e+01] [-7.94024128e-02 -1.24999034e-03 9.96841860e-01 -4.00234487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76577952299999 meters 0.015418500444153427 Centerline is valid? [True, True] Translation: X:73.83, Y:-10.85, Z:-4.01 [[ 9.70710805e-01 2.27832631e-01 7.62418880e-02 7.38324464e+01] [-2.27230559e-01 9.73699553e-01 -1.65968098e-02 -1.08470348e+01] [-7.80179871e-02 -1.21378421e-03 9.96951213e-01 -4.01440190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.825779523 meters 0.014740411663264535 Centerline is valid? [True, True] Translation: X:73.89, Y:-10.88, Z:-4.02 [[ 9.71837385e-01 2.24161707e-01 7.26885503e-02 7.38895391e+01] [-2.23602691e-01 9.74551588e-01 -1.58442150e-02 -1.08767622e+01] [-7.43904084e-02 -8.55354942e-04 9.97228828e-01 -4.01824198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.885779523 meters 0.014098540869456663 Centerline is valid? [True, True] Translation: X:73.95, Y:-10.90, Z:-4.03 [[ 9.74161868e-01 2.15011669e-01 6.91276888e-02 7.39468769e+01] [-2.14481878e-01 9.76611471e-01 -1.50850601e-02 -1.09018710e+01] [-7.07543577e-02 -1.31346171e-04 9.97493761e-01 -4.03034936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.945779523 meters 0.013904351784154813 Centerline is valid? [True, True] Translation: X:74.01, Y:-10.92, Z:-4.04 [[ 9.74662507e-01 2.11723919e-01 7.21524756e-02 7.40061301e+01] [-2.11136183e-01 9.77329507e-01 -1.57653917e-02 -1.09151942e+01] [-7.38546539e-02 1.31937919e-04 9.97269007e-01 -4.03873800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.005779523 meters 0.014110670347501651 Centerline is valid? [True, True] Translation: X:74.06, Y:-10.95, Z:-4.03 [[ 9.74933309e-01 2.09110800e-01 7.60112940e-02 7.40621271e+01] [-2.08449604e-01 9.77891888e-01 -1.66198102e-02 -1.09534072e+01] [-7.78062096e-02 3.58682439e-04 9.96968437e-01 -4.02697983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06577952299999 meters 0.014453285914181891 Centerline is valid? [True, True] Translation: X:74.12, Y:-10.97, Z:-4.04 [[ 9.75417920e-01 2.07386662e-01 7.45027133e-02 7.41208489e+01] [-2.06745045e-01 9.78258922e-01 -1.63085429e-02 -1.09693783e+01] [-7.62651183e-02 5.04578127e-04 9.97087447e-01 -4.03716154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12577952299999 meters 0.014339080231919134 Centerline is valid? [True, True] Translation: X:74.18, Y:-10.98, Z:-4.05 [[ 9.75502146e-01 2.06447934e-01 7.59921899e-02 7.41814101e+01] [-2.05776137e-01 9.78457399e-01 -1.66523092e-02 -1.09810395e+01] [-7.77929553e-02 6.06984100e-04 9.96969351e-01 -4.04924824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.185779523 meters 0.01739350175991558 Centerline is valid? [True, True] Translation: X:74.24, Y:-11.01, Z:-4.05 [[ 9.76615009e-01 2.02261903e-01 7.28920158e-02 7.42382533e+01] [-2.01630664e-01 9.79331033e-01 -1.59938717e-02 -1.10134317e+01] [-7.46203640e-02 9.22589627e-04 9.97211587e-01 -4.04980542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.245779523 meters 0.018792730634784312 Centerline is valid? [True, True] Translation: X:74.30, Y:-11.04, Z:-4.05 [[ 9.77672022e-01 1.98199469e-01 6.98168148e-02 7.42953634e+01] [-1.97608771e-01 9.80160973e-01 -1.53375359e-02 -1.10375133e+01] [-7.14716087e-02 1.19866475e-03 9.97441914e-01 -4.05440323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.305779523 meters 0.016613482771082495 Centerline is valid? [True, True] Translation: X:74.36, Y:-11.05, Z:-4.06 [[ 9.77762748e-01 1.96788544e-01 7.24864016e-02 7.43579407e+01] [-1.96147266e-01 9.80445011e-01 -1.59320438e-02 -1.10453649e+01] [-7.42041745e-02 1.35974947e-03 9.97242143e-01 -4.06277897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.365779523 meters 0.016924906750778825 Centerline is valid? [True, True] Translation: X:74.42, Y:-11.06, Z:-4.07 [[ 9.77974294e-01 1.94304989e-01 7.62355048e-02 7.44170653e+01] [-1.93586151e-01 9.80939775e-01 -1.67797541e-02 -1.10635479e+01] [-7.80428289e-02 1.65203019e-03 9.96948638e-01 -4.06836267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42577952299999 meters 0.018109635651489986 Centerline is valid? [True, True] Translation: X:74.47, Y:-11.09, Z:-4.07 [[ 9.78778412e-01 1.91064003e-01 7.40767625e-02 7.44746231e+01] [-1.90374605e-01 9.81575789e-01 -1.63242239e-02 -1.10928764e+01] [-7.58309282e-02 1.87546355e-03 9.97118926e-01 -4.06662874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48577952299999 meters 0.02092749843144795 Centerline is valid? [True, True] Translation: X:74.53, Y:-11.11, Z:-4.08 [[ 9.80474007e-01 1.84164026e-01 6.89516671e-02 7.45313116e+01] [-1.83549481e-01 9.82892957e-01 -1.51994723e-02 -1.11121157e+01] [-7.05713040e-02 2.24664475e-03 9.97504207e-01 -4.07652933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.545779523 meters 0.023118080148441904 Centerline is valid? [True, True] Translation: X:74.59, Y:-11.13, Z:-4.09 [[ 9.81393008e-01 1.78746855e-01 7.01236420e-02 7.45901806e+01] [-1.78097040e-01 9.83891430e-01 -1.54628208e-02 -1.11256285e+01] [-7.17579810e-02 2.68629119e-03 9.97418456e-01 -4.08896424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.605779523 meters 0.02445191583265318 Centerline is valid? [True, True] Translation: X:74.65, Y:-11.15, Z:-4.09 [[ 9.81451734e-01 1.77464390e-01 7.25181700e-02 7.46475757e+01] [-1.76765455e-01 9.84123006e-01 -1.59963646e-02 -1.11502976e+01] [-7.42055846e-02 2.88095245e-03 9.97238804e-01 -4.08586508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.665779523 meters 0.024469383799940826 Centerline is valid? [True, True] Translation: X:74.71, Y:-11.16, Z:-4.09 [[ 9.81089530e-01 1.79074396e-01 7.34553914e-02 7.47084696e+01] [-1.78360471e-01 9.83831518e-01 -1.62199767e-02 -1.11633259e+01] [-7.51723118e-02 2.81171113e-03 9.97166595e-01 -4.08805732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.725779523 meters 0.02414219394521208 Centerline is valid? [True, True] Translation: X:74.77, Y:-11.17, Z:-4.10 [[ 9.80264554e-01 1.82305504e-01 7.64598374e-02 7.47693625e+01] [-1.81540100e-01 9.83238258e-01 -1.69032691e-02 -1.11665503e+01] [-7.82597963e-02 2.68914902e-03 9.96929372e-01 -4.09640518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78577952299999 meters 0.022337826174782832 Centerline is valid? [True, True] Translation: X:74.83, Y:-11.18, Z:-4.10 [[ 9.79385971e-01 1.87246292e-01 7.57756325e-02 7.48294256e+01] [-1.86509094e-01 9.82310361e-01 -1.67545037e-02 -1.11790522e+01] [-7.75724076e-02 2.27628129e-03 9.96984122e-01 -4.09945169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84577952299999 meters 0.016918676563774524 Centerline is valid? [True, True] Translation: X:74.89, Y:-11.18, Z:-4.11 [[ 9.77704130e-01 1.98174382e-01 6.94373639e-02 7.48910593e+01] [-1.97582728e-01 9.80165924e-01 -1.53566779e-02 -1.11791865e+01] [-7.11034381e-02 1.29466362e-03 9.97468107e-01 -4.10911606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90577952299999 meters 0.015349773298118454 Centerline is valid? [True, True] Translation: X:74.95, Y:-11.18, Z:-4.11 [[ 9.75532030e-01 2.08163479e-01 7.07476171e-02 7.49536506e+01] [-2.07575305e-01 9.78093876e-01 -1.56480877e-02 -1.11819852e+01] [-7.24551714e-02 5.79752501e-04 9.97371502e-01 -4.11456949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.965779523 meters 0.014390505188694964 Centerline is valid? [True, True] Translation: X:75.01, Y:-11.19, Z:-4.12 [[ 9.74070450e-01 2.14242213e-01 7.27119805e-02 7.50136061e+01] [-2.13637405e-01 9.76780557e-01 -1.60873720e-02 -1.11922119e+01] [-7.44702429e-02 1.36234843e-04 9.97223227e-01 -4.11876882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.025779523 meters 0.014309633574151309 Centerline is valid? [True, True] Translation: X:75.07, Y:-11.20, Z:-4.12 [[ 9.73086610e-01 2.18183359e-01 7.41516824e-02 7.50748168e+01] [-2.17564442e-01 9.75907782e-01 -1.64230050e-02 -1.12012659e+01] [-7.59484303e-02 -1.51763098e-04 9.97111735e-01 -4.12452033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.085779523 meters 0.015679301168969956 Centerline is valid? [True, True] Translation: X:75.14, Y:-11.21, Z:-4.13 [[ 9.71165206e-01 2.27036387e-01 7.27504039e-02 7.51355022e+01] [-2.26464072e-01 9.73885940e-01 -1.61307312e-02 -1.12095778e+01] [-7.45128584e-02 -8.09747847e-04 9.97219724e-01 -4.12780710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14577952299999 meters 0.01847042106073476 Centerline is valid? [True, True] Translation: X:75.20, Y:-11.22, Z:-4.13 [[ 9.70250655e-01 2.30997197e-01 7.24842149e-02 7.51958145e+01] [-2.30439509e-01 9.72953792e-01 -1.60795680e-02 -1.12247198e+01] [-7.42381269e-02 -1.10201548e-03 9.97239934e-01 -4.13101388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20577952299999 meters 0.017656024989324736 Centerline is valid? [True, True] Translation: X:75.26, Y:-11.23, Z:-4.14 [[ 9.68773215e-01 2.37190545e-01 7.22433582e-02 7.52566178e+01] [-2.36652393e-01 9.71461905e-01 -1.60440858e-02 -1.12324566e+01] [-7.39871758e-02 -1.55348300e-03 9.97257983e-01 -4.13865859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26577952299999 meters 0.019650655574531425 Centerline is valid? [True, True] Translation: X:75.31, Y:-11.24, Z:-4.15 [[ 9.67778057e-01 2.41823396e-01 7.01931366e-02 7.53147365e+01] [-2.41326221e-01 9.70318544e-01 -1.56070041e-02 -1.12449739e+01] [-7.18838409e-02 -1.83532827e-03 9.97411322e-01 -4.14657775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.325779523 meters 0.01913843491881513 Centerline is valid? [True, True] Translation: X:75.37, Y:-11.27, Z:-4.15 [[ 9.68019498e-01 2.40600200e-01 7.10619052e-02 7.53740538e+01] [-2.40087393e-01 9.70622698e-01 -1.57994293e-02 -1.12685375e+01] [-7.27756440e-02 -1.76691193e-03 9.97346772e-01 -4.14506996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.385779523 meters 0.01776475157647506 Centerline is valid? [True, True] Translation: X:75.43, Y:-11.28, Z:-4.16 [[ 9.69010861e-01 2.37134297e-01 6.91756968e-02 7.54331509e+01] [-2.36639244e-01 9.71475778e-01 -1.53844193e-02 -1.12839191e+01] [-7.08506873e-02 -1.46201523e-03 9.97485861e-01 -4.15680901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.445779523 meters 0.017046959331660814 Centerline is valid? [True, True] Translation: X:75.49, Y:-11.30, Z:-4.16 [[ 9.69514607e-01 2.34522446e-01 7.09975266e-02 7.54912348e+01] [-2.33992576e-01 9.72109854e-01 -1.58084423e-02 -1.13032005e+01] [-7.27248297e-02 -1.28637835e-03 9.97351214e-01 -4.16375094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.505779523 meters 0.01641282954703717 Centerline is valid? [True, True] Translation: X:75.55, Y:-11.33, Z:-4.16 [[ 9.69958836e-01 2.31460990e-01 7.48710000e-02 7.55504708e+01] [-2.30861116e-01 9.72843568e-01 -1.66894502e-02 -1.13276894e+01] [-7.67007275e-02 -1.09672288e-03 9.97053557e-01 -4.15514747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56577952299999 meters 0.01786187878438004 Centerline is valid? [True, True] Translation: X:75.61, Y:-11.34, Z:-4.17 [[ 9.70861283e-01 2.28487651e-01 7.22617629e-02 7.56114499e+01] [-2.27919317e-01 9.73546471e-01 -1.61261852e-02 -1.13385833e+01] [-7.40348185e-02 -8.13562804e-04 9.97255325e-01 -4.16692927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62577952299999 meters 0.01478348887423172 Centerline is valid? [True, True] Translation: X:75.67, Y:-11.35, Z:-4.18 [[ 9.71931792e-01 2.23848763e-01 7.23900762e-02 7.56713273e+01] [-2.23265128e-01 9.74623786e-01 -1.61603963e-02 -1.13478026e+01] [-7.41705749e-02 -4.55376669e-04 9.97245466e-01 -4.17688174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.685779523 meters 0.014873582088450226 Centerline is valid? [True, True] Translation: X:75.73, Y:-11.38, Z:-4.17 [[ 9.74676653e-01 2.10960732e-01 7.41686652e-02 7.57296945e+01] [-2.10309330e-01 9.77494378e-01 -1.65748652e-02 -1.13787366e+01] [-7.59960990e-02 5.56771894e-04 9.97107960e-01 -4.17161569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.745779523 meters 0.01646774007375981 Centerline is valid? [True, True] Translation: X:75.79, Y:-11.39, Z:-4.18 [[ 9.76542339e-01 2.02671287e-01 7.27283287e-02 7.57894274e+01] [-2.02020423e-01 9.79246093e-01 -1.62738388e-02 -1.13914950e+01] [-7.45171715e-02 1.19948485e-03 9.97219009e-01 -4.18118064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.805779523 meters 0.02097651234008099 Centerline is valid? [True, True] Translation: X:75.85, Y:-11.41, Z:-4.19 [[ 9.78897710e-01 1.92261854e-01 6.92434366e-02 7.58478274e+01] [-1.91644668e-01 9.81341794e-01 -1.55114476e-02 -1.14074178e+01] [-7.09337379e-02 1.91398512e-03 9.97479194e-01 -4.19124140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.865779523 meters 0.02376995081785311 Centerline is valid? [True, True] Translation: X:75.90, Y:-11.43, Z:-4.19 [[ 9.80049946e-01 1.85934155e-01 7.02181813e-02 7.59045450e+01] [-1.85283090e-01 9.82559257e-01 -1.57315756e-02 -1.14294778e+01] [-7.19185613e-02 2.40748823e-03 9.97407602e-01 -4.19132768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92577952299999 meters 0.024062646215092597 Centerline is valid? [True, True] Translation: X:75.97, Y:-11.44, Z:-4.20 [[ 9.81764081e-01 1.76089087e-01 7.16374353e-02 7.59657774e+01] [-1.75384715e-01 9.84369035e-01 -1.60562740e-02 -1.14359860e+01] [-7.33450077e-02 3.19936186e-03 9.97301496e-01 -4.19719982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98577952299999 meters 0.0245952602530643 Centerline is valid? [True, True] Translation: X:76.02, Y:-11.45, Z:-4.20 [[ 9.82733642e-01 1.70375324e-01 7.21584249e-02 7.60249637e+01] [-1.69645091e-01 9.85372462e-01 -1.61757132e-02 -1.14522386e+01] [-7.38588672e-02 3.65509495e-03 9.97262006e-01 -4.19712740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.045779523 meters 0.026101830978239197 Centerline is valid? [True, True] Translation: X:76.08, Y:-11.46, Z:-4.20 [[ 9.82675602e-01 1.70104753e-01 7.35733266e-02 7.60845990e+01] [-1.69344709e-01 9.85418854e-01 -1.64939797e-02 -1.14645985e+01] [-7.53062475e-02 3.74897790e-03 9.97153406e-01 -4.19621755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.105779523 meters 0.026820939434961562 Centerline is valid? [True, True] Translation: X:76.15, Y:-11.47, Z:-4.21 [[ 9.82213989e-01 1.73205706e-01 7.24945709e-02 7.61458932e+01] [-1.72475077e-01 9.84879540e-01 -1.62677366e-02 -1.14676941e+01] [-7.42160845e-02 3.47489176e-03 9.97236129e-01 -4.20575438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.165779523 meters 0.024292163256048892 Centerline is valid? [True, True] Translation: X:76.21, Y:-11.47, Z:-4.21 [[ 9.81329140e-01 1.78640236e-01 7.12796266e-02 7.62063166e+01] [-1.77948005e-01 9.83909841e-01 -1.59978939e-02 -1.14728027e+01] [-7.29905936e-02 3.01513214e-03 9.97328072e-01 -4.21226774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.225779523 meters 0.023597606335212067 Centerline is valid? [True, True] Translation: X:76.27, Y:-11.48, Z:-4.21 [[ 9.80780977e-01 1.81962599e-01 7.04151032e-02 7.62663354e+01] [-1.81295591e-01 9.83301650e-01 -1.58042447e-02 -1.14842616e+01] [-7.21150686e-02 2.73455483e-03 9.97392570e-01 -4.21429838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28577952299999 meters 0.02349274021499199 Centerline is valid? [True, True] Translation: X:76.33, Y:-11.49, Z:-4.22 [[ 9.80740377e-01 1.82960504e-01 6.83649508e-02 7.63289677e+01] [-1.82334276e-01 9.83116871e-01 -1.53437087e-02 -1.14903797e+01] [-7.00180293e-02 2.58292085e-03 9.97542382e-01 -4.21884699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34577952299999 meters 0.021950788333725307 Centerline is valid? [True, True] Translation: X:76.39, Y:-11.49, Z:-4.22 [[ 9.80831460e-01 1.81948001e-01 6.97464864e-02 7.63920056e+01] [-1.81292145e-01 9.83304366e-01 -1.56742669e-02 -1.14917205e+01] [-7.14339261e-02 2.72932394e-03 9.97441600e-01 -4.22371356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40577952299999 meters 0.02299064017673143 Centerline is valid? [True, True] Translation: X:76.45, Y:-11.50, Z:-4.22 [[ 9.80785248e-01 1.81327349e-01 7.19770047e-02 7.64524270e+01] [-1.80625700e-01 9.83418569e-01 -1.61948979e-02 -1.15039784e+01] [-7.37201009e-02 2.88282012e-03 9.97274805e-01 -4.22479920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.465779523 meters 0.025288325872802327 Centerline is valid? [True, True] Translation: X:76.51, Y:-11.51, Z:-4.23 [[ 9.81724927e-01 1.76838509e-01 7.03157844e-02 7.65131927e+01] [-1.76156144e-01 9.84234798e-01 -1.58390722e-02 -1.15137647e+01] [-7.20081997e-02 3.16305453e-03 9.97399025e-01 -4.22734516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.525779523 meters 0.028442682616565126 Centerline is valid? [True, True] Translation: X:76.57, Y:-11.52, Z:-4.24 [[ 9.83418507e-01 1.68947787e-01 6.59142285e-02 7.65738075e+01] [-1.68330451e-01 9.85618758e-01 -1.48500253e-02 -1.15187210e+01] [-6.74751790e-02 3.50841791e-03 9.97714785e-01 -4.23995097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.585779523 meters 0.03273017787252516 Centerline is valid? [True, True] Translation: X:76.63, Y:-11.53, Z:-4.25 [[ 9.83870586e-01 1.66975510e-01 6.41704771e-02 7.66316828e+01] [-1.66386184e-01 9.85954659e-01 -1.44585151e-02 -1.15316418e+01] [-6.56833988e-02 3.54822696e-03 9.97834205e-01 -4.24988442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64577952299999 meters 0.027482705096004388 Centerline is valid? [True, True] Translation: X:76.69, Y:-11.53, Z:-4.25 [[ 9.83186508e-01 1.68403169e-01 7.06021440e-02 7.66949553e+01] [-1.67693250e-01 9.85710875e-01 -1.59073688e-02 -1.15311052e+01] [-7.22721524e-02 3.80040739e-03 9.97377708e-01 -4.24682162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70577952299999 meters 0.02960699776663199 Centerline is valid? [True, True] Translation: X:76.76, Y:-11.54, Z:-4.24 [[ 9.82670207e-01 1.69639509e-01 7.47107788e-02 7.67568422e+01] [-1.68847815e-01 9.85498354e-01 -1.68347772e-02 -1.15372619e+01] [-7.64831929e-02 3.92828223e-03 9.97063132e-01 -4.24490438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76577952299999 meters 0.02743078022279614 Centerline is valid? [True, True] Translation: X:76.82, Y:-11.54, Z:-4.25 [[ 9.82776964e-01 1.70008312e-01 7.24335114e-02 7.68199847e+01] [-1.69264059e-01 9.85435319e-01 -1.63374197e-02 -1.15424250e+01] [-7.41560375e-02 3.79564962e-03 9.97239427e-01 -4.25101638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.825779523 meters 0.02647581099673273 Centerline is valid? [True, True] Translation: X:76.88, Y:-11.54, Z:-4.26 [[ 9.82776492e-01 1.69788119e-01 7.29545204e-02 7.68832767e+01] [-1.69030894e-01 9.85473027e-01 -1.64763277e-02 -1.15435693e+01] [-7.46921968e-02 3.86097973e-03 9.97199162e-01 -4.25718184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.885779523 meters 0.026280669152448935 Centerline is valid? [True, True] Translation: X:76.95, Y:-11.54, Z:-4.26 [[ 9.83144771e-01 1.67302252e-01 7.37313740e-02 7.69458190e+01] [-1.66520289e-01 9.85897073e-01 -1.66720049e-02 -1.15425909e+01] [-7.54808097e-02 4.11322481e-03 9.97138771e-01 -4.26286277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.945779523 meters 0.030396679112087273 Centerline is valid? [True, True] Translation: X:77.01, Y:-11.55, Z:-4.27 [[ 9.83701393e-01 1.65099741e-01 7.12295279e-02 7.70054369e+01] [-1.64364004e-01 9.86268186e-01 -1.61102092e-02 -1.15510818e+01] [-7.29112087e-02 4.14006482e-03 9.97329843e-01 -4.27218039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.005779523 meters 0.031511811751883716 Centerline is valid? [True, True] Translation: X:77.07, Y:-11.56, Z:-4.27 [[ 9.83780439e-01 1.64215384e-01 7.21758703e-02 7.70662640e+01] [-1.63457584e-01 9.86415302e-01 -1.63239327e-02 -1.15631457e+01] [-7.38760237e-02 4.26147233e-03 9.97258328e-01 -4.27367873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06577952299999 meters 0.03154642993824074 Centerline is valid? [True, True] Translation: X:77.13, Y:-11.56, Z:-4.28 [[ 9.83123792e-01 1.66125501e-01 7.66154474e-02 7.71299525e+01] [-1.65275545e-01 9.86094832e-01 -1.73486882e-02 -1.15593033e+01] [-7.84321563e-02 4.39324836e-03 9.96909773e-01 -4.27669785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12577952299999 meters 0.025532278567060022 Centerline is valid? [True, True] Translation: X:77.19, Y:-11.55, Z:-4.29 [[ 9.82617520e-01 1.70129028e-01 7.42894516e-02 7.71928404e+01] [-1.69341177e-01 9.85413870e-01 -1.68246891e-02 -1.15530643e+01] [-7.60682240e-02 3.95197114e-03 9.97094783e-01 -4.28615496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.185779523 meters 0.023827761667262738 Centerline is valid? [True, True] Translation: X:77.25, Y:-11.56, Z:-4.29 [[ 9.81120853e-01 1.78683853e-01 7.39861671e-02 7.72529623e+01] [-1.77926632e-01 9.83901088e-01 -1.67559626e-02 -1.15602881e+01] [-7.57890903e-02 3.27551487e-03 9.97118491e-01 -4.28830869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.245779523 meters 0.02009381552313107 Centerline is valid? [True, True] Translation: X:77.32, Y:-11.55, Z:-4.29 [[ 9.78879028e-01 1.89336896e-01 7.71193079e-02 7.73170231e+01] [-1.88546892e-01 9.81908857e-01 -1.74661428e-02 -1.15520571e+01] [-7.90311167e-02 2.55663507e-03 9.96868871e-01 -4.28970605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.305779523 meters 0.017488463723406743 Centerline is valid? [True, True] Translation: X:77.38, Y:-11.55, Z:-4.30 [[ 9.77319619e-01 1.98236708e-01 7.44887240e-02 7.73794883e+01] [-1.97525503e-01 9.80152569e-01 -1.68705915e-02 -1.15477182e+01] [-7.63546847e-02 1.77453736e-03 9.97079141e-01 -4.30003241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.365779523 meters 0.01473714399068462 Centerline is valid? [True, True] Translation: X:77.44, Y:-11.55, Z:-4.30 [[ 9.74478970e-01 2.11966161e-01 7.38991475e-02 7.74395618e+01] [-2.11305372e-01 9.77276758e-01 -1.67385060e-02 -1.15547992e+01] [-7.57679162e-02 6.96035249e-04 9.97125237e-01 -4.30374617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42577952299999 meters 0.01396443069448446 Centerline is valid? [True, True] Translation: X:77.50, Y:-11.55, Z:-4.31 [[ 9.71767306e-01 2.23390440e-01 7.59276982e-02 7.75034695e+01] [-2.22727609e-01 9.74729025e-01 -1.71971063e-02 -1.15513360e+01] [-7.78506003e-02 -1.99609018e-04 9.96965017e-01 -4.30798289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48577952299999 meters 0.014628624255560635 Centerline is valid? [True, True] Translation: X:77.57, Y:-11.55, Z:-4.32 [[ 9.70546130e-01 2.28911140e-01 7.50992672e-02 7.75655437e+01] [-2.28277744e-01 9.73447127e-01 -1.70282775e-02 -1.15524259e+01] [-7.70031284e-02 -6.16762510e-04 9.97030660e-01 -4.31715252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.545779523 meters 0.01488131334014573 Centerline is valid? [True, True] Translation: X:77.62, Y:-11.57, Z:-4.32 [[ 9.69773675e-01 2.33269849e-01 7.15834941e-02 7.76245283e+01] [-2.32705148e-01 9.72411622e-01 -1.62465576e-02 -1.15743731e+01] [-7.33984537e-02 -9.02363664e-04 9.97302288e-01 -4.32116936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.605779523 meters 0.015274633924828642 Centerline is valid? [True, True] Translation: X:77.68, Y:-11.59, Z:-4.33 [[ 9.69137687e-01 2.35387481e-01 7.32453175e-02 7.76846669e+01] [-2.34800785e-01 9.71901020e-01 -1.66432868e-02 -1.15872498e+01] [-7.51048201e-02 -1.06842159e-03 9.97175072e-01 -4.32747477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.665779523 meters 0.018467735430674953 Centerline is valid? [True, True] Translation: X:77.75, Y:-11.60, Z:-4.34 [[ 9.68816038e-01 2.36193665e-01 7.48868335e-02 7.77459673e+01] [-2.35581206e-01 9.71705336e-01 -1.70363002e-02 -1.15968872e+01] [-7.67918019e-02 -1.13688968e-03 9.97046502e-01 -4.33687457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.725779523 meters 0.0177533514910461 Centerline is valid? [True, True] Translation: X:77.80, Y:-11.62, Z:-4.34 [[ 9.68312704e-01 2.38448608e-01 7.42480262e-02 7.78041617e+01] [-2.37852160e-01 9.71154258e-01 -1.69043242e-02 -1.16178157e+01] [-7.61370994e-02 -1.29138160e-03 9.97096522e-01 -4.33915423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78577952299999 meters 0.016333318660042867 Centerline is valid? [True, True] Translation: X:77.86, Y:-11.64, Z:-4.34 [[ 9.68338637e-01 2.39184278e-01 7.14924181e-02 7.78617351e+01] [-2.38632152e-01 9.70973344e-01 -1.62930012e-02 -1.16420386e+01] [-7.33142620e-02 -1.28324701e-03 9.97308063e-01 -4.34379822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84577952299999 meters 0.016490871343589383 Centerline is valid? [True, True] Translation: X:77.92, Y:-11.65, Z:-4.35 [[ 9.67998051e-01 2.39151256e-01 7.60687191e-02 7.79220104e+01] [-2.38524396e-01 9.70981396e-01 -1.73562786e-02 -1.16541940e+01] [-7.80120869e-02 -1.34340138e-03 9.96951508e-01 -4.34857760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90577952299999 meters 0.015039769752095774 Centerline is valid? [True, True] Translation: X:77.98, Y:-11.68, Z:-4.35 [[ 9.68273231e-01 2.37763531e-01 7.69119911e-02 7.79802321e+01] [-2.37116790e-01 9.71322294e-01 -1.75678460e-02 -1.16779738e+01] [-7.88833247e-02 -1.22664944e-03 9.96883101e-01 -4.35070146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.965779523 meters 0.01391230900995175 Centerline is valid? [True, True] Translation: X:78.04, Y:-11.71, Z:-4.35 [[ 9.69645530e-01 2.32910625e-01 7.44324321e-02 7.80368164e+01] [-2.32289235e-01 9.72497827e-01 -1.70202395e-02 -1.17092690e+01] [-7.63495731e-02 -7.86253534e-04 9.97080801e-01 -4.35457746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.025779523 meters 0.013029120670829791 Centerline is valid? [True, True] Translation: X:78.10, Y:-11.73, Z:-4.36 [[ 9.71465471e-01 2.24924437e-01 7.52584640e-02 7.80950605e+01] [-2.24263603e-01 9.74376200e-01 -1.72295743e-02 -1.17335500e+01] [-7.72054084e-02 -1.39797735e-04 9.97015198e-01 -4.36318538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.085779523 meters 0.012874711501268945 Centerline is valid? [True, True] Translation: X:78.15, Y:-11.75, Z:-4.36 [[ 9.71599229e-01 2.23498029e-01 7.77403912e-02 7.81535296e+01] [-2.22787671e-01 9.74704381e-01 -1.78051348e-02 -1.17515993e+01] [-7.97533124e-02 -2.01454619e-05 9.96814631e-01 -4.36477346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14577952299999 meters 0.012863430103716676 Centerline is valid? [True, True] Translation: X:78.21, Y:-11.78, Z:-4.36 [[ 9.71749968e-01 2.22870236e-01 7.76585987e-02 7.82124495e+01] [-2.22158503e-01 9.74848119e-01 -1.77972863e-02 -1.17753200e+01] [-7.96718243e-02 4.19942730e-05 9.96821147e-01 -4.36455631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20577952299999 meters 0.012926807975599398 Centerline is valid? [True, True] Translation: X:78.27, Y:-11.79, Z:-4.37 [[ 9.72053430e-01 2.22709766e-01 7.42461453e-02 7.82713371e+01] [-2.22057143e-01 9.74884790e-01 -1.70373409e-02 -1.17921088e+01] [-7.61758200e-02 7.43187603e-05 9.97094398e-01 -4.37279189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26577952299999 meters 0.013127063414008686 Centerline is valid? [True, True] Translation: X:78.33, Y:-11.81, Z:-4.38 [[ 9.73021484e-01 2.19818635e-01 7.00639685e-02 7.83302339e+01] [-2.19229455e-01 9.75540713e-01 -1.60861265e-02 -1.18109272e+01] [-7.18862842e-02 2.92060973e-04 9.97412792e-01 -4.38478781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.325779523 meters 0.018000482386640586 Centerline is valid? [True, True] Translation: X:78.39, Y:-11.85, Z:-4.39 [[ 9.75384371e-01 2.09381903e-01 6.91704255e-02 7.83860917e+01] [-2.08779998e-01 9.77833359e-01 -1.59007595e-02 -1.18454709e+01] [-7.09664808e-02 1.06795096e-03 9.97478129e-01 -4.38640823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.385779523 meters 0.01764602722945925 Centerline is valid? [True, True] Translation: X:78.44, Y:-11.87, Z:-4.39 [[ 9.77293862e-01 1.97474352e-01 7.68152873e-02 7.84440044e+01] [-1.96694487e-01 9.80305686e-01 -1.76646587e-02 -1.18674706e+01] [-7.87907800e-02 2.15441898e-03 9.96888846e-01 -4.38743742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.445779523 meters 0.019062014409712374 Centerline is valid? [True, True] Translation: X:78.50, Y:-11.88, Z:-4.39 [[ 9.78409927e-01 1.90690556e-01 7.96939554e-02 7.85035262e+01] [-1.89828272e-01 9.81646188e-01 -1.83300161e-02 -1.18805841e+01] [-8.17266285e-02 2.80610393e-03 9.96650834e-01 -4.39443874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.505779523 meters 0.022487294142977548 Centerline is valid? [True, True] Translation: X:78.56, Y:-11.91, Z:-4.40 [[ 9.80439289e-01 1.81873825e-01 7.52377042e-02 7.85580647e+01] [-1.81079329e-01 9.83316186e-01 -1.73076465e-02 -1.19148177e+01] [-7.71302602e-02 3.34510367e-03 9.97015413e-01 -4.39734874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56577952299999 meters 0.024241389792529613 Centerline is valid? [True, True] Translation: X:78.62, Y:-11.93, Z:-4.40 [[ 9.81332737e-01 1.77516381e-01 7.39864391e-02 7.86174178e+01] [-1.76735499e-01 9.84111152e-01 -1.70236412e-02 -1.19303228e+01] [-7.58328550e-02 3.62982613e-03 9.97113937e-01 -4.40152846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62577952299999 meters 0.025227728907816275 Centerline is valid? [True, True] Translation: X:78.68, Y:-11.93, Z:-4.41 [[ 9.80929083e-01 1.79017278e-01 7.57030218e-02 7.86802356e+01] [-1.78203958e-01 9.83839352e-01 -1.74206754e-02 -1.19312812e+01] [-7.75982137e-02 3.59786910e-03 9.96978221e-01 -4.41309738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.685779523 meters 0.023417772259571534 Centerline is valid? [True, True] Translation: X:78.74, Y:-11.96, Z:-4.41 [[ 9.79639433e-01 1.85627613e-01 7.64785640e-02 7.87360552e+01] [-1.84815950e-01 9.82615192e-01 -1.76195904e-02 -1.19590356e+01] [-7.84196813e-02 3.12638710e-03 9.96915533e-01 -4.40884970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.745779523 meters 0.018596886897643015 Centerline is valid? [True, True] Translation: X:78.80, Y:-11.96, Z:-4.42 [[ 9.77768036e-01 1.96394349e-01 7.34773985e-02 7.87982045e+01] [-1.95675492e-01 9.80522581e-01 -1.69283730e-02 -1.19578912e+01] [-7.53708853e-02 2.17429598e-03 9.97153199e-01 -4.41861434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.805779523 meters 0.014606458807195032 Centerline is valid? [True, True] Translation: X:78.86, Y:-11.94, Z:-4.43 [[ 9.74987829e-01 2.09254421e-01 7.49087446e-02 7.88628772e+01] [-2.08544893e-01 9.77860487e-01 -1.72596233e-02 -1.19444693e+01] [-7.68619539e-02 1.20608649e-03 9.97041015e-01 -4.43114628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.865779523 meters 0.013852375123381009 Centerline is valid? [True, True] Translation: X:78.92, Y:-11.97, Z:-4.43 [[ 9.74008890e-01 2.13977264e-01 7.42994790e-02 7.89206323e+01] [-2.13292919e-01 9.76838291e-01 -1.71196998e-02 -1.19709029e+01] [-7.62418026e-02 8.27186991e-04 9.97089015e-01 -4.42732599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92577952299999 meters 0.01372751444379487 Centerline is valid? [True, True] Translation: X:78.98, Y:-11.98, Z:-4.43 [[ 9.73378706e-01 2.15078050e-01 7.92169601e-02 7.89811416e+01] [-2.14301795e-01 9.76596525e-01 -1.82747832e-02 -1.19825271e+01] [-8.12935127e-02 8.11948052e-04 9.96689874e-01 -4.42615312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98577952299999 meters 0.01352255487679616 Centerline is valid? [True, True] Translation: X:79.04, Y:-11.98, Z:-4.45 [[ 9.73155119e-01 2.17024878e-01 7.66114661e-02 7.90436838e+01] [-2.16303537e-01 9.76165860e-01 -1.76916298e-02 -1.19787986e+01] [-7.86250214e-02 6.45368968e-04 9.96904052e-01 -4.44511039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.045779523 meters 0.013496355378741798 Centerline is valid? [True, True] Translation: X:79.10, Y:-12.01, Z:-4.45 [[ 9.73487961e-01 2.18014859e-01 6.92149573e-02 7.91000863e+01] [-2.17428213e-01 9.75945313e-01 -1.59912166e-02 -1.20117132e+01] [-7.10363359e-02 5.17972395e-04 9.97473594e-01 -4.44528766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.105779523 meters 0.013415446315675372 Centerline is valid? [True, True] Translation: X:79.16, Y:-12.02, Z:-4.45 [[ 9.73045521e-01 2.19637000e-01 7.02993740e-02 7.91597558e+01] [-2.19034667e-01 9.75581574e-01 -1.62605794e-02 -1.20226173e+01] [-7.21541988e-02 4.24284007e-04 9.97393399e-01 -4.45062525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.165779523 meters 0.012700605317149538 Centerline is valid? [True, True] Translation: X:79.22, Y:-12.02, Z:-4.46 [[ 9.71450146e-01 2.24081679e-01 7.79231377e-02 7.92238154e+01] [-2.23353997e-01 9.74570359e-01 -1.80445727e-02 -1.20200262e+01] [-7.99850384e-02 1.24958534e-04 9.96796056e-01 -4.45683311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.225779523 meters 0.012871829091850636 Centerline is valid? [True, True] Translation: X:79.28, Y:-12.05, Z:-4.46 [[ 9.71264974e-01 2.26301921e-01 7.37006797e-02 7.92806911e+01] [-2.25656100e-01 9.74057205e-01 -1.70846614e-02 -1.20521162e+01] [-7.56549698e-02 -3.72747423e-05 9.97134055e-01 -4.45759794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28577952299999 meters 0.012868949760138991 Centerline is valid? [True, True] Translation: X:79.34, Y:-12.06, Z:-4.47 [[ 9.71218273e-01 2.26708396e-01 7.30641414e-02 7.93418412e+01] [-2.26073483e-01 9.73962679e-01 -1.69552268e-02 -1.20627729e+01] [-7.50056392e-02 -5.06388011e-05 9.97183108e-01 -4.46724972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34577952299999 meters 0.012832552049099298 Centerline is valid? [True, True] Translation: X:79.40, Y:-12.07, Z:-4.47 [[ 9.70524043e-01 2.28946080e-01 7.52779760e-02 7.94026690e+01] [-2.28276993e-01 9.73439083e-01 -1.74918663e-02 -1.20734138e+01] [-7.72832182e-02 -2.07953219e-04 9.97009158e-01 -4.47369639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40577952299999 meters 0.013131176469743253 Centerline is valid? [True, True] Translation: X:79.46, Y:-12.10, Z:-4.47 [[ 9.69418552e-01 2.33240104e-01 7.63329871e-02 7.94603063e+01] [-2.32563835e-01 9.72419027e-01 -1.77566639e-02 -1.21004290e+01] [-7.83692152e-02 -5.38652840e-04 9.96924258e-01 -4.47120717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.465779523 meters 0.013895823019935562 Centerline is valid? [True, True] Translation: X:79.52, Y:-12.11, Z:-4.48 [[ 9.68332814e-01 2.38272988e-01 7.45489395e-02 7.95204025e+01] [-2.37641401e-01 9.71197799e-01 -1.73608819e-02 -1.21136629e+01] [-7.65383952e-02 -9.04802776e-04 9.97066224e-01 -4.47991315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.525779523 meters 0.014587612186411102 Centerline is valid? [True, True] Translation: X:79.58, Y:-12.13, Z:-4.48 [[ 9.67459168e-01 2.41354284e-01 7.59662232e-02 7.95796187e+01] [-2.40706310e-01 9.70436389e-01 -1.77112011e-02 -1.21314302e+01] [-7.79950616e-02 -1.15068538e-03 9.96953081e-01 -4.48475232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.585779523 meters 0.01794794964451108 Centerline is valid? [True, True] Translation: X:79.64, Y:-12.15, Z:-4.49 [[ 9.67128828e-01 2.42540991e-01 7.63917445e-02 7.96382830e+01] [-2.41887858e-01 9.70140374e-01 -1.78302924e-02 -1.21526359e+01] [-7.84352923e-02 -1.23404563e-03 9.96918443e-01 -4.49085367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64577952299999 meters 0.017164513694314574 Centerline is valid? [True, True] Translation: X:79.70, Y:-12.17, Z:-4.50 [[ 9.66693593e-01 2.45812245e-01 7.12729771e-02 7.96964479e+01] [-2.45251372e-01 9.69316477e-01 -1.66532771e-02 -1.21716503e+01] [-7.31796505e-02 -1.38117914e-03 9.97317819e-01 -4.49945867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70577952299999 meters 0.01860015128132693 Centerline is valid? [True, True] Translation: X:79.75, Y:-12.20, Z:-4.50 [[ 9.65787155e-01 2.48710274e-01 7.34736081e-02 7.97541510e+01] [-2.48121165e-01 9.68576551e-01 -1.71858379e-02 -1.21978343e+01] [-7.54391084e-02 -1.63249573e-03 9.97149074e-01 -4.50141314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76577952299999 meters 0.01680364832742453 Centerline is valid? [True, True] Translation: X:79.82, Y:-12.22, Z:-4.50 [[ 9.65029760e-01 2.50028407e-01 7.87613963e-02 7.98151354e+01] [-2.49353921e-01 9.68236754e-01 -1.84448015e-02 -1.22166150e+01] [-8.08714030e-02 -1.83968058e-03 9.96722846e-01 -4.49934266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.825779523 meters 0.01861800432936143 Centerline is valid? [True, True] Translation: X:79.87, Y:-12.24, Z:-4.51 [[ 9.65617367e-01 2.48998372e-01 7.47188866e-02 7.98709415e+01] [-2.48386692e-01 9.68502511e-01 -1.75196053e-02 -1.22416315e+01] [-7.67277825e-02 -1.64194196e-03 9.97050727e-01 -4.51073555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.885779523 meters 0.016570081981737903 Centerline is valid? [True, True] Translation: X:79.93, Y:-12.27, Z:-4.51 [[ 9.65581117e-01 2.49932102e-01 7.20211780e-02 7.99287389e+01] [-2.49365215e-01 9.68261980e-01 -1.69034856e-02 -1.22665759e+01] [-7.39600920e-02 -1.63789005e-03 9.97259857e-01 -4.51474434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.945779523 meters 0.01623124086141214 Centerline is valid? [True, True] Translation: X:79.99, Y:-12.29, Z:-4.52 [[ 9.65935259e-01 2.48302019e-01 7.29053040e-02 7.99862117e+01] [-2.47715013e-01 9.68681485e-01 -1.71304903e-02 -1.22923887e+01] [-7.48755534e-02 -1.51279378e-03 9.97191738e-01 -4.51835642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.005779523 meters 0.01631385284292408 Centerline is valid? [True, True] Translation: X:80.04, Y:-12.31, Z:-4.52 [[ 9.66076544e-01 2.46964735e-01 7.55283432e-02 8.00446607e+01] [-2.46328981e-01 9.69023398e-01 -1.77675818e-02 -1.23100440e+01] [-7.75766979e-02 -1.43997579e-03 9.96985347e-01 -4.52428171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06577952299999 meters 0.016237804323312104 Centerline is valid? [True, True] Translation: X:80.10, Y:-12.34, Z:-4.53 [[ 9.66333283e-01 2.46151478e-01 7.48961677e-02 8.01015593e+01] [-2.45522519e-01 9.69230436e-01 -1.76367109e-02 -1.23413803e+01] [-7.69329478e-02 -1.34575506e-03 9.97035361e-01 -4.52552951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12577952299999 meters 0.01597935488792366 Centerline is valid? [True, True] Translation: X:80.16, Y:-12.36, Z:-4.53 [[ 9.66975714e-01 2.44384619e-01 7.23472579e-02 8.01583991e+01] [-2.43791526e-01 9.69677701e-01 -1.70542772e-02 -1.23642299e+01] [-7.43213257e-02 -1.14657656e-03 9.97233687e-01 -4.53160837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.185779523 meters 0.014563949758457448 Centerline is valid? [True, True] Translation: X:80.22, Y:-12.39, Z:-4.54 [[ 9.68405386e-01 2.38467235e-01 7.29683949e-02 8.02160796e+01] [-2.37845834e-01 9.71150304e-01 -1.72176017e-02 -1.23888712e+01] [-7.49691128e-02 -6.81610598e-04 9.97185623e-01 -4.53997211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.245779523 meters 0.013848993437492598 Centerline is valid? [True, True] Translation: X:80.27, Y:-12.42, Z:-4.54 [[ 9.70333308e-01 2.29985237e-01 7.45658262e-02 8.02718844e+01] [-2.29309768e-01 9.73194118e-01 -1.76136177e-02 -1.24219479e+01] [-7.66178955e-02 -7.59236333e-06 9.97060529e-01 -4.53958306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.305779523 meters 0.014535078062449795 Centerline is valid? [True, True] Translation: X:80.33, Y:-12.45, Z:-4.54 [[ 9.71960101e-01 2.23659545e-01 7.25945637e-02 8.03292910e+01] [-2.23000401e-01 9.74667206e-01 -1.71656311e-02 -1.24488505e+01] [-7.45947978e-02 4.95691681e-04 9.97213804e-01 -4.54412788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.365779523 meters 0.014308251158065322 Centerline is valid? [True, True] Translation: X:80.39, Y:-12.46, Z:-4.55 [[ 9.71594996e-01 2.25250592e-01 7.25626195e-02 8.03887928e+01] [-2.24595064e-01 9.74300784e-01 -1.71767208e-02 -1.24587338e+01] [-7.45668836e-02 3.91609839e-04 9.97215938e-01 -4.55314757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42577952299999 meters 0.01463585754937078 Centerline is valid? [True, True] Translation: X:80.45, Y:-12.47, Z:-4.56 [[ 9.72306889e-01 2.21474473e-01 7.46215224e-02 8.04488664e+01] [-2.20769276e-01 9.75165911e-01 -1.76741028e-02 -1.24743694e+01] [-7.66827275e-02 7.10512507e-04 9.97055292e-01 -4.55584944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48577952299999 meters 0.01744178973536037 Centerline is valid? [True, True] Translation: X:80.51, Y:-12.50, Z:-4.56 [[ 9.73887374e-01 2.14570678e-01 7.41809087e-02 8.05055003e+01] [-2.13852250e-01 9.76707643e-01 -1.75896425e-02 -1.24986135e+01] [-7.62272821e-02 1.26657655e-03 9.97089664e-01 -4.55684932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.545779523 meters 0.017670043696509298 Centerline is valid? [True, True] Translation: X:80.57, Y:-12.51, Z:-4.57 [[ 9.75196243e-01 2.09813596e-01 7.05020722e-02 8.05654597e+01] [-2.09151942e-01 9.77740157e-01 -1.67227713e-02 -1.25082538e+01] [-7.24413719e-02 1.56233837e-03 9.97371449e-01 -4.56520972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.605779523 meters 0.02106983309556359 Centerline is valid? [True, True] Translation: X:80.63, Y:-12.52, Z:-4.58 [[ 9.76105437e-01 2.06283242e-01 6.83037311e-02 8.06255291e+01] [-2.05652495e-01 9.78490697e-01 -1.62174765e-02 -1.25220793e+01] [-7.01799591e-02 1.78313427e-03 9.97532753e-01 -4.57656835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.665779523 meters 0.02196574654080703 Centerline is valid? [True, True] Translation: X:80.68, Y:-12.54, Z:-4.58 [[ 9.77510069e-01 1.99557710e-01 6.81966679e-02 8.06831784e+01] [-1.98912191e-01 9.79883450e-01 -1.61976906e-02 -1.25398818e+01] [-7.00571602e-02 2.26825710e-03 9.97540400e-01 -4.57910658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.725779523 meters 0.025708298744565428 Centerline is valid? [True, True] Translation: X:80.74, Y:-12.56, Z:-4.58 [[ 9.78638448e-01 1.91673415e-01 7.43511337e-02 8.07412733e+01] [-1.90883149e-01 9.81453897e-01 -1.76598680e-02 -1.25572252e+01] [-7.63571372e-02 3.09024727e-03 9.97075743e-01 -4.57750016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78577952299999 meters 0.028603790326229325 Centerline is valid? [True, True] Translation: X:80.80, Y:-12.57, Z:-4.58 [[ 9.79124219e-01 1.88093149e-01 7.70501909e-02 8.08002826e+01] [-1.87233248e-01 9.82144982e-01 -1.83015142e-02 -1.25718442e+01] [-7.91168478e-02 3.49309835e-03 9.96859229e-01 -4.57981620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84577952299999 meters 0.024158347864106162 Centerline is valid? [True, True] Translation: X:80.86, Y:-12.58, Z:-4.59 [[ 9.79080366e-01 1.90684023e-01 7.10016958e-02 8.08630311e+01] [-1.89960164e-01 9.81646780e-01 -1.68741032e-02 -1.25765197e+01] [-7.29162079e-02 3.03360932e-03 9.97333457e-01 -4.58641857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90577952299999 meters 0.024529006495572915 Centerline is valid? [True, True] Translation: X:80.92, Y:-12.58, Z:-4.60 [[ 9.78329100e-01 1.95540193e-01 6.80896785e-02 8.09237540e+01] [-1.94885854e-01 9.80692326e-01 -1.61884234e-02 -1.25847510e+01] [-6.99405127e-02 2.56789056e-03 9.97547859e-01 -4.59510402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.965779523 meters 0.01905161134654153 Centerline is valid? [True, True] Translation: X:80.99, Y:-12.59, Z:-4.60 [[ 9.76746378e-01 2.03746408e-01 6.67376485e-02 8.09857846e+01] [-2.03136715e-01 9.79021768e-01 -1.58698735e-02 -1.25860230e+01] [-6.85710404e-02 1.94397478e-03 9.97644342e-01 -4.59980590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.025779523 meters 0.017843645060247795 Centerline is valid? [True, True] Translation: X:81.05, Y:-12.59, Z:-4.60 [[ 9.75077965e-01 2.10171817e-01 7.10687707e-02 8.10462590e+01] [-2.09497129e-01 9.77663169e-01 -1.69020885e-02 -1.25923033e+01] [-7.30336622e-02 1.59215065e-03 9.97328205e-01 -4.60338906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.085779523 meters 0.016072455392008984 Centerline is valid? [True, True] Translation: X:81.11, Y:-12.60, Z:-4.60 [[ 9.73555691e-01 2.16187569e-01 7.38393691e-02 8.11077554e+01] [-2.15476357e-01 9.76351129e-01 -1.75616707e-02 -1.26016530e+01] [-7.58897663e-02 1.18662616e-03 9.97115508e-01 -4.59998551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14577952299999 meters 0.015405371817828252 Centerline is valid? [True, True] Translation: X:81.17, Y:-12.61, Z:-4.61 [[ 9.72667572e-01 2.21139709e-01 7.08168337e-02 8.11696099e+01] [-2.20498424e-01 9.75241834e-01 -1.68466877e-02 -1.26090401e+01] [-7.27890104e-02 7.71226598e-04 9.97347064e-01 -4.60896829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20577952299999 meters 0.01466601185514716 Centerline is valid? [True, True] Translation: X:81.23, Y:-12.61, Z:-4.62 [[ 9.71207100e-01 2.28870486e-01 6.61443069e-02 8.12317863e+01] [-2.28328004e-01 9.73456862e-01 -1.57499128e-02 -1.26137989e+01] [-6.79933196e-02 1.93829536e-04 9.97685758e-01 -4.62229315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26577952299999 meters 0.014461601453321189 Centerline is valid? [True, True] Translation: X:81.29, Y:-12.62, Z:-4.63 [[ 9.70025239e-01 2.33667004e-01 6.67140628e-02 8.12921502e+01] [-2.33125040e-01 9.72316675e-01 -1.59059572e-02 -1.26239174e+01] [-6.85838931e-02 -1.23538615e-04 9.97645345e-01 -4.62830273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.325779523 meters 0.017944355975038316 Centerline is valid? [True, True] Translation: X:81.35, Y:-12.63, Z:-4.63 [[ 9.68698853e-01 2.37931407e-01 7.07896733e-02 8.13540951e+01] [-2.37331193e-01 9.71281863e-01 -1.68952031e-02 -1.26330691e+01] [-7.27766252e-02 -4.34233737e-04 9.97348171e-01 -4.62843501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.385779523 meters 0.014678402996142224 Centerline is valid? [True, True] Translation: X:81.42, Y:-12.65, Z:-4.63 [[ 9.67900034e-01 2.40692585e-01 7.23643854e-02 8.14161778e+01] [-2.40071699e-01 9.70601191e-01 -1.72889453e-02 -1.26468266e+01] [-7.43982796e-02 -6.38670232e-04 9.97228403e-01 -4.62722578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.445779523 meters 0.01574196088715615 Centerline is valid? [True, True] Translation: X:81.48, Y:-12.66, Z:-4.64 [[ 9.66403119e-01 2.47668569e-01 6.87407583e-02 8.14765581e+01] [-2.47124501e-01 9.68844197e-01 -1.64439179e-02 -1.26566802e+01] [-7.06717264e-02 -1.09607210e-03 9.97499025e-01 -4.63562464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50577952299999 meters 0.016697128297572496 Centerline is valid? [True, True] Translation: X:81.54, Y:-12.67, Z:-4.65 [[ 9.65475654e-01 2.51622506e-01 6.74008554e-02 8.15378632e+01] [-2.51108477e-01 9.67824515e-01 -1.61319769e-02 -1.26654131e+01] [-6.92913687e-02 -1.34989520e-03 9.97595551e-01 -4.64555295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56577952299999 meters 0.016777099900959404 Centerline is valid? [True, True] Translation: X:81.60, Y:-12.68, Z:-4.65 [[ 9.65861571e-01 2.49789330e-01 6.86783487e-02 8.15964993e+01] [-2.49250730e-01 9.68299415e-01 -1.64412889e-02 -1.26838327e+01] [-7.06080634e-02 -1.23811941e-03 9.97503368e-01 -4.64892851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62577952299999 meters 0.016763140513684566 Centerline is valid? [True, True] Translation: X:81.66, Y:-12.70, Z:-4.65 [[ 9.65468426e-01 2.50204589e-01 7.25836216e-02 8.16572471e+01] [-2.49602713e-01 9.68192085e-01 -1.73946124e-02 -1.26983245e+01] [-7.46270998e-02 -1.32311982e-03 9.97210632e-01 -4.64958966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.685779523 meters 0.019565142028971035 Centerline is valid? [True, True] Translation: X:81.72, Y:-12.72, Z:-4.66 [[ 9.65587957e-01 2.50311786e-01 7.05967930e-02 8.17168630e+01] [-2.49741486e-01 9.68164436e-01 -1.69355850e-02 -1.27162958e+01] [-7.25884809e-02 -1.27815107e-03 9.97361158e-01 -4.65518112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.745779523 meters 0.016109200389490458 Centerline is valid? [True, True] Translation: X:81.77, Y:-12.74, Z:-4.66 [[ 9.66231979e-01 2.48049174e-01 6.97665478e-02 8.17747477e+01] [-2.47485039e-01 9.68746843e-01 -1.67543740e-02 -1.27367766e+01] [-7.17420316e-02 -1.07756483e-03 9.97422638e-01 -4.65669857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.805779523 meters 0.015595989273329341 Centerline is valid? [True, True] Translation: X:81.83, Y:-12.75, Z:-4.67 [[ 9.66958002e-01 2.44773212e-01 7.12621679e-02 8.18337155e+01] [-2.44174456e-01 9.69580000e-01 -1.71306489e-02 -1.27520895e+01] [-7.32874967e-02 -8.35783065e-04 9.97310505e-01 -4.66740101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.865779523 meters 0.015389111426528898 Centerline is valid? [True, True] Translation: X:81.89, Y:-12.77, Z:-4.67 [[ 9.67043721e-01 2.44133896e-01 7.22847271e-02 8.18936927e+01] [-2.43514663e-01 9.69741219e-01 -1.73947600e-02 -1.27666758e+01] [-7.43441298e-02 -7.80897561e-04 9.97232340e-01 -4.67324737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92577952299999 meters 0.015118310629929448 Centerline is valid? [True, True] Translation: X:81.95, Y:-12.79, Z:-4.67 [[ 9.67623600e-01 2.41933249e-01 7.19226747e-02 8.19522875e+01] [-2.41312827e-01 9.70292715e-01 -1.73253203e-02 -1.27899825e+01] [-7.39776183e-02 -5.91475155e-04 9.97259727e-01 -4.67331735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98577952299999 meters 0.014788864705884797 Centerline is valid? [True, True] Translation: X:82.01, Y:-12.81, Z:-4.67 [[ 9.68421100e-01 2.38684492e-01 7.20436454e-02 8.20109720e+01] [-2.38051669e-01 9.71097115e-01 -1.73722825e-02 -1.28102157e+01] [-7.41078706e-02 -3.26425031e-04 9.97250178e-01 -4.67408136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.045779523 meters 0.014897054030555015 Centerline is valid? [True, True] Translation: X:82.07, Y:-12.83, Z:-4.68 [[ 9.70027460e-01 2.31743617e-01 7.30864112e-02 8.20692257e+01] [-2.31071210e-01 9.72776873e-01 -1.76422944e-02 -1.28288137e+01] [-7.51852597e-02 2.25344582e-04 9.97169557e-01 -4.68370782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.105779523 meters 0.015986367123907327 Centerline is valid? [True, True] Translation: X:82.13, Y:-12.85, Z:-4.69 [[ 9.71895209e-01 2.24252029e-01 7.16291129e-02 8.21271338e+01] [-2.23584587e-01 9.74530850e-01 -1.73076517e-02 -1.28509362e+01] [-7.36860563e-02 8.06058218e-04 9.97281162e-01 -4.69187988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.165779523 meters 0.018219077158593912 Centerline is valid? [True, True] Translation: X:82.19, Y:-12.87, Z:-4.70 [[ 9.73112865e-01 2.18864948e-01 7.17599226e-02 8.21850178e+01] [-2.18179055e-01 9.75754380e-01 -1.73576947e-02 -1.28705921e+01] [-7.38190497e-02 1.23448394e-03 9.97270888e-01 -4.69885396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.225779523 meters 0.02098863567231774 Centerline is valid? [True, True] Translation: X:82.24, Y:-12.90, Z:-4.70 [[ 9.75061391e-01 2.09306406e-01 7.37977862e-02 8.22414528e+01] [-2.08552127e-01 9.77847992e-01 -1.78693936e-02 -1.28969244e+01] [-7.59031956e-02 2.03307047e-03 9.97113119e-01 -4.69698822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28577952299999 meters 0.022577472659278175 Centerline is valid? [True, True] Translation: X:82.30, Y:-12.92, Z:-4.70 [[ 9.76515462e-01 2.01719186e-01 7.56764287e-02 8.22996418e+01] [-2.00903036e-01 9.79439698e-01 -1.83261517e-02 -1.29150613e+01] [-7.78172349e-02 2.69214618e-03 9.96964007e-01 -4.69959677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34577952299999 meters 0.023361007403615325 Centerline is valid? [True, True] Translation: X:82.36, Y:-12.93, Z:-4.71 [[ 9.77509802e-01 1.97117863e-01 7.49608920e-02 8.23595521e+01] [-1.96303447e-01 9.80375111e-01 -1.81548527e-02 -1.29255139e+01] [-7.70684386e-02 3.03146497e-03 9.97021196e-01 -4.70957505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40577952299999 meters 0.02765542888146716 Centerline is valid? [True, True] Translation: X:82.42, Y:-12.94, Z:-4.72 [[ 9.78371477e-01 1.93800563e-01 7.23228570e-02 8.24169627e+01] [-1.93033370e-01 9.81035800e-01 -1.75179243e-02 -1.29448591e+01] [-7.43462954e-02 3.17831263e-03 9.97227420e-01 -4.71752805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.465779523 meters 0.024082062160830798 Centerline is valid? [True, True] Translation: X:82.48, Y:-12.96, Z:-4.71 [[ 9.78266131e-01 1.93628419e-01 7.41849833e-02 8.24792104e+01] [-1.92819870e-01 9.81069442e-01 -1.79790697e-02 -1.29567428e+01] [-7.62618790e-02 3.28397608e-03 9.97082415e-01 -4.71417205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.525779523 meters 0.02563339149107751 Centerline is valid? [True, True] Translation: X:82.54, Y:-12.97, Z:-4.72 [[ 9.77801182e-01 1.95882039e-01 7.43980839e-02 8.25386928e+01] [-1.95073540e-01 9.80622438e-01 -1.80540302e-02 -1.29685476e+01] [-7.64928907e-02 3.14015453e-03 9.97065182e-01 -4.72001767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.585779523 meters 0.02530019136012123 Centerline is valid? [True, True] Translation: X:82.60, Y:-12.97, Z:-4.73 [[ 9.77227364e-01 1.99945946e-01 7.10513728e-02 8.26001086e+01] [-1.99219202e-01 9.79803218e-01 -1.72442217e-02 -1.29742461e+01] [-7.30642759e-02 2.69672758e-03 9.97323588e-01 -4.73285723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64577952299999 meters 0.02109779039461071 Centerline is valid? [True, True] Translation: X:82.66, Y:-12.98, Z:-4.74 [[ 9.76380576e-01 2.04179718e-01 7.06513486e-02 8.26626484e+01] [-2.03471920e-01 9.78930552e-01 -1.71508890e-02 -1.29786048e+01] [-7.26646273e-02 2.37022935e-03 9.97353615e-01 -4.73809916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70577952299999 meters 0.020294439876173614 Centerline is valid? [True, True] Translation: X:82.72, Y:-12.99, Z:-4.74 [[ 9.75628623e-01 2.06586569e-01 7.39647179e-02 8.27233895e+01] [-2.05817263e-01 9.78425626e-01 -1.79596473e-02 -1.29911140e+01] [-7.60791973e-02 2.29873019e-03 9.97099128e-01 -4.73592270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76577952299999 meters 0.02099866834285165 Centerline is valid? [True, True] Translation: X:82.78, Y:-13.01, Z:-4.74 [[ 9.75330629e-01 2.07171121e-01 7.62252625e-02 8.27834442e+01] [-2.06355583e-01 9.78301959e-01 -1.85108352e-02 -1.30054153e+01] [-7.84062341e-02 2.32467605e-03 9.96918782e-01 -4.73641796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.825779523 meters 0.022914828695290743 Centerline is valid? [True, True] Translation: X:82.85, Y:-13.01, Z:-4.75 [[ 9.75463735e-01 2.07503356e-01 7.35721328e-02 8.28461285e+01] [-2.06743288e-01 9.78231753e-01 -1.78843728e-02 -1.30077798e+01] [-7.56816638e-02 2.23501241e-03 9.97129525e-01 -4.75281773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.885779523 meters 0.02399880002705269 Centerline is valid? [True, True] Translation: X:82.91, Y:-13.02, Z:-4.76 [[ 9.75561401e-01 2.08638857e-01 6.89186484e-02 8.29055565e+01] [-2.07973438e-01 9.77990647e-01 -1.67732884e-02 -1.30209452e+01] [-7.09013533e-02 2.03012448e-03 9.97481266e-01 -4.76065036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.945779523 meters 0.022190007819938497 Centerline is valid? [True, True] Translation: X:82.97, Y:-13.03, Z:-4.76 [[ 9.75717492e-01 2.06372796e-01 7.33869505e-02 8.29671678e+01] [-2.05610971e-01 9.78470621e-01 -1.78709790e-02 -1.30306350e+01] [-7.54950590e-02 2.34786467e-03 9.97143412e-01 -4.75842325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00577952299999 meters 0.022698158194237025 Centerline is valid? [True, True] Translation: X:83.03, Y:-13.04, Z:-4.76 [[ 9.76543899e-01 2.02184138e-01 7.40512443e-02 8.30265596e+01] [-2.01394953e-01 9.79343762e-01 -1.80518391e-02 -1.30437881e+01] [-7.61714197e-02 2.71486648e-03 9.97091041e-01 -4.76366507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06577952299999 meters 0.026974348202654107 Centerline is valid? [True, True] Translation: X:83.08, Y:-13.06, Z:-4.78 [[ 9.77913922e-01 1.96240927e-01 7.19295425e-02 8.30848437e+01] [-1.95479607e-01 9.80550820e-01 -1.75445730e-02 -1.30590168e+01] [-7.39735352e-02 3.09632350e-03 9.97255398e-01 -4.77500105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12577952299999 meters 0.028910392116620196 Centerline is valid? [True, True] Translation: X:83.14, Y:-13.07, Z:-4.78 [[ 9.78281311e-01 1.94182676e-01 7.25173418e-02 8.31449171e+01] [-1.93403101e-01 9.80959902e-01 -1.76892849e-02 -1.30675046e+01] [-7.45715572e-02 3.28001802e-03 9.97210271e-01 -4.77971953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.185779523 meters 0.02413924700897854 Centerline is valid? [True, True] Translation: X:83.21, Y:-13.08, Z:-4.78 [[ 9.78841603e-01 1.91673770e-01 7.16259872e-02 8.32063373e+01] [-1.90905885e-01 9.81452673e-01 -1.74812438e-02 -1.30759376e+01] [-7.36482125e-02 3.43754618e-03 9.97278358e-01 -4.77946397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.245779523 meters 0.025600709791266933 Centerline is valid? [True, True] Translation: X:83.27, Y:-13.09, Z:-4.78 [[ 9.79089589e-01 1.89468847e-01 7.40616759e-02 8.32665509e+01] [-1.88641254e-01 9.81879651e-01 -1.80784134e-02 -1.30897813e+01] [-7.61449486e-02 3.72929893e-03 9.97089785e-01 -4.78315439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.305779523 meters 0.02807063905367008 Centerline is valid? [True, True] Translation: X:83.33, Y:-13.10, Z:-4.79 [[ 9.79742258e-01 1.85072883e-01 7.65057835e-02 8.33267544e+01] [-1.84175818e-01 9.82715771e-01 -1.86810669e-02 -1.30989646e+01] [-7.86407990e-02 4.21211542e-03 9.96894118e-01 -4.78748482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.365779523 meters 0.029827963035588302 Centerline is valid? [True, True] Translation: X:83.39, Y:-13.11, Z:-4.80 [[ 9.79952986e-01 1.85572543e-01 7.24912218e-02 8.33874475e+01] [-1.84768718e-01 9.82622622e-01 -1.77003744e-02 -1.31113586e+01] [-7.45162179e-02 3.95142466e-03 9.97211973e-01 -4.79582298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42577952299999 meters 0.02566171414584538 Centerline is valid? [True, True] Translation: X:83.45, Y:-13.12, Z:-4.80 [[ 9.79435102e-01 1.87227979e-01 7.51835466e-02 8.34498125e+01] [-1.86366317e-01 9.82308382e-01 -1.83803662e-02 -1.31163497e+01] [-7.72947469e-02 3.99069517e-03 9.97000299e-01 -4.79699907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48577952299999 meters 0.024803420499302196 Centerline is valid? [True, True] Translation: X:83.51, Y:-13.12, Z:-4.80 [[ 9.78897211e-01 1.89056919e-01 7.75740414e-02 8.35108029e+01] [-1.88144823e-01 9.81958090e-01 -1.89693412e-02 -1.31242221e+01] [-7.97607427e-02 3.97388086e-03 9.96806116e-01 -4.79845998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.545779523 meters 0.02531708586698659 Centerline is valid? [True, True] Translation: X:83.57, Y:-13.13, Z:-4.81 [[ 9.78841001e-01 1.91558335e-01 7.19423349e-02 8.35704834e+01] [-1.90780638e-01 9.81474999e-01 -1.75947294e-02 -1.31344143e+01] [-7.39800202e-02 3.49723795e-03 9.97253592e-01 -4.80666407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.605779523 meters 0.024574719672322255 Centerline is valid? [True, True] Translation: X:83.63, Y:-13.14, Z:-4.82 [[ 9.78284987e-01 1.93768587e-01 7.35677810e-02 8.36323674e+01] [-1.92961294e-01 9.81041343e-01 -1.79950781e-02 -1.31367930e+01] [-7.56599155e-02 3.40858057e-03 9.97127855e-01 -4.81544006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.665779523 meters 0.023430166297579026 Centerline is valid? [True, True] Translation: X:83.69, Y:-13.14, Z:-4.82 [[ 9.77760886e-01 1.96166319e-01 7.41783318e-02 8.36945302e+01] [-1.95352211e-01 9.80565243e-01 -1.81471207e-02 -1.31423875e+01] [-7.62965478e-02 3.25264365e-03 9.97079865e-01 -4.82117604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.725779523 meters 0.023930881777366474 Centerline is valid? [True, True] Translation: X:83.75, Y:-13.16, Z:-4.83 [[ 9.77330382e-01 1.98852198e-01 7.26851318e-02 8.37538158e+01] [-1.98077688e-01 9.80024944e-01 -1.77859265e-02 -1.31557049e+01] [-7.47700128e-02 2.98542349e-03 9.97196336e-01 -4.82562169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78577952299999 meters 0.022374643561349047 Centerline is valid? [True, True] Translation: X:83.81, Y:-13.17, Z:-4.83 [[ 9.77067499e-01 2.00492687e-01 7.17062460e-02 8.38149626e+01] [-1.99743266e-01 9.79691134e-01 -1.75473533e-02 -1.31666799e+01] [-7.37680894e-02 2.82210880e-03 9.97271430e-01 -4.83127100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84577952299999 meters 0.023154806515971297 Centerline is valid? [True, True] Translation: X:83.88, Y:-13.17, Z:-4.84 [[ 9.76243045e-01 2.04270821e-01 7.22699662e-02 8.38775637e+01] [-2.03518364e-01 9.78911024e-01 -1.77054341e-02 -1.31672788e+01] [-7.43625702e-02 2.57654161e-03 9.97227943e-01 -4.84367997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90577952299999 meters 0.02177785373934542 Centerline is valid? [True, True] Translation: X:83.94, Y:-13.18, Z:-4.84 [[ 9.75024653e-01 2.07928573e-01 7.80553271e-02 8.39390962e+01] [-2.07061691e-01 9.78140844e-01 -1.91297142e-02 -1.31759892e+01] [-8.03267177e-02 2.48967494e-03 9.96765479e-01 -4.84364920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.965779523 meters 0.021760314818640648 Centerline is valid? [True, True] Translation: X:84.00, Y:-13.19, Z:-4.85 [[ 9.75547658e-01 2.07212709e-01 7.32779662e-02 8.39992386e+01] [-2.06446662e-01 9.78292983e-01 -1.79614992e-02 -1.31892487e+01] [-7.54091710e-02 2.39430699e-03 9.97149800e-01 -4.85033775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.025779523 meters 0.023096148584811134 Centerline is valid? [True, True] Translation: X:84.06, Y:-13.19, Z:-4.86 [[ 9.75855352e-01 2.06117659e-01 7.22623132e-02 8.40609792e+01] [-2.05368341e-01 9.78524116e-01 -1.77313024e-02 -1.31948592e+01] [-7.43651507e-02 2.46279495e-03 9.97228038e-01 -4.86236415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.085779523 meters 0.020700213110987405 Centerline is valid? [True, True] Translation: X:84.12, Y:-13.21, Z:-4.86 [[ 9.76073241e-01 2.03979158e-01 7.53228423e-02 8.41199180e+01] [-2.03156926e-01 9.78971346e-01 -1.85031649e-02 -1.32143452e+01] [-7.75131643e-02 2.75808700e-03 9.96987514e-01 -4.86048863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14577952299999 meters 0.025176779734124008 Centerline is valid? [True, True] Translation: X:84.18, Y:-13.23, Z:-4.86 [[ 9.76319900e-01 2.01756237e-01 7.80632659e-02 8.41779314e+01] [-2.00864283e-01 9.79430982e-01 -1.91961231e-02 -1.32334939e+01] [-8.03305188e-02 3.06143500e-03 9.96763580e-01 -4.86266497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20577952299999 meters 0.02132541411114829 Centerline is valid? [True, True] Translation: X:84.24, Y:-13.23, Z:-4.87 [[ 9.75640210e-01 2.04799102e-01 7.86352908e-02 8.42410870e+01] [-2.03902297e-01 9.78799879e-01 -1.93559062e-02 -1.32315895e+01] [-8.09322853e-02 2.85048401e-03 9.96715526e-01 -4.87265715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26577952299999 meters 0.018608786968346988 Centerline is valid? [True, True] Translation: X:84.30, Y:-13.25, Z:-4.88 [[ 9.74638418e-01 2.10723885e-01 7.53352387e-02 8.43001946e+01] [-2.09918332e-01 9.77543006e-01 -1.85462909e-02 -1.32464932e+01] [-7.75515822e-02 2.26167999e-03 9.96985776e-01 -4.87752921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.325779523 meters 0.020080136265401418 Centerline is valid? [True, True] Translation: X:84.36, Y:-13.26, Z:-4.88 [[ 9.73913021e-01 2.14927901e-01 7.27971516e-02 8.43594026e+01] [-2.14187358e-01 9.76628140e-01 -1.79234988e-02 -1.32612142e+01] [-7.49480068e-02 1.86369934e-03 9.97185701e-01 -4.88146850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.385779523 meters 0.01638891123432616 Centerline is valid? [True, True] Translation: X:84.42, Y:-13.26, Z:-4.89 [[ 9.72265211e-01 2.21219558e-01 7.59095970e-02 8.44212059e+01] [-2.20433089e-01 9.75222964e-01 -1.86928882e-02 -1.32614237e+01] [-7.81640146e-02 1.44145799e-03 9.96939471e-01 -4.88875463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.445779523 meters 0.015029872518899872 Centerline is valid? [True, True] Translation: X:84.48, Y:-13.29, Z:-4.89 [[ 9.70664284e-01 2.27470604e-01 7.78971924e-02 8.44795951e+01] [-2.26662282e-01 9.73784470e-01 -1.91837444e-02 -1.32851367e+01] [-8.02188141e-02 9.64620075e-04 9.96776811e-01 -4.88539233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50577952299999 meters 0.014601621803178476 Centerline is valid? [True, True] Translation: X:84.54, Y:-13.30, Z:-4.89 [[ 9.69644253e-01 2.32021613e-01 7.71750872e-02 8.45408180e+01] [-2.31242267e-01 9.72710454e-01 -1.90101932e-02 -1.32968055e+01] [-7.94797897e-02 5.86982465e-04 9.96836305e-01 -4.89176548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56577952299999 meters 0.014426478137550637 Centerline is valid? [True, True] Translation: X:84.60, Y:-13.30, Z:-4.91 [[ 9.68851937e-01 2.37386695e-01 7.05229112e-02 8.46016777e+01] [-2.36749944e-01 9.71415224e-01 -1.73760206e-02 -1.33030337e+01] [-7.26318657e-02 1.38495946e-04 9.97358809e-01 -4.90971228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62577952299999 meters 0.01833295085384563 Centerline is valid? [True, True] Translation: X:84.66, Y:-13.33, Z:-4.91 [[ 9.68560967e-01 2.38720834e-01 7.00144072e-02 8.46599760e+01] [-2.38095344e-01 9.71088235e-01 -1.72698285e-02 -1.33298482e+01] [-7.21128349e-02 5.67774368e-05 9.97396479e-01 -4.91256038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.685779523 meters 0.014398924158222198 Centerline is valid? [True, True] Translation: X:84.72, Y:-13.35, Z:-4.91 [[ 9.68424996e-01 2.37557311e-01 7.56277119e-02 8.47192100e+01] [-2.36821852e-01 9.71373508e-01 -1.86793657e-02 -1.33527171e+01] [-7.79001756e-02 1.79269872e-04 9.96961148e-01 -4.90688877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.745779523 meters 0.014533707337058457 Centerline is valid? [True, True] Translation: X:84.78, Y:-13.37, Z:-4.91 [[ 9.68992327e-01 2.34356564e-01 7.82998788e-02 8.47801626e+01] [-2.33555973e-01 9.72150594e-01 -1.93605210e-02 -1.33686018e+01] [-8.06565389e-02 4.72791907e-04 9.96741842e-01 -4.91201237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.805779523 meters 0.015050939399358804 Centerline is valid? [True, True] Translation: X:84.84, Y:-13.40, Z:-4.92 [[ 9.70135838e-01 2.32452465e-01 6.92986820e-02 8.48358799e+01] [-2.31819435e-01 9.72607588e-01 -1.71531182e-02 -1.33982682e+01] [-7.13877085e-02 5.76073322e-04 9.97448476e-01 -4.92237000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.865779523 meters 0.014952632532456888 Centerline is valid? [True, True] Translation: X:84.89, Y:-13.42, Z:-4.93 [[ 9.69575104e-01 2.35258953e-01 6.76560679e-02 8.48941952e+01] [-2.34661245e-01 9.71932653e-01 -1.67635772e-02 -1.34221075e+01] [-6.97009232e-02 3.77289927e-04 9.97567862e-01 -4.92615067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92577952299999 meters 0.01460056458509292 Centerline is valid? [True, True] Translation: X:84.95, Y:-13.44, Z:-4.93 [[ 9.67949546e-01 2.40940079e-01 7.08629253e-02 8.49547873e+01] [-2.40297798e-01 9.70539993e-01 -1.75809560e-02 -1.34351277e+01] [-7.30112599e-02 -1.07265176e-05 9.97331116e-01 -4.93110710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98577952299999 meters 0.014685594000026076 Centerline is valid? [True, True] Translation: X:85.01, Y:-13.46, Z:-4.93 [[ 9.67089780e-01 2.44373655e-01 7.08440099e-02 8.50142278e+01] [-2.43739563e-01 9.69681109e-01 -1.75946555e-02 -1.34581793e+01] [-7.29957683e-02 -2.51876527e-04 9.97332219e-01 -4.93406682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.045779523 meters 0.015091685390147798 Centerline is valid? [True, True] Translation: X:85.07, Y:-13.48, Z:-4.94 [[ 9.65725724e-01 2.50254894e-01 6.88935004e-02 8.50726987e+01] [-2.49668756e-01 9.68179764e-01 -1.71305534e-02 -1.34797851e+01] [-7.09882978e-02 -6.57138497e-04 9.97476932e-01 -4.93940083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.105779523 meters 0.01673984618365555 Centerline is valid? [True, True] Translation: X:85.13, Y:-13.49, Z:-4.94 [[ 9.63096786e-01 2.59065023e-01 7.30061258e-02 8.51316945e+01] [-2.58430313e-01 9.65858921e-01 -1.81746375e-02 -1.34946831e+01] [-7.52220308e-02 -1.36306101e-03 9.97165878e-01 -4.93829333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.165779523 meters 0.019551964531797698 Centerline is valid? [True, True] Translation: X:85.19, Y:-13.51, Z:-4.94 [[ 9.61071568e-01 2.67416990e-01 6.94952926e-02 8.51898980e+01] [-2.66862985e-01 9.63579009e-01 -1.73100983e-02 -1.35147400e+01] [-7.15932196e-02 -1.90947796e-03 9.97432085e-01 -4.94276979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.225779523 meters 0.020332681542983434 Centerline is valid? [True, True] Translation: X:85.25, Y:-13.53, Z:-4.95 [[ 9.60020898e-01 2.71984432e-01 6.62143872e-02 8.52476161e+01] [-2.71492193e-01 9.62299271e-01 -1.64955333e-02 -1.35348248e+01] [-6.82045848e-02 -2.14063254e-03 9.97669060e-01 -4.95075492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28577952299999 meters 0.02151763419304234 Centerline is valid? [True, True] Translation: X:85.30, Y:-13.56, Z:-4.97 [[ 9.60114998e-01 2.72866486e-01 6.10169790e-02 8.53037778e+01] [-2.72450181e-01 9.62049775e-01 -1.52029372e-02 -1.35554355e+01] [-6.28497430e-02 -2.02751894e-03 9.98020941e-01 -4.96555983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34577952299999 meters 0.020318531045263374 Centerline is valid? [True, True] Translation: X:85.36, Y:-13.59, Z:-4.97 [[ 9.61191061e-01 2.68426749e-01 6.37089092e-02 8.53581337e+01] [-2.67962941e-01 9.63298396e-01 -1.58764776e-02 -1.35880034e+01] [-6.56323613e-02 -1.81129829e-03 9.97842228e-01 -4.96511130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40577952299999 meters 0.023010823775876058 Centerline is valid? [True, True] Translation: X:85.41, Y:-13.62, Z:-4.96 [[ 9.62032566e-01 2.63865859e-01 6.97721281e-02 8.54134481e+01] [-2.63297394e-01 9.64557988e-01 -1.73888146e-02 -1.36175707e+01] [-7.18875779e-02 -1.64221358e-03 9.97411389e-01 -4.96260040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.465779523 meters 0.020904664314068618 Centerline is valid? [True, True] Translation: X:85.47, Y:-13.64, Z:-4.96 [[ 9.61919848e-01 2.63749755e-01 7.17375215e-02 8.54708740e+01] [-2.63148477e-01 9.64589676e-01 -1.78783457e-02 -1.36429831e+01] [-7.39126820e-02 -1.68008395e-03 9.97263302e-01 -4.96427111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.525779523 meters 0.017963404894424186 Centerline is valid? [True, True] Translation: X:85.53, Y:-13.67, Z:-4.98 [[ 9.62472136e-01 2.63558002e-01 6.46882304e-02 8.55276024e+01] [-2.63067756e-01 9.64642405e-01 -1.61364691e-02 -1.36666715e+01] [-6.66539057e-02 -1.48648578e-03 9.97775048e-01 -4.97793256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.585779523 meters 0.017671185108338018 Centerline is valid? [True, True] Translation: X:85.58, Y:-13.69, Z:-4.99 [[ 9.63300795e-01 2.61665789e-01 5.98547609e-02 8.55844473e+01] [-2.61241675e-01 9.65157746e-01 -1.49436756e-02 -1.36926601e+01] [-6.16795348e-02 -1.24130342e-03 9.98095233e-01 -4.98608672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64577952299999 meters 0.01675542019761917 Centerline is valid? [True, True] Translation: X:85.64, Y:-13.73, Z:-4.98 [[ 9.64355473e-01 2.56636846e-01 6.44674462e-02 8.56396100e+01] [-2.56132082e-01 9.66507418e-01 -1.61172840e-02 -1.37252242e+01] [-6.64445539e-02 -9.69390187e-04 9.97789648e-01 -4.97998621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70577952299999 meters 0.015495980555918824 Centerline is valid? [True, True] Translation: X:85.70, Y:-13.75, Z:-4.98 [[ 9.65612291e-01 2.50922775e-01 6.80489899e-02 8.56968823e+01] [-2.50346006e-01 9.68006918e-01 -1.70142461e-02 -1.37522168e+01] [-7.01411548e-02 -6.06627675e-04 9.97536892e-01 -4.97946584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76577952299999 meters 0.018137647577995467 Centerline is valid? [True, True] Translation: X:85.75, Y:-13.78, Z:-4.99 [[ 9.67067223e-01 2.45813027e-01 6.60071350e-02 8.57548848e+01] [-2.45258324e-01 9.69317236e-01 -1.65060590e-02 -1.37750916e+01] [-6.80392580e-02 -2.26330655e-04 9.97682619e-01 -4.99488707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.825779523 meters 0.015350085039371872 Centerline is valid? [True, True] Translation: X:85.81, Y:-13.80, Z:-5.00 [[ 9.66894525e-01 2.47269615e-01 6.30294854e-02 8.58119476e+01] [-2.46765633e-01 9.68946671e-01 -1.57819935e-02 -1.37960842e+01] [-6.49746175e-02 -2.93987767e-04 9.97886874e-01 -5.00004529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.885779523 meters 0.01873532841745167 Centerline is valid? [True, True] Translation: X:85.87, Y:-13.81, Z:-5.00 [[ 9.66464038e-01 2.48485540e-01 6.48243787e-02 8.58701966e+01] [-2.47954666e-01 9.68635531e-01 -1.62385593e-02 -1.38149826e+01] [-6.68262437e-02 -3.79523639e-04 9.97764556e-01 -5.00133288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.945779523 meters 0.01548579844877243 Centerline is valid? [True, True] Translation: X:85.93, Y:-13.83, Z:-5.00 [[ 9.67000933e-01 2.45753398e-01 6.71897485e-02 8.59301323e+01] [-2.45175310e-01 9.69332365e-01 -1.68473541e-02 -1.38342504e+01] [-6.92694924e-02 -1.81860236e-04 9.97597967e-01 -4.99768730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00577952299999 meters 0.015119081319875103 Centerline is valid? [True, True] Translation: X:85.99, Y:-13.84, Z:-5.01 [[ 9.67241731e-01 2.45385604e-01 6.50333659e-02 8.59905303e+01] [-2.44842173e-01 9.69425545e-01 -1.63224800e-02 -1.38438176e+01] [-6.70503077e-02 -1.35126825e-04 9.97749587e-01 -5.01198807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06577952299999 meters 0.015314134200072058 Centerline is valid? [True, True] Translation: X:86.05, Y:-13.86, Z:-5.02 [[ 9.67576242e-01 2.44900036e-01 6.18076676e-02 8.60504247e+01] [-2.44407300e-01 9.69548331e-01 -1.55275972e-02 -1.38571782e+01] [-6.37282300e-02 -8.21109681e-05 9.97967287e-01 -5.02150876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12577952299999 meters 0.01781503877670091 Centerline is valid? [True, True] Translation: X:86.11, Y:-13.89, Z:-5.02 [[ 9.70133145e-01 2.34569894e-01 6.17951954e-02 8.61082462e+01] [-2.34055384e-01 9.72099064e-01 -1.55398477e-02 -1.38854847e+01] [-6.37162321e-02 6.12223120e-04 9.97967869e-01 -5.01697032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.185779523 meters 0.020098795383561633 Centerline is valid? [True, True] Translation: X:86.17, Y:-13.91, Z:-5.02 [[ 9.72221284e-01 2.23694281e-01 6.88958932e-02 8.61665913e+01] [-2.23025737e-01 9.74658208e-01 -1.73464493e-02 -1.39056389e+01] [-7.10302493e-02 1.49902981e-03 9.97473036e-01 -5.01740672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.245779523 meters 0.020828038734563337 Centerline is valid? [True, True] Translation: X:86.23, Y:-13.92, Z:-5.03 [[ 9.73512806e-01 2.17544846e-01 7.03353186e-02 8.62268993e+01] [-2.16831280e-01 9.76048281e-01 -1.77186176e-02 -1.39173863e+01] [-7.25052608e-02 1.99840391e-03 9.97366028e-01 -5.02542650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.305779523 meters 0.023114079047797952 Centerline is valid? [True, True] Translation: X:86.28, Y:-13.94, Z:-5.03 [[ 9.75560639e-01 2.09598629e-01 6.59534319e-02 8.62843618e+01] [-2.08952962e-01 9.77784489e-01 -1.66178415e-02 -1.39387883e+01] [-6.79713195e-02 2.43054710e-03 9.97684315e-01 -5.02802874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.365779523 meters 0.02714437368498808 Centerline is valid? [True, True] Translation: X:86.34, Y:-13.95, Z:-5.04 [[ 9.77337071e-01 2.01988327e-01 6.33479658e-02 8.63428294e+01] [-2.01376648e-01 9.79383798e-01 -1.59631208e-02 -1.39532744e+01] [-6.52663354e-02 2.84454876e-03 9.97863825e-01 -5.03615296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42577952299999 meters 0.024256692120430953 Centerline is valid? [True, True] Translation: X:86.41, Y:-13.96, Z:-5.04 [[ 9.77202998e-01 2.00632773e-01 6.94319193e-02 8.64058428e+01] [-1.99894054e-01 9.79661221e-01 -1.75002845e-02 -1.39596179e+01] [-7.15308894e-02 3.22230267e-03 9.97433180e-01 -5.03827906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48577952299999 meters 0.02842756943317927 Centerline is valid? [True, True] Translation: X:86.46, Y:-13.98, Z:-5.04 [[ 9.76971746e-01 2.00675396e-01 7.24954716e-02 8.64646047e+01] [-1.99869289e-01 9.79651987e-01 -1.82825515e-02 -1.39776316e+01] [-7.46891911e-02 3.37191788e-03 9.97201161e-01 -5.04154146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.545779523 meters 0.026853678733200815 Centerline is valid? [True, True] Translation: X:86.52, Y:-13.99, Z:-5.05 [[ 9.76190822e-01 2.05535715e-01 6.93292739e-02 8.65242775e+01] [-2.04809521e-01 9.78645360e-01 -1.75019728e-02 -1.39859879e+01] [-7.14460527e-02 2.88596983e-03 9.97440290e-01 -5.04509283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.605779523 meters 0.021244942560440617 Centerline is valid? [True, True] Translation: X:86.59, Y:-13.99, Z:-5.04 [[ 9.75079618e-01 2.10461400e-01 7.01836018e-02 8.65861645e+01] [-2.09729811e-01 9.77598823e-01 -1.77185803e-02 -1.39907071e+01] [-7.23404837e-02 2.55743300e-03 9.97376716e-01 -5.04445031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.665779523 meters 0.01995614295652624 Centerline is valid? [True, True] Translation: X:86.65, Y:-14.00, Z:-5.05 [[ 9.73293508e-01 2.18884970e-01 6.92034502e-02 8.66462037e+01] [-2.18194728e-01 9.75748806e-01 -1.74736367e-02 -1.39984959e+01] [-7.13499004e-02 1.90714910e-03 9.97449525e-01 -5.05257905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.725779523 meters 0.016044608837721852 Centerline is valid? [True, True] Translation: X:86.71, Y:-14.00, Z:-5.06 [[ 9.69983179e-01 2.33252117e-01 6.87465034e-02 8.67094860e+01] [-2.32606825e-01 9.72415926e-01 -1.73589265e-02 -1.39969647e+01] [-7.08992011e-02 8.46960874e-04 9.97483126e-01 -5.06099304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78577952299999 meters 0.01772972526915341 Centerline is valid? [True, True] Translation: X:86.77, Y:-14.00, Z:-5.07 [[ 9.67022887e-01 2.45292699e-01 6.85436203e-02 8.67716733e+01] [-2.44681361e-01 9.69449066e-01 -1.73072481e-02 -1.40029481e+01] [-7.06948902e-02 -3.48413246e-05 9.97497986e-01 -5.06526349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84577952299999 meters 0.01505474061528512 Centerline is valid? [True, True] Translation: X:86.83, Y:-14.01, Z:-5.07 [[ 9.65059101e-01 2.51973744e-01 7.19038591e-02 8.68347643e+01] [-2.51317932e-01 9.67733926e-01 -1.81754189e-02 -1.40126024e+01] [-7.41635322e-02 -5.30375777e-04 9.97245952e-01 -5.06558845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90577952299999 meters 0.01587356653789842 Centerline is valid? [True, True] Translation: X:86.90, Y:-14.02, Z:-5.07 [[ 9.63099198e-01 2.58699215e-01 7.42606981e-02 8.68959064e+01] [-2.58017777e-01 9.65957345e-01 -1.87945055e-02 -1.40242431e+01] [-7.65947907e-02 -1.05960706e-03 9.97061741e-01 -5.06828133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.965779523 meters 0.01699692108029576 Centerline is valid? [True, True] Translation: X:86.96, Y:-14.03, Z:-5.07 [[ 9.61767010e-01 2.63876388e-01 7.33039545e-02 8.69572032e+01] [-2.63225884e-01 9.64555441e-01 -1.85724511e-02 -1.40342458e+01] [-7.56065594e-02 -1.43312744e-03 9.97136698e-01 -5.07359396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.025779523 meters 0.019839237789769943 Centerline is valid? [True, True] Translation: X:87.02, Y:-14.05, Z:-5.08 [[ 9.62336601e-01 2.62650931e-01 7.01623515e-02 8.70166971e+01] [-2.62051572e-01 9.64890076e-01 -1.77795904e-02 -1.40511261e+01] [-7.23687827e-02 -1.27620390e-03 9.97377126e-01 -5.08452918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.085779523 meters 0.016266687739778428 Centerline is valid? [True, True] Translation: X:87.08, Y:-14.07, Z:-5.08 [[ 9.62611469e-01 2.61618720e-01 7.02481669e-02 8.70754893e+01] [-2.61013594e-01 9.65170583e-01 -1.78227174e-02 -1.40724300e+01] [-7.24642207e-02 -1.17937440e-03 9.97370315e-01 -5.08446529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14577952299999 meters 0.015147979607850604 Centerline is valid? [True, True] Translation: X:87.13, Y:-14.09, Z:-5.09 [[ 9.64223058e-01 2.54610126e-01 7.38077130e-02 8.71332817e+01] [-2.53919829e-01 9.67043558e-01 -1.87477395e-02 -1.40923747e+01] [-7.61486377e-02 -6.64239162e-04 9.97096256e-01 -5.08975212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20577952299999 meters 0.014802412958806679 Centerline is valid? [True, True] Translation: X:87.19, Y:-14.12, Z:-5.10 [[ 9.66190397e-01 2.48027838e-01 7.04152567e-02 8.71895958e+01] [-2.47382069e-01 9.68752896e-01 -1.78868519e-02 -1.41165093e+01] [-7.26514210e-02 -1.37367386e-04 9.97357384e-01 -5.09672536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26577952299999 meters 0.014881742130492159 Centerline is valid? [True, True] Translation: X:87.25, Y:-14.14, Z:-5.10 [[ 9.67050529e-01 2.44555370e-01 7.07527027e-02 8.72478847e+01] [-2.43892849e-01 9.69635319e-01 -1.79896352e-02 -1.41387788e+01] [-7.30037813e-02 1.40807971e-04 9.97331654e-01 -5.09998791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.325779523 meters 0.01841832991632178 Centerline is valid? [True, True] Translation: X:87.31, Y:-14.16, Z:-5.11 [[ 9.68469186e-01 2.38676785e-01 7.14200890e-02 8.73064342e+01] [-2.37984203e-01 9.71098873e-01 -1.81796079e-02 -1.41556804e+01] [-7.36950183e-02 6.09537130e-04 9.97280639e-01 -5.11345309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.385779523 meters 0.016447495406424338 Centerline is valid? [True, True] Translation: X:87.37, Y:-14.18, Z:-5.11 [[ 9.69562910e-01 2.34486340e-01 7.04550919e-02 8.73651796e+01] [-2.33800048e-01 9.72118967e-01 -1.79513440e-02 -1.41787673e+01] [-7.27000761e-02 9.32553387e-04 9.97353412e-01 -5.11398760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.445779523 meters 0.01774559616436237 Centerline is valid? [True, True] Translation: X:87.42, Y:-14.20, Z:-5.11 [[ 9.71112311e-01 2.27034806e-01 7.34579871e-02 8.74235020e+01] [-2.26265873e-01 9.73885374e-01 -1.87359064e-02 -1.42002049e+01] [-7.57933620e-02 1.57363379e-03 9.97122304e-01 -5.11253765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50577952299999 meters 0.019955248803237548 Centerline is valid? [True, True] Translation: X:87.48, Y:-14.22, Z:-5.12 [[ 9.72399440e-01 2.20867605e-01 7.52119019e-02 8.74818249e+01] [-2.20041564e-01 9.75301490e-01 -1.92019003e-02 -1.42179809e+01] [-7.75953578e-02 2.12217263e-03 9.96982676e-01 -5.11938395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56577952299999 meters 0.021775340520231813 Centerline is valid? [True, True] Translation: X:87.54, Y:-14.24, Z:-5.13 [[ 9.73768616e-01 2.14681062e-01 7.54103650e-02 8.75405269e+01] [-2.13830869e-01 9.76680645e-01 -1.92685512e-02 -1.42353439e+01] [-7.77884370e-02 2.63804657e-03 9.96966399e-01 -5.12600874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62577952299999 meters 0.021905274850016906 Centerline is valid? [True, True] Translation: X:87.60, Y:-14.25, Z:-5.13 [[ 9.74089413e-01 2.13959591e-01 7.32878530e-02 8.76008568e+01] [-2.13153564e-01 9.76838963e-01 -1.87402899e-02 -1.42497727e+01] [-7.56000951e-02 2.63315091e-03 9.97134741e-01 -5.13380805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.685779523 meters 0.023095242450628627 Centerline is valid? [True, True] Translation: X:87.66, Y:-14.26, Z:-5.14 [[ 9.74514550e-01 2.13263483e-01 6.95706744e-02 8.76613086e+01] [-2.12534292e-01 9.76991350e-01 -1.78066204e-02 -1.42615382e+01] [-7.17674490e-02 2.56665664e-03 9.97418090e-01 -5.14296921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.745779523 meters 0.023595824487321677 Centerline is valid? [True, True] Translation: X:87.72, Y:-14.28, Z:-5.14 [[ 9.74041709e-01 2.14101142e-01 7.35081668e-02 8.77201460e+01] [-2.13287732e-01 9.76807854e-01 -1.88350524e-02 -1.42794879e+01] [-7.58359609e-02 2.66773652e-03 9.97116739e-01 -5.14199710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.805779523 meters 0.021558913222859587 Centerline is valid? [True, True] Translation: X:87.78, Y:-14.28, Z:-5.15 [[ 9.73145044e-01 2.16600053e-01 7.79303597e-02 8.77825461e+01] [-2.15692000e-01 9.76256849e-01 -1.99881660e-02 -1.42830291e+01] [-8.04094852e-02 2.64242958e-03 9.96758412e-01 -5.14795483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.865779523 meters 0.018520785978963176 Centerline is valid? [True, True] Translation: X:87.84, Y:-14.29, Z:-5.16 [[ 9.71132166e-01 2.26207390e-01 7.57134884e-02 8.78443588e+01] [-2.25379103e-01 9.74077503e-01 -1.94236578e-02 -1.42869312e+01] [-7.81445806e-02 1.79870083e-03 9.96940414e-01 -5.15752968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92577952299999 meters 0.01824032428748614 Centerline is valid? [True, True] Translation: X:87.91, Y:-14.30, Z:-5.16 [[ 9.69206318e-01 2.34302778e-01 7.57715046e-02 8.79058458e+01] [-2.33497689e-01 9.72162994e-01 -1.94407431e-02 -1.42973557e+01] [-7.82172729e-02 1.14961985e-03 9.96935673e-01 -5.15560440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98577952299999 meters 0.017562158347579463 Centerline is valid? [True, True] Translation: X:87.97, Y:-14.29, Z:-5.17 [[ 9.66656845e-01 2.44251683e-01 7.69133239e-02 8.79683400e+01] [-2.43453101e-01 9.69711807e-01 -1.97382403e-02 -1.42917871e+01] [-7.94048568e-02 3.55317866e-04 9.96842386e-01 -5.17002783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.045779523 meters 0.01715750846120395 Centerline is valid? [True, True] Translation: X:88.03, Y:-14.30, Z:-5.18 [[ 9.64366977e-01 2.54168745e-01 7.34478201e-02 8.80284612e+01] [-2.53469243e-01 9.67159788e-01 -1.88490457e-02 -1.43014355e+01] [-7.58266165e-02 -4.39366179e-04 9.97120921e-01 -5.17655202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.105779523 meters 0.015319425626754375 Centerline is valid? [True, True] Translation: X:88.09, Y:-14.32, Z:-5.18 [[ 9.63587974e-01 2.57795168e-01 7.09920326e-02 8.80888181e+01] [-2.57150371e-01 9.66199349e-01 -1.82346912e-02 -1.43165285e+01] [-7.32932709e-02 -6.84898416e-04 9.97310196e-01 -5.17822967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.165779523 meters 0.018605206447001487 Centerline is valid? [True, True] Translation: X:88.15, Y:-14.33, Z:-5.18 [[ 9.63104539e-01 2.57971218e-01 7.66844032e-02 8.81506950e+01] [-2.57217575e-01 9.66152323e-01 -1.97181891e-02 -1.43250713e+01] [-7.91755396e-02 -7.33898788e-04 9.96860419e-01 -5.18407794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.225779523 meters 0.019097486668492092 Centerline is valid? [True, True] Translation: X:88.21, Y:-14.34, Z:-5.19 [[ 9.62057384e-01 2.62081840e-01 7.58860967e-02 8.82091130e+01] [-2.61355017e-01 9.65045089e-01 -1.95328191e-02 -1.43414627e+01] [-7.83527021e-02 -1.04151926e-03 9.96925157e-01 -5.18920630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28577952299999 meters 0.016222033820762052 Centerline is valid? [True, True] Translation: X:88.27, Y:-14.36, Z:-5.20 [[ 9.61464888e-01 2.65008442e-01 7.31833011e-02 8.82694122e+01] [-2.64339715e-01 9.64245323e-01 -1.88539812e-02 -1.43555908e+01] [-7.55631200e-02 -1.21781199e-03 9.97140277e-01 -5.19579129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34577952299999 meters 0.018911313498290064 Centerline is valid? [True, True] Translation: X:88.33, Y:-14.37, Z:-5.21 [[ 9.61657838e-01 2.64629525e-01 7.20098439e-02 8.83298781e+01] [-2.63979659e-01 9.64349465e-01 -1.85701380e-02 -1.43720997e+01] [-7.43568612e-02 -1.15101523e-03 9.97231033e-01 -5.20551412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40577952299999 meters 0.016006862403903106 Centerline is valid? [True, True] Translation: X:88.39, Y:-14.40, Z:-5.20 [[ 9.61225848e-01 2.63772282e-01 8.04304183e-02 8.83881779e+01] [-2.62956061e-01 9.64584250e-01 -2.07685857e-02 -1.43975856e+01] [-8.30600920e-02 -1.18636461e-03 9.96543834e-01 -5.19505044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.465779523 meters 0.017847551418130114 Centerline is valid? [True, True] Translation: X:88.45, Y:-14.41, Z:-5.21 [[ 9.61335686e-01 2.64019225e-01 7.82786521e-02 8.84490341e+01] [-2.63245325e-01 9.64516725e-01 -2.02332656e-02 -1.44109947e+01] [-8.08430403e-02 -1.15552897e-03 9.96726175e-01 -5.20994831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.525779523 meters 0.016599276397965212 Centerline is valid? [True, True] Translation: X:88.51, Y:-14.42, Z:-5.22 [[ 9.61265441e-01 2.65200935e-01 7.50813968e-02 8.85079316e+01] [-2.64490912e-01 9.64192443e-01 -1.94291046e-02 -1.44247003e+01] [-7.75455321e-02 -1.18182030e-03 9.96988111e-01 -5.21910529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.585779523 meters 0.015533639925066957 Centerline is valid? [True, True] Translation: X:88.56, Y:-14.45, Z:-5.22 [[ 9.62586693e-01 2.60563676e-01 7.43870186e-02 8.85648894e+01] [-2.59852136e-01 9.65456340e-01 -1.92593340e-02 -1.44547105e+01] [-7.68357016e-02 -7.90847065e-04 9.97043454e-01 -5.21752742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64577952299999 meters 0.017538201581251616 Centerline is valid? [True, True] Translation: X:88.62, Y:-14.48, Z:-5.22 [[ 9.64253762e-01 2.53522303e-01 7.70786859e-02 8.86230488e+01] [-2.52734096e-01 9.67329517e-01 -1.99770406e-02 -1.44789314e+01] [-7.96251134e-02 -2.17475416e-04 9.96824856e-01 -5.22217715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70577952299999 meters 0.014689577039978297 Centerline is valid? [True, True] Translation: X:88.68, Y:-14.50, Z:-5.23 [[ 9.64880113e-01 2.50944695e-01 7.76732155e-02 8.86832717e+01] [-2.50135358e-01 9.68001426e-01 -2.01380908e-02 -1.44960243e+01] [-8.02413304e-02 2.02579725e-06 9.96775466e-01 -5.22762179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76577952299999 meters 0.015156510241277569 Centerline is valid? [True, True] Translation: X:88.74, Y:-14.52, Z:-5.23 [[ 9.66726361e-01 2.44438096e-01 7.54331490e-02 8.87405969e+01] [-2.43653356e-01 9.69664745e-01 -1.95786736e-02 -1.45198497e+01] [-7.79306389e-02 5.47679971e-04 9.96958633e-01 -5.23435510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.825779523 meters 0.01989798136328678 Centerline is valid? [True, True] Translation: X:88.80, Y:-14.55, Z:-5.24 [[ 9.69785211e-01 2.32951249e-01 7.24593653e-02 8.87961316e+01] [-2.32193810e-01 9.72487361e-01 -1.88246479e-02 -1.45490196e+01] [-7.48510422e-02 1.43124901e-03 9.97193699e-01 -5.24162531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.885779523 meters 0.021725715434770473 Centerline is valid? [True, True] Translation: X:88.85, Y:-14.57, Z:-5.24 [[ 9.71805047e-01 2.23657006e-01 7.46491439e-02 8.88527577e+01] [-2.22824287e-01 9.74665365e-01 -1.94104150e-02 -1.45708580e+01] [-7.70992103e-02 2.22949702e-03 9.97020933e-01 -5.24473308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.945779523 meters 0.025656954153522114 Centerline is valid? [True, True] Translation: X:88.91, Y:-14.59, Z:-5.25 [[ 9.73337421e-01 2.15965189e-01 7.72871438e-02 8.89096719e+01] [-2.15048149e-01 9.76396634e-01 -2.00974260e-02 -1.45948479e+01] [-7.98032514e-02 2.94111955e-03 9.96806296e-01 -5.24618513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00577952299999 meters 0.02619825100396628 Centerline is valid? [True, True] Translation: X:88.97, Y:-14.61, Z:-5.25 [[ 9.76003284e-01 2.04234882e-01 7.55361058e-02 8.89682866e+01] [-2.03323622e-01 9.78914476e-01 -1.96456937e-02 -1.46141514e+01] [-7.79557233e-02 3.81598690e-03 9.96949519e-01 -5.24992701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06577952299999 meters 0.030472198166010066 Centerline is valid? [True, True] Translation: X:89.03, Y:-14.63, Z:-5.26 [[ 9.77491822e-01 1.96928173e-01 7.56903800e-02 8.90263420e+01] [-1.95990874e-01 9.80407983e-01 -1.96917528e-02 -1.46307054e+01] [-7.80853136e-02 4.41390360e-03 9.96936909e-01 -5.25765744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12577952299999 meters 0.029664403159190982 Centerline is valid? [True, True] Translation: X:89.09, Y:-14.65, Z:-5.26 [[ 9.77593364e-01 1.97457514e-01 7.29502964e-02 8.90876891e+01] [-1.96588254e-01 9.80302384e-01 -1.89814078e-02 -1.46454034e+01] [-7.52613711e-02 4.21492695e-03 9.97154933e-01 -5.26097862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.185779523 meters 0.030013043341828857 Centerline is valid? [True, True] Translation: X:89.15, Y:-14.66, Z:-5.27 [[ 9.77309963e-01 1.99363816e-01 7.15493158e-02 8.91483461e+01] [-1.98531133e-01 9.79917332e-01 -1.86389563e-02 -1.46562961e+01] [-7.38283481e-02 4.01127093e-03 9.97262897e-01 -5.26925288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.245779523 meters 0.028557978422558833 Centerline is valid? [True, True] Translation: X:89.21, Y:-14.66, Z:-5.27 [[ 9.76155401e-01 2.05231831e-01 7.07144186e-02 8.92093089e+01] [-2.04433524e-01 9.78707023e-01 -1.84254494e-02 -1.46649196e+01] [-7.29901868e-02 3.52970412e-03 9.97326413e-01 -5.27436764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.305779523 meters 0.023560101077119863 Centerline is valid? [True, True] Translation: X:89.27, Y:-14.66, Z:-5.28 [[ 9.74108932e-01 2.12957709e-01 7.58999560e-02 8.92735743e+01] [-2.12060941e-01 9.77056271e-01 -1.97787701e-02 -1.46623826e+01] [-7.83705696e-02 3.17126049e-03 9.96919253e-01 -5.27558450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.365779523 meters 0.021385198365898597 Centerline is valid? [True, True] Translation: X:89.34, Y:-14.67, Z:-5.28 [[ 9.72485366e-01 2.20497817e-01 7.51859411e-02 8.93359814e+01] [-2.19640066e-01 9.75384153e-01 -1.95957741e-02 -1.46662472e+01] [-7.76560009e-02 2.54275842e-03 9.96976971e-01 -5.28048293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42577952299999 meters 0.021092142904356403 Centerline is valid? [True, True] Translation: X:89.40, Y:-14.68, Z:-5.29 [[ 9.71924428e-01 2.24090328e-01 7.17386250e-02 8.93962196e+01] [-2.23319082e-01 9.74565997e-01 -1.87004282e-02 -1.46756398e+01] [-7.41046096e-02 2.15479913e-03 9.97248145e-01 -5.28773658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48577952299999 meters 0.01892281087610024 Centerline is valid? [True, True] Translation: X:89.46, Y:-14.69, Z:-5.29 [[ 9.71261013e-01 2.26924971e-01 7.18129701e-02 8.94566933e+01] [-2.26159760e-01 9.73910308e-01 -1.87209946e-02 -1.46881674e+01] [-7.41876530e-02 1.94176806e-03 9.97242409e-01 -5.28948445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.545779523 meters 0.01918811909148381 Centerline is valid? [True, True] Translation: X:89.52, Y:-14.68, Z:-5.30 [[ 9.70137787e-01 2.31338491e-01 7.29052606e-02 8.95202166e+01] [-2.30560654e-01 9.72871925e-01 -1.90263461e-02 -1.46836490e+01] [-7.53290074e-02 1.64909273e-03 9.97157370e-01 -5.30120958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.605779523 meters 0.01862530346028535 Centerline is valid? [True, True] Translation: X:89.58, Y:-14.70, Z:-5.30 [[ 9.69828384e-01 2.32810018e-01 7.23353440e-02 8.95797161e+01] [-2.32048300e-01 9.72521040e-01 -1.88789176e-02 -1.46999148e+01] [-7.47428451e-02 1.52401650e-03 9.97201677e-01 -5.30271994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.665779523 meters 0.017733249965017666 Centerline is valid? [True, True] Translation: X:89.64, Y:-14.71, Z:-5.30 [[ 9.69973948e-01 2.31822220e-01 7.35458888e-02 8.96420783e+01] [-2.31030421e-01 9.72756778e-01 -1.92144880e-02 -1.47085425e+01] [-7.59966071e-02 1.64621513e-03 9.97106717e-01 -5.30465084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.725779523 meters 0.021147520170014474 Centerline is valid? [True, True] Translation: X:89.70, Y:-14.71, Z:-5.32 [[ 9.70443419e-01 2.30481467e-01 7.15392472e-02 8.97036558e+01] [-2.29727388e-01 9.73075194e-01 -1.87081427e-02 -1.47146115e+01] [-7.39249470e-02 1.72066954e-03 9.97262323e-01 -5.31986076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78577952299999 meters 0.018277017214614038 Centerline is valid? [True, True] Translation: X:89.76, Y:-14.73, Z:-5.31 [[ 9.70273014e-01 2.30527473e-01 7.36706312e-02 8.97636546e+01] [-2.29726368e-01 9.73064175e-01 -1.92848822e-02 -1.47334701e+01] [-7.61319472e-02 1.78751426e-03 9.97096150e-01 -5.31420915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84577952299999 meters 0.022172564118774052 Centerline is valid? [True, True] Translation: X:89.82, Y:-14.74, Z:-5.32 [[ 9.70596825e-01 2.29603472e-01 7.22775802e-02 8.98236569e+01] [-2.28828500e-01 9.73282513e-01 -1.89385024e-02 -1.47443799e+01] [-7.46948508e-02 1.84248007e-03 9.97204736e-01 -5.32245562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90577952299999 meters 0.01921844837237019 Centerline is valid? [True, True] Translation: X:89.89, Y:-14.75, Z:-5.33 [[ 9.70522556e-01 2.30697714e-01 6.97462055e-02 8.98871900e+01] [-2.29977884e-01 9.73023965e-01 -1.82903116e-02 -1.47476587e+01] [-7.20842625e-02 1.71107515e-03 9.97397078e-01 -5.33481156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.965779523 meters 0.01743729709001287 Centerline is valid? [True, True] Translation: X:89.95, Y:-14.77, Z:-5.33 [[ 9.70125730e-01 2.31560645e-01 7.23583790e-02 8.99472690e+01] [-2.30786471e-01 9.72818930e-01 -1.89982797e-02 -1.47667818e+01] [-7.47908547e-02 1.73138499e-03 9.97197739e-01 -5.33068974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.025779523 meters 0.017532636811159606 Centerline is valid? [True, True] Translation: X:90.01, Y:-14.78, Z:-5.34 [[ 9.69994292e-01 2.32045334e-01 7.25674586e-02 9.00092917e+01] [-2.31266592e-01 9.72703456e-01 -1.90722399e-02 -1.47778714e+01] [-7.50122420e-02 1.71753495e-03 9.97181134e-01 -5.33536350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.085779523 meters 0.019751430545191885 Centerline is valid? [True, True] Translation: X:90.07, Y:-14.79, Z:-5.35 [[ 9.69783722e-01 2.32697982e-01 7.32883474e-02 9.00704447e+01] [-2.31903813e-01 9.72547551e-01 -1.92842455e-02 -1.47859647e+01] [-7.57638078e-02 1.70570024e-03 9.97124333e-01 -5.34542555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14577952299999 meters 0.01685564747092286 Centerline is valid? [True, True] Translation: X:90.13, Y:-14.81, Z:-5.34 [[ 9.69200993e-01 2.34632865e-01 7.48121287e-02 9.01296333e+01] [-2.33809463e-01 9.72082732e-01 -1.97052664e-02 -1.48053025e+01] [-7.73470815e-02 1.60658005e-03 9.97002933e-01 -5.34207786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20577952299999 meters 0.01915566353366835 Centerline is valid? [True, True] Translation: X:90.19, Y:-14.82, Z:-5.35 [[ 9.68617994e-01 2.37760683e-01 7.24502489e-02 9.01907628e+01] [-2.36995870e-01 9.71322853e-01 -1.91016678e-02 -1.48155211e+01] [-7.49142081e-02 1.33180936e-03 9.97189093e-01 -5.35069815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26577952299999 meters 0.01486440971915241 Centerline is valid? [True, True] Translation: X:90.25, Y:-14.82, Z:-5.36 [[ 9.66493130e-01 2.47384958e-01 6.84960786e-02 9.02523666e+01] [-2.46724167e-01 9.68917104e-01 -1.80784723e-02 -1.48170618e+01] [-7.08393642e-02 5.73081312e-04 9.97487572e-01 -5.36393131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.325779523 meters 0.0142061008170306 Centerline is valid? [True, True] Translation: X:90.31, Y:-14.83, Z:-5.36 [[ 9.64998915e-01 2.52340518e-01 7.14237835e-02 9.03124762e+01] [-2.51635398e-01 9.67638473e-01 -1.88523681e-02 -1.48335307e+01] [-7.38696172e-02 2.19762567e-04 9.97267883e-01 -5.36214121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.385779523 meters 0.017669311439495274 Centerline is valid? [True, True] Translation: X:90.37, Y:-14.85, Z:-5.36 [[ 9.64445210e-01 2.54340841e-01 7.18064990e-02 9.03721419e+01] [-2.53632271e-01 9.67114641e-01 -1.89721332e-02 -1.48521439e+01] [-7.42705049e-02 8.51375733e-05 9.97238128e-01 -5.36317967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.445779523 meters 0.014189910723778744 Centerline is valid? [True, True] Translation: X:90.43, Y:-14.86, Z:-5.37 [[ 9.62723464e-01 2.60220128e-01 7.38174510e-02 9.04346227e+01] [-2.59486875e-01 9.65549251e-01 -1.95244745e-02 -1.48557673e+01] [-7.63550458e-02 -3.57989948e-04 9.97080628e-01 -5.37144036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50577952299999 meters 0.014604294125329882 Centerline is valid? [True, True] Translation: X:90.49, Y:-14.87, Z:-5.38 [[ 9.61692634e-01 2.64485116e-01 7.20756628e-02 9.04944712e+01] [-2.63796627e-01 9.64389541e-01 -1.90828072e-02 -1.48717506e+01] [-7.45561338e-02 -6.61521654e-04 9.97216599e-01 -5.37710306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56577952299999 meters 0.014661865106483273 Centerline is valid? [True, True] Translation: X:90.55, Y:-14.89, Z:-5.38 [[ 9.61467542e-01 2.65641028e-01 7.08167303e-02 9.05535164e+01] [-2.64978189e-01 9.64071743e-01 -1.87678945e-02 -1.48936798e+01] [-7.32579314e-02 -7.20167533e-04 9.97312768e-01 -5.37767064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62577952299999 meters 0.016402931900554318 Centerline is valid? [True, True] Translation: X:90.61, Y:-14.91, Z:-5.39 [[ 9.61777343e-01 2.64804212e-01 6.97357205e-02 9.06146822e+01] [-2.64157989e-01 9.64301993e-01 -1.84992778e-02 -1.49068595e+01] [-7.21449809e-02 -6.29061453e-04 9.97393957e-01 -5.38669683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.685779523 meters 0.018276792726856825 Centerline is valid? [True, True] Translation: X:90.67, Y:-14.93, Z:-5.39 [[ 9.62054023e-01 2.64271337e-01 6.79169874e-02 9.06717464e+01] [-2.63655662e-01 9.64448212e-01 -1.80371359e-02 -1.49306213e+01] [-7.02691151e-02 -5.53999151e-04 9.97527917e-01 -5.39351966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.745779523 meters 0.01640664287622738 Centerline is valid? [True, True] Translation: X:90.73, Y:-14.95, Z:-5.40 [[ 9.62755889e-01 2.61101566e-01 7.01930982e-02 9.07290183e+01] [-2.60434167e-01 9.65311283e-01 -1.86593695e-02 -1.49525077e+01] [-7.26301803e-02 -3.16263181e-04 9.97358891e-01 -5.39587761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.805779523 meters 0.017255906663792595 Centerline is valid? [True, True] Translation: X:90.79, Y:-14.97, Z:-5.40 [[ 9.63459479e-01 2.58258999e-01 7.10501319e-02 9.07879669e+01] [-2.57566201e-01 9.66075712e-01 -1.89042363e-02 -1.49721136e+01] [-7.35219959e-02 -8.66468887e-05 9.97293592e-01 -5.40029541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.865779523 meters 0.017770304959609993 Centerline is valid? [True, True] Translation: X:90.85, Y:-15.00, Z:-5.40 [[ 9.63815624e-01 2.56905328e-01 7.11273227e-02 9.08458724e+01] [-2.56205959e-01 9.66436574e-01 -1.89434857e-02 -1.50006931e+01] [-7.36067284e-02 3.47835715e-05 9.97287345e-01 -5.39741155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92577952299999 meters 0.01429638860979569 Centerline is valid? [True, True] Translation: X:90.91, Y:-15.02, Z:-5.40 [[ 9.63860907e-01 2.57579782e-01 6.80059383e-02 9.09050783e+01] [-2.56940798e-01 9.66257034e-01 -1.81320294e-02 -1.50199182e+01] [-7.03816604e-02 3.25422279e-06 9.97520136e-01 -5.40368331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98577952299999 meters 0.017313915181465193 Centerline is valid? [True, True] Translation: X:90.96, Y:-15.03, Z:-5.42 [[ 9.64148737e-01 2.57321518e-01 6.48293830e-02 9.09643062e+01] [-2.56739211e-01 9.66325843e-01 -1.73015063e-02 -1.50347694e+01] [-6.70983581e-02 3.69808148e-05 9.97746365e-01 -5.42019348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.045779523 meters 0.014396132216913384 Centerline is valid? [True, True] Translation: X:91.02, Y:-15.06, Z:-5.42 [[ 9.63626551e-01 2.58491814e-01 6.78664271e-02 9.10203855e+01] [-2.57855136e-01 9.66013448e-01 -1.81313927e-02 -1.50626641e+01] [-7.02466979e-02 -2.78154304e-05 9.97529649e-01 -5.41746710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.105779523 meters 0.014266688274212196 Centerline is valid? [True, True] Translation: X:91.08, Y:-15.08, Z:-5.42 [[ 9.63393464e-01 2.59164125e-01 6.86075057e-02 9.10800015e+01] [-2.58513988e-01 9.65833294e-01 -1.83457276e-02 -1.50836640e+01] [-7.10179677e-02 -6.18457921e-05 9.97475035e-01 -5.41754449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.165779523 meters 0.01786111757786381 Centerline is valid? [True, True] Translation: X:91.14, Y:-15.10, Z:-5.43 [[ 9.62752326e-01 2.61445159e-01 6.89520671e-02 9.11399045e+01] [-2.60792785e-01 9.65218309e-01 -1.84591093e-02 -1.51000242e+01] [-7.13798424e-02 -2.10651196e-04 9.97449184e-01 -5.42685933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.225779523 meters 0.014747820504890076 Centerline is valid? [True, True] Translation: X:91.20, Y:-15.13, Z:-5.43 [[ 9.61384591e-01 2.66524899e-01 6.85867747e-02 9.11978945e+01] [-2.65890785e-01 9.63827869e-01 -1.83828775e-02 -1.51261069e+01] [-7.10053395e-02 -5.63576210e-04 9.97475776e-01 -5.42524484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28577952299999 meters 0.014755351239824818 Centerline is valid? [True, True] Translation: X:91.26, Y:-15.15, Z:-5.44 [[ 9.61693822e-01 2.65909133e-01 6.66132574e-02 9.12560498e+01] [-2.65308366e-01 9.63997975e-01 -1.78710647e-02 -1.51473043e+01] [-6.89671246e-02 -4.86561973e-04 9.97618814e-01 -5.43531442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34577952299999 meters 0.0147121745533742 Centerline is valid? [True, True] Translation: X:91.32, Y:-15.17, Z:-5.44 [[ 9.62104328e-01 2.64676912e-01 6.55850159e-02 9.13151400e+01] [-2.64090571e-01 9.64337073e-01 -1.76119087e-02 -1.51686172e+01] [-6.79075279e-02 -3.75890727e-04 9.97691549e-01 -5.44446075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40577952299999 meters 0.014686001808380856 Centerline is valid? [True, True] Translation: X:91.37, Y:-15.19, Z:-5.45 [[ 9.61779347e-01 2.65093758e-01 6.85987401e-02 9.13731152e+01] [-2.64451673e-01 9.64222556e-01 -1.84438291e-02 -1.51912180e+01] [-7.10337965e-02 -4.02157674e-04 9.97473828e-01 -5.44679849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.465779523 meters 0.01801156646986593 Centerline is valid? [True, True] Translation: X:91.43, Y:-15.22, Z:-5.45 [[ 9.61447226e-01 2.65376368e-01 7.20736795e-02 9.14313386e+01] [-2.64666776e-01 9.64144804e-01 -1.93983227e-02 -1.52158416e+01] [-7.46373200e-02 -4.25044867e-04 9.97210655e-01 -5.44773196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.525779523 meters 0.01797012701817605 Centerline is valid? [True, True] Translation: X:91.49, Y:-15.24, Z:-5.45 [[ 9.61716179e-01 2.64717850e-01 7.08974667e-02 9.14891670e+01] [-2.64028075e-01 9.64325846e-01 -1.91007359e-02 -1.52370085e+01] [-7.34245653e-02 -3.49434871e-04 9.97300712e-01 -5.45389800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.585779523 meters 0.01761660164010369 Centerline is valid? [True, True] Translation: X:91.55, Y:-15.26, Z:-5.46 [[ 9.61346045e-01 2.66120647e-01 7.06652864e-02 9.15483054e+01] [-2.65438274e-01 9.63939627e-01 -1.90504033e-02 -1.52593666e+01] [-7.31867755e-02 -4.43241788e-04 9.97318154e-01 -5.46173296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64577952299999 meters 0.015492057254740482 Centerline is valid? [True, True] Translation: X:91.61, Y:-15.28, Z:-5.47 [[ 9.60231338e-01 2.70667801e-01 6.85180242e-02 9.16066254e+01] [-2.70036384e-01 9.62672523e-01 -1.84923018e-02 -1.52800326e+01] [-7.09656899e-02 -7.45471826e-04 9.97478479e-01 -5.46837953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70577952299999 meters 0.015988470554116594 Centerline is valid? [True, True] Translation: X:91.67, Y:-15.30, Z:-5.47 [[ 9.59215232e-01 2.73442284e-01 7.16620906e-02 9.16681592e+01] [-2.72757766e-01 9.61887918e-01 -1.93606580e-02 -1.52954398e+01] [-7.42249216e-02 -9.75353650e-04 9.97241049e-01 -5.46971321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76577952299999 meters 0.017663445191411536 Centerline is valid? [True, True] Translation: X:91.73, Y:-15.31, Z:-5.47 [[ 9.58538332e-01 2.74579116e-01 7.62271304e-02 9.17264492e+01] [-2.73806102e-01 9.61563873e-01 -2.06188375e-02 -1.53130421e+01] [-7.89587569e-02 -1.10750728e-03 9.96877268e-01 -5.46944569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.825779523 meters 0.019279620116404866 Centerline is valid? [True, True] Translation: X:91.79, Y:-15.33, Z:-5.48 [[ 9.57569889e-01 2.77455484e-01 7.79638583e-02 9.17863399e+01] [-2.76655359e-01 9.60737526e-01 -2.11002116e-02 -1.53262822e+01] [-8.07571737e-02 -1.36419196e-03 9.96732872e-01 -5.47698878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.885779523 meters 0.02024964206929759 Centerline is valid? [True, True] Translation: X:91.85, Y:-15.34, Z:-5.49 [[ 9.57218309e-01 2.79382055e-01 7.53576490e-02 9.18454787e+01] [-2.78639025e-01 9.60178913e-01 -2.04144138e-02 -1.53403061e+01] [-7.80602464e-02 -1.45653114e-03 9.96947580e-01 -5.48554293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.945779523 meters 0.017067297621401387 Centerline is valid? [True, True] Translation: X:91.90, Y:-15.36, Z:-5.49 [[ 9.58115479e-01 2.76729102e-01 7.37274269e-02 9.19047842e+01] [-2.76009282e-01 9.60947218e-01 -1.99830093e-02 -1.53605072e+01] [-7.63780460e-02 -1.20342365e-03 9.97078204e-01 -5.49019862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00577952299999 meters 0.018395836429941914 Centerline is valid? [True, True] Translation: X:91.96, Y:-15.38, Z:-5.50 [[ 9.59601877e-01 2.71201578e-01 7.49262451e-02 9.19626928e+01] [-2.70440773e-01 9.62522266e-01 -2.03144270e-02 -1.53815208e+01] [-7.76274839e-02 -7.69349391e-04 9.96982137e-01 -5.49622269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06577952299999 meters 0.0178521272865306 Centerline is valid? [True, True] Translation: X:92.02, Y:-15.40, Z:-5.50 [[ 9.60149075e-01 2.67488366e-01 8.10168421e-02 9.20219565e+01] [-2.66583545e-01 9.63560967e-01 -2.19880722e-02 -1.54012638e+01] [-8.39462203e-02 -4.85929860e-04 9.96470168e-01 -5.49534269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12577952299999 meters 0.017988111662867293 Centerline is valid? [True, True] Translation: X:92.08, Y:-15.42, Z:-5.50 [[ 9.61176869e-01 2.64025790e-01 8.01835959e-02 9.20801585e+01] [-2.63125759e-01 9.64515607e-01 -2.17825360e-02 -1.54201338e+01] [-8.30894809e-02 -1.61499825e-04 9.96542077e-01 -5.50235034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.185779523 meters 0.015071676543711835 Centerline is valid? [True, True] Translation: X:92.14, Y:-15.44, Z:-5.50 [[ 9.61692341e-01 2.61417319e-01 8.25156104e-02 9.21403178e+01] [-2.60452734e-01 9.65225869e-01 -2.24364667e-02 -1.54379835e+01] [-8.55114827e-02 8.55618308e-05 9.96337181e-01 -5.50478791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.245779523 meters 0.015558207504879237 Centerline is valid? [True, True] Translation: X:92.20, Y:-15.46, Z:-5.51 [[ 9.63074845e-01 2.55891188e-01 8.37050916e-02 9.21977125e+01] [-2.54875500e-01 9.66705399e-01 -2.27848796e-02 -1.54586862e+01] [-8.67486139e-02 6.09167316e-04 9.96230047e-01 -5.50760878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.305779523 meters 0.016470513400023833 Centerline is valid? [True, True] Translation: X:92.25, Y:-15.48, Z:-5.52 [[ 9.64510677e-01 2.50750114e-01 8.27256579e-02 9.22549897e+01] [-2.49737525e-01 9.68051247e-01 -2.25377601e-02 -1.54820724e+01] [-8.57340223e-02 1.07820918e-03 9.96317477e-01 -5.51518049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.365779523 meters 0.0161556969465553 Centerline is valid? [True, True] Translation: X:92.31, Y:-15.50, Z:-5.52 [[ 9.64434077e-01 2.51613999e-01 8.09771998e-02 9.23145403e+01] [-2.50645188e-01 9.67827152e-01 -2.20815169e-02 -1.54993185e+01] [-8.39279514e-02 9.99621932e-04 9.96471324e-01 -5.52307229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42577952299999 meters 0.015624212117095254 Centerline is valid? [True, True] Translation: X:92.38, Y:-15.51, Z:-5.52 [[ 9.62438785e-01 2.56552312e-01 8.88397264e-02 9.23764194e+01] [-2.55404402e-01 9.66530128e-01 -2.42508240e-02 -1.55108811e+01] [-9.20878771e-02 6.49876439e-04 9.95750672e-01 -5.52492586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48577952299999 meters 0.015582354722573393 Centerline is valid? [True, True] Translation: X:92.44, Y:-15.53, Z:-5.53 [[ 9.60678890e-01 2.62104938e-01 9.16355417e-02 9.24371163e+01] [-2.60905931e-01 9.65039367e-01 -2.50422851e-02 -1.55283498e+01] [-9.49956117e-02 1.49338321e-04 9.95477680e-01 -5.52575283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.545779523 meters 0.017848835784891444 Centerline is valid? [True, True] Translation: X:92.50, Y:-15.55, Z:-5.54 [[ 9.60544104e-01 2.63496346e-01 8.90207850e-02 9.24964810e+01] [-2.62368693e-01 9.64660393e-01 -2.43514715e-02 -1.55464837e+01] [-9.22913493e-02 3.43953289e-05 9.95732045e-01 -5.53526536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.605779523 meters 0.017828337679720897 Centerline is valid? [True, True] Translation: X:92.56, Y:-15.56, Z:-5.54 [[ 9.61137556e-01 2.61577962e-01 8.82698597e-02 9.25550068e+01] [-2.60460381e-01 9.65182324e-01 -2.41551460e-02 -1.55645906e+01] [-9.15149622e-02 2.25616781e-04 9.95803676e-01 -5.54128438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.665779523 meters 0.01879124523311492 Centerline is valid? [True, True] Translation: X:92.61, Y:-15.58, Z:-5.55 [[ 9.61469285e-01 2.59277244e-01 9.13899637e-02 9.26146609e+01] [-2.58066948e-01 9.65802817e-01 -2.50273501e-02 -1.55806686e+01] [-9.47537068e-02 4.78299378e-04 9.95500631e-01 -5.54702457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.725779523 meters 0.01727287023547921 Centerline is valid? [True, True] Translation: X:92.67, Y:-15.60, Z:-5.55 [[ 9.61734465e-01 2.58179195e-01 9.17078108e-02 9.26740882e+01] [-2.56953202e-01 9.66096853e-01 -2.51380739e-02 -1.55988771e+01] [-9.50887551e-02 6.11536359e-04 9.95468611e-01 -5.55185712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78577952299999 meters 0.015501926196943194 Centerline is valid? [True, True] Translation: X:92.73, Y:-15.61, Z:-5.56 [[ 9.61747544e-01 2.58528452e-01 9.05797994e-02 9.27337350e+01] [-2.57331878e-01 9.66003462e-01 -2.48518778e-02 -1.56127504e+01] [-9.39253174e-02 5.92162561e-04 9.95579070e-01 -5.56223417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84577952299999 meters 0.018104972420014694 Centerline is valid? [True, True] Translation: X:92.79, Y:-15.63, Z:-5.57 [[ 9.62550341e-01 2.56545159e-01 8.76437215e-02 9.27925658e+01] [-2.55414830e-01 9.66531929e-01 -2.40685275e-02 -1.56312583e+01] [-9.08851194e-02 7.81663181e-04 9.95861077e-01 -5.57099415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90577952299999 meters 0.018448074052780292 Centerline is valid? [True, True] Translation: X:92.85, Y:-15.65, Z:-5.57 [[ 9.63288808e-01 2.53650503e-01 8.79550673e-02 9.28505964e+01] [-2.52497948e-01 9.67295329e-01 -2.41771039e-02 -1.56512130e+01] [-9.12110603e-02 1.08105960e-03 9.95830997e-01 -5.57272518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.965779523 meters 0.019025577079797067 Centerline is valid? [True, True] Translation: X:92.91, Y:-15.67, Z:-5.59 [[ 9.64944433e-01 2.48492543e-01 8.44612118e-02 9.29096691e+01] [-2.47408445e-01 9.68632608e-01 -2.32364438e-02 -1.56663395e+01] [-8.75859669e-02 1.52546000e-03 9.96155797e-01 -5.58566005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.025779523 meters 0.019734374706419366 Centerline is valid? [True, True] Translation: X:92.97, Y:-15.68, Z:-5.59 [[ 9.66547985e-01 2.42365357e-01 8.39286952e-02 9.29682930e+01] [-2.41270027e-01 9.70182804e-01 -2.31106037e-02 -1.56830853e+01] [-8.70273866e-02 2.08802889e-03 9.96203731e-01 -5.59393057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.085779523 meters 0.0214636880748624 Centerline is valid? [True, True] Translation: X:93.03, Y:-15.70, Z:-5.60 [[ 9.68304055e-01 2.36309340e-01 8.09021158e-02 9.30263456e+01] [-2.35270287e-01 9.71674554e-01 -2.22812407e-02 -1.57026572e+01] [-8.38757926e-02 2.54115170e-03 9.96472977e-01 -5.60030370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14577952299999 meters 0.021997658316604125 Centerline is valid? [True, True] Translation: X:93.09, Y:-15.71, Z:-5.61 [[ 9.69096723e-01 2.33523202e-01 7.94887141e-02 9.30867327e+01] [-2.32510527e-01 9.72347377e-01 -2.18959848e-02 -1.57149041e+01] [-8.24038632e-02 2.73736435e-03 9.96595259e-01 -5.60762000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20577952299999 meters 0.020406986145128796 Centerline is valid? [True, True] Translation: X:93.15, Y:-15.73, Z:-5.61 [[ 9.69273886e-01 2.32464664e-01 8.04258251e-02 9.31479391e+01] [-2.31423731e-01 9.72600616e-01 -2.21607496e-02 -1.57267779e+01] [-8.33737983e-02 2.86739141e-03 9.96514219e-01 -5.61359416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26577952299999 meters 0.021148063653432803 Centerline is valid? [True, True] Translation: X:93.21, Y:-15.74, Z:-5.62 [[ 9.69384041e-01 2.33089712e-01 7.72254253e-02 9.32077056e+01] [-2.32130520e-01 9.72451431e-01 -2.12987220e-02 -1.57393829e+01] [-8.00624883e-02 2.72026313e-03 9.96786135e-01 -5.62303351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.325779523 meters 0.020575313443120958 Centerline is valid? [True, True] Translation: X:93.27, Y:-15.75, Z:-5.63 [[ 9.69178522e-01 2.34170869e-01 7.65310133e-02 9.32676499e+01] [-2.33230658e-01 9.72191908e-01 -2.11271169e-02 -1.57540903e+01] [-7.93501872e-02 2.62656935e-03 9.96843342e-01 -5.62841887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.385779523 meters 0.022122993284053698 Centerline is valid? [True, True] Translation: X:93.33, Y:-15.77, Z:-5.63 [[ 9.68988789e-01 2.35418388e-01 7.50926691e-02 9.33275210e+01] [-2.34515476e-01 9.71890917e-01 -2.07493836e-02 -1.57697822e+01] [-7.78666695e-02 2.49552710e-03 9.96960658e-01 -5.63163531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.445779523 meters 0.02051789434038428 Centerline is valid? [True, True] Translation: X:93.39, Y:-15.78, Z:-5.64 [[ 9.68450157e-01 2.38155039e-01 7.33925732e-02 9.33873407e+01] [-2.37299013e-01 9.71224562e-01 -2.02984699e-02 -1.57819694e+01] [-7.61148527e-02 2.24207121e-03 9.97096536e-01 -5.64103051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50577952299999 meters 0.019835472443965742 Centerline is valid? [True, True] Translation: X:93.45, Y:-15.79, Z:-5.65 [[ 9.67789269e-01 2.40936507e-01 7.30310301e-02 9.34472732e+01] [-2.40095375e-01 9.70538753e-01 -2.02172911e-02 -1.57948304e+01] [-7.57505284e-02 2.03166475e-03 9.97124731e-01 -5.64967162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56577952299999 meters 0.0208956082769865 Centerline is valid? [True, True] Translation: X:93.51, Y:-15.81, Z:-5.65 [[ 9.67618957e-01 2.41398173e-01 7.37595759e-02 9.35078182e+01] [-2.40540037e-01 9.70424023e-01 -2.04378483e-02 -1.58100601e+01] [-7.65117236e-02 2.03391833e-03 9.97066607e-01 -5.65250832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62577952299999 meters 0.019486948132319968 Centerline is valid? [True, True] Translation: X:93.57, Y:-15.83, Z:-5.66 [[ 9.67890408e-01 2.40299998e-01 7.37839353e-02 9.35672849e+01] [-2.39436649e-01 9.70696313e-01 -2.04636176e-02 -1.58273724e+01] [-7.65392012e-02 2.13996097e-03 9.97064276e-01 -5.65571008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.685779523 meters 0.02335353602784234 Centerline is valid? [True, True] Translation: X:93.62, Y:-15.85, Z:-5.66 [[ 9.68654710e-01 2.35994009e-01 7.75556602e-02 9.36245875e+01] [-2.35024461e-01 9.71750955e-01 -2.15310302e-02 -1.58456342e+01] [-8.04459810e-02 2.62865662e-03 9.96755504e-01 -5.66031632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.745779523 meters 0.021302452136785114 Centerline is valid? [True, True] Translation: X:93.68, Y:-15.86, Z:-5.66 [[ 9.68941340e-01 2.34354237e-01 7.89352393e-02 9.36840451e+01] [-2.33344116e-01 9.72147187e-01 -2.19173653e-02 -1.58622752e+01] [-8.18730983e-02 2.81756765e-03 9.96638780e-01 -5.66217613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.805779523 meters 0.022921604791824816 Centerline is valid? [True, True] Translation: X:93.74, Y:-15.89, Z:-5.66 [[ 9.70043787e-01 2.30783296e-01 7.58559227e-02 9.37416531e+01] [-2.29838277e-01 9.73000506e-01 -2.10803680e-02 -1.58854058e+01] [-7.86728479e-02 3.01428540e-03 9.96895931e-01 -5.66477400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.865779523 meters 0.026036962968641546 Centerline is valid? [True, True] Translation: X:93.80, Y:-15.91, Z:-5.67 [[ 9.70222142e-01 2.30678746e-01 7.38668485e-02 9.37983972e+01] [-2.29782222e-01 9.73025508e-01 -2.05302398e-02 -1.59073330e+01] [-7.66102178e-02 2.94560461e-03 9.97056768e-01 -5.67149692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92577952299999 meters 0.024129821325642724 Centerline is valid? [True, True] Translation: X:93.86, Y:-15.92, Z:-5.68 [[ 9.70234992e-01 2.30209587e-01 7.51505636e-02 9.38589806e+01] [-2.29278744e-01 9.73136284e-01 -2.09052560e-02 -1.59189693e+01] [-7.79443306e-02 3.05258406e-03 9.96953040e-01 -5.68285205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98577952299999 meters 0.024825418420056252 Centerline is valid? [True, True] Translation: X:93.92, Y:-15.94, Z:-5.68 [[ 9.70768389e-01 2.27426464e-01 7.67198675e-02 9.39160082e+01] [-2.26445960e-01 9.73789444e-01 -2.13622561e-02 -1.59437256e+01] [-7.95673394e-02 3.36489886e-03 9.96823814e-01 -5.68332385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.045779523 meters 0.02699113450355246 Centerline is valid? [True, True] Translation: X:93.97, Y:-15.96, Z:-5.68 [[ 9.71239709e-01 2.24344801e-01 7.97673973e-02 9.39745677e+01] [-2.23272781e-01 9.74502499e-01 -2.22293644e-02 -1.59644253e+01] [-8.27205704e-02 3.78015283e-03 9.96565611e-01 -5.68269732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.105779523 meters 0.02713980807225268 Centerline is valid? [True, True] Translation: X:94.03, Y:-15.98, Z:-5.68 [[ 9.71506330e-01 2.22529375e-01 8.15850967e-02 9.40327108e+01] [-2.21401051e-01 9.74917658e-01 -2.27406136e-02 -1.59831261e+01] [-8.45992059e-02 4.02962389e-03 9.96406913e-01 -5.68422163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.165779523 meters 0.0284300226640801 Centerline is valid? [True, True] Translation: X:94.09, Y:-16.00, Z:-5.70 [[ 9.72977104e-01 2.16011347e-01 8.15760572e-02 9.40913885e+01] [-2.14858858e-01 9.76379949e-01 -2.27566663e-02 -1.59977394e+01] [-8.45649247e-02 4.61437684e-03 9.96407287e-01 -5.69587573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.225779523 meters 0.029077387616466117 Centerline is valid? [True, True] Translation: X:94.15, Y:-16.02, Z:-5.70 [[ 9.74075642e-01 2.10671364e-01 8.24270593e-02 9.41494170e+01] [-2.09475203e-01 9.77543450e-01 -2.29987538e-02 -1.60172610e+01] [-8.54212107e-02 5.13610087e-03 9.96331690e-01 -5.69855030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28577952299999 meters 0.03266255612297906 Centerline is valid? [True, True] Translation: X:94.21, Y:-16.04, Z:-5.70 [[ 9.75268197e-01 2.05876918e-01 8.04154125e-02 9.42069000e+01] [-2.04721989e-01 9.78562862e-01 -2.24417380e-02 -1.60401547e+01] [-8.33117721e-02 5.42391015e-03 9.96508771e-01 -5.70276081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34577952299999 meters 0.03502545215295086 Centerline is valid? [True, True] Translation: X:94.27, Y:-16.06, Z:-5.71 [[ 9.76790060e-01 1.98770231e-01 7.98221353e-02 9.42650607e+01] [-1.97608364e-01 9.80027815e-01 -2.22804026e-02 -1.60598468e+01] [-8.26565936e-02 5.98975421e-03 9.96560089e-01 -5.70951753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40577952299999 meters 0.03448580932581739 Centerline is valid? [True, True] Translation: X:94.33, Y:-16.07, Z:-5.72 [[ 9.77902008e-01 1.94133657e-01 7.75872745e-02 9.43251833e+01] [-1.93021250e-01 9.80955456e-01 -2.16607979e-02 -1.60701722e+01] [-8.03147501e-02 6.20614512e-03 9.96750232e-01 -5.72405620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.465779523 meters 0.034814799981230674 Centerline is valid? [True, True] Translation: X:94.38, Y:-16.09, Z:-5.73 [[ 9.78293962e-01 1.92965975e-01 7.55318246e-02 9.43837367e+01] [-1.91908205e-01 9.81186259e-01 -2.10894603e-02 -1.60901520e+01] [-7.81803367e-02 6.13651479e-03 9.96920347e-01 -5.72643153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.525779523 meters 0.03861513632495386 Centerline is valid? [True, True] Translation: X:94.44, Y:-16.11, Z:-5.73 [[ 9.78689741e-01 1.91364645e-01 7.44712260e-02 9.44405963e+01] [-1.90331139e-01 9.81499526e-01 -2.08023382e-02 -1.61093601e+01] [-7.70743051e-02 6.18484174e-03 9.97006168e-01 -5.73164934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.585779523 meters 0.03641979456333815 Centerline is valid? [True, True] Translation: X:94.50, Y:-16.12, Z:-5.74 [[ 9.78458024e-01 1.92085699e-01 7.56503767e-02 9.45013250e+01] [-1.91020506e-01 9.81358347e-01 -2.11414395e-02 -1.61206827e+01] [-7.83010969e-02 6.23523794e-03 9.96910257e-01 -5.73610566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64577952299999 meters 0.03804994404794177 Centerline is valid? [True, True] Translation: X:94.56, Y:-16.13, Z:-5.74 [[ 9.78213084e-01 1.93284103e-01 7.57655489e-02 9.45610574e+01] [-1.92217675e-01 9.81123443e-01 -2.11932767e-02 -1.61345538e+01] [-7.84316797e-02 6.16806297e-03 9.96900410e-01 -5.74387693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70577952299999 meters 0.03832858338541844 Centerline is valid? [True, True] Translation: X:94.62, Y:-16.15, Z:-5.75 [[ 9.78171834e-01 1.93808941e-01 7.49530362e-02 9.46215142e+01] [-1.92765370e-01 9.81020462e-01 -2.09848983e-02 -1.61454256e+01] [-7.75975231e-02 6.07848667e-03 9.96966236e-01 -5.75273462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76577952299999 meters 0.039766003868605744 Centerline is valid? [True, True] Translation: X:94.68, Y:-16.16, Z:-5.76 [[ 9.77780002e-01 1.97057046e-01 7.15177463e-02 9.46792859e+01] [-1.96114329e-01 9.80376195e-01 -2.00421316e-02 -1.61631332e+01] [-7.40637393e-02 5.57114070e-03 9.97237948e-01 -5.75809833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.825779523 meters 0.03832867203254283 Centerline is valid? [True, True] Translation: X:94.74, Y:-16.18, Z:-5.76 [[ 9.77129035e-01 2.00517045e-01 7.07938126e-02 9.47389390e+01] [-1.99602303e-01 9.79676116e-01 -1.98400589e-02 -1.61753212e+01] [-7.33332774e-02 5.25568952e-03 9.97293642e-01 -5.76369266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.885779523 meters 0.03748940634492666 Centerline is valid? [True, True] Translation: X:94.80, Y:-16.19, Z:-5.77 [[ 9.75947062e-01 2.06538270e-01 6.97801886e-02 9.47987262e+01] [-2.05664706e-01 9.78427059e-01 -1.95580830e-02 -1.61853048e+01] [-7.23143173e-02 4.73633172e-03 9.97370647e-01 -5.76943400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.945779523 meters 0.037328945935416295 Centerline is valid? [True, True] Translation: X:94.86, Y:-16.20, Z:-5.78 [[ 9.75413220e-01 2.09066770e-01 6.97146728e-02 9.48592168e+01] [-2.08201188e-01 9.77890803e-01 -1.95407997e-02 -1.61958563e+01] [-7.22586692e-02 4.54567668e-03 9.97375567e-01 -5.77596939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00577952299999 meters 0.02988612863591085 Centerline is valid? [True, True] Translation: X:94.92, Y:-16.20, Z:-5.78 [[ 9.75839448e-01 2.08337276e-01 6.58251613e-02 9.49212593e+01] [-2.07564113e-01 9.78047408e-01 -1.84501433e-02 -1.62022486e+01] [-6.82239809e-02 4.34143649e-03 9.97660584e-01 -5.77787676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06577952299999 meters 0.04215783133003111 Centerline is valid? [True, True] Translation: X:94.98, Y:-16.23, Z:-5.79 [[ 9.76009284e-01 2.07424208e-01 6.61896904e-02 9.49774543e+01] [-2.06639216e-01 9.78240988e-01 -1.85688889e-02 -1.62263682e+01] [-6.86011052e-02 4.44602224e-03 9.97634262e-01 -5.78774016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12577952299999 meters 0.03263077830055858 Centerline is valid? [True, True] Translation: X:95.04, Y:-16.22, Z:-5.79 [[ 9.75621988e-01 2.07544108e-01 7.13244753e-02 9.50429662e+01] [-2.06631284e-01 9.78213874e-01 -2.00282116e-02 -1.62248028e+01] [-7.39273287e-02 4.80209572e-03 9.97252069e-01 -5.78657717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.185779523 meters 0.03340612531529303 Centerline is valid? [True, True] Translation: X:95.10, Y:-16.24, Z:-5.79 [[ 9.75449922e-01 2.07940142e-01 7.25144641e-02 9.51035926e+01] [-2.06996205e-01 9.78129426e-01 -2.03813046e-02 -1.62392456e+01] [-7.51666225e-02 4.87072307e-03 9.97159092e-01 -5.78743488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.245779523 meters 0.02790296254981569 Centerline is valid? [True, True] Translation: X:95.17, Y:-16.24, Z:-5.79 [[ 9.75572980e-01 2.08448084e-01 6.93307842e-02 9.51678373e+01] [-2.07585464e-01 9.78022454e-01 -1.95026867e-02 -1.62414188e+01] [-7.18723613e-02 4.63423112e-03 9.97403072e-01 -5.79241587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.305779523 meters 0.03290432179760423 Centerline is valid? [True, True] Translation: X:95.23, Y:-16.26, Z:-5.80 [[ 9.76784645e-01 2.04564304e-01 6.36019044e-02 9.52257019e+01] [-2.03828957e-01 9.78842633e-01 -1.79124527e-02 -1.62556168e+01] [-6.59205040e-02 4.53269891e-03 9.97814583e-01 -5.80003209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.365779523 meters 0.035752785946494774 Centerline is valid? [True, True] Translation: X:95.28, Y:-16.27, Z:-5.81 [[ 9.77720976e-01 2.00444806e-01 6.23183149e-02 9.52840211e+01] [-1.99730268e-01 9.79693638e-01 -1.75554948e-02 -1.62715691e+01] [-6.45717644e-02 4.71752177e-03 9.97901915e-01 -5.80559520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42577952299999 meters 0.035075933055278216 Centerline is valid? [True, True] Translation: X:95.35, Y:-16.28, Z:-5.81 [[ 9.78974294e-01 1.92652776e-01 6.70390871e-02 9.53454716e+01] [-1.91807481e-01 9.81250838e-01 -1.88860635e-02 -1.62783653e+01] [-6.94206129e-02 5.63037228e-03 9.97571590e-01 -5.80654857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48577952299999 meters 0.035575646025702956 Centerline is valid? [True, True] Translation: X:95.41, Y:-16.29, Z:-5.81 [[ 9.80583574e-01 1.83693312e-01 6.86485337e-02 9.54062771e+01] [-1.82784841e-01 9.82962644e-01 -1.93427474e-02 -1.62890910e+01] [-7.10320776e-02 6.41926908e-03 9.97453376e-01 -5.80687205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.545779523 meters 0.04309788520851889 Centerline is valid? [True, True] Translation: X:95.46, Y:-16.31, Z:-5.81 [[ 9.80988606e-01 1.81179501e-01 6.95366271e-02 9.54633495e+01] [-1.80240986e-01 9.83427300e-01 -1.95941973e-02 -1.63086861e+01] [-7.19342843e-02 6.68833413e-03 9.97386948e-01 -5.80900913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.605779523 meters 0.03566350811651601 Centerline is valid? [True, True] Translation: X:95.53, Y:-16.30, Z:-5.81 [[ 9.80382383e-01 1.84468218e-01 6.94396115e-02 9.55285895e+01] [-1.83540137e-01 9.82817362e-01 -1.95716855e-02 -1.63023600e+01] [-7.18568098e-02 6.44277988e-03 9.97394150e-01 -5.81045838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.665779523 meters 0.035715593929361134 Centerline is valid? [True, True] Translation: X:95.59, Y:-16.30, Z:-5.82 [[ 9.78730590e-01 1.94376751e-01 6.56057303e-02 9.55911839e+01] [-1.93570340e-01 9.80912080e-01 -1.84936630e-02 -1.63027286e+01] [-6.79481914e-02 5.40099023e-03 9.97674232e-01 -5.82270051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.725779523 meters 0.030675650859767773 Centerline is valid? [True, True] Translation: X:95.65, Y:-16.30, Z:-5.83 [[ 9.76643776e-01 2.04473258e-01 6.60122873e-02 9.56544128e+01] [-2.03679475e-01 9.78860718e-01 -1.86109011e-02 -1.63017630e+01] [-6.84222666e-02 4.73087269e-03 9.97645234e-01 -5.82854082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78577952299999 meters 0.030957645293643452 Centerline is valid? [True, True] Translation: X:95.71, Y:-16.31, Z:-5.83 [[ 9.75451708e-01 2.08651022e-01 7.04181505e-02 9.57143379e+01] [-2.07758205e-01 9.77978683e-01 -1.98550469e-02 -1.63112679e+01] [-7.30102260e-02 4.73769086e-03 9.97319939e-01 -5.82685060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84577952299999 meters 0.029900856513701585 Centerline is valid? [True, True] Translation: X:95.77, Y:-16.32, Z:-5.83 [[ 9.76018833e-01 2.05872598e-01 7.07369183e-02 9.57743393e+01] [-2.04964396e-01 9.78566191e-01 -1.99450778e-02 -1.63230683e+01] [-7.33269017e-02 4.96822187e-03 9.97295584e-01 -5.82694182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90577952299999 meters 0.03617602326351284 Centerline is valid? [True, True] Translation: X:95.83, Y:-16.34, Z:-5.84 [[ 9.76786989e-01 2.03133230e-01 6.80005093e-02 9.58311584e+01] [-2.02287352e-01 9.79138473e-01 -1.91749551e-02 -1.63388469e+01] [-7.04769853e-02 4.97420371e-03 9.97501003e-01 -5.83891216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.965779523 meters 0.03392550124311493 Centerline is valid? [True, True] Translation: X:95.89, Y:-16.35, Z:-5.84 [[ 9.77578499e-01 1.99093682e-01 6.85710220e-02 9.58925118e+01] [-1.98223667e-01 9.79966078e-01 -1.93355722e-02 -1.63454757e+01] [-7.10468658e-02 5.30964020e-03 9.97458847e-01 -5.84273524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.025779523 meters 0.03417804629999122 Centerline is valid? [True, True] Translation: X:95.95, Y:-16.36, Z:-5.85 [[ 9.79344448e-01 1.90389352e-01 6.80907227e-02 9.59528092e+01] [-1.89510476e-01 9.81690923e-01 -1.92018336e-02 -1.63573480e+01] [-7.04998691e-02 5.90130392e-03 9.97494332e-01 -5.84560111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.085779523 meters 0.04030135088167355 Centerline is valid? [True, True] Translation: X:96.01, Y:-16.38, Z:-5.85 [[ 9.81274749e-01 1.80634635e-01 6.68654981e-02 9.60094906e+01] [-1.79764572e-01 9.83528889e-01 -1.88579598e-02 -1.63758089e+01] [-6.91705498e-02 6.48479214e-03 9.97583772e-01 -5.84943149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14577952299999 meters 0.0442034628790593 Centerline is valid? [True, True] Translation: X:96.07, Y:-16.38, Z:-5.86 [[ 9.82194073e-01 1.75746338e-01 6.63929756e-02 9.60694477e+01] [-1.74877043e-01 9.84412088e-01 -1.87312559e-02 -1.63847731e+01] [-6.86499974e-02 6.78712124e-03 9.97617719e-01 -5.85879730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20577952299999 meters 0.0427043149466542 Centerline is valid? [True, True] Translation: X:96.13, Y:-16.39, Z:-5.86 [[ 9.82043982e-01 1.75881590e-01 6.82296388e-02 9.61336578e+01] [-1.74963853e-01 9.84386691e-01 -1.92481961e-02 -1.63855217e+01] [-7.05497517e-02 6.96485470e-03 9.97483946e-01 -5.85837516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26577952299999 meters 0.041489678743961284 Centerline is valid? [True, True] Translation: X:96.20, Y:-16.39, Z:-5.86 [[ 9.81947151e-01 1.76680444e-01 6.75560002e-02 9.61975055e+01] [-1.75781428e-01 9.84244388e-01 -1.90754737e-02 -1.63872837e+01] [-6.98618772e-02 6.85601685e-03 9.97533114e-01 -5.86362850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.325779523 meters 0.04244826569989823 Centerline is valid? [True, True] Translation: X:96.26, Y:-16.39, Z:-5.87 [[ 9.81890826e-01 1.78051020e-01 6.47166167e-02 9.62617942e+01] [-1.77227963e-01 9.83999860e-01 -1.82900063e-02 -1.63861400e+01] [-6.69376961e-02 6.48919521e-03 9.97736055e-01 -5.87210843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.385779523 meters 0.042507775435390346 Centerline is valid? [True, True] Translation: X:96.33, Y:-16.38, Z:-5.88 [[ 9.82227656e-01 1.75009775e-01 6.78263204e-02 9.63250246e+01] [-1.74096915e-01 9.84541522e-01 -1.91899687e-02 -1.63846652e+01] [-7.01362608e-02 7.04056484e-03 9.97512574e-01 -5.87743158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.445779523 meters 0.044203413909075236 Centerline is valid? [True, True] Translation: X:96.39, Y:-16.39, Z:-5.88 [[ 9.82331898e-01 1.73523277e-01 7.00978925e-02 9.63862333e+01] [-1.72544227e-01 9.84802046e-01 -1.98348400e-02 -1.63881031e+01] [-7.24743543e-02 7.38940939e-03 9.97342902e-01 -5.87807278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50577952299999 meters 0.04399550110616215 Centerline is valid? [True, True] Translation: X:96.45, Y:-16.39, Z:-5.88 [[ 9.82059550e-01 1.75320760e-01 6.94382596e-02 9.64476442e+01] [-1.74364534e-01 9.84485127e-01 -1.96480259e-02 -1.63933754e+01] [-7.18056406e-02 7.18796170e-03 9.97392743e-01 -5.88285267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56577952299999 meters 0.04651004667439438 Centerline is valid? [True, True] Translation: X:96.51, Y:-16.39, Z:-5.89 [[ 9.81900624e-01 1.77707360e-01 6.55077015e-02 9.65103913e+01] [-1.76861678e-01 9.84061140e-01 -1.85369840e-02 -1.63926461e+01] [-6.77577419e-02 6.61567410e-03 9.97679869e-01 -5.89384567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62577952299999 meters 0.04457214423624105 Centerline is valid? [True, True] Translation: X:96.57, Y:-16.39, Z:-5.90 [[ 9.82236629e-01 1.76393002e-01 6.40055664e-02 9.65744710e+01] [-1.75582916e-01 9.84298010e-01 -1.81126384e-02 -1.63884976e+01] [-6.61954943e-02 6.55261290e-03 9.97785157e-01 -5.90300729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.685779523 meters 0.04069231817762248 Centerline is valid? [True, True] Translation: X:96.64, Y:-16.39, Z:-5.90 [[ 9.82122931e-01 1.74614367e-01 7.03162239e-02 9.66399107e+01] [-1.73631569e-01 9.84609563e-01 -1.99019409e-02 -1.63873258e+01] [-7.27091912e-02 7.33703621e-03 9.97326196e-01 -5.89798062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.745779523 meters 0.08503881818999584 Centerline is valid? [True, True] Translation: X:96.69, Y:-16.44, Z:-5.91 [[ 9.82573762e-01 1.72877555e-01 6.82799620e-02 9.66863503e+01] [-1.71946485e-01 9.84916619e-01 -1.93303104e-02 -1.64401159e+01] [-7.05918460e-02 7.25295634e-03 9.97478915e-01 -5.90819394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.805779523 meters 0.05516081049851769 Centerline is valid? [True, True] Translation: X:96.76, Y:-16.41, Z:-5.91 [[ 9.82439697e-01 1.72660167e-01 7.07156840e-02 9.67600886e+01] [-1.71660363e-01 9.84952634e-01 -2.00257093e-02 -1.64067030e+01] [-7.31092415e-02 7.53497179e-03 9.97295474e-01 -5.90950969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.865779523 meters 0.053596996340882025 Centerline is valid? [True, True] Translation: X:96.83, Y:-16.40, Z:-5.91 [[ 9.81518599e-01 1.76636964e-01 7.36248845e-02 9.68251140e+01] [-1.75562055e-01 9.84247004e-01 -2.08758315e-02 -1.64012129e+01] [-7.61525155e-02 7.56428086e-03 9.97067488e-01 -5.90520521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92577952299999 meters 0.05273221534975532 Centerline is valid? [True, True] Translation: X:96.89, Y:-16.40, Z:-5.91 [[ 9.80865587e-01 1.81240387e-01 7.10958674e-02 9.68875825e+01] [-1.80250156e-01 9.83414211e-01 -2.01586506e-02 -1.64001089e+01] [-7.35702479e-02 6.95788545e-03 9.97265765e-01 -5.91448250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98577952299999 meters 0.04877230522809557 Centerline is valid? [True, True] Translation: X:96.95, Y:-16.40, Z:-5.92 [[ 9.80547893e-01 1.82474360e-01 7.23113882e-02 9.69521060e+01] [-1.81453256e-01 9.83185815e-01 -2.05029160e-02 -1.63968640e+01] [-7.48367876e-02 6.98295423e-03 9.97171346e-01 -5.91916319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.045779523 meters 0.050615858300107563 Centerline is valid? [True, True] Translation: X:97.02, Y:-16.39, Z:-5.92 [[ 9.80025698e-01 1.84481889e-01 7.42702065e-02 9.70162035e+01] [-1.83410050e-01 9.82810851e-01 -2.10614704e-02 -1.63908677e+01] [-7.68790247e-02 7.01887994e-03 9.97015722e-01 -5.92291042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.105779523 meters 0.05119216369454566 Centerline is valid? [True, True] Translation: X:97.08, Y:-16.40, Z:-5.93 [[ 9.79834932e-01 1.85639588e-01 7.39016217e-02 9.70764202e+01] [-1.84581656e-01 9.82593724e-01 -2.09567789e-02 -1.64029460e+01] [-7.65056775e-02 6.89330034e-03 9.97045317e-01 -5.92949996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.165779523 meters 0.05249389872204259 Centerline is valid? [True, True] Translation: X:97.14, Y:-16.41, Z:-5.94 [[ 9.79868571e-01 1.85995397e-01 7.25485797e-02 9.71386068e+01] [-1.84976805e-01 9.82527496e-01 -2.05742776e-02 -1.64137905e+01] [-7.51076953e-02 6.74028352e-03 9.97152648e-01 -5.93511613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.225779523 meters 0.053633498815454095 Centerline is valid? [True, True] Translation: X:97.20, Y:-16.41, Z:-5.94 [[ 9.80257436e-01 1.84332037e-01 7.15336197e-02 9.72018859e+01] [-1.83335698e-01 9.82840548e-01 -2.03095916e-02 -1.64126530e+01] [-7.40498503e-02 6.79396207e-03 9.97231398e-01 -5.94395893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28577952299999 meters 0.05598415493939221 Centerline is valid? [True, True] Translation: X:97.26, Y:-16.42, Z:-5.95 [[ 9.79830992e-01 1.86594241e-01 7.15109550e-02 9.72619333e+01] [-1.85604377e-01 9.82414745e-01 -2.03047549e-02 -1.64167059e+01] [-7.40421669e-02 6.62248183e-03 9.97233122e-01 -5.95342734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34577952299999 meters 0.04739516278839753 Centerline is valid? [True, True] Translation: X:97.33, Y:-16.41, Z:-5.96 [[ 9.78516234e-01 1.92433999e-01 7.39941557e-02 9.73260778e+01] [-1.91390675e-01 9.81289079e-01 -2.10083954e-02 -1.64107551e+01] [-7.66523864e-02 6.39526447e-03 9.97037368e-01 -5.95625149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40577952299999 meters 0.03904789448203309 Centerline is valid? [True, True] Translation: X:97.39, Y:-16.40, Z:-5.96 [[ 9.76621850e-01 1.98957865e-01 8.13973580e-02 9.73909368e+01] [-1.97717291e-01 9.79986652e-01 -2.31091709e-02 -1.64044617e+01] [-8.43660757e-02 6.47525609e-03 9.96413788e-01 -5.95515443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.465779523 meters 0.0369204036632642 Centerline is valid? [True, True] Translation: X:97.45, Y:-16.40, Z:-5.96 [[ 9.74543846e-01 2.09512619e-01 7.98044802e-02 9.74538056e+01] [-2.08355230e-01 9.77790736e-01 -2.26577586e-02 -1.63998010e+01] [-8.27791678e-02 5.45329844e-03 9.96552995e-01 -5.96243361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.525779523 meters 0.030866912837159532 Centerline is valid? [True, True] Translation: X:97.52, Y:-16.40, Z:-5.97 [[ 9.72417884e-01 2.19705408e-01 7.83134262e-02 9.75165648e+01] [-2.18623700e-01 9.75555881e-01 -2.22351133e-02 -1.64004699e+01] [-8.12842982e-02 4.50065083e-03 9.96680795e-01 -5.97058432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.585779523 meters 0.030380275371807226 Centerline is valid? [True, True] Translation: X:97.57, Y:-16.41, Z:-5.98 [[ 9.70766990e-01 2.26971554e-01 7.80728220e-02 9.75747156e+01] [-2.25919730e-01 9.73893651e-01 -2.21682704e-02 -1.64118898e+01] [-8.10661924e-02 3.88203432e-03 9.96701160e-01 -5.97623630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64577952299999 meters 0.02747756403243977 Centerline is valid? [True, True] Translation: X:97.64, Y:-16.41, Z:-5.98 [[ 9.67618832e-01 2.39393475e-01 8.00284925e-02 9.76356300e+01] [-2.38330523e-01 9.70918266e-01 -2.27218469e-02 -1.64123757e+01] [-8.31405871e-02 2.91285452e-03 9.96533571e-01 -5.98116613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70577952299999 meters 0.02432567017982541 Centerline is valid? [True, True] Translation: X:97.70, Y:-16.42, Z:-5.99 [[ 9.64576958e-01 2.51913588e-01 7.82996611e-02 9.76955839e+01] [-2.50937307e-01 9.67748070e-01 -2.22292647e-02 -1.64206003e+01] [-8.13741997e-02 1.79353037e-03 9.96682007e-01 -5.98902633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76577952299999 meters 0.02003268317831857 Centerline is valid? [True, True] Translation: X:97.75, Y:-16.44, Z:-5.99 [[ 9.62014575e-01 2.61613224e-01 7.80158839e-02 9.77535756e+01] [-2.60676027e-01 9.65172309e-01 -2.21455036e-02 -1.64355262e+01] [-8.10923274e-02 9.67426590e-04 9.96706124e-01 -5.99353351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.825779523 meters 0.021839850922566358 Centerline is valid? [True, True] Translation: X:97.81, Y:-16.45, Z:-6.00 [[ 9.58851216e-01 2.72584229e-01 7.93862973e-02 9.78111855e+01] [-2.71651472e-01 9.62131923e-01 -2.25308963e-02 -1.64461138e+01] [-8.25216578e-02 3.83728404e-05 9.96589271e-01 -5.99810807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.885779523 meters 0.020938103332718557 Centerline is valid? [True, True] Translation: X:97.86, Y:-16.47, Z:-6.00 [[ 9.57487647e-01 2.77491459e-01 7.88409582e-02 9.78643555e+01] [-2.76588572e-01 9.60728026e-01 -2.23701102e-02 -1.64700305e+01] [-8.19522326e-02 -3.87403861e-04 9.96636183e-01 -6.00286256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.945779523 meters 0.020024529500664086 Centerline is valid? [True, True] Translation: X:97.92, Y:-16.50, Z:-6.01 [[ 9.57527813e-01 2.77891630e-01 7.69202744e-02 9.79170542e+01] [-2.77034123e-01 9.60612340e-01 -2.18180517e-02 -1.64991091e+01] [-7.99536187e-02 -4.18149395e-04 9.96798497e-01 -6.00886633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00577952299999 meters 0.020767662065958505 Centerline is valid? [True, True] Translation: X:97.97, Y:-16.53, Z:-6.01 [[ 9.59100708e-01 2.73004809e-01 7.47944200e-02 9.79705324e+01] [-2.72179698e-01 9.62012668e-01 -2.12093907e-02 -1.65281255e+01] [-7.77434452e-02 -1.55809733e-05 9.96973398e-01 -6.01393710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06577952299999 meters 0.019575815483842508 Centerline is valid? [True, True] Translation: X:98.02, Y:-16.57, Z:-6.02 [[ 9.61381227e-01 2.65043733e-01 7.41481965e-02 9.80235066e+01] [-2.64209449e-01 9.64236193e-01 -2.10221700e-02 -1.65670373e+01] [-7.70681691e-02 6.19665509e-04 9.97025633e-01 -6.01760522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12577952299999 meters 0.022326713041092152 Centerline is valid? [True, True] Translation: X:98.07, Y:-16.61, Z:-6.02 [[ 9.65414378e-01 2.49464269e-01 7.57803272e-02 9.80746202e+01] [-2.48543106e-01 9.68382088e-01 -2.15048115e-02 -1.66090781e+01] [-7.87489935e-02 1.92637630e-03 9.96892615e-01 -6.02164676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.185779523 meters 0.026585355962409404 Centerline is valid? [True, True] Translation: X:98.13, Y:-16.64, Z:-6.02 [[ 9.68398419e-01 2.37046621e-01 7.75461234e-02 9.81297802e+01] [-2.36042090e-01 9.71493623e-01 -2.20061882e-02 -1.66392591e+01] [-8.05520569e-02 3.00660885e-03 9.96745869e-01 -6.02411546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.245779523 meters 0.03074118961589751 Centerline is valid? [True, True] Translation: X:98.18, Y:-16.68, Z:-6.02 [[ 9.72286860e-01 2.20239450e-01 7.84400887e-02 9.81799417e+01] [-2.19156671e-01 9.75435667e-01 -2.22623833e-02 -1.66826364e+01] [-8.14163152e-02 4.45475404e-03 9.96670226e-01 -6.02373217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.305779523 meters 0.03641976502231922 Centerline is valid? [True, True] Translation: X:98.23, Y:-16.71, Z:-6.03 [[ 9.74874186e-01 2.09304463e-01 7.62362371e-02 9.82340924e+01] [-2.08248285e-01 9.77836592e-01 -2.16391306e-02 -1.67132743e+01] [-7.90757489e-02 5.21936420e-03 9.96854946e-01 -6.03036719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36577952299999 meters 0.03868167512868244 Centerline is valid? [True, True] Translation: X:98.29, Y:-16.74, Z:-6.03 [[ 9.76218987e-01 2.02455309e-01 7.75134635e-02 9.82908011e+01] [-2.01341745e-01 9.79273889e-01 -2.20034490e-02 -1.67367904e+01] [-8.03616259e-02 5.87348878e-03 9.96748469e-01 -6.03345209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42577952299999 meters 0.04288927971352081 Centerline is valid? [True, True] Translation: X:98.35, Y:-16.76, Z:-6.04 [[ 9.77104519e-01 1.97988104e-01 7.78939669e-02 9.83470555e+01] [-1.96849324e-01 9.80184347e-01 -2.21130926e-02 -1.67595709e+01] [-8.07285764e-02 6.27342799e-03 9.96716379e-01 -6.03554663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48577952299999 meters 0.04127210116823225 Centerline is valid? [True, True] Translation: X:98.41, Y:-16.77, Z:-6.05 [[ 9.76999914e-01 2.00057536e-01 7.38115894e-02 9.84084112e+01] [-1.99040869e-01 9.79767081e-01 -2.09571025e-02 -1.67666066e+01] [-7.65107918e-02 5.78356449e-03 9.97051979e-01 -6.04597514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.545779523 meters 0.03951794569178597 Centerline is valid? [True, True] Translation: X:98.47, Y:-16.78, Z:-6.05 [[ 9.75986201e-01 2.03783734e-01 7.69618399e-02 9.84674955e+01] [-2.02689344e-01 9.78999149e-01 -2.18562741e-02 -1.67799061e+01] [-7.97995289e-02 5.73207713e-03 9.96794451e-01 -6.04853991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.605779523 meters 0.03720504869337341 Centerline is valid? [True, True] Translation: X:98.53, Y:-16.79, Z:-6.05 [[ 9.75286823e-01 2.05839756e-01 8.02845418e-02 9.85284109e+01] [-2.04655442e-01 9.78568485e-01 -2.28006817e-02 -1.67895290e+01] [-8.32572092e-02 5.80653600e-03 9.96511175e-01 -6.04973308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.665779523 meters 0.039876319465176495 Centerline is valid? [True, True] Translation: X:98.59, Y:-16.80, Z:-6.06 [[ 9.75202117e-01 2.08084803e-01 7.53760265e-02 9.85877467e+01] [-2.07047615e-01 9.78096580e-01 -2.14094873e-02 -1.67988742e+01] [-7.81800226e-02 5.27215090e-03 9.96925317e-01 -6.06222066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.725779523 meters 0.04192291142172452 Centerline is valid? [True, True] Translation: X:98.65, Y:-16.81, Z:-6.07 [[ 9.74830758e-01 2.09966700e-01 7.49598478e-02 9.86475495e+01] [-2.08946384e-01 9.77695267e-01 -2.12925496e-02 -1.68126813e+01] [-7.77586148e-02 5.09404312e-03 9.96959201e-01 -6.06918217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78577952299999 meters 0.035451924057758565 Centerline is valid? [True, True] Translation: X:98.71, Y:-16.82, Z:-6.07 [[ 9.73376282e-01 2.15999579e-01 7.66993803e-02 9.87085250e+01] [-2.14949497e-01 9.76382026e-01 -2.17911128e-02 -1.68209302e+01] [-7.95947676e-02 4.72445911e-03 9.96816108e-01 -6.06746478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84577952299999 meters 0.03369039025732296 Centerline is valid? [True, True] Translation: X:98.77, Y:-16.82, Z:-6.08 [[ 9.72165159e-01 2.22144996e-01 7.44748606e-02 9.87703059e+01] [-2.21172990e-01 9.75005028e-01 -2.11590051e-02 -1.68229115e+01] [-7.73137307e-02 4.09822002e-03 9.96998391e-01 -6.07739245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90577952299999 meters 0.026157981878837843 Centerline is valid? [True, True] Translation: X:98.83, Y:-16.83, Z:-6.08 [[ 9.70582266e-01 2.29098790e-01 7.40527511e-02 9.88312361e+01] [-2.28157925e-01 9.73396797e-01 -2.10389570e-02 -1.68297704e+01] [-7.69027102e-02 3.52431652e-03 9.97032373e-01 -6.08409749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.965779523 meters 0.026334456886873754 Centerline is valid? [True, True] Translation: X:98.89, Y:-16.83, Z:-6.09 [[ 9.68445633e-01 2.37663889e-01 7.50262012e-02 9.88930016e+01] [-2.36723601e-01 9.71343175e-01 -2.13160081e-02 -1.68347549e+01] [-7.79422339e-02 2.88292247e-03 9.96953709e-01 -6.08874105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.025779523 meters 0.02135923143137846 Centerline is valid? [True, True] Translation: X:98.95, Y:-16.85, Z:-6.09 [[ 9.67387851e-01 2.41165762e-01 7.74585114e-02 9.89544597e+01] [-2.40174459e-01 9.70480218e-01 -2.20085233e-02 -1.68457980e+01] [-8.04796554e-02 2.68722201e-03 9.96752629e-01 -6.08951142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.085779523 meters 0.022581237396665732 Centerline is valid? [True, True] Translation: X:99.01, Y:-16.86, Z:-6.09 [[ 9.65502085e-01 2.48108267e-01 7.90443642e-02 9.90129852e+01] [-2.47098643e-01 9.68729908e-01 -2.24638838e-02 -1.68583965e+01] [-8.21461149e-02 2.15717154e-03 9.96617962e-01 -6.09405743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14577952299999 meters 0.020819556760014374 Centerline is valid? [True, True] Translation: X:99.07, Y:-16.88, Z:-6.10 [[ 9.65739455e-01 2.46982440e-01 7.96679324e-02 9.90726306e+01] [-2.45952939e-01 9.69017294e-01 -2.26414597e-02 -1.68760050e+01] [-8.27916473e-02 2.27118884e-03 9.96564290e-01 -6.09678019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20577952299999 meters 0.024617397563687988 Centerline is valid? [True, True] Translation: X:99.13, Y:-16.89, Z:-6.11 [[ 9.66153627e-01 2.46301405e-01 7.66993305e-02 9.91318704e+01] [-2.45343621e-01 9.69190644e-01 -2.18175012e-02 -1.68935238e+01] [-7.97099547e-02 2.26136648e-03 9.96815534e-01 -6.10910527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26577952299999 meters 0.025223149537282375 Centerline is valid? [True, True] Translation: X:99.19, Y:-16.92, Z:-6.12 [[ 9.67133277e-01 2.43374276e-01 7.36354917e-02 9.91888036e+01] [-2.42481637e-01 9.69929430e-01 -2.09656065e-02 -1.69184973e+01] [-7.65237198e-02 2.42128118e-03 9.97064821e-01 -6.12060449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.325779523 meters 0.02697779313603995 Centerline is valid? [True, True] Translation: X:99.25, Y:-16.94, Z:-6.12 [[ 9.69005260e-01 2.34879531e-01 7.65533238e-02 9.92469453e+01] [-2.33887633e-01 9.72019149e-01 -2.18025184e-02 -1.69367615e+01] [-7.95322619e-02 3.22187930e-03 9.96827086e-01 -6.11932086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.385779523 meters 0.037895375911903735 Centerline is valid? [True, True] Translation: X:99.30, Y:-16.98, Z:-6.12 [[ 9.71578958e-01 2.24213836e-01 7.59110258e-02 9.92974730e+01] [-2.23206007e-01 9.74531507e-01 -2.16198941e-02 -1.69755388e+01] [-7.88251658e-02 4.06163728e-03 9.96880182e-01 -6.12428305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.445779523 meters 0.033255074550252305 Centerline is valid? [True, True] Translation: X:99.35, Y:-17.00, Z:-6.13 [[ 9.73552921e-01 2.15901112e-01 7.47089074e-02 9.93543455e+01] [-2.14900693e-01 9.76404120e-01 -2.12764239e-02 -1.69953563e+01] [-7.75396886e-02 4.65872864e-03 9.96978381e-01 -6.12850286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50577952299999 meters 0.043371110281731705 Centerline is valid? [True, True] Translation: X:99.41, Y:-17.02, Z:-6.13 [[ 9.74799093e-01 2.09873348e-01 7.56300568e-02 9.94093014e+01] [-2.08829976e-01 9.77714740e-01 -2.15389825e-02 -1.70208649e+01] [-7.84650797e-02 5.20235770e-03 9.96903289e-01 -6.13188013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56577952299999 meters 0.04061623028379897 Centerline is valid? [True, True] Translation: X:99.47, Y:-17.04, Z:-6.14 [[ 9.75227825e-01 2.07641806e-01 7.62598815e-02 9.94678760e+01] [-2.06573643e-01 9.78189837e-01 -2.17249212e-02 -1.70364996e+01] [-7.91076430e-02 5.43346608e-03 9.96851272e-01 -6.13669589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62577952299999 meters 0.035583154443995076 Centerline is valid? [True, True] Translation: X:99.53, Y:-17.05, Z:-6.14 [[ 9.75231466e-01 2.08098485e-01 7.49573801e-02 9.95281939e+01] [-2.07067874e-01 9.78093496e-01 -2.13543778e-02 -1.70514853e+01] [-7.77591396e-02 5.30419579e-03 9.96958064e-01 -6.14223993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.685779523 meters 0.036294953555930785 Centerline is valid? [True, True] Translation: X:99.59, Y:-17.06, Z:-6.14 [[ 9.74087531e-01 2.12468460e-01 7.75282875e-02 9.95870678e+01] [-2.11377710e-01 9.77154361e-01 -2.21092283e-02 -1.70637699e+01] [-8.04546179e-02 5.14857172e-03 9.96744976e-01 -6.14260982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.745779523 meters 0.035011873115793915 Centerline is valid? [True, True] Translation: X:99.65, Y:-17.08, Z:-6.15 [[ 9.73309777e-01 2.15538114e-01 7.88124309e-02 9.96461218e+01] [-2.14420964e-01 9.76482754e-01 -2.24740044e-02 -1.70762524e+01] [-8.18029842e-02 4.97513081e-03 9.96636102e-01 -6.14735136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.805779523 meters 0.03389636919932731 Centerline is valid? [True, True] Translation: X:99.70, Y:-17.09, Z:-6.16 [[ 9.72443112e-01 2.20051337e-01 7.70182055e-02 9.97037873e+01] [-2.18998648e-01 9.75477958e-01 -2.19623620e-02 -1.70935667e+01] [-7.99624089e-02 4.49026479e-03 9.96787766e-01 -6.15502349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86577952299999 meters 0.03554028872136817 Centerline is valid? [True, True] Translation: X:99.76, Y:-17.11, Z:-6.16 [[ 9.72369964e-01 2.20306225e-01 7.72128279e-02 9.97632297e+01] [-2.19248992e-01 9.75420468e-01 -2.20179315e-02 -1.71122515e+01] [-8.01656601e-02 4.48074050e-03 9.96771483e-01 -6.15979074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92577952299999 meters 0.032694535846973787 Centerline is valid? [True, True] Translation: X:99.82, Y:-17.13, Z:-6.17 [[ 9.73083535e-01 2.16953579e-01 7.77147213e-02 9.98229958e+01] [-2.15870709e-01 9.76170109e-01 -2.21755488e-02 -1.71251018e+01] [-8.06738527e-02 4.80232945e-03 9.96728984e-01 -6.16674571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98577952299999 meters 0.033712840920660396 Centerline is valid? [True, True] Translation: X:99.88, Y:-17.14, Z:-6.18 [[ 9.73399978e-01 2.16872872e-01 7.38826152e-02 9.98831374e+01] [-2.15894007e-01 9.76189148e-01 -2.10837498e-02 -1.71395272e+01] [-7.66959006e-02 4.57210773e-03 9.97044049e-01 -6.17588581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.045779523 meters 0.03001631362240908 Centerline is valid? [True, True] Translation: X:99.94, Y:-17.16, Z:-6.18 [[ 9.72192690e-01 2.21974302e-01 7.46242726e-02 9.99396990e+01] [-2.20988867e-01 9.75043325e-01 -2.13174715e-02 -1.71577427e+01] [-7.74938297e-02 4.23355655e-03 9.96983843e-01 -6.17750473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.105779523 meters 0.026468855175756284 Centerline is valid? [True, True] Translation: X:100.00, Y:-17.16, Z:-6.18 [[ 9.70177261e-01 2.30726093e-01 7.43071536e-02 1.00001301e+02] [-2.29774653e-01 9.73012379e-01 -2.12254335e-02 -1.71613411e+01] [-7.71990416e-02 3.51853255e-03 9.97009492e-01 -6.18382335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.165779523 meters 0.029333821504640683 Centerline is valid? [True, True] Translation: X:100.06, Y:-17.18, Z:-6.19 [[ 9.68415527e-01 2.38404947e-01 7.30373028e-02 1.00058717e+02] [-2.37507535e-01 9.71161634e-01 -2.08626703e-02 -1.71759656e+01] [-7.59047902e-02 2.85682416e-03 9.97110977e-01 -6.19112546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.225779523 meters 0.023093692755474366 Centerline is valid? [True, True] Translation: X:100.12, Y:-17.19, Z:-6.19 [[ 9.65998762e-01 2.47253442e-01 7.55786224e-02 1.00117483e+02] [-2.46319442e-01 9.68948262e-01 -2.15870060e-02 -1.71921498e+01] [-7.85692363e-02 2.23653690e-03 9.96906151e-01 -6.19130704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28577952299999 meters 0.01983062319345182 Centerline is valid? [True, True] Translation: X:100.18, Y:-17.21, Z:-6.19 [[ 9.65008273e-01 2.50956923e-01 7.60240471e-02 1.00176679e+02] [-2.50023325e-01 9.67996298e-01 -2.17141254e-02 -1.72073907e+01] [-7.90403063e-02 1.94652564e-03 9.96869521e-01 -6.19419460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34577952299999 meters 0.019406776534198224 Centerline is valid? [True, True] Translation: X:100.24, Y:-17.23, Z:-6.20 [[ 9.64672582e-01 2.52780056e-01 7.42229999e-02 1.00235543e+02] [-2.51895486e-01 9.67522175e-01 -2.12015241e-02 -1.72262092e+01] [-7.71717208e-02 1.75609034e-03 9.97016270e-01 -6.20477849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40577952299999 meters 0.022860674027492426 Centerline is valid? [True, True] Translation: X:100.29, Y:-17.25, Z:-6.21 [[ 9.64495311e-01 2.53354404e-01 7.45676959e-02 1.00292671e+02] [-2.52461787e-01 9.67371970e-01 -2.13194021e-02 -1.72502771e+01] [-7.75360633e-02 1.73696954e-03 9.96988035e-01 -6.21119406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.465779523 meters 0.023121170930293693 Centerline is valid? [True, True] Translation: X:100.35, Y:-17.28, Z:-6.21 [[ 9.64660069e-01 2.51699716e-01 7.79628354e-02 1.00349581e+02] [-2.50716697e-01 9.67803362e-01 -2.23112084e-02 -1.72764126e+01] [-8.10684191e-02 1.97614725e-03 9.96706580e-01 -6.21168911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.525779523 meters 0.019191763234191587 Centerline is valid? [True, True] Translation: X:100.41, Y:-17.30, Z:-6.22 [[ 9.65546626e-01 2.48448136e-01 7.74159966e-02 1.00408879e+02] [-2.47467589e-01 9.68642602e-01 -2.21653474e-02 -1.72958633e+01] [-8.04953716e-02 2.24372640e-03 9.96752457e-01 -6.21526800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.585779523 meters 0.02366041236097989 Centerline is valid? [True, True] Translation: X:100.46, Y:-17.32, Z:-6.22 [[ 9.67141556e-01 2.43074101e-01 7.45130319e-02 1.00463877e+02] [-2.42149467e-01 9.70004250e-01 -2.13398709e-02 -1.73228841e+01] [-7.74651276e-02 2.59538494e-03 9.96991684e-01 -6.22229098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64577952299999 meters 0.021677706864387438 Centerline is valid? [True, True] Translation: X:100.52, Y:-17.35, Z:-6.22 [[ 9.68463926e-01 2.37355453e-01 7.57628766e-02 1.00518428e+02] [-2.36381711e-01 9.71417896e-01 -2.17015938e-02 -1.73548272e+01] [-7.87484058e-02 3.10825231e-03 9.96889677e-01 -6.22136512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70577952299999 meters 0.034871941695184205 Centerline is valid? [True, True] Translation: X:100.57, Y:-17.39, Z:-6.23 [[ 9.69404289e-01 2.34051512e-01 7.39946934e-02 1.00569984e+02] [-2.33113073e-01 9.72218601e-01 -2.11963988e-02 -1.73928668e+01] [-7.69000664e-02 3.29874949e-03 9.97033349e-01 -6.23014331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76577952299999 meters 0.023643080569546632 Centerline is valid? [True, True] Translation: X:100.63, Y:-17.40, Z:-6.23 [[ 9.69532273e-01 2.33024235e-01 7.55438721e-02 1.00633516e+02] [-2.32042686e-01 9.72464794e-01 -2.16429488e-02 -1.73975821e+01] [-7.85070876e-02 3.45413438e-03 9.96907572e-01 -6.23327233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.825779523 meters 0.025266191981977205 Centerline is valid? [True, True] Translation: X:100.69, Y:-17.43, Z:-6.23 [[ 9.68734191e-01 2.35099203e-01 7.92617909e-02 1.00688401e+02] [-2.34023089e-01 9.71965166e-01 -2.27356421e-02 -1.74266305e+01] [-8.23848311e-02 3.47570471e-03 9.96594531e-01 -6.23346690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.885779523 meters 0.024205266719592063 Centerline is valid? [True, True] Translation: X:100.75, Y:-17.44, Z:-6.24 [[ 9.67738638e-01 2.39885486e-01 7.70511609e-02 1.00745971e+02] [-2.38883667e-01 9.70796607e-01 -2.21029855e-02 -1.74434529e+01] [-8.01031910e-02 2.98364925e-03 9.96782111e-01 -6.24116416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.945779523 meters 0.022350503715988183 Centerline is valid? [True, True] Translation: X:100.81, Y:-17.46, Z:-6.25 [[ 9.67168769e-01 2.42027436e-01 7.75067235e-02 1.00806395e+02] [-2.41020581e-01 9.70265300e-01 -2.22334738e-02 -1.74577024e+01] [-8.05831950e-02 2.82280594e-03 9.96743889e-01 -6.24585644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00577952299999 meters 0.02412249284403639 Centerline is valid? [True, True] Translation: X:100.86, Y:-17.48, Z:-6.25 [[ 9.66085914e-01 2.46454840e-01 7.70585421e-02 1.00864062e+02] [-2.45472027e-01 9.69151157e-01 -2.21250616e-02 -1.74769514e+01] [-8.01342038e-02 2.45899379e-03 9.96781051e-01 -6.25390576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06577952299999 meters 0.02250032489506596 Centerline is valid? [True, True] Translation: X:100.92, Y:-17.50, Z:-6.26 [[ 9.65311556e-01 2.49413331e-01 7.72437088e-02 1.00922117e+02] [-2.48435007e-01 9.68394576e-01 -2.21808926e-02 -1.74978177e+01] [-8.03345989e-02 2.22143064e-03 9.96765478e-01 -6.26045758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12577952299999 meters 0.02315295391754699 Centerline is valid? [True, True] Translation: X:100.98, Y:-17.52, Z:-6.27 [[ 9.64766784e-01 2.51504281e-01 7.72699737e-02 1.00982006e+02] [-2.50530332e-01 9.67853977e-01 -2.22088346e-02 -1.75154099e+01] [-8.03716684e-02 2.06787373e-03 9.96762820e-01 -6.26543922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.185779523 meters 0.018713247414245314 Centerline is valid? [True, True] Translation: X:101.04, Y:-17.54, Z:-6.26 [[ 9.64493175e-01 2.52271427e-01 7.81795521e-02 1.01040113e+02] [-2.51276274e-01 9.67654373e-01 -2.24777321e-02 -1.75377620e+01] [-8.13212751e-02 2.03495265e-03 9.96685863e-01 -6.26468592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.245779523 meters 0.022156221623648612 Centerline is valid? [True, True] Translation: X:101.10, Y:-17.56, Z:-6.27 [[ 9.64389837e-01 2.51987307e-01 8.03407684e-02 1.01099191e+02] [-2.50933436e-01 9.67728179e-01 -2.31210446e-02 -1.75565240e+01] [-8.35742353e-02 2.13751541e-03 9.96499262e-01 -6.27281237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.305779523 meters 0.018702804392822858 Centerline is valid? [True, True] Translation: X:101.16, Y:-17.57, Z:-6.28 [[ 9.64202257e-01 2.53276322e-01 7.85182307e-02 1.01158809e+02] [-2.52272389e-01 9.67391909e-01 -2.26171493e-02 -1.75739128e+01] [-8.16862895e-02 1.99952474e-03 9.96656085e-01 -6.27594935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36577952299999 meters 0.01779922971866028 Centerline is valid? [True, True] Translation: X:101.22, Y:-17.59, Z:-6.28 [[ 9.62496349e-01 2.58913737e-01 8.10213275e-02 1.01215655e+02] [-2.57862735e-01 9.65899138e-01 -2.33594639e-02 -1.75946431e+01] [-8.43065165e-02 1.59101759e-03 9.96438598e-01 -6.27735816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42577952299999 meters 0.01657752615658876 Centerline is valid? [True, True] Translation: X:101.28, Y:-17.61, Z:-6.28 [[ 9.61397276e-01 2.63494163e-01 7.92849503e-02 1.01275250e+02] [-2.62503196e-01 9.64660286e-01 -2.28605529e-02 -1.76102584e+01] [-8.25066651e-02 1.16552048e-03 9.96589831e-01 -6.28383891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48577952299999 meters 0.018483762336273774 Centerline is valid? [True, True] Translation: X:101.34, Y:-17.62, Z:-6.29 [[ 9.57748475e-01 2.76439538e-01 7.93664961e-02 1.01336190e+02] [-2.75489055e-01 9.61031309e-01 -2.29042343e-02 -1.76168789e+01] [-8.26053236e-02 7.18944767e-05 9.96582337e-01 -6.29495668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.545779523 meters 0.01850769819993631 Centerline is valid? [True, True] Translation: X:101.40, Y:-17.64, Z:-6.30 [[ 9.56204191e-01 2.81937446e-01 7.86436361e-02 1.01395055e+02] [-2.81022502e-01 9.59432707e-01 -2.26987522e-02 -1.76378631e+01] [-8.18529049e-02 -3.95989423e-04 9.96644342e-01 -6.30048939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.605779523 meters 0.01900225269397221 Centerline is valid? [True, True] Translation: X:101.45, Y:-17.66, Z:-6.31 [[ 9.56394988e-01 2.81694217e-01 7.71815659e-02 1.01453617e+02] [-2.80810363e-01 9.59504168e-01 -2.23000314e-02 -1.76608988e+01] [-8.03378241e-02 -3.45745360e-04 9.96767633e-01 -6.30923668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.665779523 meters 0.019133476728841435 Centerline is valid? [True, True] Translation: X:101.51, Y:-17.69, Z:-6.31 [[ 9.58766011e-01 2.72879905e-01 7.93995779e-02 1.01510406e+02] [-2.71912074e-01 9.62048010e-01 -2.29663033e-02 -1.76890881e+01] [-8.26532485e-02 4.29607129e-04 9.96578274e-01 -6.31160612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.725779523 meters 0.016180362910470404 Centerline is valid? [True, True] Translation: X:101.57, Y:-17.72, Z:-6.31 [[ 9.60923873e-01 2.64976088e-01 8.00811037e-02 1.01567145e+02] [-2.63962172e-01 9.64254307e-01 -2.31862563e-02 -1.77165234e+01] [-8.33623526e-02 1.14184515e-03 9.96518647e-01 -6.31116362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78577952299999 meters 0.024175467076296406 Centerline is valid? [True, True] Translation: X:101.62, Y:-17.75, Z:-6.32 [[ 9.64635994e-01 2.51599581e-01 7.85814923e-02 1.01617855e+02] [-2.50578421e-01 9.67828773e-01 -2.27578913e-02 -1.77536735e+01] [-8.17793051e-02 2.26225478e-03 9.96647895e-01 -6.32180202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84577952299999 meters 0.023447606064300644 Centerline is valid? [True, True] Translation: X:101.67, Y:-17.78, Z:-6.32 [[ 9.67243386e-01 2.41455293e-01 7.83554386e-02 1.01674268e+02] [-2.40406503e-01 9.70406946e-01 -2.26952179e-02 -1.77788414e+01] [-8.15165424e-02 3.11464248e-03 9.96667122e-01 -6.32281721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90577952299999 meters 0.02672425460488334 Centerline is valid? [True, True] Translation: X:101.73, Y:-17.80, Z:-6.33 [[ 9.68837570e-01 2.34653542e-01 7.93188346e-02 1.01730629e+02] [-2.33555809e-01 9.72071892e-01 -2.29765061e-02 -1.78011776e+01] [-8.24951282e-02 3.73512776e-03 9.96584468e-01 -6.32767087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.965779523 meters 0.028832969217352823 Centerline is valid? [True, True] Translation: X:101.79, Y:-17.83, Z:-6.33 [[ 9.69727741e-01 2.31017359e-01 7.91143971e-02 1.01786934e+02] [-2.29913102e-01 9.72941259e-01 -2.29187954e-02 -1.78264818e+01] [-8.22683008e-02 4.03555518e-03 9.96602047e-01 -6.33248869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.025779523 meters 0.034586903497690606 Centerline is valid? [True, True] Translation: X:101.84, Y:-17.85, Z:-6.34 [[ 9.70974434e-01 2.25454316e-01 7.98686457e-02 1.01842272e+02] [-2.24309850e-01 9.74243100e-01 -2.31402805e-02 -1.78479198e+01] [-8.30285531e-02 4.55329684e-03 9.96536766e-01 -6.33942405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.085779523 meters 0.036086886925565075 Centerline is valid? [True, True] Translation: X:101.90, Y:-17.86, Z:-6.34 [[ 9.72418175e-01 2.19340253e-01 7.93268305e-02 1.01901781e+02] [-2.18190534e-01 9.75635374e-01 -2.29893143e-02 -1.78600914e+01] [-8.24365440e-02 5.04686354e-03 9.96583537e-01 -6.34400162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14577952299999 meters 0.03158821651047772 Centerline is valid? [True, True] Translation: X:101.96, Y:-17.87, Z:-6.35 [[ 9.73562025e-01 2.14722667e-01 7.79176471e-02 1.01961641e+02] [-2.13598567e-01 9.76660443e-01 -2.25838626e-02 -1.78714646e+01] [-8.09483510e-02 5.34369319e-03 9.96703973e-01 -6.34796218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20577952299999 meters 0.035061400697982296 Centerline is valid? [True, True] Translation: X:102.02, Y:-17.89, Z:-6.35 [[ 9.74431858e-01 2.10572879e-01 7.83684721e-02 1.02018712e+02] [-2.09422236e-01 9.77561409e-01 -2.27160526e-02 -1.78916629e+01] [-8.13933786e-02 5.72314463e-03 9.96665623e-01 -6.35367177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26577952299999 meters 0.03946437870842657 Centerline is valid? [True, True] Translation: X:102.08, Y:-17.91, Z:-6.36 [[ 9.75461593e-01 2.04772722e-01 8.08876603e-02 1.02078034e+02] [-2.03526793e-01 9.78788563e-01 -2.34476920e-02 -1.79064036e+01] [-8.39733644e-02 6.40951690e-03 9.96447386e-01 -6.35711315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.325779523 meters 0.03960568320037322 Centerline is valid? [True, True] Translation: X:102.14, Y:-17.91, Z:-6.36 [[ 9.76158201e-01 2.00983228e-01 8.19811432e-02 1.02139678e+02] [-1.99689823e-01 9.79570874e-01 -2.37671507e-02 -1.79108506e+01] [-8.50831388e-02 6.82969910e-03 9.96350448e-01 -6.36156372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.385779523 meters 0.03379639548257429 Centerline is valid? [True, True] Translation: X:102.20, Y:-17.91, Z:-6.37 [[ 9.76067890e-01 2.01654936e-01 8.14049225e-02 1.02204017e+02] [-2.00381797e-01 9.79433536e-01 -2.36026224e-02 -1.79122655e+01] [-8.44902964e-02 6.72569723e-03 9.96401603e-01 -6.36885210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.445779523 meters 0.04595139119299398 Centerline is valid? [True, True] Translation: X:102.26, Y:-17.94, Z:-6.38 [[ 9.75821038e-01 2.04188749e-01 7.79759981e-02 1.02257778e+02] [-2.03027223e-01 9.78911584e-01 -2.26286993e-02 -1.79403261e+01] [-8.09521336e-02 6.25031045e-03 9.96698393e-01 -6.37628663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50577952299999 meters 0.03858033713590567 Centerline is valid? [True, True] Translation: X:102.32, Y:-17.93, Z:-6.38 [[ 9.74989760e-01 2.07647180e-01 7.92314162e-02 1.02324918e+02] [-2.06459016e-01 9.78185004e-01 -2.29950560e-02 -1.79264924e+01] [-8.22778417e-02 6.06190395e-03 9.96590994e-01 -6.37916200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56577952299999 meters 0.037495240398696776 Centerline is valid? [True, True] Translation: X:102.39, Y:-17.93, Z:-6.39 [[ 9.74069951e-01 2.12293595e-01 7.82250586e-02 1.02386773e+02] [-2.11150282e-01 9.77189896e-01 -2.27038668e-02 -1.79312220e+01] [-8.12606224e-02 5.59791121e-03 9.96677167e-01 -6.38654333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62577952299999 meters 0.03618060569186759 Centerline is valid? [True, True] Translation: X:102.45, Y:-17.94, Z:-6.39 [[ 9.73232474e-01 2.15898105e-01 7.87817220e-02 1.02447971e+02] [-2.14750013e-01 9.76401316e-01 -2.28670667e-02 -1.79372828e+01] [-8.18595334e-02 5.33659605e-03 9.96629589e-01 -6.39228785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.685779523 meters 0.03512583203383771 Centerline is valid? [True, True] Translation: X:102.51, Y:-17.93, Z:-6.40 [[ 9.72018842e-01 2.20739691e-01 8.03328123e-02 1.02512239e+02] [-2.19562166e-01 9.75319799e-01 -2.33183525e-02 -1.79315232e+01] [-8.34974682e-02 5.02783179e-03 9.96495305e-01 -6.39731936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.745779523 meters 0.03684874486121604 Centerline is valid? [True, True] Translation: X:102.57, Y:-17.94, Z:-6.40 [[ 9.70626536e-01 2.26325327e-01 8.16147867e-02 1.02571677e+02] [-2.25129440e-01 9.74040808e-01 -2.36905131e-02 -1.79389353e+01] [-8.48578959e-02 4.62074945e-03 9.96382349e-01 -6.40378419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.805779523 meters 0.03018865362170846 Centerline is valid? [True, True] Translation: X:102.63, Y:-17.94, Z:-6.41 [[ 9.69843953e-01 2.29861604e-01 8.10330140e-02 1.02634202e+02] [-2.28695141e-01 9.73213919e-01 -2.35202051e-02 -1.79432480e+01] [-8.42688492e-02 4.27907217e-03 9.96433867e-01 -6.40619005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86577952299999 meters 0.02964183023649747 Centerline is valid? [True, True] Translation: X:102.70, Y:-17.95, Z:-6.41 [[ 9.69123771e-01 2.33466629e-01 7.93249648e-02 1.02695149e+02] [-2.32360821e-01 9.72357062e-01 -2.30259156e-02 -1.79494443e+01] [-8.25079726e-02 3.88294822e-03 9.96582840e-01 -6.41484392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92577952299999 meters 0.028376760389586905 Centerline is valid? [True, True] Translation: X:102.75, Y:-17.96, Z:-6.42 [[ 9.68075388e-01 2.37077163e-01 8.13907979e-02 1.02754875e+02] [-2.35925445e-01 9.71483888e-01 -2.36270839e-02 -1.79608425e+01] [-8.46712908e-02 3.67063821e-03 9.96402177e-01 -6.41830490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98577952299999 meters 0.029578099537316452 Centerline is valid? [True, True] Translation: X:102.82, Y:-17.97, Z:-6.43 [[ 9.67881837e-01 2.39312288e-01 7.70349235e-02 1.02815143e+02] [-2.38287844e-01 9.70937083e-01 -2.23625658e-02 -1.79713140e+01] [-8.01477007e-02 3.28783545e-03 9.96777576e-01 -6.43071590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.045779523 meters 0.025854084094729442 Centerline is valid? [True, True] Translation: X:102.88, Y:-17.98, Z:-6.44 [[ 9.67291536e-01 2.41384822e-01 7.79772536e-02 1.02877929e+02] [-2.40341577e-01 9.70424339e-01 -2.26390720e-02 -1.79785593e+01] [-8.11357531e-02 3.15740657e-03 9.96698059e-01 -6.43570982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.105779523 meters 0.0272785494016354 Centerline is valid? [True, True] Translation: X:102.94, Y:-18.00, Z:-6.44 [[ 9.67051995e-01 2.42671709e-01 7.69472610e-02 1.02936630e+02] [-2.41659365e-01 9.70103781e-01 -2.23473988e-02 -1.79955032e+01] [-8.00699103e-02 3.01607040e-03 9.96784687e-01 -6.44051267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.165779523 meters 0.027938006719802684 Centerline is valid? [True, True] Translation: X:102.99, Y:-18.01, Z:-6.44 [[ 9.68298495e-01 2.36934319e-01 7.91211289e-02 1.02994390e+02] [-2.35843042e-01 9.71518964e-01 -2.29991887e-02 -1.80129346e+01] [-8.23169742e-02 3.60991204e-03 9.96599661e-01 -6.44366294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.225779523 meters 0.030547332234289053 Centerline is valid? [True, True] Translation: X:103.05, Y:-18.04, Z:-6.45 [[ 9.70436754e-01 2.27476422e-01 8.06658733e-02 1.03049857e+02] [-2.26309360e-01 9.73773190e-01 -2.34488257e-02 -1.80402679e+01] [-8.38843198e-02 4.50016015e-03 9.96465338e-01 -6.44653396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28577952299999 meters 0.03716368693830624 Centerline is valid? [True, True] Translation: X:103.11, Y:-18.07, Z:-6.46 [[ 9.72878273e-01 2.18133331e-01 7.69786715e-02 1.03105454e+02] [-2.17041498e-01 9.75905841e-01 -2.23780689e-02 -1.80652781e+01] [-8.00053379e-02 5.06357084e-03 9.96781574e-01 -6.45783381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34577952299999 meters 0.040847213859975556 Centerline is valid? [True, True] Translation: X:103.16, Y:-18.09, Z:-6.46 [[ 9.74406885e-01 2.10413513e-01 7.91035775e-02 1.03161429e+02] [-2.09235077e-01 9.77594934e-01 -2.29962344e-02 -1.80872912e+01] [-8.21699751e-02 5.85644598e-03 9.96601122e-01 -6.45853095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40577952299999 meters 0.042888785323576095 Centerline is valid? [True, True] Translation: X:103.22, Y:-18.11, Z:-6.47 [[ 9.75083211e-01 2.07814980e-01 7.76251623e-02 1.03218861e+02] [-2.06672190e-01 9.78149994e-01 -2.25653506e-02 -1.81060057e+01] [-8.06184699e-02 5.96013226e-03 9.96727214e-01 -6.46694463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.465779523 meters 0.040178774762479615 Centerline is valid? [True, True] Translation: X:103.28, Y:-18.12, Z:-6.47 [[ 9.75193711e-01 2.06617237e-01 7.94137491e-02 1.03278700e+02] [-2.05416819e-01 9.78402187e-01 -2.30887822e-02 -1.81212774e+01] [-8.24691261e-02 6.20311548e-03 9.96574315e-01 -6.47086332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.525779523 meters 0.043968527469930456 Centerline is valid? [True, True] Translation: X:103.34, Y:-18.13, Z:-6.48 [[ 9.74820944e-01 2.07836059e-01 8.07978969e-02 1.03338677e+02] [-2.06595749e-01 9.78143851e-01 -2.35117557e-02 -1.81327908e+01] [-8.39185567e-02 6.22724993e-03 9.96453159e-01 -6.47516414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.585779523 meters 0.039045189785820264 Centerline is valid? [True, True] Translation: X:103.40, Y:-18.14, Z:-6.48 [[ 9.74199117e-01 2.11845895e-01 7.78292851e-02 1.03399471e+02] [-2.10707008e-01 9.77286603e-01 -2.26595040e-02 -1.81378097e+01] [-8.08618405e-02 5.67569295e-03 9.96709160e-01 -6.48375306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64577952299999 meters 0.036169909149491836 Centerline is valid? [True, True] Translation: X:103.46, Y:-18.15, Z:-6.48 [[ 9.72519558e-01 2.18210194e-01 8.11789398e-02 1.03459116e+02] [-2.16992907e-01 9.75887019e-01 -2.36348242e-02 -1.81460282e+01] [-8.43788332e-02 5.37007471e-03 9.96419277e-01 -6.48436580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70577952299999 meters 0.034927219641939504 Centerline is valid? [True, True] Translation: X:103.52, Y:-18.15, Z:-6.49 [[ 9.71448192e-01 2.22408809e-01 8.25998308e-02 1.03520818e+02] [-2.21163645e-01 9.74940199e-01 -2.40468442e-02 -1.81507992e+01] [-8.58781254e-02 5.09218367e-03 9.96292636e-01 -6.49101405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76577952299999 meters 0.035257647178730186 Centerline is valid? [True, True] Translation: X:103.58, Y:-18.16, Z:-6.50 [[ 9.71440553e-01 2.23104495e-01 8.07937912e-02 1.03581270e+02] [-2.21915593e-01 9.74782112e-01 -2.35224041e-02 -1.81634630e+01] [-8.40042965e-02 4.92121510e-03 9.96453240e-01 -6.50238278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.825779523 meters 0.03475629198927154 Centerline is valid? [True, True] Translation: X:103.64, Y:-18.18, Z:-6.51 [[ 9.71538817e-01 2.22778508e-01 8.05112588e-02 1.03642111e+02] [-2.21594961e-01 9.74856502e-01 -2.34621914e-02 -1.81760250e+01] [-8.37137960e-02 4.95354038e-03 9.96477527e-01 -6.50836620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.885779523 meters 0.0330908712672413 Centerline is valid? [True, True] Translation: X:103.70, Y:-18.19, Z:-6.51 [[ 9.71469945e-01 2.23857012e-01 7.83210372e-02 1.03703287e+02] [-2.22738897e-01 9.74610432e-01 -2.28448912e-02 -1.81888208e+01] [-8.14464890e-02 4.74798370e-03 9.96666407e-01 -6.51499876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.945779523 meters 0.03398561614694833 Centerline is valid? [True, True] Translation: X:103.76, Y:-18.20, Z:-6.52 [[ 9.71052280e-01 2.25458626e-01 7.89042315e-02 1.03764282e+02] [-2.24328370e-01 9.74241618e-01 -2.30228709e-02 -1.82020827e+01] [-8.20624910e-02 4.65595367e-03 9.96616310e-01 -6.52051199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00577952299999 meters 0.0371683711425259 Centerline is valid? [True, True] Translation: X:103.82, Y:-18.22, Z:-6.52 [[ 9.70257912e-01 2.27946682e-01 8.14855523e-02 1.03822530e+02] [-2.26747874e-01 9.73662682e-01 -2.37988146e-02 -1.82182375e+01] [-8.47643023e-02 4.61431242e-03 9.96390346e-01 -6.52290902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06577952299999 meters 0.03525072828090929 Centerline is valid? [True, True] Translation: X:103.88, Y:-18.23, Z:-6.53 [[ 9.69212977e-01 2.32544548e-01 8.09273679e-02 1.03880261e+02] [-2.31377311e-01 9.72576711e-01 -2.36448986e-02 -1.82344340e+01] [-8.42065656e-02 4.19218575e-03 9.96439501e-01 -6.52887626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12577952299999 meters 0.03516592498422279 Centerline is valid? [True, True] Translation: X:103.94, Y:-18.25, Z:-6.53 [[ 9.68326025e-01 2.36491687e-01 8.01023776e-02 1.03938756e+02] [-2.35361570e-01 9.71626042e-01 -2.34044000e-02 -1.82452561e+01] [-8.33645021e-02 3.81006835e-03 9.96511838e-01 -6.53475062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.185779523 meters 0.029204856898799293 Centerline is valid? [True, True] Translation: X:104.00, Y:-18.25, Z:-6.53 [[ 9.67580975e-01 2.37695654e-01 8.53687996e-02 1.03999904e+02] [-2.36415767e-01 9.71331617e-01 -2.49494620e-02 -1.82542138e+01] [-8.88517928e-02 3.95809453e-03 9.96036994e-01 -6.53493360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.245779523 meters 0.0334038482626649 Centerline is valid? [True, True] Translation: X:104.06, Y:-18.28, Z:-6.54 [[ 9.68272520e-01 2.35008271e-01 8.49672895e-02 1.04057355e+02] [-2.33729828e-01 9.71984348e-01 -2.48353482e-02 -1.82756590e+01] [-8.84233878e-02 4.18799527e-03 9.96074177e-01 -6.54033284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.305779523 meters 0.03364579126807214 Centerline is valid? [True, True] Translation: X:104.11, Y:-18.29, Z:-6.55 [[ 9.69840985e-01 2.29208861e-01 8.28960895e-02 1.04114463e+02] [-2.27970761e-01 9.73366375e-01 -2.42328700e-02 -1.82948389e+01] [-8.62426546e-02 4.60414585e-03 9.96263523e-01 -6.54872680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36577952299999 meters 0.035395098196600014 Centerline is valid? [True, True] Translation: X:104.17, Y:-18.31, Z:-6.56 [[ 9.70890741e-01 2.25296031e-01 8.13195404e-02 1.04172300e+02] [-2.24090992e-01 9.74278248e-01 -2.37723033e-02 -1.83132189e+01] [-8.45836650e-02 4.85733261e-03 9.96404541e-01 -6.55598883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42577952299999 meters 0.03515801167683198 Centerline is valid? [True, True] Translation: X:104.23, Y:-18.33, Z:-6.56 [[ 9.72814662e-01 2.16694656e-01 8.17010386e-02 1.04230625e+02] [-2.15447911e-01 9.76223175e-01 -2.38853612e-02 -1.83296488e+01] [-8.49342774e-02 5.63371154e-03 9.96370629e-01 -6.55853380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48577952299999 meters 0.04417364459775724 Centerline is valid? [True, True] Translation: X:104.28, Y:-18.36, Z:-6.57 [[ 9.75343038e-01 2.05296768e-01 8.09888567e-02 1.04283931e+02] [-2.04032584e-01 9.78677721e-01 -2.36774834e-02 -1.83585249e+01] [-8.41229005e-02 6.56930288e-03 9.96433732e-01 -6.56508447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.545779523 meters 0.048011298364023784 Centerline is valid? [True, True] Translation: X:104.34, Y:-18.38, Z:-6.57 [[ 9.77312341e-01 1.94778036e-01 8.31991837e-02 1.04341491e+02] [-1.93405760e-01 9.80817263e-01 -2.43250553e-02 -1.83789381e+01] [-8.63411821e-02 7.68197539e-03 9.96236010e-01 -6.56690064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.605779523 meters 0.05496223825549161 Centerline is valid? [True, True] Translation: X:104.40, Y:-18.39, Z:-6.57 [[ 9.78516922e-01 1.88666915e-01 8.31229701e-02 1.04399197e+02] [-1.87275270e-01 9.82006781e-01 -2.43033829e-02 -1.83948230e+01] [-8.62125646e-02 8.21439478e-03 9.96242901e-01 -6.56884616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.665779523 meters 0.04965342476740118 Centerline is valid? [True, True] Translation: X:104.46, Y:-18.40, Z:-6.58 [[ 9.78703605e-01 1.87855619e-01 8.27618265e-02 1.04461213e+02] [-1.86473001e-01 9.82161989e-01 -2.42001694e-02 -1.84016420e+01] [-8.58316579e-02 8.25194689e-03 9.96275480e-01 -6.57561472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.725779523 meters 0.050352282642416014 Centerline is valid? [True, True] Translation: X:104.52, Y:-18.42, Z:-6.58 [[ 9.78386986e-01 1.89470921e-01 8.28231639e-02 1.04521294e+02] [-1.88090179e-01 9.81852618e-01 -2.42388202e-02 -1.84152750e+01] [-8.59126919e-02 8.13672250e-03 9.96269443e-01 -6.58149356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78577952299999 meters 0.048686449095567325 Centerline is valid? [True, True] Translation: X:104.58, Y:-18.42, Z:-6.58 [[ 9.77620643e-01 1.92717701e-01 8.43668594e-02 1.04582795e+02] [-1.91296388e-01 9.81221600e-01 -2.46953994e-02 -1.84203913e+01] [-8.75418254e-02 8.00365680e-03 9.96128692e-01 -6.58430676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84577952299999 meters 0.04906074269146813 Centerline is valid? [True, True] Translation: X:104.64, Y:-18.42, Z:-6.59 [[ 9.76486018e-01 1.98595109e-01 8.38751392e-02 1.04644873e+02] [-1.97211753e-01 9.80053430e-01 -2.45519480e-02 -1.84218678e+01] [-8.70780147e-02 7.43347072e-03 9.96173761e-01 -6.59174100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90577952299999 meters 0.04596436887506577 Centerline is valid? [True, True] Translation: X:104.71, Y:-18.42, Z:-6.60 [[ 9.75492241e-01 2.04043923e-01 8.23466198e-02 1.04706527e+02] [-2.02729833e-01 9.78937977e-01 -2.41050119e-02 -1.84242149e+01] [-8.55307146e-02 6.82013557e-03 9.96312191e-01 -6.60112607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.965779523 meters 0.04750266554614404 Centerline is valid? [True, True] Translation: X:104.77, Y:-18.43, Z:-6.60 [[ 9.74616731e-01 2.08193996e-01 8.23255028e-02 1.04767549e+02] [-2.06895274e-01 9.78066258e-01 -2.40985742e-02 -1.84260284e+01] [-8.55369749e-02 6.45411617e-03 9.96314092e-01 -6.60305294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.025779523 meters 0.04627772875411623 Centerline is valid? [True, True] Translation: X:104.83, Y:-18.43, Z:-6.61 [[ 9.74086212e-01 2.10047863e-01 8.38805547e-02 1.04827968e+02] [-2.08706474e-01 9.77670097e-01 -2.45517662e-02 -1.84318107e+01] [-8.71645561e-02 6.40912209e-03 9.96173310e-01 -6.60501151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.085779523 meters 0.04595934018809387 Centerline is valid? [True, True] Translation: X:104.89, Y:-18.44, Z:-6.61 [[ 9.72908864e-01 2.15834066e-01 8.28492455e-02 1.04886866e+02] [-2.14546608e-01 9.76412742e-01 -2.42468838e-02 -1.84404010e+01] [-8.61283625e-02 5.81498359e-03 9.96267078e-01 -6.61331458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14577952299999 meters 0.04336339253368053 Centerline is valid? [True, True] Translation: X:104.95, Y:-18.44, Z:-6.62 [[ 9.71818662e-01 2.20687027e-01 8.28596614e-02 1.04949165e+02] [-2.19416859e-01 9.75329812e-01 -2.42486922e-02 -1.84438982e+01] [-8.61668698e-02 5.38452503e-03 9.96266168e-01 -6.61592192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20577952299999 meters 0.03803293274019911 Centerline is valid? [True, True] Translation: X:105.01, Y:-18.44, Z:-6.62 [[ 9.70541069e-01 2.26489730e-01 8.21732005e-02 1.05012694e+02] [-2.25261132e-01 9.74001578e-01 -2.40488847e-02 -1.84415036e+01] [-8.54836523e-02 4.83000212e-03 9.96327866e-01 -6.61811710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26577952299999 meters 0.03671855349435398 Centerline is valid? [True, True] Translation: X:105.07, Y:-18.46, Z:-6.62 [[ 9.68882865e-01 2.32952115e-01 8.36618525e-02 1.05069693e+02] [-2.31702502e-01 9.72478535e-01 -2.44836455e-02 -1.84587710e+01] [-8.70628728e-02 4.33712410e-03 9.96193378e-01 -6.62405079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.325779523 meters 0.03447100958119653 Centerline is valid? [True, True] Translation: X:105.13, Y:-18.47, Z:-6.63 [[ 9.68322434e-01 2.35255721e-01 8.37042954e-02 1.05128177e+02] [-2.34013629e-01 9.71924736e-01 -2.44934548e-02 -1.84683263e+01] [-8.71165005e-02 4.12961583e-03 9.96189571e-01 -6.62662505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.385779523 meters 0.03383063403775718 Centerline is valid? [True, True] Translation: X:105.19, Y:-18.48, Z:-6.63 [[ 9.67727890e-01 2.38049900e-01 8.26739169e-02 1.05187817e+02] [-2.36848957e-01 9.71245398e-01 -2.41857225e-02 -1.84783331e+01] [-8.60540701e-02 3.82396718e-03 9.96283130e-01 -6.63140277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.445779523 meters 0.033046974354031824 Centerline is valid? [True, True] Translation: X:105.24, Y:-18.50, Z:-6.64 [[ 9.67538033e-01 2.39121186e-01 8.17998346e-02 1.05241773e+02] [-2.37949755e-01 9.70982740e-01 -2.39255568e-02 -1.85022666e+01] [-8.51473350e-02 3.68463560e-03 9.96361558e-01 -6.64178064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50577952299999 meters 0.036118115143188134 Centerline is valid? [True, True] Translation: X:105.30, Y:-18.53, Z:-6.65 [[ 9.69056270e-01 2.32945030e-01 8.16489940e-02 1.05296573e+02] [-2.31756581e-01 9.72480775e-01 -2.38753027e-02 -1.85255774e+01] [-8.49637100e-02 4.21382010e-03 9.96375136e-01 -6.64589337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56577952299999 meters 0.038293583019914326 Centerline is valid? [True, True] Translation: X:105.35, Y:-18.55, Z:-6.65 [[ 9.70617615e-01 2.26298369e-01 8.17954423e-02 1.05353288e+02] [-2.25082107e-01 9.74046181e-01 -2.39182593e-02 -1.85454815e+01] [-8.50852012e-02 4.80479331e-03 9.96362094e-01 -6.64807778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62577952299999 meters 0.03996109187638243 Centerline is valid? [True, True] Translation: X:105.41, Y:-18.57, Z:-6.65 [[ 9.72589542e-01 2.18327736e-01 8.00161439e-02 1.05409102e+02] [-2.17137108e-01 9.75860665e-01 -2.33973957e-02 -1.85670447e+01] [-8.31929079e-02 5.38158830e-03 9.96518930e-01 -6.65370717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.685779523 meters 0.04471322384743919 Centerline is valid? [True, True] Translation: X:105.46, Y:-18.60, Z:-6.66 [[ 9.74161734e-01 2.10869734e-01 8.08880178e-02 1.05462165e+02] [-2.09627500e-01 9.77495241e-01 -2.36508776e-02 -1.85955582e+01] [-8.40549068e-02 6.08342693e-03 9.96442555e-01 -6.65732687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.745779523 meters 0.049030817106482216 Centerline is valid? [True, True] Translation: X:105.52, Y:-18.61, Z:-6.66 [[ 9.75352460e-01 2.06305265e-01 7.82669528e-02 1.05517641e+02] [-2.05127981e-01 9.78467630e-01 -2.28824851e-02 -1.86147354e+01] [-8.13024570e-02 6.26374618e-03 9.96669793e-01 -6.66458677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.805779523 meters 0.04815472318975409 Centerline is valid? [True, True] Translation: X:105.58, Y:-18.63, Z:-6.67 [[ 9.75704255e-01 2.05168932e-01 7.68564705e-02 1.05576411e+02] [-2.04030084e-01 9.78706647e-01 -2.24727476e-02 -1.86258745e+01] [-7.98306481e-02 6.24572324e-03 9.96788874e-01 -6.67251819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86577952299999 meters 0.05020789389625705 Centerline is valid? [True, True] Translation: X:105.63, Y:-18.64, Z:-6.67 [[ 9.75206353e-01 2.06387994e-01 7.98533955e-02 1.05631747e+02] [-2.05162703e-01 9.78449406e-01 -2.33457660e-02 -1.86428253e+01] [-8.29507932e-02 6.38400078e-03 9.96533196e-01 -6.67385630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92577952299999 meters 0.05545924772773558 Centerline is valid? [True, True] Translation: X:105.69, Y:-18.66, Z:-6.68 [[ 9.75469178e-01 2.05681765e-01 7.84531351e-02 1.05688153e+02] [-2.04497499e-01 9.78598503e-01 -2.29291039e-02 -1.86562866e+01] [-8.14902191e-02 6.32316428e-03 9.96654083e-01 -6.67787084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98577952299999 meters 0.0477685604895375 Centerline is valid? [True, True] Translation: X:105.75, Y:-18.66, Z:-6.68 [[ 9.75738984e-01 2.04984948e-01 7.69064758e-02 1.05748698e+02] [-2.03845550e-01 9.78745193e-01 -2.24686112e-02 -1.86565336e+01] [-7.98775706e-02 6.24645696e-03 9.96785110e-01 -6.68490266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.045779523 meters 0.04515065422734941 Centerline is valid? [True, True] Translation: X:105.81, Y:-18.66, Z:-6.70 [[ 9.75860046e-01 2.05712241e-01 7.33460562e-02 1.05808342e+02] [-2.04678575e-01 9.78594780e-01 -2.14228428e-02 -1.86610733e+01] [-7.61830087e-02 5.89333012e-03 9.97076435e-01 -6.69571729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.105779523 meters 0.04582001369085125 Centerline is valid? [True, True] Translation: X:105.87, Y:-18.67, Z:-6.70 [[ 9.75564659e-01 2.05961826e-01 7.65070072e-02 1.05865293e+02] [-2.04838082e-01 9.78540865e-01 -2.23413466e-02 -1.86729575e+01] [-7.94666975e-02 6.12387961e-03 9.96818711e-01 -6.69900473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 910.54 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%| | 0/3634 [00:00