+ python -m lidar_slam --no-model /working/4a984dbe-f120-4dac-b5e9-3dc93af9ef31 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/4a984dbe-f120-4dac-b5e9-3dc93af9ef31 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 0.00432 Adjusted end_distance from 9.223372036854776e+18 to 48.62432 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.00432 meters 0.02800994646549208 Centerline is valid? [0, True] SLAMing on 0.06432 meters 0.024062078260702984 Centerline is valid? [True, True] Translation: X:0.06, Y:0.00, Z:0.00 [[ 9.99994484e-01 2.93442320e-03 1.55597137e-03 6.13793750e-02] [-2.93435736e-03 9.99995694e-01 -4.45974225e-05 4.82086855e-03] [-1.55609554e-03 4.00314005e-05 9.99998788e-01 3.08216650e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12432000000000001 meters 0.021516745007172093 Centerline is valid? [True, True] Translation: X:0.12, Y:0.01, Z:0.01 [[ 9.99973153e-01 7.20158194e-03 1.35323902e-03 1.22893528e-01] [-7.20153704e-03 9.99974068e-01 -3.80497766e-05 7.82315186e-03] [-1.35347794e-03 2.83033542e-05 9.99999084e-01 5.16228246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18432 meters 0.020920636847363505 Centerline is valid? [True, True] Translation: X:0.18, Y:0.01, Z:0.00 [[ 9.99942934e-01 1.06824179e-02 -1.19106787e-04 1.83824276e-01] [-1.06824175e-02 9.99942941e-01 4.66606060e-06 1.04440226e-02] [ 1.19149836e-04 -3.39344590e-06 9.99999993e-01 3.51753535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24432 meters 0.02024688315178476 Centerline is valid? [True, True] Translation: X:0.25, Y:0.01, Z:0.00 [[ 9.99929805e-01 1.18403512e-02 4.37695343e-04 2.45595122e-01] [-1.18403493e-02 9.99929901e-01 -6.92347295e-06 1.29688905e-02] [-4.37746637e-04 1.74052122e-06 9.99999904e-01 3.10017231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30432000000000003 meters 0.020871109738429466 Centerline is valid? [True, True] Translation: X:0.31, Y:0.01, Z:0.00 [[ 9.99940924e-01 1.07436320e-02 1.65025406e-03 3.08059713e-01] [-1.07435774e-02 9.99942285e-01 -4.19386955e-05 1.24411640e-02] [-1.65060939e-03 2.42065857e-05 9.99998637e-01 3.31415877e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36432000000000003 meters 0.023637227142754205 Centerline is valid? [True, True] Translation: X:0.37, Y:0.01, Z:0.00 [[ 9.99981551e-01 5.81996606e-03 1.73940538e-03 3.68491901e-01] [-5.81988727e-03 9.99983063e-01 -5.03576215e-05 6.21625320e-03] [-1.73966900e-03 4.02335492e-05 9.99998486e-01 2.51085553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42432000000000003 meters 0.023724846513082206 Centerline is valid? [True, True] Translation: X:0.43, Y:0.01, Z:0.00 [[ 9.99993395e-01 2.66306834e-03 2.47347265e-03 4.30736617e-01] [-2.66290927e-03 9.99996452e-01 -6.76036778e-05 5.62330327e-03] [-2.47364391e-03 6.10165981e-05 9.99996939e-01 3.66313149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48432000000000003 meters 0.02796295433929957 Centerline is valid? [True, True] Translation: X:0.49, Y:0.00, Z:0.00 [[ 9.99994114e-01 -4.83630566e-04 3.39665725e-03 4.91636207e-01] [ 4.83960714e-04 9.99999878e-01 -9.63766801e-05 1.54073017e-03] [-3.39661023e-03 9.80199615e-05 9.99994227e-01 1.32413372e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.54432 meters 0.02648322737401746 Centerline is valid? [True, True] Translation: X:0.55, Y:0.00, Z:0.00 [[ 9.99987810e-01 -1.72089126e-03 4.62789538e-03 5.53424424e-01] [ 1.72153171e-03 9.99998509e-01 -1.34409924e-04 4.58811889e-03] [-4.62765717e-03 1.42375354e-04 9.99989282e-01 3.09659421e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6043200000000001 meters 0.02742374410067035 Centerline is valid? [True, True] Translation: X:0.61, Y:0.00, Z:0.00 [[ 9.99990970e-01 -1.93398546e-03 3.78413187e-03 6.14809082e-01] [ 1.93442788e-03 9.99998123e-01 -1.13257050e-04 4.65067234e-03] [-3.78390573e-03 1.20576157e-04 9.99992834e-01 4.67168397e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.66432 meters 0.026999458276759758 Centerline is valid? [True, True] Translation: X:0.68, Y:0.01, Z:0.00 [[ 9.99986150e-01 9.86348657e-04 5.16979656e-03 6.75111565e-01] [-9.85560893e-04 9.99999502e-01 -1.54923451e-04 8.24620414e-03] [-5.16994680e-03 1.49826156e-04 9.99986625e-01 4.77535440e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7243200000000001 meters 0.02560571813189288 Centerline is valid? [True, True] Translation: X:0.74, Y:0.02, Z:-0.00 [[ 9.99965885e-01 5.49009324e-03 6.17148464e-03 7.36036737e-01] [-5.48904544e-03 9.99984918e-01 -1.86705431e-04 1.71069892e-02] [-6.17241659e-03 1.52823502e-04 9.99980939e-01 -2.01819708e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.78432 meters 0.021985599590979846 Centerline is valid? [True, True] Translation: X:0.80, Y:0.02, Z:0.00 [[ 9.99933619e-01 7.64875381e-03 8.61703515e-03 7.98383930e-01] [-7.64681125e-03 9.99970729e-01 -2.58357348e-04 2.31606790e-02] [-8.61875904e-03 1.92447357e-04 9.99962839e-01 1.41372687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8443200000000001 meters 0.021553466949641695 Centerline is valid? [True, True] Translation: X:0.86, Y:0.03, Z:0.00 [[ 9.99918141e-01 8.06197050e-03 9.93560332e-03 8.60920155e-01] [-8.05937325e-03 9.99967477e-01 -3.01420168e-04 2.60770073e-02] [-9.93771023e-03 2.21320758e-04 9.99950595e-01 1.23961868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.90432 meters 0.022692964229458268 Centerline is valid? [True, True] Translation: X:0.92, Y:0.03, Z:-0.00 [[ 9.99911844e-01 7.61547088e-03 1.08769447e-02 9.22534425e-01] [-7.61228415e-03 9.99970970e-01 -3.34351642e-04 2.76063205e-02] [-1.08791752e-02 2.51523773e-04 9.99940788e-01 -1.14543499e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9643200000000001 meters 0.023595549692824947 Centerline is valid? [True, True] Translation: X:0.99, Y:0.03, Z:-0.00 [[ 9.99916831e-01 7.91481246e-03 1.01827207e-02 9.85942475e-01] [-7.91203339e-03 9.99968650e-01 -3.13176069e-04 2.82919936e-02] [-1.01848802e-02 2.32583996e-04 9.99948106e-01 -3.78089991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0243200000000001 meters 0.02469061367726851 Centerline is valid? [True, True] Translation: X:1.05, Y:0.03, Z:-0.00 [[ 9.99907223e-01 6.61658601e-03 1.19065319e-02 1.04841994e+00] [-6.61262853e-03 9.99978067e-01 -3.71716455e-04 2.95954960e-02] [-1.19087302e-02 2.92948496e-04 9.99929046e-01 -4.96727697e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0843200000000002 meters 0.026006257928848035 Centerline is valid? [True, True] Translation: X:1.11, Y:0.03, Z:-0.01 [[ 9.99902342e-01 5.83965406e-03 1.26966726e-02 1.10989876e+00] [-5.83502425e-03 9.99982895e-01 -4.01661274e-04 2.97611995e-02] [-1.26988010e-02 3.27536656e-04 9.99919313e-01 -5.82434889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1443200000000002 meters 0.026781981491229682 Centerline is valid? [True, True] Translation: X:1.17, Y:0.03, Z:-0.01 [[ 9.99894607e-01 6.04727589e-03 1.31987201e-02 1.17208262e+00] [-6.04226578e-03 9.99981657e-01 -4.19434757e-04 3.40471002e-02] [-1.32010144e-02 3.39640377e-04 9.99912805e-01 -8.52040891e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2043200000000003 meters 0.02718824457892375 Centerline is valid? [True, True] Translation: X:1.23, Y:0.04, Z:-0.01 [[ 9.99901846e-01 3.82309562e-03 1.34789290e-02 1.23469338e+00] [-3.81763979e-03 9.99992620e-01 -4.30473687e-04 3.62715596e-02] [-1.34804753e-02 3.78973738e-04 9.99909062e-01 -9.76166323e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.26432 meters 0.029645458641642385 Centerline is valid? [True, True] Translation: X:1.30, Y:0.03, Z:-0.01 [[ 9.99905205e-01 8.94829265e-04 1.37397307e-02 1.29698885e+00] [-8.88806297e-04 9.99999506e-01 -4.44461421e-04 3.44755801e-02] [-1.37401216e-02 4.32207329e-04 9.99905507e-01 -1.07427793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3243200000000002 meters 0.029285022553582715 Centerline is valid? [True, True] Translation: X:1.36, Y:0.04, Z:-0.01 [[ 9.99885659e-01 -1.62522463e-04 1.51209597e-02 1.35886351e+00] [ 1.69939926e-04 9.99999866e-01 -4.89258247e-04 3.55944827e-02] [-1.51208781e-02 4.91771960e-04 9.99885552e-01 -1.02374266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3843200000000002 meters 0.02693681038894122 Centerline is valid? [True, True] Translation: X:1.42, Y:0.04, Z:-0.01 [[ 9.99860542e-01 2.75208565e-03 1.64718429e-02 1.42110611e+00] [-2.74357337e-03 9.99996091e-01 -5.39352661e-04 4.26140955e-02] [-1.64732628e-02 4.94085735e-04 9.99864185e-01 -1.01365044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4443200000000003 meters 0.025982264126696495 Centerline is valid? [True, True] Translation: X:1.48, Y:0.05, Z:-0.01 [[ 9.99832391e-01 6.94413959e-03 1.69401485e-02 1.48183633e+00] [-6.93570892e-03 9.99975793e-01 -5.56374099e-04 4.57871990e-02] [-1.69436020e-02 4.38788907e-04 9.99856351e-01 -1.21866769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5043200000000003 meters 0.020837829080532184 Centerline is valid? [True, True] Translation: X:1.54, Y:0.05, Z:-0.01 [[ 9.99746196e-01 1.27478397e-02 1.85751629e-02 1.54337291e+00] [-1.27386878e-02 9.99918673e-01 -6.10940188e-04 5.37266483e-02] [-1.85814404e-02 3.74161929e-04 9.99827280e-01 -1.13458690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5643200000000002 meters 0.019038081816228333 Centerline is valid? [True, True] Translation: X:1.60, Y:0.06, Z:-0.01 [[ 9.99688195e-01 1.78923955e-02 1.74176901e-02 1.60441714e+00] [-1.78851323e-02 9.99839884e-01 -5.72693371e-04 5.89614622e-02] [-1.74251481e-02 2.60997110e-04 9.99848137e-01 -1.40205003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6243200000000002 meters 0.018179612383236784 Centerline is valid? [True, True] Translation: X:1.67, Y:0.06, Z:-0.02 [[ 9.99626196e-01 1.98294188e-02 1.88218418e-02 1.66644651e+00] [-1.98211749e-02 9.99803346e-01 -6.24463253e-04 6.07938688e-02] [-1.88305232e-02 2.51158806e-04 9.99822658e-01 -1.51359320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6843200000000003 meters 0.018093933817552355 Centerline is valid? [True, True] Translation: X:1.73, Y:0.06, Z:-0.01 [[ 9.99603755e-01 1.94316256e-02 2.03652969e-02 1.72935700e+00] [-1.94217636e-02 9.99811147e-01 -6.81949258e-04 5.58602146e-02] [-2.03747023e-02 2.86149057e-04 9.99792373e-01 -1.37383334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7443200000000003 meters 0.019532691834186038 Centerline is valid? [True, True] Translation: X:1.79, Y:0.05, Z:-0.01 [[ 9.99634231e-01 1.68094093e-02 2.11860376e-02 1.79163464e+00] [-1.67979887e-02 9.99858647e-01 -7.16919840e-04 5.01070049e-02] [-2.11950939e-02 3.60774791e-04 9.99775294e-01 -1.41211267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8043200000000001 meters 0.0227017840718769 Centerline is valid? [True, True] Translation: X:1.85, Y:0.04, Z:-0.02 [[ 9.99721643e-01 1.25477427e-02 1.99797550e-02 1.85276067e+00] [-1.25366242e-02 9.99921181e-01 -6.81647365e-04 4.31771156e-02] [-1.99867334e-02 4.30978943e-04 9.99800152e-01 -1.75136573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8643200000000002 meters 0.025755417953581924 Centerline is valid? [True, True] Translation: X:1.91, Y:0.03, Z:-0.02 [[ 9.99776195e-01 6.76161493e-03 2.00459746e-02 1.91377722e+00] [-6.74914703e-03 9.99976986e-01 -6.89554546e-04 3.18602792e-02] [-2.00501758e-02 5.54106990e-04 9.99798821e-01 -1.79619794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9243200000000003 meters 0.027735804682900395 Centerline is valid? [True, True] Translation: X:1.98, Y:0.03, Z:-0.02 [[ 9.99797799e-01 4.41058882e-03 1.96190804e-02 1.97562668e+00] [-4.39818629e-03 9.99990100e-01 -6.75270517e-04 2.52557900e-02] [-1.96218646e-02 5.88845606e-04 9.99807299e-01 -1.93296245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9843200000000003 meters 0.02769538680003688 Centerline is valid? [True, True] Translation: X:2.04, Y:0.02, Z:-0.02 [[ 9.99815346e-01 3.53088081e-03 1.88893158e-02 2.03756802e+00] [-3.51912887e-03 9.99993593e-01 -6.55351002e-04 2.33589420e-02] [-1.88915088e-02 5.88756052e-04 9.99821366e-01 -2.13452591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.04432 meters 0.030200376709874938 Centerline is valid? [True, True] Translation: X:2.10, Y:0.02, Z:-0.02 [[ 9.99831226e-01 3.95647802e-03 1.79406190e-02 2.09926172e+00] [-3.94585647e-03 9.99992018e-01 -6.27399421e-04 1.72450402e-02] [-1.79429581e-02 5.56502425e-04 9.99838857e-01 -2.38068614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.10432 meters 0.02892501443522774 Centerline is valid? [True, True] Translation: X:2.16, Y:0.01, Z:-0.03 [[ 9.99837468e-01 6.11452649e-03 1.69602737e-02 2.16109304e+00] [-6.10525773e-03 9.99981184e-01 -5.98221822e-04 1.46456965e-02] [-1.69636124e-02 4.94577750e-04 9.99855985e-01 -2.59337232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.16432 meters 0.023793524785489333 Centerline is valid? [True, True] Translation: X:2.22, Y:0.02, Z:-0.03 [[ 9.99785822e-01 1.14583991e-02 1.72341012e-02 2.22281070e+00] [-1.14495218e-02 9.99934264e-01 -6.13683477e-04 2.10176395e-02] [-1.72400001e-02 4.16229823e-04 9.99851294e-01 -2.65827206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.22432 meters 0.01987918030659502 Centerline is valid? [True, True] Translation: X:2.28, Y:0.03, Z:-0.03 [[ 9.99685290e-01 1.87547143e-02 1.66607627e-02 2.28484496e+00] [-1.87474210e-02 9.99824075e-01 -5.93847275e-04 2.50210945e-02] [-1.66689691e-02 2.81314054e-04 9.99861024e-01 -2.84544820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.28432 meters 0.017846075833541055 Centerline is valid? [True, True] Translation: X:2.35, Y:0.02, Z:-0.03 [[ 9.99599893e-01 2.24770378e-02 1.71708369e-02 2.34747128e+00] [-2.24698239e-02 9.99747334e-01 -6.12962378e-04 2.31684089e-02] [-1.71802760e-02 2.26891445e-04 9.99852382e-01 -2.81778419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.34432 meters 0.016715117031769738 Centerline is valid? [True, True] Translation: X:2.41, Y:0.02, Z:-0.03 [[ 9.99484562e-01 2.61233578e-02 1.86596142e-02 2.40868240e+00] [-2.61154369e-02 9.99658711e-01 -6.68079887e-04 2.24709658e-02] [-1.86706983e-02 1.80431556e-04 9.99825671e-01 -2.88761901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4043200000000002 meters 0.016442257181650113 Centerline is valid? [True, True] Translation: X:2.47, Y:0.02, Z:-0.03 [[ 9.99462180e-01 2.63058618e-02 1.95793932e-02 2.47132942e+00] [-2.62971152e-02 9.99653923e-01 -7.04103576e-04 1.63938956e-02] [-1.95911392e-02 1.88843338e-04 9.99808057e-01 -2.89742605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4643200000000003 meters 0.0172256419959001 Centerline is valid? [True, True] Translation: X:2.53, Y:0.01, Z:-0.03 [[ 9.99506238e-01 2.41766166e-02 2.00691632e-02 2.53279246e+00] [-2.41668618e-02 9.99707673e-01 -7.28485344e-04 7.33317535e-03] [-2.00809087e-02 2.43116954e-04 9.99798329e-01 -3.02071051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.52432 meters 0.01778730421771135 Centerline is valid? [True, True] Translation: X:2.60, Y:0.00, Z:-0.03 [[ 9.99531579e-01 2.25628525e-02 2.06770489e-02 2.59509860e+00] [-2.25520260e-02 9.99745384e-01 -7.56660307e-04 9.24874028e-04] [-2.06888566e-02 2.89996527e-04 9.99785921e-01 -3.09300342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.58432 meters 0.019780494340767753 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.01, Z:-0.03 [[ 9.99600247e-01 1.85404219e-02 2.13447586e-02 2.65656872e+00] [-1.85278301e-02 9.99828035e-01 -7.87549049e-04 -9.71417959e-03] [-2.13556896e-02 3.91762162e-04 9.99771864e-01 -3.12662853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.64432 meters 0.022407797177671065 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.02, Z:-0.03 [[ 9.99691935e-01 1.35619256e-02 2.07872306e-02 2.71825437e+00] [-1.35487819e-02 9.99907912e-01 -7.73004540e-04 -2.10220798e-02] [-2.07957998e-02 4.91124750e-04 9.99783623e-01 -3.27370202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.70432 meters 0.023856801125550636 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.03, Z:-0.04 [[ 9.99749962e-01 1.17132825e-02 1.90476241e-02 2.77999807e+00] [-1.17018925e-02 9.99931279e-01 -7.09325028e-04 -2.84423056e-02] [-1.90546236e-02 4.86254421e-04 9.99818326e-01 -3.61584509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.76432 meters 0.024143579264986458 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.03, Z:-0.04 [[ 9.99779787e-01 1.11220464e-02 1.77954374e-02 2.84148211e+00] [-1.11119173e-02 9.99938038e-01 -6.67977728e-04 -3.33195441e-02] [-1.78017640e-02 4.70089203e-04 9.99841426e-01 -3.82574894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.82432 meters 0.02422158776146896 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.04, Z:-0.04 [[ 9.99768654e-01 1.20885482e-02 1.77905877e-02 2.90241823e+00] [-1.20785323e-02 9.99926827e-01 -6.70334541e-04 -3.78915136e-02] [-1.77973893e-02 4.55295273e-04 9.99841510e-01 -3.94320873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.88432 meters 0.02250702165154364 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.04, Z:-0.04 [[ 9.99755553e-01 1.57227792e-02 1.55443975e-02 2.96422590e+00] [-1.57155193e-02 9.99876330e-01 -5.89094058e-04 -3.91350723e-02] [-1.55517373e-02 3.44661778e-04 9.99879005e-01 -4.29145596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9443200000000003 meters 0.019907701351468767 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.04, Z:-0.04 [[ 9.99736229e-01 1.67406271e-02 1.57233292e-02 3.02646291e+00] [-1.67332527e-02 9.99859809e-01 -6.00458986e-04 -4.27085841e-02] [-1.57311770e-02 3.37198160e-04 9.99876201e-01 -4.20151899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0043200000000003 meters 0.01979319440889918 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.05, Z:-0.04 [[ 9.99760973e-01 1.58119956e-02 1.50989247e-02 3.08871620e+00] [-1.58050245e-02 9.99874924e-01 -5.80915737e-04 -4.70672030e-02] [-1.51062216e-02 3.42138008e-04 9.99885836e-01 -4.37612482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.06432 meters 0.02191811773282197 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.06, Z:-0.04 [[ 9.99775270e-01 1.45995111e-02 1.53708678e-02 3.14948210e+00] [-1.45920633e-02 9.99893352e-01 -5.96589612e-04 -5.72501954e-02] [-1.53779385e-02 3.72162864e-04 9.99881683e-01 -4.45796690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.12432 meters 0.021009556644014403 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.06, Z:-0.04 [[ 9.99757759e-01 1.41360610e-02 1.68699670e-02 3.21199955e+00] [-1.41269875e-02 9.99899993e-01 -6.56900644e-04 -6.03290819e-02] [-1.68775659e-02 4.18419701e-04 9.99857476e-01 -4.42536234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.18432 meters 0.020983960408985324 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.06, Z:-0.04 [[ 9.99738792e-01 1.45913316e-02 1.75909139e-02 3.27486623e+00] [-1.45814328e-02 9.99893447e-01 -6.90857990e-04 -6.47831489e-02] [-1.75991201e-02 4.34176803e-04 9.99845029e-01 -4.46394748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.24432 meters 0.021215040415361746 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.07, Z:-0.05 [[ 9.99726759e-01 1.55368926e-02 1.74646202e-02 3.33599684e+00] [-1.55271796e-02 9.99879207e-01 -6.91618559e-04 -6.97774856e-02] [-1.74732562e-02 4.20253285e-04 9.99847243e-01 -4.56058409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.30432 meters 0.02240246877222316 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.08, Z:-0.05 [[ 9.99736244e-01 1.43304171e-02 1.79466465e-02 3.39754516e+00] [-1.43198830e-02 9.99897209e-01 -7.15344648e-04 -7.59044817e-02] [-1.79550529e-02 4.58162094e-04 9.99838690e-01 -4.69460443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.36432 meters 0.02430952484113212 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.09, Z:-0.05 [[ 9.99781818e-01 1.05131634e-02 1.80496413e-02 3.45895476e+00] [-1.05017978e-02 9.99944592e-01 -7.24361485e-04 -8.58816731e-02] [-1.80562566e-02 5.34649760e-04 9.99836830e-01 -4.74827733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4243200000000003 meters 0.02678398739062615 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.09, Z:-0.05 [[ 9.99796401e-01 8.57743201e-03 1.82642703e-02 3.52014247e+00] [-8.56538705e-03 9.99963044e-01 -7.37608238e-04 -9.44815134e-02] [-1.82699221e-02 5.81017518e-04 9.99832922e-01 -4.77117952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4843200000000003 meters 0.024168649988949364 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.09, Z:-0.05 [[ 9.99790992e-01 9.50924162e-03 1.80982617e-02 3.58219318e+00] [-9.49748987e-03 9.99954628e-01 -7.35172639e-04 -9.45656672e-02] [-1.81044314e-02 5.63130925e-04 9.99835943e-01 -4.87676880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5443200000000004 meters 0.021828206703027882 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.10, Z:-0.05 [[ 9.99731471e-01 1.44488804e-02 1.81167220e-02 3.64369762e+00] [-1.44378126e-02 9.99895494e-01 -7.41568722e-04 -9.63963867e-02] [-1.81255435e-02 4.79803753e-04 9.99835604e-01 -5.04350680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.60432 meters 0.020717696450440876 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.10, Z:-0.05 [[ 9.99681479e-01 1.85429243e-02 1.71201507e-02 3.70521542e+00] [-1.85336393e-02 9.99827992e-01 -7.00857699e-04 -9.90235606e-02] [-1.71302019e-02 3.83335763e-04 9.99853194e-01 -5.28521981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.66432 meters 0.018762857919838005 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.10, Z:-0.05 [[ 9.99579843e-01 2.32840397e-02 1.72624019e-02 3.76638080e+00] [-2.32752096e-02 9.99728842e-01 -7.12282994e-04 -1.00233949e-01] [-1.72743059e-02 3.10197700e-04 9.99850740e-01 -5.44774385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.72432 meters 0.017680128500366245 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.10, Z:-0.06 [[ 9.99529005e-01 2.50668362e-02 1.77037035e-02 3.82894695e+00] [-2.50578197e-02 9.99685736e-01 -7.30979218e-04 -1.02911658e-01] [-1.77164632e-02 2.87018722e-04 9.99843010e-01 -5.52825359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.78432 meters 0.01784684882715058 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.11, Z:-0.05 [[ 9.99471255e-01 2.58453242e-02 1.97289284e-02 3.89003440e+00] [-2.58342399e-02 9.99665907e-01 -8.16527278e-04 -1.10198288e-01] [-1.97434405e-02 3.06413674e-04 9.99805032e-01 -5.45304774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.84432 meters 0.018138811398241132 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.12, Z:-0.06 [[ 9.99491311e-01 2.41997949e-02 2.07723039e-02 3.95224229e+00] [-2.41870392e-02 9.99707076e-01 -8.65123412e-04 -1.17167169e-01] [-2.07871550e-02 3.62262805e-04 9.99783858e-01 -5.60192798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9043200000000002 meters 0.018611420711939778 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.12, Z:-0.06 [[ 9.99507292e-01 2.28508255e-02 2.15177300e-02 4.01422685e+00] [-2.28366955e-02 9.99738802e-01 -9.02196194e-04 -1.23266742e-01] [-2.15327255e-02 4.10357828e-04 9.99768060e-01 -5.63270215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9643200000000003 meters 0.020006564657886264 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.13, Z:-0.06 [[ 9.99557648e-01 2.08048855e-02 2.12523913e-02 4.07523653e+00] [-2.07905176e-02 9.99783452e-01 -8.96805986e-04 -1.31943205e-01] [-2.12664471e-02 4.54561067e-04 9.99773740e-01 -5.83472566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.02432 meters 0.01997035156087442 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.14, Z:-0.06 [[ 9.99589302e-01 1.90809288e-02 2.13809504e-02 4.13664668e+00] [-1.90658776e-02 9.99817818e-01 -9.07597553e-04 -1.38493404e-01] [-2.13943730e-02 4.99578221e-04 9.99770989e-01 -5.84165542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.08432 meters 0.020686062009225153 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.15, Z:-0.06 [[ 9.99632153e-01 1.84003889e-02 1.99244896e-02 4.19814483e+00] [-1.83870891e-02 9.99830581e-01 -8.50514590e-04 -1.45197521e-01] [-1.99367638e-02 4.83848365e-04 9.99801126e-01 -6.14717789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1443200000000004 meters 0.020812144958789712 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.15, Z:-0.06 [[ 9.99627036e-01 1.91290435e-02 1.94902398e-02 4.25974950e+00] [-1.91163535e-02 9.99816915e-01 -8.37213533e-04 -1.49140571e-01] [-1.95026865e-02 4.64318969e-04 9.99809697e-01 -6.32393280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.20432 meters 0.01910686834788118 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.15, Z:-0.07 [[ 9.99574393e-01 2.24262046e-02 1.86574028e-02 4.32233856e+00] [-2.24150519e-02 9.99748426e-01 -8.06697199e-04 -1.50939552e-01] [-1.86708002e-02 3.88147211e-04 9.99825610e-01 -6.55700341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2643200000000006 meters 0.018114030732178384 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.15, Z:-0.07 [[ 9.99521973e-01 2.47875380e-02 1.84771169e-02 4.38430432e+00] [-2.47769789e-02 9.99692683e-01 -8.00209491e-04 -1.52846627e-01] [-1.84912738e-02 3.42019833e-04 9.99828963e-01 -6.75010786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.32432 meters 0.01774134329951318 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.16, Z:-0.07 [[ 9.99472920e-01 2.69584514e-02 1.80865929e-02 4.44542206e+00] [-2.69485989e-02 9.99636510e-01 -7.88289365e-04 -1.56657671e-01] [-1.81012696e-02 3.00465536e-04 9.99836113e-01 -6.90137260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.384320000000001 meters 0.017785824210825984 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.16, Z:-0.07 [[ 9.99450703e-01 2.71758940e-02 1.89674121e-02 4.50813994e+00] [-2.71650033e-02 9.99630617e-01 -8.31642558e-04 -1.63449179e-01] [-1.89830065e-02 3.15935928e-04 9.99819757e-01 -6.92638606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.44432 meters 0.018321086040747045 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.17, Z:-0.07 [[ 9.99456260e-01 2.67047703e-02 1.93400956e-02 4.57053477e+00] [-2.66932403e-02 9.99643307e-01 -8.54121179e-04 -1.69662924e-01] [-1.93560063e-02 3.37406940e-04 9.99812598e-01 -6.99855613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.50432 meters 0.019199128485630608 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.18, Z:-0.07 [[ 9.99498040e-01 2.43695559e-02 2.02433618e-02 4.63244094e+00] [-2.43563125e-02 9.99702935e-01 -9.00541096e-04 -1.76118662e-01] [-2.02592940e-02 4.07035413e-04 9.99794677e-01 -7.11492813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.56432 meters 0.021505009987081183 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.19, Z:-0.07 [[ 9.99584507e-01 1.93325242e-02 2.13791104e-02 4.69436193e+00] [-1.93164706e-02 9.99812961e-01 -9.57173264e-04 -1.87065038e-01] [-2.13936163e-02 5.43806607e-04 9.99770983e-01 -7.07587980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.62432 meters 0.022093913780166945 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.19, Z:-0.07 [[ 9.99614007e-01 1.73441830e-02 2.17028982e-02 4.75628062e+00] [-1.73271317e-02 9.99849400e-01 -9.73483064e-04 -1.93934118e-01] [-2.17165140e-02 5.97058332e-04 9.99763990e-01 -7.07562336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6843200000000005 meters 0.022713130547926882 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.20, Z:-0.07 [[ 9.99627264e-01 1.75628402e-02 2.09016810e-02 4.81843611e+00] [-1.75469565e-02 9.99845596e-01 -9.43092650e-04 -1.97191959e-01] [-2.09150170e-02 5.75980238e-04 9.99781091e-01 -7.39572601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.74432 meters 0.022028240546087187 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.20, Z:-0.08 [[ 9.99609129e-01 1.82776140e-02 2.11546031e-02 4.88030450e+00] [-1.82613715e-02 9.99832786e-01 -9.60738418e-04 -1.98553387e-01] [-2.11686258e-02 5.74050826e-04 9.99775755e-01 -7.57692532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.804320000000001 meters 0.021636688783941375 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.20, Z:-0.08 [[ 9.99625802e-01 1.85375620e-02 2.01150305e-02 4.94331346e+00] [-1.85228246e-02 9.99828016e-01 -9.18736201e-04 -2.03205778e-01] [-2.01286022e-02 5.45805228e-04 9.99797250e-01 -7.80067100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.86432 meters 0.021557863791047963 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.21, Z:-0.08 [[ 9.99645821e-01 1.92564658e-02 1.83690020e-02 5.00648705e+00] [-1.92442000e-02 9.99814457e-01 -8.44290521e-04 -2.07567155e-01] [-1.83818518e-02 4.90494743e-04 9.99830919e-01 -8.10832049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.924320000000001 meters 0.021243824010818292 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.21, Z:-0.08 [[ 9.99606018e-01 2.14444607e-02 1.81092304e-02 5.06811305e+00] [-2.14327923e-02 9.99769940e-01 -8.38196089e-04 -2.08944956e-01] [-1.81230388e-02 4.49734481e-04 9.99835663e-01 -8.31325212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.98432 meters 0.01982093414980812 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.21, Z:-0.08 [[ 9.99498802e-01 2.54809636e-02 1.87847244e-02 5.13017703e+00] [-2.54690193e-02 9.99675229e-01 -8.74855802e-04 -2.08331338e-01] [-1.88009158e-02 3.95988818e-04 9.99823169e-01 -8.46615724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.04432 meters 0.019094558947394074 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.21, Z:-0.08 [[ 9.99449477e-01 2.68216577e-02 1.95279940e-02 5.19172497e+00] [-2.68088969e-02 9.99640158e-01 -9.15001710e-04 -2.12830633e-01] [-1.95455088e-02 3.90974003e-04 9.99808892e-01 -8.45755440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.10432 meters 0.01948843970807383 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.22, Z:-0.09 [[ 9.99446716e-01 2.66810175e-02 1.98591524e-02 5.25450498e+00] [-2.66676826e-02 9.99643916e-01 -9.36042272e-04 -2.17739302e-01] [-1.98770554e-02 4.05926802e-04 9.99802349e-01 -8.52961513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.16432 meters 0.020455462544451665 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.22, Z:-0.08 [[ 9.99429576e-01 2.59034247e-02 2.16687589e-02 5.31580123e+00] [-2.58872066e-02 9.99664341e-01 -1.02867528e-03 -2.23868344e-01] [-2.16881318e-02 4.67144860e-04 9.99764676e-01 -8.46607082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2243200000000005 meters 0.02077380759346101 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.23, Z:-0.09 [[ 9.99414307e-01 2.62197470e-02 2.19901632e-02 5.37886025e+00] [-2.62029974e-02 9.99656092e-01 -1.04952672e-03 -2.27624576e-01] [-2.20101189e-02 4.72703833e-04 9.99757636e-01 -8.57420835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.28432 meters 0.020970557109608528 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.23, Z:-0.09 [[ 9.99421332e-01 2.63866102e-02 2.14650230e-02 5.44132629e+00] [-2.63705542e-02 9.99651705e-01 -1.03077239e-03 -2.30735733e-01] [-2.14847455e-02 4.64131360e-04 9.99769068e-01 -8.83291900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.344320000000001 meters 0.020635748113378576 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.23, Z:-0.09 [[ 9.99432892e-01 2.58535916e-02 2.15751410e-02 5.50299099e+00] [-2.58371057e-02 9.99665623e-01 -1.04256490e-03 -2.32915096e-01] [-2.15948808e-02 4.84534451e-04 9.99766686e-01 -9.03635706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.40432 meters 0.02182201116142109 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.24, Z:-0.09 [[ 9.99486742e-01 2.39288387e-02 2.12993912e-02 5.56485209e+00] [-2.39122126e-02 9.99713526e-01 -1.03496796e-03 -2.38108543e-01] [-2.13180551e-02 5.25121186e-04 9.99772607e-01 -9.26014168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.464320000000001 meters 0.023953657300429226 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.24, Z:-0.09 [[ 9.99554513e-01 2.10292411e-02 2.11789007e-02 5.62518924e+00] [-2.10120316e-02 9.99778687e-01 -1.03480245e-03 -2.43324834e-01] [-2.11959746e-02 5.89329725e-04 9.99775166e-01 -9.48752482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.52432 meters 0.024747123995783125 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.25, Z:-0.10 [[ 9.99579326e-01 2.10334685e-02 1.99690646e-02 5.68668475e+00] [-2.10181217e-02 9.99778616e-01 -9.78117677e-04 -2.48843713e-01] [-1.99852170e-02 5.57993979e-04 9.99800120e-01 -9.80196857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.58432 meters 0.024638155202930726 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.25, Z:-0.10 [[ 9.99542881e-01 2.21933199e-02 2.05300955e-02 5.74869038e+00] [-2.21772630e-02 9.99753545e-01 -1.00948561e-03 -2.51242958e-01] [-2.05474396e-02 5.53722824e-04 9.99788726e-01 -9.91957163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6443200000000004 meters 0.0231410992474778 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.25, Z:-0.10 [[ 9.99473138e-01 2.58051365e-02 1.96860738e-02 5.80921506e+00] [-2.57909711e-02 9.99666884e-01 -9.73151403e-04 -2.50385767e-01] [-1.97046283e-02 4.64915727e-04 9.99805737e-01 -1.02480522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.70432 meters 0.02012343002322411 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.25, Z:-0.10 [[ 9.99413602e-01 2.81939153e-02 1.94307881e-02 5.87118579e+00] [-2.81805683e-02 9.99602388e-01 -9.60423223e-04 -2.49575541e-01] [-1.94501403e-02 4.12289380e-04 9.99810743e-01 -1.03389008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7643200000000006 meters 0.019374724012297704 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.25, Z:-0.10 [[ 9.99322530e-01 3.06718763e-02 2.03400363e-02 5.93310863e+00] [-3.06576448e-02 9.99529432e-01 -1.01120089e-03 -2.53902860e-01] [-2.03614804e-02 3.86938225e-04 9.99792609e-01 -1.02668032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.82432 meters 0.0192969811900523 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.26, Z:-0.11 [[ 9.99323420e-01 3.18058291e-02 1.84686394e-02 5.99416962e+00] [-3.17942053e-02 9.99494011e-01 -9.22732261e-04 -2.56209273e-01] [-1.84886427e-02 3.34912247e-04 9.99829014e-01 -1.06548315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.884320000000001 meters 0.02007235932562516 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.26, Z:-0.11 [[ 9.99335810e-01 3.08571801e-02 1.93848608e-02 6.05559481e+00] [-3.08440976e-02 9.99523733e-01 -9.73575410e-04 -2.64068105e-01] [-1.94056702e-02 3.75020233e-04 9.99811622e-01 -1.06388597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.94432 meters 0.021261744816135804 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.27, Z:-0.11 [[ 9.99377450e-01 2.90415439e-02 2.00325149e-02 6.11697273e+00] [-2.90270951e-02 9.99578113e-01 -1.01172696e-03 -2.70652748e-01] [-2.00534456e-02 4.29611395e-04 9.99798817e-01 -1.07452111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.004320000000001 meters 0.021964608584805912 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.28, Z:-0.11 [[ 9.99438436e-01 2.58797800e-02 2.12849392e-02 6.17857606e+00] [-2.58626834e-02 9.99664923e-01 -1.07815449e-03 -2.75259770e-01] [-2.13057096e-02 5.27063389e-04 9.99772869e-01 -1.07981114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.06432 meters 0.02552177097834348 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.29, Z:-0.11 [[ 9.99492983e-01 2.32949206e-02 2.17053780e-02 6.23892842e+00] [-2.32764055e-02 9.99728457e-01 -1.10530256e-03 -2.85198197e-01] [-2.17252320e-02 5.99518970e-04 9.99763800e-01 -1.08656853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.12432 meters 0.023426730759394297 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.29, Z:-0.11 [[ 9.99526287e-01 2.19212631e-02 2.16023305e-02 6.30062801e+00] [-2.19025830e-02 9.99759503e-01 -1.10097578e-03 -2.86584948e-01] [-2.16212700e-02 6.27307396e-04 9.99766036e-01 -1.09242397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1843200000000005 meters 0.026396765985061733 Centerline is valid? [True, True] Translation: X:6.36, Y:-0.29, Z:-0.11 [[ 9.99506000e-01 2.42573150e-02 1.99834552e-02 6.36174257e+00] [-2.42416946e-02 9.99705603e-01 -1.02356935e-03 -2.92011146e-01] [-2.00024012e-02 5.38630888e-04 9.99799787e-01 -1.12821598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.24432 meters 0.024212168638564555 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.29, Z:-0.12 [[ 9.99408378e-01 2.86218486e-02 1.90705091e-02 6.42226856e+00] [-2.86083241e-02 9.99590216e-01 -9.81675503e-04 -2.90248887e-01] [-1.90907917e-02 4.35519416e-04 9.99817659e-01 -1.16247376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.304320000000001 meters 0.019517589304048125 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.29, Z:-0.12 [[ 9.99331404e-01 3.17050218e-02 1.82081196e-02 6.48425016e+00] [-3.16931816e-02 9.99497204e-01 -9.38535151e-04 -2.85733643e-01] [-1.82287209e-02 3.60834409e-04 9.99833778e-01 -1.17486868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.36432 meters 0.018554216380303454 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.28, Z:-0.12 [[ 9.99233321e-01 3.54389327e-02 1.66388611e-02 6.54510700e+00] [-3.54294930e-02 9.99371807e-01 -8.61852121e-04 -2.84231035e-01] [-1.66589518e-02 2.71684945e-04 9.99861193e-01 -1.21030407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.424320000000001 meters 0.018233217280614257 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.29, Z:-0.12 [[ 9.99170595e-01 3.70894194e-02 1.68076191e-02 6.60696495e+00] [-3.70799496e-02 9.99311919e-01 -8.74819158e-04 -2.87008354e-01] [-1.68285006e-02 2.50867913e-04 9.99858359e-01 -1.22730054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.48432 meters 0.01878136795961507 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.29, Z:-0.12 [[ 9.99142966e-01 3.67293561e-02 1.90863069e-02 6.66839909e+00] [-3.67169667e-02 9.99325205e-01 -9.99265171e-04 -2.91788320e-01] [-1.91101299e-02 2.97617474e-04 9.99817340e-01 -1.21032396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.544320000000001 meters 0.01897366255470548 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.30, Z:-0.12 [[ 9.99225264e-01 3.39464640e-02 1.99125267e-02 6.73010057e+00] [-3.39323088e-02 9.99423584e-01 -1.04840889e-03 -2.96454081e-01] [-1.99366386e-02 3.71918646e-04 9.99801176e-01 -1.21202757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.60432 meters 0.020872350774120797 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.30, Z:-0.12 [[ 9.99264544e-01 3.23507750e-02 2.05863823e-02 6.79040512e+00] [-3.23351832e-02 9.99476487e-01 -1.08988956e-03 -3.03301488e-01] [-2.06108638e-02 4.23423552e-04 9.99787484e-01 -1.22322798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.66432 meters 0.022356733447160243 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.31, Z:-0.12 [[ 9.99391465e-01 2.76183990e-02 2.13054672e-02 6.85181234e+00] [-2.76005597e-02 9.99618392e-01 -1.13096973e-03 -3.10195594e-01] [-2.13285724e-02 5.42238682e-04 9.99772373e-01 -1.23024998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7243200000000005 meters 0.023913333867696576 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.32, Z:-0.12 [[ 9.99460965e-01 2.58937692e-02 2.01814855e-02 6.91402115e+00] [-2.58773647e-02 9.99664548e-01 -1.07361590e-03 -3.15451647e-01] [-2.02025155e-02 5.50793529e-04 9.99795757e-01 -1.24644844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.78432 meters 0.02272606810378261 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.32, Z:-0.13 [[ 9.99466147e-01 2.62707115e-02 1.94234769e-02 6.97740454e+00] [-2.62554931e-02 9.99654726e-01 -1.03814904e-03 -3.15768009e-01] [-1.94440434e-02 5.27621853e-04 9.99810807e-01 -1.27425459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.844320000000001 meters 0.023400503549384076 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.32, Z:-0.13 [[ 9.99479816e-01 2.65790675e-02 1.82661302e-02 7.03943599e+00] [-2.65655604e-02 9.99646591e-01 -9.81748495e-04 -3.18032254e-01] [-1.82857688e-02 4.95987818e-04 9.99832678e-01 -1.30418695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.90432 meters 0.024893688007710205 Centerline is valid? [True, True] Translation: X:7.10, Y:-0.32, Z:-0.13 [[ 9.99513922e-01 2.59654150e-02 1.72544971e-02 7.09997271e+00] [-2.59531872e-02 9.99662725e-01 -9.32255287e-04 -3.24203029e-01] [-1.72728839e-02 4.83992946e-04 9.99850695e-01 -1.32181090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.964320000000001 meters 0.023237137472631834 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.32, Z:-0.13 [[ 9.99491753e-01 2.65407407e-02 1.76585757e-02 7.16313529e+00] [-2.65279483e-02 9.99647613e-01 -9.58317390e-04 -3.22303894e-01] [-1.76777875e-02 4.89384545e-04 9.99843616e-01 -1.33349359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.02432 meters 0.021269839474375496 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.32, Z:-0.13 [[ 9.99338204e-01 3.17495095e-02 1.77516732e-02 7.22484715e+00] [-3.17372891e-02 9.99495775e-01 -9.69777661e-04 -3.21166840e-01] [-1.77735123e-02 4.05745883e-04 9.99841956e-01 -1.33855582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.084320000000001 meters 0.019700255808497484 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.32, Z:-0.13 [[ 9.99235814e-01 3.48135848e-02 1.77708397e-02 7.28694332e+00] [-3.48018076e-02 9.99393761e-01 -9.71643114e-04 -3.20237974e-01] [-1.77938927e-02 3.52443253e-04 9.99841614e-01 -1.34924965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1443200000000004 meters 0.01869644559785616 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.32, Z:-0.14 [[ 9.99118194e-01 3.77217581e-02 1.84364431e-02 7.34909162e+00] [-3.77094783e-02 9.99288231e-01 -1.01337356e-03 -3.21351675e-01] [-1.84615468e-02 3.17251310e-04 9.99829521e-01 -1.35191474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.20432 meters 0.019310104395438912 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.32, Z:-0.14 [[ 9.99118657e-01 3.67215902e-02 2.03330751e-02 7.40963583e+00] [-3.67063159e-02 9.99325464e-01 -1.12403657e-03 -3.24313665e-01] [-2.03606362e-02 3.76693633e-04 9.99792630e-01 -1.35955454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2643200000000006 meters 0.021321098496214493 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.33, Z:-0.14 [[ 9.99167895e-01 3.46750202e-02 2.14746576e-02 7.47035998e+00] [-3.46574421e-02 9.99398542e-01 -1.19029562e-03 -3.31749210e-01] [-2.15030150e-02 4.45048463e-04 9.99768684e-01 -1.35633535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.32432 meters 0.022628349874237137 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.34, Z:-0.14 [[ 9.99330841e-01 3.01791646e-02 2.06660926e-02 7.53211000e+00] [-3.01618198e-02 9.99544367e-01 -1.15053948e-03 -3.39407133e-01] [-2.06913987e-02 5.26442626e-04 9.99785771e-01 -1.37839774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.384320000000001 meters 0.024186068570624324 Centerline is valid? [True, True] Translation: X:7.59, Y:-0.34, Z:-0.14 [[ 9.99428524e-01 2.63905013e-02 2.11226740e-02 7.59364360e+00] [-2.63715011e-02 9.99651518e-01 -1.17761156e-03 -3.44500853e-01] [-2.11463909e-02 6.19901964e-04 9.99776198e-01 -1.39369533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.44432 meters 0.025909296800274165 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.35, Z:-0.14 [[ 9.99514851e-01 2.32976416e-02 2.06708369e-02 7.65582129e+00] [-2.32786772e-02 9.99728345e-01 -1.15762997e-03 -3.49860357e-01] [-2.06921916e-02 6.75878606e-04 9.99785665e-01 -1.41665521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.504320000000001 meters 0.026952420194469414 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.36, Z:-0.14 [[ 9.99548997e-01 2.17978335e-02 2.06556924e-02 7.71757616e+00] [-2.17785459e-02 9.99762148e-01 -1.15828470e-03 -3.55006949e-01] [-2.06760275e-02 7.07911368e-04 9.99785977e-01 -1.43159639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.56432 meters 0.026984886869142098 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.36, Z:-0.15 [[ 9.99592826e-01 2.09757271e-02 1.93442790e-02 7.77920133e+00] [-2.09585635e-02 9.99779751e-01 -1.08960252e-03 -3.57916618e-01] [-1.93628737e-02 6.83730558e-04 9.99812288e-01 -1.45160362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.624320000000001 meters 0.02501972820432912 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.36, Z:-0.15 [[ 9.99541978e-01 2.48123172e-02 1.73257991e-02 7.84065099e+00] [-2.47990373e-02 9.99691975e-01 -9.80945280e-04 -3.57108630e-01] [-1.73448018e-02 5.50832849e-04 9.99849416e-01 -1.47798637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6843200000000005 meters 0.024046865692636817 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.36, Z:-0.15 [[ 9.99419429e-01 2.90552471e-02 1.77931837e-02 7.90128987e+00] [-2.90418985e-02 9.99577687e-01 -1.00820250e-03 -3.57429600e-01] [-1.78149629e-02 4.90869333e-04 9.99841180e-01 -1.48731110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.74432 meters 0.020213760395361484 Centerline is valid? [True, True] Translation: X:7.96, Y:-0.35, Z:-0.15 [[ 9.99235667e-01 3.55369601e-02 1.62851401e-02 7.96341377e+00] [-3.55266371e-02 9.99368304e-01 -9.22839012e-04 -3.52288974e-01] [-1.63076477e-02 3.43577392e-04 9.99866962e-01 -1.51254953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.804320000000001 meters 0.02087837429811997 Centerline is valid? [True, True] Translation: X:8.02, Y:-0.36, Z:-0.15 [[ 9.99085979e-01 3.89504181e-02 1.76088747e-02 8.02393912e+00] [-3.89388702e-02 9.99241096e-01 -9.98314111e-04 -3.57617438e-01] [-1.76343961e-02 3.11731941e-04 9.99844453e-01 -1.50533290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.86432 meters 0.019072835342917423 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.36, Z:-0.15 [[ 9.99032226e-01 3.95460327e-02 1.92541465e-02 8.08688654e+00] [-3.95322343e-02 9.99217694e-01 -1.09688128e-03 -3.58568751e-01] [-1.92824612e-02 3.34660315e-04 9.99814020e-01 -1.48663007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.924320000000001 meters 0.019429598344564473 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.36, Z:-0.15 [[ 9.99081607e-01 3.80548769e-02 1.96918678e-02 8.14859861e+00] [-3.80400275e-02 9.99275579e-01 -1.12825076e-03 -3.64058370e-01] [-1.97205381e-02 3.78135391e-04 9.99805460e-01 -1.49025519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.98432 meters 0.02134382896380152 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.37, Z:-0.15 [[ 9.99177925e-01 3.49571547e-02 2.05297743e-02 8.20937896e+00] [-3.49402371e-02 9.99388704e-01 -1.18227904e-03 -3.74219032e-01] [-2.05585537e-02 4.63991935e-04 9.99788543e-01 -1.49098355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.04432 meters 0.022206224671151933 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.38, Z:-0.15 [[ 9.99241460e-01 3.34338712e-02 1.99669745e-02 8.27141680e+00] [-3.34174660e-02 9.99440813e-01 -1.15480370e-03 -3.80714713e-01] [-1.99944188e-02 4.86682047e-04 9.99799973e-01 -1.51385177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.104320000000001 meters 0.0219178793876885 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.39, Z:-0.15 [[ 9.99305356e-01 3.14916625e-02 1.99268875e-02 8.33348667e+00] [-3.14748309e-02 9.99503874e-01 -1.15781051e-03 -3.85934356e-01] [-1.99534627e-02 5.29810825e-04 9.99800769e-01 -1.52702647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.16432 meters 0.023769566014173522 Centerline is valid? [True, True] Translation: X:8.39, Y:-0.39, Z:-0.15 [[ 9.99408967e-01 2.83348143e-02 1.94641960e-02 8.39361412e+00] [-2.83180445e-02 9.99598317e-01 -1.13670748e-03 -3.94429763e-01] [-1.94885860e-02 5.84847683e-04 9.99809908e-01 -1.54420724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.22432 meters 0.024682017683779586 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.40, Z:-0.16 [[ 9.99451152e-01 2.66839961e-02 1.96305781e-02 8.45508941e+00] [-2.66666119e-02 9.99643725e-01 -1.14684657e-03 -4.01356847e-01] [-1.96541867e-02 6.22736116e-04 9.99806644e-01 -1.55200664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.284320000000001 meters 0.02587129088741236 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.41, Z:-0.16 [[ 9.99513601e-01 2.52029272e-02 1.83677178e-02 8.51682918e+00] [-2.51873716e-02 9.99682167e-01 -1.07778175e-03 -4.08079164e-01] [-1.83890432e-02 6.14622984e-04 9.99830718e-01 -1.58835992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.34432 meters 0.027109214740353743 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.41, Z:-0.16 [[ 9.99513020e-01 2.52058592e-02 1.83953174e-02 8.57853781e+00] [-2.51901651e-02 9.99682089e-01 -1.08440863e-03 -4.14517831e-01] [-1.84168027e-02 6.20499461e-04 9.99830204e-01 -1.60296237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.40432 meters 0.025637179711706072 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.42, Z:-0.16 [[ 9.99398999e-01 2.95463092e-02 1.81288648e-02 8.63936201e+00] [-2.95316722e-02 9.99563267e-01 -1.07462945e-03 -4.16230397e-01] [-1.81526987e-02 5.38607901e-04 9.99835081e-01 -1.60418651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.46432 meters 0.022025253246185615 Centerline is valid? [True, True] Translation: X:8.70, Y:-0.41, Z:-0.16 [[ 9.99289422e-01 3.37343247e-02 1.68120781e-02 8.70099579e+00] [-3.37223196e-02 9.99430743e-01 -9.97140315e-04 -4.14226854e-01] [-1.68361456e-02 4.29489499e-04 9.99858170e-01 -1.62355643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.524320000000001 meters 0.022039934640414465 Centerline is valid? [True, True] Translation: X:8.76, Y:-0.42, Z:-0.16 [[ 9.99247051e-01 3.49118835e-02 1.69260582e-02 8.76239849e+00] [-3.48998877e-02 9.99390309e-01 -1.00367414e-03 -4.17895429e-01] [-1.69507787e-02 4.12200894e-04 9.99856240e-01 -1.63633315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.58432 meters 0.02096822610901993 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.42, Z:-0.16 [[ 9.99114411e-01 3.80292766e-02 1.80046488e-02 8.82526682e+00] [-3.80161124e-02 9.99276550e-01 -1.07297814e-03 -4.16454669e-01] [-1.80324279e-02 3.87561169e-04 9.99837327e-01 -1.64727955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.64432 meters 0.02216257411109135 Centerline is valid? [True, True] Translation: X:8.89, Y:-0.42, Z:-0.16 [[ 9.99120538e-01 3.73575562e-02 1.90411161e-02 8.88613165e+00] [-3.73426798e-02 9.99301873e-01 -1.13635973e-03 -4.22459568e-01] [-1.90702746e-02 4.24314045e-04 9.99818056e-01 -1.64846680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.704320000000001 meters 0.023336998206742964 Centerline is valid? [True, True] Translation: X:8.95, Y:-0.43, Z:-0.16 [[ 9.99186880e-01 3.43448569e-02 2.11189442e-02 8.94800433e+00] [-3.43257628e-02 9.99409895e-01 -1.26606659e-03 -4.27384282e-01] [-2.11499647e-02 5.40113262e-04 9.99776169e-01 -1.64369527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.764320000000001 meters 0.024284699497017694 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.43, Z:-0.16 [[ 9.99284999e-01 3.07685547e-02 2.19724092e-02 9.00937189e+00] [-3.07468912e-02 9.99526327e-01 -1.32317244e-03 -4.30996222e-01] [-2.20027135e-02 6.46643094e-04 9.99757702e-01 -1.64563736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.82432 meters 0.02552888116628032 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.43, Z:-0.16 [[ 9.99309354e-01 2.91495318e-02 2.30460181e-02 9.07144247e+00] [-2.91251286e-02 9.99574802e-01 -1.39390931e-03 -4.34302988e-01] [-2.30768507e-02 7.21728372e-04 9.99733434e-01 -1.64959681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.88432 meters 0.025593531114067723 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.44, Z:-0.17 [[ 9.99362145e-01 2.69272036e-02 2.34569451e-02 9.13345579e+00] [-2.69011603e-02 9.99637082e-01 -1.42516121e-03 -4.36888378e-01] [-2.34868078e-02 7.93233122e-04 9.99723832e-01 -1.66408038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.944320000000001 meters 0.026014649812554066 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.44, Z:-0.17 [[ 9.99411485e-01 2.67627882e-02 2.14577714e-02 9.19667320e+00] [-2.67408432e-02 9.99641543e-01 -1.30903779e-03 -4.38050869e-01] [-2.14851132e-02 7.34468502e-04 9.99768899e-01 -1.70695357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.00432 meters 0.025071343903208247 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.44, Z:-0.17 [[ 9.99442676e-01 2.74417482e-02 1.90075566e-02 9.25943098e+00] [-2.74245531e-02 9.99623198e-01 -1.16476049e-03 -4.39533878e-01] [-1.90323575e-02 6.42837595e-04 9.99818662e-01 -1.74853080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.06432 meters 0.02546024594697 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.44, Z:-0.18 [[ 9.99425177e-01 2.84951980e-02 1.83668163e-02 9.32014491e+00] [-2.84792127e-02 9.99593745e-01 -1.13136144e-03 -4.42977885e-01] [-1.83915931e-02 6.07638634e-04 9.99830676e-01 -1.76605253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.12432 meters 0.028869903672881978 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.45, Z:-0.18 [[ 9.99413070e-01 3.02802483e-02 1.60194067e-02 9.38110925e+00] [-3.02682622e-02 9.99541321e-01 -9.90201942e-04 -4.50696435e-01] [-1.60420425e-02 5.04741160e-04 9.99871191e-01 -1.80883751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.184320000000001 meters 0.023874195675423742 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.45, Z:-0.18 [[ 9.99336515e-01 3.24906725e-02 1.64586091e-02 9.44373090e+00] [-3.24782506e-02 9.99471920e-01 -1.02153220e-03 -4.46695140e-01] [-1.64831079e-02 4.86307601e-04 9.99864026e-01 -1.80155905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.24432 meters 0.024225527521110502 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.45, Z:-0.18 [[ 9.99308687e-01 3.30199850e-02 1.70829751e-02 9.50660950e+00] [-3.30065983e-02 9.99454566e-01 -1.06505419e-03 -4.51579215e-01] [-1.71088256e-02 5.00467009e-04 9.99853508e-01 -1.80632791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.30432 meters 0.025007832760672602 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.46, Z:-0.18 [[ 9.99342210e-01 3.20710651e-02 1.69290944e-02 9.56869440e+00] [-3.20576916e-02 9.99485457e-01 -1.06082384e-03 -4.56872880e-01] [-1.69544054e-02 5.17418352e-04 9.99856130e-01 -1.81971003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.364320000000001 meters 0.024550235783746696 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.46, Z:-0.18 [[ 9.99365064e-01 3.04719726e-02 1.84642466e-02 9.63041174e+00] [-3.04556900e-02 9.99535442e-01 -1.16246651e-03 -4.61847722e-01] [-1.84910916e-02 5.99387045e-04 9.99828845e-01 -1.81957163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.42432 meters 0.0277885177686806 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.47, Z:-0.18 [[ 9.99368232e-01 2.95549454e-02 1.97393686e-02 9.69081397e+00] [-2.95360399e-02 9.99562936e-01 -1.24867031e-03 -4.72469099e-01] [-1.97676456e-02 6.64858665e-04 9.99804380e-01 -1.81823564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.48432 meters 0.027375515478813804 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.48, Z:-0.18 [[ 9.99356334e-01 2.99193270e-02 1.97927003e-02 9.75325672e+00] [-2.99002922e-02 9.99552096e-01 -1.25700966e-03 -4.76917246e-01] [-1.98214439e-02 6.64393042e-04 9.99803315e-01 -1.82855125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.54432 meters 0.025271705326494608 Centerline is valid? [True, True] Translation: X:9.82, Y:-0.48, Z:-0.18 [[ 9.99336325e-01 3.08847606e-02 1.93142790e-02 9.81527889e+00] [-3.08667050e-02 9.99522750e-01 -1.23232020e-03 -4.77822325e-01] [-1.93431212e-02 6.35334186e-04 9.99812702e-01 -1.84860147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.604320000000001 meters 0.0265214523643544 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.49, Z:-0.19 [[ 9.99272049e-01 3.40155105e-02 1.72718524e-02 9.87618879e+00] [-3.40014662e-02 9.99421171e-01 -1.10622286e-03 -4.85083007e-01] [-1.72994837e-02 5.18149280e-04 9.99850218e-01 -1.88697631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.66432 meters 0.02188678270660478 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.48, Z:-0.19 [[ 9.99155874e-01 3.77937706e-02 1.60987655e-02 9.93763140e+00] [-3.77819831e-02 9.99285469e-01 -1.03582389e-03 -4.83720246e-01] [-1.61264101e-02 4.26706241e-04 9.99869870e-01 -1.90553136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.72432 meters 0.02109444717467636 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.49, Z:-0.19 [[ 9.99065625e-01 4.02275188e-02 1.57994896e-02 9.99946053e+00] [-4.02164799e-02 9.99190474e-01 -1.01591296e-03 -4.86484368e-01] [-1.58275671e-02 3.79563858e-04 9.99874664e-01 -1.92414201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.784320000000001 meters 0.019742695648354396 Centerline is valid? [True, True] Translation: X:10.06, Y:-0.49, Z:-0.19 [[ 9.98900257e-01 4.41187091e-02 1.58686845e-02 1.00615579e+01] [-4.41079938e-02 9.99026243e-01 -1.02477216e-03 -4.88465467e-01] [-1.58984439e-02 3.23709336e-04 9.99873559e-01 -1.93678317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.844320000000002 meters 0.01893364372719509 Centerline is valid? [True, True] Translation: X:10.12, Y:-0.49, Z:-0.19 [[ 9.98795680e-01 4.62709525e-02 1.63152870e-02 1.01235140e+01] [-4.62598367e-02 9.98928880e-01 -1.05825490e-03 -4.93903193e-01] [-1.63467779e-02 3.02237907e-04 9.99866337e-01 -1.93565116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.90432 meters 0.018893737537013847 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.50, Z:-0.19 [[ 9.98744075e-01 4.72622164e-02 1.66299696e-02 1.01857004e+01] [-4.72507264e-02 9.98882473e-01 -1.08338052e-03 -4.98100109e-01] [-1.66625881e-02 2.96241735e-04 9.99861126e-01 -1.94930423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.96432 meters 0.019691779928870567 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.50, Z:-0.20 [[ 9.98778551e-01 4.58681353e-02 1.83717381e-02 1.02476278e+01] [-4.58537732e-02 9.98947439e-01 -1.20244945e-03 -5.04004961e-01] [-1.84075548e-02 3.58567201e-04 9.99830502e-01 -1.95115996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.024320000000001 meters 0.022093628527042695 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.51, Z:-0.20 [[ 9.98894026e-01 4.32389866e-02 1.84692936e-02 1.03078460e+01] [-4.32239283e-02 9.99064672e-01 -1.21391750e-03 -5.14115429e-01] [-1.85045073e-02 4.14259517e-04 9.99828691e-01 -1.96229310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.08432 meters 0.022126625961724065 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.52, Z:-0.19 [[ 9.98958304e-01 4.08613099e-02 2.03140266e-02 1.03698394e+01] [-4.08424892e-02 9.99164698e-01 -1.34067975e-03 -5.19526916e-01] [-2.03518402e-02 5.09607755e-04 9.99792750e-01 -1.94773449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.14432 meters 0.0226069148189306 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.52, Z:-0.20 [[ 9.98996579e-01 4.01432307e-02 1.98583968e-02 1.04313560e+01] [-4.01249990e-02 9.99193802e-01 -1.31584022e-03 -5.23403797e-01] [-1.98952091e-02 5.17701725e-04 9.99801937e-01 -1.97083603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.204320000000001 meters 0.022369203016673743 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.53, Z:-0.20 [[ 9.99055944e-01 3.90500426e-02 1.90345517e-02 1.04935537e+01] [-3.90330010e-02 9.99237120e-01 -1.26613833e-03 -5.26500313e-01] [-1.90694734e-02 5.21967347e-04 9.99818025e-01 -1.99551333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.264320000000001 meters 0.02439999096257335 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.53, Z:-0.20 [[ 9.99151065e-01 3.65075222e-02 1.90879588e-02 1.05538072e+01] [-3.64898136e-02 9.99333211e-01 -1.27532061e-03 -5.32147029e-01] [-1.91217900e-02 5.77721882e-04 9.99816995e-01 -2.01529089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.32432 meters 0.02554017226242404 Centerline is valid? [True, True] Translation: X:10.61, Y:-0.54, Z:-0.20 [[ 9.99197768e-01 3.58470649e-02 1.78552177e-02 1.06147649e+01] [-3.58314309e-02 9.99357134e-01 -1.19484805e-03 -5.36122515e-01] [-1.78865709e-02 5.54111504e-04 9.99839869e-01 -2.04343634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.38432 meters 0.025600722473607028 Centerline is valid? [True, True] Translation: X:10.68, Y:-0.54, Z:-0.20 [[ 9.99165580e-01 3.62129477e-02 1.88882578e-02 1.06775604e+01] [-3.61954255e-02 9.99343925e-01 -1.26883091e-03 -5.39907042e-01] [-1.89218138e-02 5.84103644e-04 9.99820796e-01 -2.04042742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.444320000000001 meters 0.024276486369922808 Centerline is valid? [True, True] Translation: X:10.74, Y:-0.54, Z:-0.21 [[ 9.99155406e-01 3.67675856e-02 1.83471777e-02 1.07406490e+01] [-3.67510480e-02 9.99323685e-01 -1.23784286e-03 -5.39343039e-01] [-1.83802817e-02 5.62519374e-04 9.99830910e-01 -2.05883139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.50432 meters 0.024234087306204067 Centerline is valid? [True, True] Translation: X:10.80, Y:-0.54, Z:-0.21 [[ 9.99165885e-01 3.70255452e-02 1.72233367e-02 1.08038398e+01] [-3.70109235e-02 9.99314180e-01 -1.16703301e-03 -5.41165558e-01] [-1.72547346e-02 5.28607973e-04 9.99850986e-01 -2.08871710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.56432 meters 0.02530901591454849 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.55, Z:-0.21 [[ 9.99194523e-01 3.58083058e-02 1.81127419e-02 1.08660829e+01] [-3.57918223e-02 9.99358506e-01 -1.23350607e-03 -5.45994019e-01] [-1.81452925e-02 5.84224463e-04 9.99835190e-01 -2.08553784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.62432 meters 0.025445067736473388 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.55, Z:-0.21 [[ 9.99197225e-01 3.52599332e-02 1.90168841e-02 1.09281289e+01] [-3.52415588e-02 9.99377977e-01 -1.30057745e-03 -5.48836283e-01] [-1.90509135e-02 6.29348744e-04 9.99818317e-01 -2.08517504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.684320000000001 meters 0.025917824020182337 Centerline is valid? [True, True] Translation: X:10.99, Y:-0.55, Z:-0.21 [[ 9.99180974e-01 3.48623315e-02 2.05426186e-02 1.09900051e+01] [-3.48406798e-02 9.99391883e-01 -1.41105446e-03 -5.49529084e-01] [-2.05793189e-02 6.94179971e-04 9.99787982e-01 -2.08491577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.74432 meters 0.024719470115983168 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.55, Z:-0.21 [[ 9.99112503e-01 3.58566199e-02 2.21022372e-02 1.10528335e+01] [-3.58316572e-02 9.99356677e-01 -1.52454141e-03 -5.50005253e-01] [-2.21426832e-02 7.31228602e-04 9.99754553e-01 -2.07288819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.80432 meters 0.024740669889874015 Centerline is valid? [True, True] Translation: X:11.11, Y:-0.55, Z:-0.21 [[ 9.99046298e-01 3.76412102e-02 2.21276761e-02 1.11138635e+01] [-3.76165765e-02 9.99291077e-01 -1.52858406e-03 -5.50890707e-01] [-2.21695271e-02 6.94758825e-04 9.99753984e-01 -2.08822839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.864320000000001 meters 0.023160037215725866 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.55, Z:-0.21 [[ 9.98958629e-01 4.04857309e-02 2.10372008e-02 1.11760938e+01] [-4.04640291e-02 9.99179934e-01 -1.45641640e-03 -5.48915787e-01] [-2.10789130e-02 6.03649824e-04 9.99777633e-01 -2.11269079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.924320000000002 meters 0.022414424869407645 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.55, Z:-0.21 [[ 9.98918047e-01 4.18074358e-02 2.03684558e-02 1.12379276e+01] [-4.17872547e-02 9.99125528e-01 -1.41559648e-03 -5.50168926e-01] [-2.04098266e-02 5.62923024e-04 9.99791539e-01 -2.13534929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.98432 meters 0.021424301872663865 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.55, Z:-0.21 [[ 9.98748425e-01 4.57207174e-02 2.02780428e-02 1.12982374e+01] [-4.57014009e-02 9.98954143e-01 -1.41521917e-03 -5.50795232e-01] [-2.03215397e-02 4.86712958e-04 9.99793378e-01 -2.14350771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.04432 meters 0.02000265480081832 Centerline is valid? [True, True] Translation: X:11.36, Y:-0.55, Z:-0.22 [[ 9.98596501e-01 4.94075689e-02 1.90766961e-02 1.13607920e+01] [-4.93911494e-02 9.98778625e-01 -1.33119474e-03 -5.49086205e-01] [-1.91191674e-02 3.87106459e-04 9.99817137e-01 -2.16773918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.104320000000001 meters 0.019430102544707673 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.55, Z:-0.22 [[ 9.98512523e-01 5.13192355e-02 1.84140517e-02 1.14235792e+01] [-5.13041636e-02 9.98682241e-01 -1.29027902e-03 -5.49054797e-01] [-1.84560026e-02 3.43642241e-04 9.99829614e-01 -2.19414558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.16432 meters 0.020176680299528207 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.55, Z:-0.22 [[ 9.98571986e-01 5.04631732e-02 1.75344767e-02 1.14849498e+01] [-5.04493565e-02 9.98725863e-01 -1.22970122e-03 -5.54255841e-01] [-1.75741900e-02 3.43342122e-04 9.99845503e-01 -2.20982717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.22432 meters 0.02161633434593821 Centerline is valid? [True, True] Translation: X:11.55, Y:-0.56, Z:-0.22 [[ 9.98674311e-01 4.82563067e-02 1.79150864e-02 1.15461634e+01] [-4.82414398e-02 9.98834908e-01 -1.26133461e-03 -5.60974793e-01] [-1.79550811e-02 3.95412907e-04 9.99838716e-01 -2.21908715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.284320000000001 meters 0.024632780586810243 Centerline is valid? [True, True] Translation: X:11.61, Y:-0.57, Z:-0.22 [[ 9.98899649e-01 4.34232928e-02 1.77174471e-02 1.16055359e+01] [-4.34079404e-02 9.99056649e-01 -1.25034499e-03 -5.67233808e-01] [-1.77550274e-02 4.79891281e-04 9.99842252e-01 -2.24384797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.344320000000002 meters 0.025206181223183355 Centerline is valid? [True, True] Translation: X:11.67, Y:-0.58, Z:-0.22 [[ 9.99120433e-01 3.71504731e-02 1.94474402e-02 1.16660248e+01] [-3.71307890e-02 9.99309472e-01 -1.37239861e-03 -5.75601239e-01] [-1.94849964e-02 6.49092696e-04 9.99809939e-01 -2.22479982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.40432 meters 0.027926014038124728 Centerline is valid? [True, True] Translation: X:11.73, Y:-0.58, Z:-0.22 [[ 9.99264850e-01 3.22935069e-02 2.06612866e-02 1.17263964e+01] [-3.22702428e-02 9.99478116e-01 -1.45848137e-03 -5.83804725e-01] [-2.06976032e-02 7.90664433e-04 9.99785469e-01 -2.23205673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.46432 meters 0.02909168670660605 Centerline is valid? [True, True] Translation: X:11.79, Y:-0.59, Z:-0.22 [[ 9.99426938e-01 2.64669938e-02 2.11019888e-02 1.17868484e+01] [-2.64414067e-02 9.99649253e-01 -1.49068583e-03 -5.89465787e-01] [-2.11340413e-02 9.31865304e-04 9.99776217e-01 -2.24455587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.524320000000001 meters 0.0349439221033634 Centerline is valid? [True, True] Translation: X:11.85, Y:-0.60, Z:-0.23 [[ 9.99474331e-01 2.48004191e-02 2.08806143e-02 1.18468448e+01] [-2.47749945e-02 9.99691964e-01 -1.47546315e-03 -6.02178789e-01] [-2.09107744e-02 9.57370435e-04 9.99780887e-01 -2.26199938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.58432 meters 0.03104312021208589 Centerline is valid? [True, True] Translation: X:11.91, Y:-0.60, Z:-0.23 [[ 9.99404822e-01 2.81311801e-02 1.99659274e-02 1.19089978e+01] [-2.81085829e-02 9.99603879e-01 -1.41157681e-03 -6.01662907e-01] [-1.99977278e-02 8.49522743e-04 9.99799665e-01 -2.28030073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.64432 meters 0.026764048098176098 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.60, Z:-0.23 [[ 9.99098842e-01 3.80940609e-02 1.87175382e-02 1.19685327e+01] [-3.80759242e-02 9.99273971e-01 -1.32452285e-03 -5.97283700e-01] [-1.87544051e-02 6.10641685e-04 9.99823934e-01 -2.31065841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.704320000000001 meters 0.02411135374450428 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.60, Z:-0.23 [[ 9.98818596e-01 4.52503519e-02 1.77149335e-02 1.20284271e+01] [-4.52352375e-02 9.98975577e-01 -1.25317898e-03 -5.95910028e-01] [-1.77534927e-02 4.50359242e-04 9.99842293e-01 -2.33689324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.764320000000001 meters 0.019418415893909042 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.59, Z:-0.23 [[ 9.98446226e-01 5.31027393e-02 1.68888189e-02 1.20906224e+01] [-5.30901285e-02 9.98589010e-01 -1.19448903e-03 -5.91391626e-01] [-1.69284196e-02 2.96003495e-04 9.99856660e-01 -2.34761004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.82432 meters 0.01817728459482316 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.59, Z:-0.23 [[ 9.98248527e-01 5.64851349e-02 1.75871627e-02 1.21522964e+01] [-5.64719789e-02 9.98403409e-01 -1.24417603e-03 -5.94880039e-01] [-1.76293606e-02 2.48815005e-04 9.99844560e-01 -2.34682207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.88432 meters 0.01835823001171715 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.60, Z:-0.24 [[ 9.98250430e-01 5.64574993e-02 1.75678634e-02 1.22146686e+01] [-5.64442851e-02 9.98404971e-01 -1.24750830e-03 -5.99283008e-01] [-1.76102733e-02 2.53720208e-04 9.99844895e-01 -2.36575569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.944320000000001 meters 0.019949328664274867 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.61, Z:-0.24 [[ 9.98380951e-01 5.38297974e-02 1.83801602e-02 1.22751611e+01] [-5.38147728e-02 9.98550074e-01 -1.31142497e-03 -6.10047347e-01] [-1.84241041e-02 3.20177563e-04 9.99830211e-01 -2.36842952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.004320000000002 meters 0.02105118492230535 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.62, Z:-0.24 [[ 9.98631576e-01 4.85052642e-02 1.95503053e-02 1.23369874e+01] [-4.84871377e-02 9.98822825e-01 -1.40040570e-03 -6.19719038e-01] [-1.95952182e-02 4.50551006e-04 9.99807894e-01 -2.36952772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.06432 meters 0.02472709538304286 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.63, Z:-0.24 [[ 9.98772695e-01 4.47638533e-02 2.11967081e-02 1.23968066e+01] [-4.47416634e-02 9.98997434e-01 -1.52018432e-03 -6.32369296e-01] [-2.12435063e-02 5.69942616e-04 9.99774169e-01 -2.37798626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.12432 meters 0.02308032440763 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.64, Z:-0.24 [[ 9.98803463e-01 4.41701650e-02 2.09913934e-02 1.24584537e+01] [-4.41482122e-02 9.99023854e-01 -1.50829228e-03 -6.35758148e-01] [-2.10375243e-02 5.79755064e-04 9.99778519e-01 -2.38965633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.184320000000001 meters 0.02323120953696594 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.64, Z:-0.24 [[ 9.98765535e-01 4.55596048e-02 1.97921139e-02 1.25187873e+01] [-4.55402554e-02 9.98961484e-01 -1.42747758e-03 -6.42977016e-01] [-1.98365948e-02 5.24377488e-04 9.99803098e-01 -2.41787788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.24432 meters 0.02256015628506915 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.65, Z:-0.24 [[ 9.98667546e-01 4.80027698e-02 1.89437983e-02 1.25809496e+01] [-4.79854338e-02 9.98847098e-01 -1.36888908e-03 -6.45820774e-01] [-1.89876684e-02 4.58038724e-04 9.99819613e-01 -2.44416395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.30432 meters 0.02062576996107812 Centerline is valid? [True, True] Translation: X:12.64, Y:-0.65, Z:-0.25 [[ 9.98482583e-01 5.22285246e-02 1.74560370e-02 1.26432060e+01] [-5.22143760e-02 9.98635097e-01 -1.26562164e-03 -6.48674570e-01] [-1.74983127e-02 3.52245082e-04 9.99846831e-01 -2.47120732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.364320000000001 meters 0.02091985124555105 Centerline is valid? [True, True] Translation: X:12.70, Y:-0.65, Z:-0.25 [[ 9.98424525e-01 5.33022752e-02 1.75310013e-02 1.27042253e+01] [-5.32880782e-02 9.98578365e-01 -1.27629011e-03 -6.54635574e-01] [-1.75741078e-02 3.40085974e-04 9.99845506e-01 -2.48376377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.424320000000002 meters 0.01940161716197421 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.66, Z:-0.25 [[ 9.98322239e-01 5.55356325e-02 1.63860074e-02 1.27658905e+01] [-5.55235023e-02 9.98456666e-01 -1.19463578e-03 -6.58073190e-01] [-1.64270632e-02 2.82822941e-04 9.99865027e-01 -2.50253580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.48432 meters 0.019406513286312946 Centerline is valid? [True, True] Translation: X:12.83, Y:-0.66, Z:-0.25 [[ 9.98288485e-01 5.62948001e-02 1.58428693e-02 1.28283037e+01] [-5.62834934e-02 9.98414155e-01 -1.15900355e-03 -6.64864040e-01] [-1.58829908e-02 2.65327873e-04 9.99873822e-01 -2.51392761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.54432 meters 0.019979663725459406 Centerline is valid? [True, True] Translation: X:12.89, Y:-0.67, Z:-0.25 [[ 9.98317947e-01 5.57799790e-02 1.58072950e-02 1.28890362e+01] [-5.57685663e-02 9.98443046e-01 -1.16221292e-03 -6.71458514e-01] [-1.58475120e-02 2.78707834e-04 9.99874381e-01 -2.53710975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.604320000000001 meters 0.021082461997988484 Centerline is valid? [True, True] Translation: X:12.95, Y:-0.68, Z:-0.25 [[ 9.98409099e-01 5.41023594e-02 1.58809622e-02 1.29506935e+01] [-5.40905997e-02 9.98535347e-01 -1.16940998e-03 -6.82855205e-01] [-1.59209700e-02 3.08538798e-04 9.99873206e-01 -2.54916981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.66432 meters 0.02375544289278295 Centerline is valid? [True, True] Translation: X:13.01, Y:-0.70, Z:-0.26 [[ 9.98630603e-01 4.98361861e-02 1.59145752e-02 1.30111453e+01] [-4.98237664e-02 9.98757332e-01 -1.17618344e-03 -6.95514717e-01] [-1.59534151e-02 3.81648704e-04 9.99872663e-01 -2.56010217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.72432 meters 0.026145427506670472 Centerline is valid? [True, True] Translation: X:13.07, Y:-0.71, Z:-0.26 [[ 9.98809599e-01 4.61840649e-02 1.56976965e-02 1.30729823e+01] [-4.61714583e-02 9.98932850e-01 -1.16474654e-03 -7.05667149e-01] [-1.57347374e-02 4.38574489e-04 9.99876105e-01 -2.57772207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.784320000000001 meters 0.030134295864889696 Centerline is valid? [True, True] Translation: X:13.13, Y:-0.72, Z:-0.26 [[ 9.99053063e-01 4.07839364e-02 1.51541074e-02 1.31319015e+01] [-4.07715519e-02 9.99167861e-01 -1.12541495e-03 -7.22246394e-01] [-1.51873959e-02 5.06492775e-04 9.99884537e-01 -2.58286513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.844320000000002 meters 0.032149002244907306 Centerline is valid? [True, True] Translation: X:13.19, Y:-0.73, Z:-0.26 [[ 9.99144324e-01 3.83463949e-02 1.54975609e-02 1.31938754e+01] [-3.83331290e-02 9.99264351e-01 -1.15225546e-03 -7.31152190e-01] [-1.55303449e-02 5.57199506e-04 9.99879242e-01 -2.59763745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.90432 meters 0.026137020917196038 Centerline is valid? [True, True] Translation: X:13.26, Y:-0.73, Z:-0.26 [[ 9.99119630e-01 3.85790624e-02 1.64809211e-02 1.32576698e+01] [-3.85640898e-02 9.99255377e-01 -1.22544225e-03 -7.26432494e-01] [-1.65159255e-02 5.88791684e-04 9.99863429e-01 -2.59750469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.96432 meters 0.027735294250069792 Centerline is valid? [True, True] Translation: X:13.32, Y:-0.73, Z:-0.26 [[ 9.98996768e-01 4.16070349e-02 1.65623589e-02 1.33177069e+01] [-4.15922167e-02 9.99133902e-01 -1.23828947e-03 -7.33327432e-01] [-1.65995358e-02 5.48181962e-04 9.99862068e-01 -2.60523572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.024320000000001 meters 0.02566404001809591 Centerline is valid? [True, True] Translation: X:13.38, Y:-0.73, Z:-0.26 [[ 9.98764524e-01 4.74109972e-02 1.48870273e-02 1.33778873e+01] [-4.73996742e-02 9.98875384e-01 -1.11271706e-03 -7.34434523e-01] [-1.49230401e-02 4.05702081e-04 9.99888563e-01 -2.64596833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.084320000000002 meters 0.022793818164931198 Centerline is valid? [True, True] Translation: X:13.44, Y:-0.73, Z:-0.27 [[ 9.98481821e-01 5.32815071e-02 1.39690185e-02 1.34397411e+01] [-5.32720845e-02 9.98579486e-01 -1.04603289e-03 -7.31078189e-01] [-1.40049095e-02 3.00286088e-04 9.99901881e-01 -2.67441775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.14432 meters 0.019513189099349057 Centerline is valid? [True, True] Translation: X:13.50, Y:-0.73, Z:-0.27 [[ 9.98241360e-01 5.73413622e-02 1.50384942e-02 1.35026142e+01] [-5.73308983e-02 9.98354596e-01 -1.12635490e-03 -7.28332755e-01] [-1.50783365e-02 2.62203665e-04 9.99886281e-01 -2.67462549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.204320000000001 meters 0.01877351847800223 Centerline is valid? [True, True] Translation: X:13.56, Y:-0.73, Z:-0.27 [[ 9.98165804e-01 5.83729237e-02 1.60508196e-02 1.35644667e+01] [-5.83611245e-02 9.98294812e-01 -1.20293341e-03 -7.32681394e-01] [-1.60936686e-02 2.63983113e-04 9.99870454e-01 -2.66887939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.264320000000001 meters 0.018801086702374306 Centerline is valid? [True, True] Translation: X:13.63, Y:-0.74, Z:-0.27 [[ 9.98191171e-01 5.72775307e-02 1.82666608e-02 1.36257415e+01] [-5.72619598e-02 9.98358241e-01 -1.37474807e-03 -7.40544021e-01] [-1.83154135e-02 3.26276594e-04 9.99832206e-01 -2.65480666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.32432 meters 0.02046817297391422 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.75, Z:-0.27 [[ 9.98312800e-01 5.49133035e-02 1.88701313e-02 1.36862215e+01] [-5.48961557e-02 9.98491051e-01 -1.42591256e-03 -7.48825871e-01] [-1.89199588e-02 3.87609095e-04 9.99820926e-01 -2.66425758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.38432 meters 0.020365520592100644 Centerline is valid? [True, True] Translation: X:13.75, Y:-0.75, Z:-0.27 [[ 9.98370956e-01 5.40899977e-02 1.81577991e-02 1.37483781e+01] [-5.40739453e-02 9.98535988e-01 -1.37422144e-03 -7.54837182e-01] [-1.82055475e-02 3.90118935e-04 9.99834189e-01 -2.68157759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.444320000000001 meters 0.021164627344747788 Centerline is valid? [True, True] Translation: X:13.81, Y:-0.76, Z:-0.27 [[ 9.98456393e-01 5.25515283e-02 1.79768702e-02 1.38103861e+01] [-5.25354568e-02 9.98618126e-01 -1.36541971e-03 -7.63592036e-01] [-1.80237833e-02 4.18888954e-04 9.99837471e-01 -2.69279754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.504320000000002 meters 0.0221491328555422 Centerline is valid? [True, True] Translation: X:13.87, Y:-0.77, Z:-0.27 [[ 9.98520895e-01 5.15994369e-02 1.71324169e-02 1.38712156e+01] [-5.15846149e-02 9.98667773e-01 -1.30623045e-03 -7.70637082e-01] [-1.71769934e-02 4.20529269e-04 9.99852376e-01 -2.71363258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.56432 meters 0.022076866118417738 Centerline is valid? [True, True] Translation: X:13.93, Y:-0.78, Z:-0.27 [[ 9.98593606e-01 5.02532785e-02 1.68943367e-02 1.39327924e+01] [-5.02386414e-02 9.98736409e-01 -1.28995137e-03 -7.76663492e-01] [-1.69378135e-02 4.39388670e-04 9.99856448e-01 -2.72244631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.62432 meters 0.0230834171413658 Centerline is valid? [True, True] Translation: X:13.99, Y:-0.78, Z:-0.27 [[ 9.98673247e-01 4.86483412e-02 1.68844273e-02 1.39948516e+01] [-4.86334123e-02 9.98815857e-01 -1.29390499e-03 -7.84110836e-01] [-1.69273801e-02 4.71040986e-04 9.99856611e-01 -2.74055257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.684320000000001 meters 0.02365262642549007 Centerline is valid? [True, True] Translation: X:14.06, Y:-0.79, Z:-0.27 [[ 9.98705917e-01 4.80863013e-02 1.65589466e-02 1.40562715e+01] [-4.80717908e-02 9.98843071e-01 -1.27344574e-03 -7.90010654e-01] [-1.66010243e-02 4.75779579e-04 9.99862080e-01 -2.74655162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.74432 meters 0.024173703457028396 Centerline is valid? [True, True] Translation: X:14.12, Y:-0.80, Z:-0.28 [[ 9.98668069e-01 4.86984282e-02 1.70455296e-02 1.41170783e+01] [-4.86830499e-02 9.98813410e-01 -1.31622338e-03 -7.95958099e-01] [-1.70894015e-02 4.84641897e-04 9.99853848e-01 -2.75801259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.80432 meters 0.02175338036054222 Centerline is valid? [True, True] Translation: X:14.18, Y:-0.80, Z:-0.28 [[ 9.98521800e-01 5.17034584e-02 1.67621067e-02 1.41799838e+01] [-5.16889639e-02 9.98662390e-01 -1.29709436e-03 -7.95703318e-01] [-1.68067498e-02 4.28761062e-04 9.99858665e-01 -2.76600560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.864320000000001 meters 0.020008675437990325 Centerline is valid? [True, True] Translation: X:14.24, Y:-0.80, Z:-0.28 [[ 9.98331307e-01 5.55898574e-02 1.56323230e-02 1.42419585e+01] [-5.55777208e-02 9.98453631e-01 -1.21007651e-03 -7.97322409e-01] [-1.56754177e-02 3.39248385e-04 9.99877076e-01 -2.78514054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.924320000000002 meters 0.020048359831943717 Centerline is valid? [True, True] Translation: X:14.30, Y:-0.80, Z:-0.28 [[ 9.98270705e-01 5.66394514e-02 1.57344479e-02 1.43044581e+01] [-5.66272039e-02 9.98394643e-01 -1.22318357e-03 -8.01204142e-01] [-1.57784689e-02 3.30070540e-04 9.99875458e-01 -2.80090784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.98432 meters 0.020240249440517496 Centerline is valid? [True, True] Translation: X:14.37, Y:-0.80, Z:-0.28 [[ 9.98237664e-01 5.66675248e-02 1.76169509e-02 1.43671687e+01] [-5.66521321e-02 9.98393036e-01 -1.37197591e-03 -8.04969451e-01] [-1.76663876e-02 3.71520195e-04 9.99843868e-01 -2.79890352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.04432 meters 0.02199080812307812 Centerline is valid? [True, True] Translation: X:14.43, Y:-0.81, Z:-0.28 [[ 9.98316466e-01 5.44887020e-02 1.98800138e-02 1.44277730e+01] [-5.44685246e-02 9.98514277e-01 -1.55542792e-03 -8.12131091e-01] [-1.99352308e-02 4.69974287e-04 9.99801163e-01 -2.79767733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.104320000000001 meters 0.022677988554385083 Centerline is valid? [True, True] Translation: X:14.49, Y:-0.82, Z:-0.28 [[ 9.98399596e-01 5.22565603e-02 2.16217024e-02 1.44895091e+01] [-5.22320404e-02 9.98633532e-01 -1.69761371e-03 -8.18074706e-01] [-2.16808685e-02 5.65551208e-04 9.99764782e-01 -2.79251194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.164320000000002 meters 0.02529242741239477 Centerline is valid? [True, True] Translation: X:14.55, Y:-0.82, Z:-0.28 [[ 9.98556359e-01 4.87798594e-02 2.24882698e-02 1.45499148e+01] [-4.87523176e-02 9.98809328e-01 -1.77166661e-03 -8.24275581e-01] [-2.25479153e-02 6.72753685e-04 9.99745537e-01 -2.81363916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.22432 meters 0.024543903267070552 Centerline is valid? [True, True] Translation: X:14.61, Y:-0.83, Z:-0.28 [[ 9.98581566e-01 4.81341789e-02 2.27586841e-02 1.46122527e+01] [-4.81057744e-02 9.98840636e-01 -1.79422683e-03 -8.26870419e-01] [-2.28186621e-02 6.96857716e-04 9.99739378e-01 -2.83274110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.284320000000001 meters 0.025849699353063867 Centerline is valid? [True, True] Translation: X:14.67, Y:-0.83, Z:-0.29 [[ 9.98670455e-01 4.59822140e-02 2.33014495e-02 1.46737867e+01] [-4.59517016e-02 9.98941962e-01 -1.84350221e-03 -8.31854880e-01] [-2.33615640e-02 7.70309940e-04 9.99726785e-01 -2.85289388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.344320000000002 meters 0.02594471882093317 Centerline is valid? [True, True] Translation: X:14.74, Y:-0.83, Z:-0.29 [[ 9.98709285e-01 4.51782698e-02 2.32096588e-02 1.47360538e+01] [-4.51476342e-02 9.98978627e-01 -1.84252414e-03 -8.34570170e-01] [-2.32691951e-02 7.92284780e-04 9.99728922e-01 -2.87386129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.40432 meters 0.026231454507588636 Centerline is valid? [True, True] Translation: X:14.80, Y:-0.84, Z:-0.29 [[ 9.98730353e-01 4.52844767e-02 2.20680402e-02 1.47986060e+01] [-4.52566788e-02 9.98973845e-01 -1.75770116e-03 -8.38406983e-01] [-2.21249915e-02 7.56743289e-04 9.99754926e-01 -2.91044526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.46432 meters 0.02532079566379997 Centerline is valid? [True, True] Translation: X:14.86, Y:-0.84, Z:-0.29 [[ 9.98604739e-01 4.82308891e-02 2.15024797e-02 1.48606166e+01] [-4.82050404e-02 9.98835982e-01 -1.71913615e-03 -8.37197372e-01] [-2.15603659e-02 6.80209606e-04 9.99767317e-01 -2.94887476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.524320000000001 meters 0.02443381197733778 Centerline is valid? [True, True] Translation: X:14.92, Y:-0.84, Z:-0.30 [[ 9.98430039e-01 5.15500073e-02 2.19101351e-02 1.49207504e+01] [-5.15239289e-02 9.98670221e-01 -1.75347281e-03 -8.39217183e-01] [-2.19713910e-02 6.21823683e-04 9.99758406e-01 -2.96437142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.584320000000002 meters 0.021364945881850075 Centerline is valid? [True, True] Translation: X:14.98, Y:-0.84, Z:-0.30 [[ 9.98086521e-01 5.73756961e-02 2.30505293e-02 1.49830345e+01] [-5.73483714e-02 9.98352523e-01 -1.84527000e-03 -8.36473752e-01] [-2.31184277e-02 5.19828800e-04 9.99732598e-01 -2.96858458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.64432 meters 0.020501951699971335 Centerline is valid? [True, True] Translation: X:15.04, Y:-0.84, Z:-0.30 [[ 9.97871377e-01 6.06674053e-02 2.39203091e-02 1.50439879e+01] [-6.06388840e-02 9.98157930e-01 -1.91657411e-03 -8.38772436e-01] [-2.39925198e-02 4.61993598e-04 9.99712031e-01 -2.97353005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.704320000000001 meters 0.019430661352491094 Centerline is valid? [True, True] Translation: X:15.11, Y:-0.84, Z:-0.30 [[ 9.97690287e-01 6.33242530e-02 2.45790728e-02 1.51064384e+01] [-6.32948418e-02 9.97992920e-01 -1.97351888e-03 -8.38894502e-01] [-2.46547122e-02 4.13232096e-04 9.99695941e-01 -2.98863337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.764320000000001 meters 0.019226099007666985 Centerline is valid? [True, True] Translation: X:15.17, Y:-0.84, Z:-0.30 [[ 9.97733342e-01 6.21004269e-02 2.59174811e-02 1.51679231e+01] [-6.20671272e-02 9.98069793e-01 -2.08808888e-03 -8.44606064e-01] [-2.59971262e-02 4.74732300e-04 9.99661905e-01 -2.99602137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.82432 meters 0.02066312252744245 Centerline is valid? [True, True] Translation: X:15.23, Y:-0.85, Z:-0.30 [[ 9.97885837e-01 5.91701921e-02 2.68839135e-02 1.52295061e+01] [-5.91330934e-02 9.98247741e-01 -2.17357768e-03 -8.52426067e-01] [-2.69654170e-02 5.79253415e-04 9.99636199e-01 -2.99733581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.88432 meters 0.023815751328142884 Centerline is valid? [True, True] Translation: X:15.29, Y:-0.86, Z:-0.30 [[ 9.98183269e-01 5.34013874e-02 2.79007638e-02 1.52899792e+01] [-5.33590046e-02 9.98572832e-01 -2.26190854e-03 -8.61280054e-01] [-2.79817338e-02 7.69042280e-04 9.99608139e-01 -3.01408304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.944320000000001 meters 0.025103371919920316 Centerline is valid? [True, True] Translation: X:15.35, Y:-0.87, Z:-0.30 [[ 9.98497182e-01 4.74959287e-02 2.73407045e-02 1.53508113e+01] [-4.74530011e-02 9.98871011e-01 -2.21715070e-03 -8.70384474e-01] [-2.74151428e-02 9.16420242e-04 9.99623714e-01 -3.03588310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.004320000000002 meters 0.027435895269848742 Centerline is valid? [True, True] Translation: X:15.41, Y:-0.88, Z:-0.30 [[ 9.98673299e-01 4.35709954e-02 2.74446630e-02 1.54112421e+01] [-4.35262335e-02 9.99049803e-01 -2.22655983e-03 -8.79871605e-01] [-2.75155986e-02 1.02904304e-03 9.99620845e-01 -3.04687560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.06432 meters 0.027666715316038468 Centerline is valid? [True, True] Translation: X:15.47, Y:-0.88, Z:-0.31 [[ 9.98728653e-01 4.28297332e-02 2.65836887e-02 1.54728320e+01] [-4.27874230e-02 9.99081867e-01 -2.15863151e-03 -8.84566025e-01] [-2.66517349e-02 1.01843961e-03 9.99644261e-01 -3.07759889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.12432 meters 0.028224156614499302 Centerline is valid? [True, True] Translation: X:15.53, Y:-0.89, Z:-0.31 [[ 9.98708741e-01 4.39099705e-02 2.55492622e-02 1.55337829e+01] [-4.38710687e-02 9.99035033e-01 -2.08143120e-03 -8.91371506e-01] [-2.56160035e-02 9.57870095e-04 9.99671397e-01 -3.09597365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.184320000000001 meters 0.02727423694416547 Centerline is valid? [True, True] Translation: X:15.60, Y:-0.90, Z:-0.31 [[ 9.98709969e-01 4.43507379e-02 2.47267045e-02 1.55964715e+01] [-4.43142785e-02 9.99015596e-01 -2.02077556e-03 -8.97175112e-01] [-2.47919864e-02 9.22422627e-04 9.99692206e-01 -3.11335850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.244320000000002 meters 0.028013449387122562 Centerline is valid? [True, True] Translation: X:15.66, Y:-0.90, Z:-0.31 [[ 9.98742945e-01 4.40505969e-02 2.39180896e-02 1.56579761e+01] [-4.40162227e-02 9.99028890e-01 -1.96198842e-03 -9.04310284e-01] [-2.39812893e-02 9.06738129e-04 9.99711996e-01 -3.13383035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.30432 meters 0.02855576042531451 Centerline is valid? [True, True] Translation: X:15.72, Y:-0.91, Z:-0.31 [[ 9.98768656e-01 4.31299412e-02 2.45149082e-02 1.57199975e+01] [-4.30933828e-02 9.99069011e-01 -2.01785786e-03 -9.10754252e-01] [-2.45791152e-02 9.58942862e-04 9.99697428e-01 -3.14239564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.364320000000001 meters 0.029706993489199064 Centerline is valid? [True, True] Translation: X:15.78, Y:-0.92, Z:-0.31 [[ 9.98817841e-01 4.15471972e-02 2.52339101e-02 1.57813351e+01] [-4.15077774e-02 9.99136007e-01 -2.08418085e-03 -9.20010260e-01] [-2.52987001e-02 1.03431349e-03 9.99679402e-01 -3.14072766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.424320000000002 meters 0.029670040618741747 Centerline is valid? [True, True] Translation: X:15.84, Y:-0.93, Z:-0.31 [[ 9.98821112e-01 4.14106801e-02 2.53286866e-02 1.58434984e+01] [-4.13707419e-02 9.99141660e-01 -2.09901024e-03 -9.26176963e-01] [-2.53938674e-02 1.04866918e-03 9.99676974e-01 -3.14990899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.48432 meters 0.030447434503306336 Centerline is valid? [True, True] Translation: X:15.91, Y:-0.93, Z:-0.32 [[ 9.98782446e-01 4.19442348e-02 2.59674152e-02 1.59063716e+01] [-4.19022413e-02 9.99119382e-01 -2.15943128e-03 -9.30843305e-01] [-2.60351235e-02 1.06870915e-03 9.99660457e-01 -3.16054091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.54432 meters 0.029181151012199768 Centerline is valid? [True, True] Translation: X:15.97, Y:-0.93, Z:-0.32 [[ 9.98719977e-01 4.36170386e-02 2.56117415e-02 1.59687462e+01] [-4.35765390e-02 9.99047805e-01 -2.13755986e-03 -9.34069015e-01] [-2.56805882e-02 1.01875268e-03 9.99669680e-01 -3.18030221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.604320000000001 meters 0.027262102765609957 Centerline is valid? [True, True] Translation: X:16.03, Y:-0.94, Z:-0.32 [[ 9.98618041e-01 4.54455113e-02 2.63953280e-02 1.60313634e+01] [-4.54029599e-02 9.98966310e-01 -2.20947708e-03 -9.35958582e-01] [-2.64684543e-02 1.00799765e-03 9.99649141e-01 -3.18047643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.664320000000002 meters 0.026361235112679272 Centerline is valid? [True, True] Translation: X:16.09, Y:-0.94, Z:-0.32 [[ 9.98468277e-01 4.94028410e-02 2.49090122e-02 1.60919136e+01] [-4.93661233e-02 9.98778569e-01 -2.08722697e-03 -9.38187954e-01] [-2.49817025e-02 8.54368549e-04 9.99687543e-01 -3.21093092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.72432 meters 0.0233200974646425 Centerline is valid? [True, True] Translation: X:16.15, Y:-0.94, Z:-0.32 [[ 9.98199457e-01 5.47556078e-02 2.44880982e-02 1.61533709e+01] [-5.47217055e-02 9.98499535e-01 -2.05292051e-03 -9.36968465e-01] [-2.45637636e-02 7.09193639e-04 9.99698014e-01 -3.22622215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.784320000000001 meters 0.022352702066403978 Centerline is valid? [True, True] Translation: X:16.21, Y:-0.94, Z:-0.33 [[ 9.98004081e-01 5.88093632e-02 2.30068012e-02 1.62134986e+01] [-5.87804916e-02 9.98269067e-01 -1.92975945e-03 -9.38722546e-01] [-2.30804659e-02 5.73556719e-04 9.99733446e-01 -3.25496467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.844320000000002 meters 0.020234966809252762 Centerline is valid? [True, True] Translation: X:16.27, Y:-0.94, Z:-0.33 [[ 9.97711839e-01 6.41918740e-02 2.12247512e-02 1.62747867e+01] [-6.41684703e-02 9.97937488e-01 -1.78258774e-03 -9.40500991e-01] [-2.12954026e-02 4.16549074e-04 9.99773140e-01 -3.27736928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.904320000000002 meters 0.019849756532484327 Centerline is valid? [True, True] Translation: X:16.34, Y:-0.95, Z:-0.33 [[ 9.97610061e-01 6.59356874e-02 2.06555603e-02 1.63365720e+01] [-6.59138820e-02 9.97823806e-01 -1.73545572e-03 -9.46267512e-01] [-2.07250383e-02 3.69819918e-04 9.99785145e-01 -3.29208722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.96432 meters 0.019534360690607325 Centerline is valid? [True, True] Translation: X:16.40, Y:-0.95, Z:-0.33 [[ 9.97598168e-01 6.64335561e-02 1.96080870e-02 1.63995807e+01] [-6.64139057e-02 9.97790791e-01 -1.65236890e-03 -9.51775894e-01] [-1.96745414e-02 3.46150547e-04 9.99806378e-01 -3.31098197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.02432 meters 0.020745730318483337 Centerline is valid? [True, True] Translation: X:16.46, Y:-0.96, Z:-0.33 [[ 9.97740946e-01 6.43122151e-02 1.94150235e-02 1.64608634e+01] [-6.42924301e-02 9.97929750e-01 -1.64216542e-03 -9.62650010e-01] [-1.94804409e-02 3.90216633e-04 9.99810162e-01 -3.32755282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.08432 meters 0.022403547775090352 Centerline is valid? [True, True] Translation: X:16.52, Y:-0.97, Z:-0.33 [[ 9.97879354e-01 6.19416072e-02 2.00007982e-02 1.65207978e+01] [-6.19200199e-02 9.98079671e-01 -1.69740534e-03 -9.73265624e-01] [-2.00675301e-02 4.55355926e-04 9.99798523e-01 -3.32193604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.14432 meters 0.02314074784413337 Centerline is valid? [True, True] Translation: X:16.58, Y:-0.98, Z:-0.33 [[ 9.97937990e-01 6.09089651e-02 2.02451553e-02 1.65827609e+01] [-6.08865820e-02 9.98143208e-01 -1.72073422e-03 -9.80481531e-01] [-2.03123724e-02 4.84527738e-04 9.99793565e-01 -3.33567270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.204320000000003 meters 0.025259111325754473 Centerline is valid? [True, True] Translation: X:16.64, Y:-0.99, Z:-0.34 [[ 9.98105133e-01 5.83867597e-02 1.94198068e-02 1.66425706e+01] [-5.83655886e-02 9.98293903e-01 -1.65566158e-03 -9.91794043e-01] [-1.94833435e-02 5.19075869e-04 9.99810047e-01 -3.35525750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.26432 meters 0.02383451710926611 Centerline is valid? [True, True] Translation: X:16.70, Y:-1.00, Z:-0.34 [[ 9.98222701e-01 5.65292169e-02 1.88649865e-02 1.67043994e+01] [-5.65088687e-02 9.98400799e-01 -1.61037628e-03 -9.96627667e-01] [-1.89258509e-02 5.41475115e-04 9.99820743e-01 -3.36606572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.32432 meters 0.025329183342474897 Centerline is valid? [True, True] Translation: X:16.77, Y:-1.01, Z:-0.34 [[ 9.98364624e-01 5.45451996e-02 1.71142688e-02 1.67659543e+01] [-5.45280899e-02 9.98511162e-01 -1.46513119e-03 -1.00754613e+00] [-1.71687043e-02 5.29526759e-04 9.99852467e-01 -3.38870618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.384320000000002 meters 0.02575836166627879 Centerline is valid? [True, True] Translation: X:16.83, Y:-1.01, Z:-0.34 [[ 9.98418996e-01 5.36952801e-02 1.66230395e-02 1.68277960e+01] [-5.36789478e-02 9.98557226e-01 -1.42746145e-03 -1.01462838e+00] [-1.66757042e-02 5.32897356e-04 9.99860809e-01 -3.41027746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.44432 meters 0.02583807344551033 Centerline is valid? [True, True] Translation: X:16.89, Y:-1.02, Z:-0.34 [[ 9.98425777e-01 5.41512742e-02 1.46153151e-02 1.68903843e+01] [-5.41386531e-02 9.98532635e-01 -1.25811531e-03 -1.02299759e+00] [-1.46619977e-02 4.64881276e-04 9.99892399e-01 -3.43686936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.50432 meters 0.02567218377862059 Centerline is valid? [True, True] Translation: X:16.95, Y:-1.03, Z:-0.35 [[ 9.98336303e-01 5.60309555e-02 1.36072596e-02 1.69518856e+01] [-5.60201333e-02 9.98428947e-01 -1.17548877e-03 -1.03047560e+00] [-1.36517456e-02 4.11252615e-04 9.99906726e-01 -3.45502668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.564320000000002 meters 0.02514273355141943 Centerline is valid? [True, True] Translation: X:17.01, Y:-1.04, Z:-0.35 [[ 9.98056203e-01 6.07728629e-02 1.38012560e-02 1.70118490e+01] [-6.07621041e-02 9.98151557e-01 -1.19792368e-03 -1.03696310e+00] [-1.38485465e-02 3.57001806e-04 9.99904041e-01 -3.47614260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.62432 meters 0.021917792296490855 Centerline is valid? [True, True] Translation: X:17.07, Y:-1.04, Z:-0.35 [[ 9.97720899e-01 6.58271676e-02 1.48253767e-02 1.70733717e+01] [-6.58153071e-02 9.97830992e-01 -1.28701677e-03 -1.03925614e+00] [-1.48779410e-02 3.08346805e-04 9.99889270e-01 -3.47704636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.68432 meters 0.01945180810682242 Centerline is valid? [True, True] Translation: X:17.14, Y:-1.04, Z:-0.35 [[ 9.97441673e-01 6.99139516e-02 1.49046143e-02 1.71350526e+01] [-6.99024340e-02 9.97552995e-01 -1.29295842e-03 -1.04466989e+00] [-1.49585385e-02 2.47781787e-04 9.99888084e-01 -3.46739372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.744320000000002 meters 0.01909847798907321 Centerline is valid? [True, True] Translation: X:17.20, Y:-1.05, Z:-0.35 [[ 9.97345272e-01 7.12326891e-02 1.51100260e-02 1.71964056e+01] [-7.12209381e-02 9.97459698e-01 -1.31506610e-03 -1.05170624e+00] [-1.51653176e-02 2.35424734e-04 9.99884972e-01 -3.47699058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.80432 meters 0.01959698392239978 Centerline is valid? [True, True] Translation: X:17.26, Y:-1.06, Z:-0.35 [[ 9.97365287e-01 7.08980819e-02 1.53605382e-02 1.72577178e+01] [-7.08858323e-02 9.97483534e-01 -1.34115035e-03 -1.06102781e+00] [-1.54169689e-02 2.48772268e-04 9.99881121e-01 -3.48664807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.864320000000003 meters 0.01926380403518867 Centerline is valid? [True, True] Translation: X:17.32, Y:-1.07, Z:-0.35 [[ 9.97298607e-01 7.12974268e-02 1.76681980e-02 1.73195779e+01] [-7.12811729e-02 9.97455059e-01 -1.54880680e-03 -1.06684664e+00] [-1.77336595e-02 2.85212990e-04 9.99842706e-01 -3.47077329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.92432 meters 0.019130127767406302 Centerline is valid? [True, True] Translation: X:17.38, Y:-1.07, Z:-0.35 [[ 9.97294937e-01 7.13882723e-02 1.75077891e-02 1.73826314e+01] [-7.13722443e-02 9.97448562e-01 -1.53940613e-03 -1.07280321e+00] [-1.75730146e-02 2.85671743e-04 9.99845542e-01 -3.48358241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.98432 meters 0.019536022849676808 Centerline is valid? [True, True] Translation: X:17.44, Y:-1.08, Z:-0.35 [[ 9.97328397e-01 7.08975586e-02 1.75956070e-02 1.74448889e+01] [-7.08811921e-02 9.97483556e-01 -1.55284123e-03 -1.07752382e+00] [-1.76614213e-02 3.01495050e-04 9.99843979e-01 -3.50340829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.044320000000003 meters 0.021015241986387836 Centerline is valid? [True, True] Translation: X:17.51, Y:-1.09, Z:-0.35 [[ 9.97455934e-01 6.96013427e-02 1.54049732e-02 1.75054178e+01] [-6.95885745e-02 9.97574844e-01 -1.36398141e-03 -1.08623094e+00] [-1.54625487e-02 2.88501227e-04 9.99880406e-01 -3.53518450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.10432 meters 0.023163958360117594 Centerline is valid? [True, True] Translation: X:17.57, Y:-1.09, Z:-0.36 [[ 9.97701215e-01 6.63400727e-02 1.38304318e-02 1.75662245e+01] [-6.63294252e-02 9.97797024e-01 -1.22765270e-03 -1.09343273e+00] [-1.38814062e-02 3.07466001e-04 9.99903601e-01 -3.56394603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.16432 meters 0.0238178356704458 Centerline is valid? [True, True] Translation: X:17.63, Y:-1.10, Z:-0.36 [[ 9.97950399e-01 6.26054366e-02 1.32499460e-02 1.76278503e+01] [-6.25952840e-02 9.98038295e-01 -1.17997160e-03 -1.09829993e+00] [-1.32978261e-02 3.48168991e-04 9.99911519e-01 -3.57181958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.224320000000002 meters 0.024526274193451273 Centerline is valid? [True, True] Translation: X:17.69, Y:-1.10, Z:-0.36 [[ 9.97998367e-01 6.18432079e-02 1.32165620e-02 1.76896088e+01] [-6.18330311e-02 9.98085813e-01 -1.17764691e-03 -1.10356631e+00] [-1.32640925e-02 3.58069604e-04 9.99911964e-01 -3.58145029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.28432 meters 0.023841211572506522 Centerline is valid? [True, True] Translation: X:17.75, Y:-1.11, Z:-0.36 [[ 9.98030610e-01 6.11221125e-02 1.41063599e-02 1.77516688e+01] [-6.11103888e-02 9.98130217e-01 -1.26105234e-03 -1.10574796e+00] [-1.41570623e-02 3.96523693e-04 9.99899705e-01 -3.56970218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.34432 meters 0.02540398253759448 Centerline is valid? [True, True] Translation: X:17.81, Y:-1.11, Z:-0.36 [[ 9.97964582e-01 6.21748668e-02 1.41767268e-02 1.78121382e+01] [-6.21630724e-02 9.98065196e-01 -1.27152217e-03 -1.11123825e+00] [-1.42283543e-02 3.87665199e-04 9.99898697e-01 -3.57004823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.404320000000002 meters 0.02544083788126082 Centerline is valid? [True, True] Translation: X:17.87, Y:-1.11, Z:-0.36 [[ 9.97830032e-01 6.42154013e-02 1.45467971e-02 1.78736278e+01] [-6.42031437e-02 9.97935992e-01 -1.30855621e-03 -1.11490934e+00] [-1.46008018e-02 3.71766581e-04 9.99893333e-01 -3.57582961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.46432 meters 0.02188407427944267 Centerline is valid? [True, True] Translation: X:17.94, Y:-1.11, Z:-0.36 [[ 9.97677907e-01 6.64371147e-02 1.49967654e-02 1.79368520e+01] [-6.64242623e-02 9.97790551e-01 -1.35404009e-03 -1.11126132e+00] [-1.50535894e-02 3.54746804e-04 9.99886625e-01 -3.56324834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.524320000000003 meters 0.02143933820474559 Centerline is valid? [True, True] Translation: X:18.00, Y:-1.11, Z:-0.36 [[ 9.97624998e-01 6.72471668e-02 1.49057800e-02 1.79984341e+01] [-6.72345553e-02 9.97736289e-01 -1.34616261e-03 -1.11455795e+00] [-1.49625632e-02 3.40781987e-04 9.99887997e-01 -3.56598599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.58432 meters 0.022691018446508244 Centerline is valid? [True, True] Translation: X:18.06, Y:-1.12, Z:-0.36 [[ 9.97650857e-01 6.68650643e-02 1.48939827e-02 1.80592143e+01] [-6.68523646e-02 9.97761966e-01 -1.34948181e-03 -1.12144290e+00] [-1.49508826e-02 3.50613726e-04 9.99888168e-01 -3.56546379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.64432 meters 0.02286102736488781 Centerline is valid? [True, True] Translation: X:18.12, Y:-1.13, Z:-0.36 [[ 9.97732053e-01 6.56703075e-02 1.47703110e-02 1.81213579e+01] [-6.56576326e-02 9.97841307e-01 -1.34194739e-03 -1.12582437e+00] [-1.48265525e-02 3.69120268e-04 9.99890012e-01 -3.58073019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.704320000000003 meters 0.025012307812865744 Centerline is valid? [True, True] Translation: X:18.18, Y:-1.13, Z:-0.36 [[ 9.97896463e-01 6.31167613e-02 1.47960337e-02 1.81820685e+01] [-6.31036982e-02 9.98006064e-01 -1.34855143e-03 -1.13197872e+00] [-1.48516476e-02 4.12030254e-04 9.99889623e-01 -3.60109724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.76432 meters 0.026142556933582715 Centerline is valid? [True, True] Translation: X:18.24, Y:-1.14, Z:-0.36 [[ 9.98119285e-01 5.98449147e-02 1.32845742e-02 1.82437752e+01] [-5.98340390e-02 9.98207599e-01 -1.21497482e-03 -1.13768909e+00] [-1.33334730e-02 4.17820070e-04 9.99911018e-01 -3.62977645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.82432 meters 0.027459514817048804 Centerline is valid? [True, True] Translation: X:18.31, Y:-1.14, Z:-0.37 [[ 9.98280797e-01 5.72817552e-02 1.24198064e-02 1.83051049e+01] [-5.72720464e-02 9.98357963e-01 -1.13627816e-03 -1.14324193e+00] [-1.24645007e-02 4.23016936e-04 9.99922226e-01 -3.65316938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.884320000000002 meters 0.028810091859965102 Centerline is valid? [True, True] Translation: X:18.37, Y:-1.15, Z:-0.37 [[ 9.98321622e-01 5.66327912e-02 1.21105335e-02 1.83661006e+01] [-5.66235063e-02 9.98394987e-01 -1.10846859e-03 -1.14897408e+00] [-1.21538716e-02 4.20867291e-04 9.99926050e-01 -3.67922403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.94432 meters 0.028066299147739292 Centerline is valid? [True, True] Translation: X:18.43, Y:-1.15, Z:-0.37 [[ 9.98320512e-01 5.63323949e-02 1.35209550e-02 1.84292495e+01] [-5.63207461e-02 9.98411956e-01 -1.24106657e-03 -1.15099707e+00] [-1.35693954e-02 4.77471937e-04 9.99907818e-01 -3.67563478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.00432 meters 0.02950229682263295 Centerline is valid? [True, True] Translation: X:18.49, Y:-1.16, Z:-0.37 [[ 9.98289206e-01 5.67350597e-02 1.41348558e-02 1.84909667e+01] [-5.67222995e-02 9.98389145e-01 -1.30234181e-03 -1.15880422e+00] [-1.41859750e-02 4.98352244e-04 9.99899250e-01 -3.68046431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.064320000000002 meters 0.03151207950159631 Centerline is valid? [True, True] Translation: X:18.55, Y:-1.16, Z:-0.37 [[ 9.98231276e-01 5.75963312e-02 1.47303355e-02 1.85515399e+01] [-5.75824953e-02 9.98339822e-01 -1.36204320e-03 -1.16447038e+00] [-1.47843292e-02 5.11424648e-04 9.99890575e-01 -3.68920563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.12432 meters 0.026764176858585727 Centerline is valid? [True, True] Translation: X:18.61, Y:-1.16, Z:-0.37 [[ 9.98108861e-01 5.93475694e-02 1.60177317e-02 1.86139882e+01] [-5.93313675e-02 9.98237238e-01 -1.48523583e-03 -1.16125573e+00] [-1.60776414e-02 5.32073114e-04 9.99870605e-01 -3.67474158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.18432 meters 0.02565503859130382 Centerline is valid? [True, True] Translation: X:18.67, Y:-1.16, Z:-0.37 [[ 9.97839820e-01 6.32511255e-02 1.77479093e-02 1.86745016e+01] [-6.32317364e-02 9.97997504e-01 -1.65207263e-03 -1.16226395e+00] [-1.78168646e-02 5.26272736e-04 9.99841129e-01 -3.66563201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.244320000000002 meters 0.022590101831402008 Centerline is valid? [True, True] Translation: X:18.74, Y:-1.16, Z:-0.37 [[ 9.97471413e-01 6.86212066e-02 1.84908123e-02 1.87363297e+01] [-6.86010757e-02 9.97642686e-01 -1.72155607e-03 -1.15963697e+00] [-1.85653589e-02 4.48713349e-04 9.99827548e-01 -3.65820937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.30432 meters 0.021537950824766568 Centerline is valid? [True, True] Translation: X:18.80, Y:-1.16, Z:-0.37 [[ 9.97254085e-01 7.18179265e-02 1.80686168e-02 1.87990979e+01] [-7.17992194e-02 9.97417686e-01 -1.68276757e-03 -1.16038251e+00] [-1.81428108e-02 3.80834252e-04 9.99835333e-01 -3.68153318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.364320000000003 meters 0.020601544837491558 Centerline is valid? [True, True] Translation: X:18.86, Y:-1.16, Z:-0.37 [[ 9.96990140e-01 7.54618132e-02 1.77813417e-02 1.88607683e+01] [-7.54442552e-02 9.97148644e-01 -1.65713950e-03 -1.16217749e+00] [-1.78556915e-02 3.10651657e-04 9.99840526e-01 -3.69464892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.42432 meters 0.02073807464161592 Centerline is valid? [True, True] Translation: X:18.92, Y:-1.17, Z:-0.37 [[ 9.96940718e-01 7.59227245e-02 1.85726840e-02 1.89221278e+01] [-7.59035520e-02 9.97113653e-01 -1.73607191e-03 -1.16596839e+00] [-1.86508841e-02 3.21028095e-04 9.99826006e-01 -3.70235940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.48432 meters 0.021313860520800684 Centerline is valid? [True, True] Translation: X:18.98, Y:-1.17, Z:-0.37 [[ 9.97004573e-01 7.51292295e-02 1.83706314e-02 1.89842338e+01] [-7.51102426e-02 9.97173749e-01 -1.72231597e-03 -1.17066062e+00] [-1.84481077e-02 3.37334317e-04 9.99829762e-01 -3.72424538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.544320000000003 meters 0.02172852031887106 Centerline is valid? [True, True] Translation: X:19.05, Y:-1.18, Z:-0.37 [[ 9.97293162e-01 7.14467760e-02 1.73696945e-02 1.90454279e+01] [-7.14291709e-02 9.97444338e-01 -1.63263991e-03 -1.17763208e+00] [-1.74419503e-02 3.87517746e-04 9.99847803e-01 -3.74107533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.60432 meters 0.023525822193747225 Centerline is valid? [True, True] Translation: X:19.11, Y:-1.19, Z:-0.38 [[ 9.97572759e-01 6.76088292e-02 1.66624316e-02 1.91065021e+01] [-6.75920261e-02 9.97711808e-01 -1.57019441e-03 -1.18707370e+00] [-1.67304637e-02 4.40135663e-04 9.99859939e-01 -3.75607736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.66432 meters 0.026630430377518437 Centerline is valid? [True, True] Translation: X:19.17, Y:-1.20, Z:-0.38 [[ 9.97894506e-01 6.24596660e-02 1.74741285e-02 1.91655827e+01] [-6.24402974e-02 9.98047333e-01 -1.65234632e-03 -1.19573148e+00] [-1.75432123e-02 5.57777538e-04 9.99845950e-01 -3.76277489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.724320000000002 meters 0.028275480178277242 Centerline is valid? [True, True] Translation: X:19.23, Y:-1.20, Z:-0.38 [[ 9.98150869e-01 5.81634695e-02 1.76593962e-02 1.92260469e+01] [-5.81430175e-02 9.98306867e-01 -1.66979760e-03 -1.20354082e+00] [-1.77266177e-02 6.39939346e-04 9.99842666e-01 -3.77072573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.78432 meters 0.027622233680686045 Centerline is valid? [True, True] Translation: X:19.29, Y:-1.21, Z:-0.38 [[ 9.98238362e-01 5.67377936e-02 1.73491983e-02 1.92875700e+01] [-5.67178503e-02 9.98388900e-01 -1.63980529e-03 -1.20935293e+00] [-1.74142859e-02 6.52907317e-04 9.99848147e-01 -3.77987142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.84432 meters 0.028001212168588384 Centerline is valid? [True, True] Translation: X:19.35, Y:-1.21, Z:-0.38 [[ 9.98214712e-01 5.73468200e-02 1.66952235e-02 1.93504090e+01] [-5.73283648e-02 9.98354123e-01 -1.58230553e-03 -1.21430981e+00] [-1.67584854e-02 6.22370797e-04 9.99859373e-01 -3.79922306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.904320000000002 meters 0.02928785888737085 Centerline is valid? [True, True] Translation: X:19.41, Y:-1.22, Z:-0.38 [[ 9.97979657e-01 6.14524244e-02 1.61308436e-02 1.94107929e+01] [-6.14356294e-02 9.98109867e-01 -1.53511871e-03 -1.22104859e+00] [-1.61946910e-02 5.41008713e-04 9.99868711e-01 -3.81752648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.96432 meters 0.028075722884952754 Centerline is valid? [True, True] Translation: X:19.47, Y:-1.22, Z:-0.38 [[ 9.97724102e-01 6.54341109e-02 1.62786039e-02 1.94710124e+01] [-6.54175311e-02 9.97856776e-01 -1.54948739e-03 -1.22427310e+00] [-1.63451046e-02 4.81054835e-04 9.99866294e-01 -3.82656384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.024320000000003 meters 0.021984095096998064 Centerline is valid? [True, True] Translation: X:19.53, Y:-1.22, Z:-0.38 [[ 9.97247564e-01 7.23916458e-02 1.60233121e-02 1.95323187e+01] [-7.23764424e-02 9.97376217e-01 -1.52746491e-03 -1.21945377e+00] [-1.60918461e-02 3.63550335e-04 9.99870452e-01 -3.83090755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.08432 meters 0.02055057845601691 Centerline is valid? [True, True] Translation: X:19.59, Y:-1.22, Z:-0.38 [[ 9.96958863e-01 7.61199764e-02 1.66965278e-02 1.95949333e+01] [-7.61039980e-02 9.97098616e-01 -1.59122004e-03 -1.22143934e+00] [-1.67692084e-02 3.15708408e-04 9.99859337e-01 -3.83482600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.14432 meters 0.018923651987809077 Centerline is valid? [True, True] Translation: X:19.66, Y:-1.22, Z:-0.39 [[ 9.96758987e-01 7.86680679e-02 1.68183580e-02 1.96572998e+01] [-7.86522039e-02 9.96900827e-01 -1.60365841e-03 -1.22413959e+00] [-1.68923918e-02 2.75660002e-04 9.99857275e-01 -3.85005995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.204320000000003 meters 0.020504714944780456 Centerline is valid? [True, True] Translation: X:19.72, Y:-1.23, Z:-0.39 [[ 9.96909218e-01 7.69044115e-02 1.60537537e-02 1.97181805e+01] [-7.68896594e-02 9.97038426e-01 -1.53504745e-03 -1.23259514e+00] [-1.61242612e-02 2.95935302e-04 9.99869952e-01 -3.87012329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.26432 meters 0.0207858842964174 Centerline is valid? [True, True] Translation: X:19.78, Y:-1.24, Z:-0.39 [[ 9.97122188e-01 7.41224690e-02 1.59123426e-02 1.97797385e+01] [-7.41075599e-02 9.97249088e-01 -1.52537498e-03 -1.23986607e+00] [-1.59816337e-02 3.41760354e-04 9.99872227e-01 -3.88625661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.32432 meters 0.023154314909226984 Centerline is valid? [True, True] Translation: X:19.84, Y:-1.25, Z:-0.39 [[ 9.97475092e-01 6.91701856e-02 1.60911611e-02 1.98412769e+01] [-6.91542063e-02 9.97604781e-01 -1.54803251e-03 -1.25176642e+00] [-1.61596969e-02 4.31352399e-04 9.99869331e-01 -3.89994118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.384320000000002 meters 0.02512304959188829 Centerline is valid? [True, True] Translation: X:19.90, Y:-1.26, Z:-0.39 [[ 9.97708978e-01 6.57001138e-02 1.61335286e-02 1.99028305e+01] [-6.56835758e-02 9.97839293e-01 -1.55339796e-03 -1.26287410e+00] [-1.62007272e-02 4.90131244e-04 9.99868639e-01 -3.91495736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.44432 meters 0.026309999178444482 Centerline is valid? [True, True] Translation: X:19.96, Y:-1.27, Z:-0.39 [[ 9.97914392e-01 6.24862757e-02 1.61966562e-02 1.99640569e+01] [-6.24691786e-02 9.98045675e-01 -1.55987718e-03 -1.27023281e+00] [-1.62624735e-02 5.44832085e-04 9.99867609e-01 -3.92991823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.50432 meters 0.027484221283886456 Centerline is valid? [True, True] Translation: X:20.03, Y:-1.28, Z:-0.39 [[ 9.97995797e-01 6.12550116e-02 1.58812069e-02 2.00253689e+01] [-6.12383562e-02 9.98121993e-01 -1.53339249e-03 -1.28022755e+00] [-1.59453098e-02 5.57780254e-04 9.99872710e-01 -3.94476390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.564320000000002 meters 0.027739622486119022 Centerline is valid? [True, True] Translation: X:20.09, Y:-1.29, Z:-0.39 [[ 9.97944926e-01 6.18000928e-02 1.69314367e-02 2.00870165e+01] [-6.17811542e-02 9.98088373e-01 -1.63983174e-03 -1.28764892e+00] [-1.70004119e-02 5.90418062e-04 9.99855308e-01 -3.94251800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.62432 meters 0.025633378112415242 Centerline is valid? [True, True] Translation: X:20.15, Y:-1.29, Z:-0.40 [[ 9.97862103e-01 6.31601016e-02 1.67935792e-02 2.01497732e+01] [-6.31415741e-02 9.98003246e-01 -1.63172143e-03 -1.28937807e+00] [-1.68631063e-02 5.67859953e-04 9.99857646e-01 -3.95018335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.684320000000003 meters 0.024853200915331046 Centerline is valid? [True, True] Translation: X:20.21, Y:-1.29, Z:-0.40 [[ 9.97680722e-01 6.58710042e-02 1.71519183e-02 2.02122406e+01] [-6.58520469e-02 9.97828004e-01 -1.66832562e-03 -1.29491532e+00] [-1.72245587e-02 5.34967379e-04 9.99851503e-01 -3.95469108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.744320000000002 meters 0.02429937401004671 Centerline is valid? [True, True] Translation: X:20.27, Y:-1.30, Z:-0.40 [[ 9.97587773e-01 6.72645437e-02 1.71498480e-02 2.02738757e+01] [-6.72457795e-02 9.97735045e-01 -1.66912282e-03 -1.30057490e+00] [-1.72232771e-02 5.11841619e-04 9.99851537e-01 -3.96138656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.80432 meters 0.02451444047953646 Centerline is valid? [True, True] Translation: X:20.34, Y:-1.31, Z:-0.40 [[ 9.97462437e-01 6.92915651e-02 1.63513365e-02 2.03352998e+01] [-6.92747089e-02 9.97596345e-01 -1.59572083e-03 -1.30513717e+00] [-1.64226035e-02 4.58937515e-04 9.99865035e-01 -3.99001557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.864320000000003 meters 0.023356901795242923 Centerline is valid? [True, True] Translation: X:20.40, Y:-1.31, Z:-0.40 [[ 9.97421134e-01 6.99474425e-02 1.60759873e-02 2.03976337e+01] [-6.99311684e-02 9.97550579e-01 -1.57293272e-03 -1.30958967e+00] [-1.61466330e-02 4.44663766e-04 9.99869536e-01 -3.99814330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.92432 meters 0.024830407905826954 Centerline is valid? [True, True] Translation: X:20.46, Y:-1.32, Z:-0.40 [[ 9.97509507e-01 6.84860071e-02 1.68656647e-02 2.04584550e+01] [-6.84677844e-02 9.97651953e-01 -1.65619721e-03 -1.31742062e+00] [-1.69394897e-02 4.97317765e-04 9.99856393e-01 -4.00335926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.98432 meters 0.025742355849673704 Centerline is valid? [True, True] Translation: X:20.52, Y:-1.32, Z:-0.40 [[ 9.97543166e-01 6.80372855e-02 1.66900810e-02 2.05187613e+01] [-6.80192994e-02 9.97682652e-01 -1.64362134e-03 -1.32421492e+00] [-1.67632318e-02 5.04335617e-04 9.99859360e-01 -4.01590073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.044320000000003 meters 0.02579500130830675 Centerline is valid? [True, True] Translation: X:20.58, Y:-1.33, Z:-0.40 [[ 9.97655246e-01 6.62378652e-02 1.72208064e-02 2.05809546e+01] [-6.62184117e-02 9.97803707e-01 -1.69804702e-03 -1.32988897e+00] [-1.72954595e-02 5.53731067e-04 9.99850269e-01 -4.02571616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.10432 meters 0.028221350541434004 Centerline is valid? [True, True] Translation: X:20.64, Y:-1.34, Z:-0.40 [[ 9.97710556e-01 6.53283550e-02 1.74886245e-02 2.06410322e+01] [-6.53080576e-02 9.97863651e-01 -1.72982746e-03 -1.33926634e+00] [-1.75642695e-02 5.83719020e-04 9.99845566e-01 -4.03816514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.16432 meters 0.025274081094875642 Centerline is valid? [True, True] Translation: X:20.70, Y:-1.34, Z:-0.41 [[ 9.97742768e-01 6.50342686e-02 1.67305881e-02 2.07031240e+01] [-6.50156229e-02 9.97882871e-01 -1.65655309e-03 -1.34126138e+00] [-1.68029000e-02 5.65064259e-04 9.99858662e-01 -4.05531567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.224320000000002 meters 0.02541185709817554 Centerline is valid? [True, True] Translation: X:20.77, Y:-1.35, Z:-0.41 [[ 9.97705652e-01 6.56131486e-02 1.66837530e-02 2.07655728e+01] [-6.55946114e-02 9.97844979e-01 -1.65648731e-03 -1.34544161e+00] [-1.67564866e-02 5.58322454e-04 9.99859444e-01 -4.07494764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.28432 meters 0.025176045668711025 Centerline is valid? [True, True] Translation: X:20.83, Y:-1.35, Z:-0.41 [[ 9.97571402e-01 6.77475246e-02 1.61731290e-02 2.08261434e+01] [-6.77302899e-02 9.97702366e-01 -1.61164406e-03 -1.35064078e+00] [-1.62451539e-02 5.12319315e-04 9.99867908e-01 -4.09432407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.34432 meters 0.02384019271327027 Centerline is valid? [True, True] Translation: X:20.89, Y:-1.35, Z:-0.41 [[ 9.97351698e-01 7.11349061e-02 1.51464919e-02 2.08880153e+01] [-7.11201375e-02 9.97466611e-01 -1.51215046e-03 -1.35385661e+00] [-1.52156866e-02 4.30925237e-04 9.99884142e-01 -4.11179481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.404320000000002 meters 0.02301950833926865 Centerline is valid? [True, True] Translation: X:20.95, Y:-1.36, Z:-0.41 [[ 9.97199861e-01 7.31206506e-02 1.56782628e-02 2.09504310e+01] [-7.31050751e-02 9.97323016e-01 -1.56503885e-03 -1.35777912e+00] [-1.57507290e-02 4.14495941e-04 9.99875864e-01 -4.12281433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.46432 meters 0.022452125606926932 Centerline is valid? [True, True] Translation: X:21.01, Y:-1.36, Z:-0.41 [[ 9.97070434e-01 7.49637119e-02 1.51984010e-02 2.10119430e+01] [-7.49492277e-02 9.97186191e-01 -1.52117010e-03 -1.36436495e+00] [-1.52696682e-02 3.77605313e-04 9.99883341e-01 -4.12857556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.524320000000003 meters 0.02348140319845317 Centerline is valid? [True, True] Translation: X:21.07, Y:-1.37, Z:-0.41 [[ 9.97027757e-01 7.55929339e-02 1.48781900e-02 2.10735919e+01] [-7.55790659e-02 9.97138694e-01 -1.49298394e-03 -1.37358887e+00] [-1.49484780e-02 3.64066732e-04 9.99888199e-01 -4.14388519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.58432 meters 0.024000653086678248 Centerline is valid? [True, True] Translation: X:21.13, Y:-1.38, Z:-0.41 [[ 9.96997958e-01 7.57883391e-02 1.58492687e-02 2.11346387e+01] [-7.57725454e-02 9.97123852e-01 -1.59550398e-03 -1.38083823e+00] [-1.59246044e-02 3.89774776e-04 9.99873119e-01 -4.14821384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.64432 meters 0.02287695151503285 Centerline is valid? [True, True] Translation: X:21.20, Y:-1.39, Z:-0.42 [[ 9.97105982e-01 7.43999262e-02 1.56304728e-02 2.11967716e+01] [-7.43843283e-02 9.97228400e-01 -1.57772925e-03 -1.38619355e+00] [-1.57045344e-02 4.10501054e-04 9.99876592e-01 -4.16654053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.704320000000003 meters 0.02596605937959879 Centerline is valid? [True, True] Translation: X:21.26, Y:-1.40, Z:-0.42 [[ 9.97222289e-01 7.28593229e-02 1.54669408e-02 2.12566471e+01] [-7.28437877e-02 9.97342133e-01 -1.56616457e-03 -1.40010746e+00] [-1.55399414e-02 4.35143664e-04 9.99879153e-01 -4.18098051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.76432 meters 0.024265226750138695 Centerline is valid? [True, True] Translation: X:21.32, Y:-1.40, Z:-0.42 [[ 9.97351816e-01 7.12527084e-02 1.45741523e-02 2.13190639e+01] [-7.12387285e-02 9.97458201e-01 -1.47679867e-03 -1.40381701e+00] [-1.46423337e-02 4.34643757e-04 9.99892701e-01 -4.19841152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.82432 meters 0.024921386886424386 Centerline is valid? [True, True] Translation: X:21.38, Y:-1.41, Z:-0.42 [[ 9.97347997e-01 7.12613603e-02 1.47916081e-02 2.13809881e+01] [-7.12469021e-02 9.97457578e-01 -1.50280018e-03 -1.41390903e+00] [-1.48610932e-02 4.44958493e-04 9.99889469e-01 -4.20072808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.884320000000002 meters 0.02521054885090756 Centerline is valid? [True, True] Translation: X:21.44, Y:-1.42, Z:-0.42 [[ 9.97334047e-01 7.15500581e-02 1.43313313e-02 2.14430312e+01] [-7.15364538e-02 9.97436917e-01 -1.46031687e-03 -1.42191598e+00] [-1.43990847e-02 4.31211116e-04 9.99896235e-01 -4.22220359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.94432 meters 0.024734473067871278 Centerline is valid? [True, True] Translation: X:21.50, Y:-1.43, Z:-0.42 [[ 9.97273520e-01 7.25579915e-02 1.34485982e-02 2.15043217e+01] [-7.25460484e-02 9.97364117e-01 -1.37442602e-03 -1.42890566e+00] [-1.35128748e-02 3.95036016e-04 9.99908619e-01 -4.24780810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.00432 meters 0.02373902635661328 Centerline is valid? [True, True] Translation: X:21.57, Y:-1.44, Z:-0.43 [[ 9.97148130e-01 7.42237071e-02 1.36546144e-02 2.15664515e+01] [-7.42114993e-02 9.97241543e-01 -1.39927100e-03 -1.43577851e+00] [-1.37208078e-02 3.81951055e-04 9.99905792e-01 -4.25182501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.064320000000002 meters 0.02266248954293306 Centerline is valid? [True, True] Translation: X:21.63, Y:-1.44, Z:-0.43 [[ 9.96953922e-01 7.67264672e-02 1.39973959e-02 2.16281035e+01] [-7.67138289e-02 9.97052115e-01 -1.43839403e-03 -1.44202777e+00] [-1.40664961e-02 3.60218733e-04 9.99900997e-01 -4.26246972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.12432 meters 0.020608725836081105 Centerline is valid? [True, True] Translation: X:21.69, Y:-1.45, Z:-0.43 [[ 9.96494990e-01 8.24424249e-02 1.41767828e-02 2.16888471e+01] [-8.24299586e-02 9.96595787e-01 -1.46243073e-03 -1.44634531e+00] [-1.42490883e-02 2.88713284e-04 9.99898435e-01 -4.26477693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.184320000000003 meters 0.01773327342520686 Centerline is valid? [True, True] Translation: X:21.75, Y:-1.45, Z:-0.43 [[ 9.95942119e-01 8.87450407e-02 1.49536791e-02 2.17509555e+01] [-8.87318729e-02 9.96054353e-01 -1.54306839e-03 -1.44822397e+00] [-1.50316169e-02 2.09938851e-04 9.99886997e-01 -4.26175204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.244320000000002 meters 0.017020523134336437 Centerline is valid? [True, True] Translation: X:21.81, Y:-1.45, Z:-0.43 [[ 9.95534630e-01 9.32342336e-02 1.47708366e-02 2.18116751e+01] [-9.32218851e-02 9.95644193e-01 -1.52383695e-03 -1.45404250e+00] [-1.48485714e-02 1.40067226e-04 9.99889744e-01 -4.28605141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.30432 meters 0.016872792055243304 Centerline is valid? [True, True] Translation: X:21.87, Y:-1.46, Z:-0.43 [[ 9.95438084e-01 9.43484694e-02 1.41911044e-02 2.18745371e+01] [-9.43371397e-02 9.95539227e-01 -1.46716235e-03 -1.46212480e+00] [-1.42662256e-02 1.21721079e-04 9.99898225e-01 -4.30517748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.364320000000003 meters 0.0168550913658457 Centerline is valid? [True, True] Translation: X:21.94, Y:-1.47, Z:-0.43 [[ 9.95591803e-01 9.28154387e-02 1.35002392e-02 2.19361300e+01] [-9.28049930e-02 9.95683320e-01 -1.39952283e-03 -1.47147580e+00] [-1.35718603e-02 1.40463861e-04 9.99907888e-01 -4.32079138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.42432 meters 0.017643615542385638 Centerline is valid? [True, True] Translation: X:22.00, Y:-1.48, Z:-0.43 [[ 9.95784458e-01 9.07484840e-02 1.33426614e-02 2.19977272e+01] [-9.07380463e-02 9.95873829e-01 -1.38683180e-03 -1.48378913e+00] [-1.34134602e-02 1.70298517e-04 9.99910021e-01 -4.33316509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.48432 meters 0.01879102653058474 Centerline is valid? [True, True] Translation: X:22.06, Y:-1.50, Z:-0.43 [[ 9.96173287e-01 8.63712559e-02 1.33711609e-02 2.20590389e+01] [-8.63603306e-02 9.96262993e-01 -1.39341177e-03 -1.49656773e+00] [-1.34415435e-02 2.33341706e-04 9.99909631e-01 -4.34055251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.544320000000003 meters 0.020470576277762113 Centerline is valid? [True, True] Translation: X:22.12, Y:-1.51, Z:-0.44 [[ 9.96601680e-01 8.13075745e-02 1.31973419e-02 2.21195313e+01] [-8.12964244e-02 9.96689012e-01 -1.38005265e-03 -1.51021036e+00] [-1.32658544e-02 3.02466075e-04 9.99911959e-01 -4.35399016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.60432 meters 0.022392562840794706 Centerline is valid? [True, True] Translation: X:22.18, Y:-1.52, Z:-0.44 [[ 9.96834421e-01 7.86520013e-02 1.16189296e-02 2.21793447e+01] [-7.86431774e-02 9.96902089e-01 -1.21509439e-03 -1.52403594e+00] [-1.16785048e-02 2.97498372e-04 9.99931760e-01 -4.37860795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.66432 meters 0.022245109447840097 Centerline is valid? [True, True] Translation: X:22.24, Y:-1.53, Z:-0.44 [[ 9.96877236e-01 7.82488489e-02 1.06251616e-02 2.22404001e+01] [-7.82414228e-02 9.96933819e-01 -1.11344363e-03 -1.53270377e+00] [-1.06797086e-02 2.78638854e-04 9.99942931e-01 -4.39300950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.724320000000002 meters 0.022167910937028672 Centerline is valid? [True, True] Translation: X:22.30, Y:-1.54, Z:-0.44 [[ 9.96728393e-01 8.01837965e-02 1.01523491e-02 2.23007355e+01] [-8.01770918e-02 9.96780064e-01 -1.06635475e-03 -1.54231698e+00] [-1.02051635e-02 2.48880237e-04 9.99947895e-01 -4.42031959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.78432 meters 0.02029803410557746 Centerline is valid? [True, True] Translation: X:22.36, Y:-1.55, Z:-0.44 [[ 9.96443808e-01 8.36004165e-02 1.05218093e-02 2.23627410e+01] [-8.35933774e-02 9.96499333e-01 -1.10779570e-03 -1.54848722e+00] [-1.05775881e-02 2.24302588e-04 9.99944031e-01 -4.41941216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.844320000000003 meters 0.019707915678961383 Centerline is valid? [True, True] Translation: X:22.42, Y:-1.55, Z:-0.44 [[ 9.96179955e-01 8.65590202e-02 1.15340210e-02 2.24234129e+01] [-8.65507126e-02 9.96246701e-01 -1.21841979e-03 -1.55480399e+00] [-1.15961956e-02 2.15487631e-04 9.99932739e-01 -4.42678899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.904320000000002 meters 0.019416245734693367 Centerline is valid? [True, True] Translation: X:22.48, Y:-1.56, Z:-0.44 [[ 9.95953048e-01 8.89166950e-02 1.30899591e-02 2.24835518e+01] [-8.89061438e-02 9.96039042e-01 -1.38692490e-03 -1.56350535e+00] [-1.31614311e-02 2.17534294e-04 9.99913361e-01 -4.43620984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.96432 meters 0.01918355250793882 Centerline is valid? [True, True] Translation: X:22.55, Y:-1.57, Z:-0.44 [[ 9.95927378e-01 8.91384166e-02 1.35277927e-02 2.25460610e+01] [-8.91271250e-02 9.96019223e-01 -1.43648789e-03 -1.57223492e+00] [-1.36019879e-02 2.24944339e-04 9.99907463e-01 -4.44070776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.024320000000003 meters 0.01894472787753358 Centerline is valid? [True, True] Translation: X:22.61, Y:-1.58, Z:-0.45 [[ 9.96072065e-01 8.73833477e-02 1.43035812e-02 2.26076358e+01] [-8.73704728e-02 9.96174723e-01 -1.52374266e-03 -1.58083601e+00] [-1.43820158e-02 2.68046846e-04 9.99896538e-01 -4.45838371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.08432 meters 0.020152842992309947 Centerline is valid? [True, True] Translation: X:22.67, Y:-1.59, Z:-0.45 [[ 9.96270684e-01 8.51146126e-02 1.41501756e-02 2.26689837e+01] [-8.51017271e-02 9.96371122e-01 -1.51137372e-03 -1.59303086e+00] [-1.42274663e-02 3.01532949e-04 9.99898739e-01 -4.48104545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.14432 meters 0.02119682569117004 Centerline is valid? [True, True] Translation: X:22.73, Y:-1.60, Z:-0.45 [[ 9.96383349e-01 8.36183122e-02 1.51063050e-02 2.27301666e+01] [-8.36033835e-02 9.96497795e-01 -1.61816784e-03 -1.60312806e+00] [-1.51887081e-02 3.49377279e-04 9.99884584e-01 -4.48805155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.204320000000003 meters 0.022856197642204094 Centerline is valid? [True, True] Translation: X:22.79, Y:-1.61, Z:-0.45 [[ 9.96574231e-01 8.15063275e-02 1.40185677e-02 2.27906590e+01] [-8.14932115e-02 9.96672760e-01 -1.50527554e-03 -1.61471669e+00] [-1.40946140e-02 3.57700716e-04 9.99900602e-01 -4.52405006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.26432 meters 0.023168931452365704 Centerline is valid? [True, True] Translation: X:22.85, Y:-1.62, Z:-0.45 [[ 9.96720613e-01 7.97928469e-02 1.34581452e-02 2.28520744e+01] [-7.97805620e-02 9.96811399e-01 -1.44809811e-03 -1.62400180e+00] [-1.35307804e-02 3.69650849e-04 9.99908386e-01 -4.54330231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.32432 meters 0.02421309572515462 Centerline is valid? [True, True] Translation: X:22.91, Y:-1.63, Z:-0.46 [[ 9.96887870e-01 7.76231201e-02 1.37559411e-02 2.29130473e+01] [-7.76100228e-02 9.96982689e-01 -1.48420599e-03 -1.63376019e+00] [-1.38296439e-02 4.11988044e-04 9.99904281e-01 -4.55478595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.384320000000002 meters 0.025446944691234062 Centerline is valid? [True, True] Translation: X:22.97, Y:-1.64, Z:-0.46 [[ 9.96899801e-01 7.71759115e-02 1.53188195e-02 2.29737720e+01] [-7.71595489e-02 9.97017381e-01 -1.65719048e-03 -1.64384583e+00] [-1.54010245e-02 4.70059661e-04 9.99881287e-01 -4.55674872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.44432 meters 0.02454589419098069 Centerline is valid? [True, True] Translation: X:23.04, Y:-1.65, Z:-0.46 [[ 9.96902089e-01 7.69241876e-02 1.63980137e-02 2.30364404e+01] [-7.69053197e-02 9.97036813e-01 -1.77905755e-03 -1.65058731e+00] [-1.64862759e-02 5.12451706e-04 9.99863961e-01 -4.55515363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.50432 meters 0.023549522940801957 Centerline is valid? [True, True] Translation: X:23.10, Y:-1.66, Z:-0.46 [[ 9.96730985e-01 7.89196516e-02 1.72925713e-02 2.30979350e+01] [-7.88988640e-02 9.96880849e-01 -1.88213074e-03 -1.65545098e+00] [-1.73871703e-02 5.11613798e-04 9.99848701e-01 -4.56616629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.564320000000002 meters 0.022809930614544106 Centerline is valid? [True, True] Translation: X:23.16, Y:-1.66, Z:-0.46 [[ 9.96415531e-01 8.27430058e-02 1.75978640e-02 2.31578163e+01] [-8.27219680e-02 9.96570813e-01 -1.92130700e-03 -1.66073846e+00] [-1.76964923e-02 4.58690200e-04 9.99843300e-01 -4.58918451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.62432 meters 0.021362794419003673 Centerline is valid? [True, True] Translation: X:23.22, Y:-1.67, Z:-0.46 [[ 9.96167734e-01 8.52364166e-02 1.96112104e-02 2.32197865e+01] [-8.52107706e-02 9.96360648e-01 -2.14117270e-03 -1.66511095e+00] [-1.97223442e-02 4.61880802e-04 9.99805389e-01 -4.59722755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.684320000000003 meters 0.021233392848838576 Centerline is valid? [True, True] Translation: X:23.28, Y:-1.67, Z:-0.46 [[ 9.96132144e-01 8.56095341e-02 1.97929134e-02 2.32822812e+01] [-8.55833756e-02 9.96328657e-01 -2.16646691e-03 -1.67274905e+00] [-1.99057170e-02 4.64142986e-04 9.99801754e-01 -4.61499062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.744320000000002 meters 0.021251890358103463 Centerline is valid? [True, True] Translation: X:23.34, Y:-1.68, Z:-0.46 [[ 9.96155492e-01 8.51424832e-02 2.06153683e-02 2.33443124e+01] [-8.51138638e-02 9.96368660e-01 -2.26331578e-03 -1.68016435e+00] [-2.07332113e-02 4.99960789e-04 9.99784919e-01 -4.62016887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.80432 meters 0.024053575023853097 Centerline is valid? [True, True] Translation: X:23.40, Y:-1.69, Z:-0.46 [[ 9.96306434e-01 8.30847763e-02 2.16889294e-02 2.34042504e+01] [-8.30524718e-02 9.96542315e-01 -2.38754663e-03 -1.69050977e+00] [-2.18123047e-02 5.77408874e-04 9.99761917e-01 -4.63623592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.864320000000003 meters 0.023814239715593637 Centerline is valid? [True, True] Translation: X:23.47, Y:-1.70, Z:-0.47 [[ 9.96410096e-01 8.18731221e-02 2.15339777e-02 2.34657534e+01] [-8.18408764e-02 9.96642577e-01 -2.37595947e-03 -1.69833946e+00] [-2.16562062e-02 6.05070399e-04 9.99765294e-01 -4.65102295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.92432 meters 0.0259553582727861 Centerline is valid? [True, True] Translation: X:23.53, Y:-1.71, Z:-0.47 [[ 9.96586660e-01 7.92332105e-02 2.31760096e-02 2.35260417e+01] [-7.91949900e-02 9.96855847e-01 -2.56380137e-03 -1.70907332e+00] [-2.33062789e-02 7.19626402e-04 9.99728113e-01 -4.65007474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.98432 meters 0.027472737404421868 Centerline is valid? [True, True] Translation: X:23.59, Y:-1.72, Z:-0.47 [[ 9.96658348e-01 7.80612813e-02 2.40535479e-02 2.35864790e+01] [-7.80196216e-02 9.96948256e-01 -2.66701260e-03 -1.71780749e+00] [-2.41883331e-02 7.81451665e-04 9.99707114e-01 -4.66486201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.044320000000003 meters 0.026869867143474533 Centerline is valid? [True, True] Translation: X:23.65, Y:-1.72, Z:-0.47 [[ 9.96663849e-01 7.82318387e-02 2.32583642e-02 2.36494090e+01] [-7.81928035e-02 9.96934906e-01 -2.58445676e-03 -1.72414426e+00] [-2.33892620e-02 7.57197918e-04 9.99726147e-01 -4.69419613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.10432 meters 0.028750131478342093 Centerline is valid? [True, True] Translation: X:23.71, Y:-1.73, Z:-0.47 [[ 9.96640184e-01 7.84893678e-02 2.34043168e-02 2.37107186e+01] [-7.84497448e-02 9.96914659e-01 -2.60777527e-03 -1.73424373e+00] [-2.35367891e-02 7.62950947e-04 9.99722680e-01 -4.70678341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.16432 meters 0.028621221845922133 Centerline is valid? [True, True] Translation: X:23.77, Y:-1.74, Z:-0.47 [[ 9.96520061e-01 7.98070346e-02 2.40542266e-02 2.37718966e+01] [-7.97653984e-02 9.96810043e-01 -2.68700738e-03 -1.74199469e+00] [-2.41919367e-02 7.58961790e-04 9.99707044e-01 -4.71051391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.224320000000002 meters 0.027659454452526957 Centerline is valid? [True, True] Translation: X:23.83, Y:-1.75, Z:-0.47 [[ 9.96323294e-01 8.21139332e-02 2.44376055e-02 2.38339907e+01] [-8.20715002e-02 9.96622688e-01 -2.73600923e-03 -1.74749592e+00] [-2.45797366e-02 7.20318785e-04 9.99697613e-01 -4.71761234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.28432 meters 0.024438975582573495 Centerline is valid? [True, True] Translation: X:23.89, Y:-1.75, Z:-0.47 [[ 9.95781017e-01 8.82494593e-02 2.51435679e-02 2.38943103e+01] [-8.82063559e-02 9.96098230e-01 -2.82042058e-03 -1.74757000e+00] [-2.52943640e-02 5.90698774e-04 9.99679872e-01 -4.72660855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.344320000000003 meters 0.020241814497261326 Centerline is valid? [True, True] Translation: X:23.96, Y:-1.75, Z:-0.47 [[ 9.95315902e-01 9.32622594e-02 2.54638341e-02 2.39560031e+01] [-9.32196853e-02 9.95641467e-01 -2.85650871e-03 -1.74749591e+00] [-2.56192536e-02 4.69397940e-04 9.99671663e-01 -4.73314402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.404320000000002 meters 0.017979248760521274 Centerline is valid? [True, True] Translation: X:24.02, Y:-1.75, Z:-0.48 [[ 9.94986365e-01 9.66998619e-02 2.55199949e-02 2.40184040e+01] [-9.66581769e-02 9.95313513e-01 -2.86485649e-03 -1.74713745e+00] [-2.56774270e-02 3.83776971e-04 9.99670207e-01 -4.76290554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.46432 meters 0.018300962611890657 Centerline is valid? [True, True] Translation: X:24.08, Y:-1.76, Z:-0.48 [[ 9.94896388e-01 9.76777574e-02 2.53028067e-02 2.40787698e+01] [-9.76369158e-02 9.95218029e-01 -2.84751835e-03 -1.75500282e+00] [-2.54599486e-02 3.62497715e-04 9.99675777e-01 -4.77607892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.524320000000003 meters 0.018659108340565295 Centerline is valid? [True, True] Translation: X:24.14, Y:-1.76, Z:-0.48 [[ 9.95048393e-01 9.63389561e-02 2.44438469e-02 2.41399678e+01] [-9.63002841e-02 9.95348509e-01 -2.75706789e-03 -1.76379623e+00] [-2.45957596e-02 3.89466566e-04 9.99697403e-01 -4.80024708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.58432 meters 0.01962776100643953 Centerline is valid? [True, True] Translation: X:24.20, Y:-1.77, Z:-0.48 [[ 9.95380540e-01 9.28353591e-02 2.44780699e-02 2.42017517e+01] [-9.27953530e-02 9.95681356e-01 -2.76768377e-03 -1.77278462e+00] [-2.46292968e-02 4.83447423e-04 9.99696536e-01 -4.81519953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.64432 meters 0.021284150463386754 Centerline is valid? [True, True] Translation: X:24.26, Y:-1.78, Z:-0.48 [[ 9.95646647e-01 9.00123890e-02 2.41975989e-02 2.42622873e+01] [-8.99723075e-02 9.95940492e-01 -2.74228284e-03 -1.78366282e+00] [-2.43462080e-02 5.53230907e-04 9.99703434e-01 -4.83155302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.704320000000003 meters 0.023475932432895173 Centerline is valid? [True, True] Translation: X:24.32, Y:-1.80, Z:-0.48 [[ 9.96027974e-01 8.56337893e-02 2.43952843e-02 2.43226795e+01] [-8.55916418e-02 9.96326455e-01 -2.76857649e-03 -1.79676276e+00] [-2.45427508e-02 6.69547202e-04 9.99698557e-01 -4.83494073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.76432 meters 0.023857051579292902 Centerline is valid? [True, True] Translation: X:24.38, Y:-1.80, Z:-0.48 [[ 9.96101243e-01 8.48291904e-02 2.42140999e-02 2.43844507e+01] [-8.47872794e-02 9.96395269e-01 -2.75416416e-03 -1.80468649e+00] [-2.43604481e-02 6.90378696e-04 9.99703002e-01 -4.84913565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.82432 meters 0.024487680303999764 Centerline is valid? [True, True] Translation: X:24.45, Y:-1.81, Z:-0.49 [[ 9.96313327e-01 8.27073379e-02 2.27870739e-02 2.44459976e+01] [-8.26695322e-02 9.96573630e-01 -2.59775476e-03 -1.81183869e+00] [-2.29238503e-02 7.04380949e-04 9.99736966e-01 -4.87361210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.884320000000002 meters 0.025562757198442428 Centerline is valid? [True, True] Translation: X:24.51, Y:-1.82, Z:-0.49 [[ 9.96294036e-01 8.30828958e-02 2.22581650e-02 2.45077554e+01] [-8.30467827e-02 9.96542404e-01 -2.54353210e-03 -1.82041780e+00] [-2.23925293e-02 6.85636874e-04 9.99749021e-01 -4.87862698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.94432 meters 0.023952617282180552 Centerline is valid? [True, True] Translation: X:24.57, Y:-1.82, Z:-0.49 [[ 9.96020009e-01 8.63975215e-02 2.18999839e-02 2.45691672e+01] [-8.63632269e-02 9.96260558e-01 -2.50871865e-03 -1.82151224e+00] [-2.20348373e-02 6.07380689e-04 9.99757019e-01 -4.90144983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.004320000000003 meters 0.022803768135744387 Centerline is valid? [True, True] Translation: X:24.63, Y:-1.83, Z:-0.49 [[ 9.95761794e-01 8.93435009e-02 2.18217528e-02 2.46310187e+01] [-8.93101355e-02 9.96000726e-01 -2.50076445e-03 -1.82519133e+00] [-2.19579087e-02 5.41261993e-04 9.99758750e-01 -4.90916537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.064320000000002 meters 0.020876404308173807 Centerline is valid? [True, True] Translation: X:24.69, Y:-1.83, Z:-0.49 [[ 9.95315617e-01 9.40836790e-02 2.22504910e-02 2.46914741e+01] [-9.40500436e-02 9.95564191e-01 -2.55565598e-03 -1.82610632e+00] [-2.23922376e-02 4.51024657e-04 9.99749161e-01 -4.90493937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.12432 meters 0.01885324202458075 Centerline is valid? [True, True] Translation: X:24.75, Y:-1.83, Z:-0.49 [[ 9.94828684e-01 9.92235796e-02 2.16926638e-02 2.47526991e+01] [-9.91928217e-02 9.95065110e-01 -2.49199260e-03 -1.82525395e+00] [-2.18328774e-02 3.27349186e-04 9.99761581e-01 -4.91644889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.184320000000003 meters 0.016977195356502092 Centerline is valid? [True, True] Translation: X:24.82, Y:-1.83, Z:-0.49 [[ 9.94412260e-01 1.03403336e-01 2.12604769e-02 2.48155997e+01] [-1.03374729e-01 9.94639481e-01 -2.44315259e-03 -1.82507476e+00] [-2.13991399e-02 2.31704851e-04 9.99770985e-01 -4.92800544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.244320000000002 meters 0.016341465614746545 Centerline is valid? [True, True] Translation: X:24.88, Y:-1.83, Z:-0.49 [[ 9.94299591e-01 1.04638551e-01 2.04718540e-02 2.48790068e+01] [-1.04612183e-01 9.94510298e-01 -2.35764471e-03 -1.82805058e+00] [-2.06061702e-02 2.02599827e-04 9.99787650e-01 -4.94982199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.30432 meters 0.017373872149976717 Centerline is valid? [True, True] Translation: X:24.94, Y:-1.84, Z:-0.50 [[ 9.94603713e-01 1.01810919e-01 1.99497267e-02 2.49403409e+01] [-1.01785184e-01 9.94803734e-01 -2.30378464e-03 -1.83523708e+00] [-2.00806130e-02 2.60766149e-04 9.99798330e-01 -4.96751968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.364320000000003 meters 0.019558736977690918 Centerline is valid? [True, True] Translation: X:25.00, Y:-1.85, Z:-0.50 [[ 9.95232371e-01 9.54881428e-02 1.98631035e-02 2.50010890e+01] [-9.54612577e-02 9.95430490e-01 -2.29948892e-03 -1.84611052e+00] [-1.99919128e-02 3.92368967e-04 9.99800065e-01 -4.97454664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.42432 meters 0.021901545458469993 Centerline is valid? [True, True] Translation: X:25.06, Y:-1.86, Z:-0.50 [[ 9.95678920e-01 9.07915677e-02 1.95033099e-02 2.50618486e+01] [-9.07646999e-02 9.95869801e-01 -2.26023977e-03 -1.85710772e+00] [-1.96279681e-02 4.80261029e-04 9.99807238e-01 -4.98574216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.48432 meters 0.025548768115929682 Centerline is valid? [True, True] Translation: X:25.12, Y:-1.87, Z:-0.50 [[ 9.96285593e-01 8.40093551e-02 1.89062297e-02 2.51222177e+01] [-8.39827879e-02 9.96464785e-01 -2.19622361e-03 -1.86817475e+00] [-1.90238955e-02 6.00268062e-04 9.99818849e-01 -5.00012707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.544320000000003 meters 0.026320900320289012 Centerline is valid? [True, True] Translation: X:25.18, Y:-1.87, Z:-0.50 [[ 9.96685397e-01 7.95703791e-02 1.69344303e-02 2.51827444e+01] [-7.95484163e-02 9.96829061e-01 -1.96767799e-03 -1.87351916e+00] [-1.70373012e-02 6.14048809e-04 9.99854666e-01 -5.03296577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.60432 meters 0.027091512676075444 Centerline is valid? [True, True] Translation: X:25.24, Y:-1.88, Z:-0.50 [[ 9.96834158e-01 7.78608502e-02 1.61043563e-02 2.52441243e+01] [-7.78407700e-02 9.96964049e-01 -1.87092298e-03 -1.88109589e+00] [-1.62011359e-02 6.11424433e-04 9.99868566e-01 -5.04923447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.664320000000004 meters 0.03128774421210065 Centerline is valid? [True, True] Translation: X:25.30, Y:-1.89, Z:-0.51 [[ 9.96944071e-01 7.63564152e-02 1.64989951e-02 2.53043623e+01] [-7.63350504e-02 9.97080371e-01 -1.92174272e-03 -1.89047078e+00] [-1.65975615e-02 6.56418385e-04 9.99862036e-01 -5.05604717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.724320000000002 meters 0.030153437310507868 Centerline is valid? [True, True] Translation: X:25.37, Y:-1.89, Z:-0.51 [[ 9.96863819e-01 7.73309605e-02 1.68061914e-02 2.53668973e+01] [-7.73088558e-02 9.97005262e-01 -1.96196640e-03 -1.89251190e+00] [-1.69075820e-02 6.56545899e-04 9.99856841e-01 -5.05481703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.78432 meters 0.029494044053499716 Centerline is valid? [True, True] Translation: X:25.43, Y:-1.90, Z:-0.51 [[ 9.96642002e-01 7.99604814e-02 1.76363850e-02 2.54287198e+01] [-7.99364597e-02 9.96797824e-01 -2.06395140e-03 -1.89622104e+00] [-1.77449448e-02 6.47230477e-04 9.99842337e-01 -5.05988443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.844320000000003 meters 0.025829897419927292 Centerline is valid? [True, True] Translation: X:25.49, Y:-1.89, Z:-0.51 [[ 9.96188990e-01 8.52747303e-02 1.83225916e-02 2.54904179e+01] [-8.52495939e-02 9.96357307e-01 -2.15001799e-03 -1.89332050e+00] [-1.84391902e-02 5.79830759e-04 9.99829816e-01 -5.05847731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.904320000000002 meters 0.02255837465970807 Centerline is valid? [True, True] Translation: X:25.55, Y:-1.89, Z:-0.51 [[ 9.95630952e-01 9.15559834e-02 1.83441821e-02 2.55520613e+01] [-9.15318448e-02 9.95799822e-01 -2.15295392e-03 -1.88780699e+00] [-1.84642491e-02 4.64470724e-04 9.99829413e-01 -5.07896463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.96432 meters 0.022350492716329405 Centerline is valid? [True, True] Translation: X:25.61, Y:-1.89, Z:-0.51 [[ 9.95294630e-01 9.51455385e-02 1.83282810e-02 2.56133122e+01] [-9.51220612e-02 9.95463294e-01 -2.15046590e-03 -1.89292600e+00] [-1.84497382e-02 3.96923303e-04 9.99829710e-01 -5.09047559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.024320000000003 meters 0.020906492198198907 Centerline is valid? [True, True] Translation: X:25.68, Y:-1.89, Z:-0.51 [[ 9.94901402e-01 9.88918699e-02 1.97888244e-02 2.56762592e+01] [-9.88651298e-02 9.95098120e-01 -2.32745234e-03 -1.89353799e+00] [-1.99219881e-02 3.59160903e-04 9.99801473e-01 -5.08636793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.08432 meters 0.01991815949539213 Centerline is valid? [True, True] Translation: X:25.74, Y:-1.89, Z:-0.51 [[ 9.94782185e-01 1.00148878e-01 1.94578305e-02 2.57382423e+01] [-1.00123215e-01 9.94972408e-01 -2.29106284e-03 -1.89393525e+00] [-1.95894519e-02 3.30927939e-04 9.99808054e-01 -5.11477315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.14432 meters 0.020439222288112457 Centerline is valid? [True, True] Translation: X:25.80, Y:-1.90, Z:-0.51 [[ 9.94858843e-01 9.92175399e-02 2.02919044e-02 2.57995829e+01] [-9.91893166e-02 9.95065698e-01 -2.39512765e-03 -1.90057661e+00] [-2.04294167e-02 3.70073795e-04 9.99791229e-01 -5.12451610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.204320000000003 meters 0.022649486568593776 Centerline is valid? [True, True] Translation: X:25.86, Y:-1.91, Z:-0.51 [[ 9.95258898e-01 9.49710484e-02 2.09815674e-02 2.58595792e+01] [-9.49398043e-02 9.95479920e-01 -2.48249683e-03 -1.91006466e+00] [-2.11224943e-02 4.78741159e-04 9.99776781e-01 -5.13947101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.26432 meters 0.023915557493589753 Centerline is valid? [True, True] Translation: X:25.92, Y:-1.92, Z:-0.52 [[ 9.95733323e-01 8.99705079e-02 2.05050667e-02 2.59208415e+01] [-8.99395936e-02 9.95944266e-01 -2.42676729e-03 -1.91691079e+00] [-2.06402411e-02 5.72195697e-04 9.99786804e-01 -5.16336329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.32432 meters 0.025533407822075513 Centerline is valid? [True, True] Translation: X:25.98, Y:-1.93, Z:-0.52 [[ 9.95988980e-01 8.71446614e-02 2.02918443e-02 2.59826639e+01] [-8.71136918e-02 9.96195469e-01 -2.40686540e-03 -1.92631710e+00] [-2.04243888e-02 6.29513948e-04 9.99791202e-01 -5.17846656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.384320000000002 meters 0.028130901340509745 Centerline is valid? [True, True] Translation: X:26.04, Y:-1.94, Z:-0.52 [[ 9.96319551e-01 8.32708263e-02 2.03303001e-02 2.60430156e+01] [-8.32389002e-02 9.96526699e-01 -2.41305177e-03 -1.93534823e+00] [-2.04606237e-02 7.11898834e-04 9.99790406e-01 -5.19595222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.44432 meters 0.02938325802244687 Centerline is valid? [True, True] Translation: X:26.11, Y:-1.94, Z:-0.52 [[ 9.96520990e-01 8.09848713e-02 1.96816532e-02 2.61050673e+01] [-8.09544836e-02 9.96715059e-01 -2.33713278e-03 -1.94140891e+00] [-1.98062725e-02 7.35683803e-04 9.99803566e-01 -5.22460263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.504320000000003 meters 0.030246542884257627 Centerline is valid? [True, True] Translation: X:26.17, Y:-1.95, Z:-0.52 [[ 9.96521849e-01 8.09792711e-02 1.96611873e-02 2.61664608e+01] [-8.09489213e-02 9.96715514e-01 -2.33592957e-03 -1.94847045e+00] [-1.97857722e-02 7.36252955e-04 9.99803971e-01 -5.22847737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.564320000000002 meters 0.030159567501736276 Centerline is valid? [True, True] Translation: X:26.23, Y:-1.95, Z:-0.52 [[ 9.96371510e-01 8.26815115e-02 2.01886487e-02 2.62289659e+01] [-8.26497366e-02 9.96575757e-01 -2.40466888e-03 -1.95388863e+00] [-2.03183395e-02 7.27357069e-04 9.99793297e-01 -5.23251917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.62432 meters 0.03231367431243625 Centerline is valid? [True, True] Translation: X:26.29, Y:-1.96, Z:-0.52 [[ 9.96251676e-01 8.41122333e-02 2.01923379e-02 2.62903314e+01] [-8.40807020e-02 9.96456041e-01 -2.40699248e-03 -1.96324319e+00] [-2.03232346e-02 7.00184352e-04 9.99793217e-01 -5.24764045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.684320000000003 meters 0.027039542854908342 Centerline is valid? [True, True] Translation: X:26.35, Y:-1.96, Z:-0.53 [[ 9.95806904e-01 8.91245051e-02 2.06260317e-02 2.63525039e+01] [-8.90926344e-02 9.96020305e-01 -2.46079126e-03 -1.95997212e+00] [-2.07632632e-02 6.12845420e-04 9.99784232e-01 -5.25574771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.744320000000002 meters 0.02151057552393482 Centerline is valid? [True, True] Translation: X:26.41, Y:-1.96, Z:-0.53 [[ 9.95232712e-01 9.52710814e-02 2.08631353e-02 2.64149046e+01] [-9.52398047e-02 9.95451244e-01 -2.48991472e-03 -1.95592303e+00] [-2.10054509e-02 4.91043641e-04 9.99779241e-01 -5.26720881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.80432 meters 0.019405222433410006 Centerline is valid? [True, True] Translation: X:26.48, Y:-1.96, Z:-0.53 [[ 9.94571516e-01 1.01882081e-01 2.11551827e-02 2.64757209e+01] [-1.01851398e-01 9.94796418e-01 -2.52563296e-03 -1.95647314e+00] [-2.13024167e-02 3.57237665e-04 9.99773014e-01 -5.28334022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.864320000000003 meters 0.01813362303921228 Centerline is valid? [True, True] Translation: X:26.54, Y:-1.96, Z:-0.53 [[ 9.94198619e-01 1.05398362e-01 2.14543979e-02 2.65376400e+01] [-1.05367611e-01 9.94430039e-01 -2.56188503e-03 -1.95969694e+00] [-2.16049163e-02 2.86423897e-04 9.99766546e-01 -5.29908582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.92432 meters 0.017563963721813215 Centerline is valid? [True, True] Translation: X:26.60, Y:-1.96, Z:-0.53 [[ 9.93930538e-01 1.07969205e-01 2.10887929e-02 2.65986272e+01] [-1.07939951e-01 9.94154212e-01 -2.52389699e-03 -1.96437975e+00] [-2.12380155e-02 2.32255007e-04 9.99774421e-01 -5.31757001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.98432 meters 0.018329111011541877 Centerline is valid? [True, True] Translation: X:26.66, Y:-1.97, Z:-0.53 [[ 9.94123548e-01 1.06133292e-01 2.13095195e-02 2.66595067e+01] [-1.06102886e-01 9.94351872e-01 -2.55568774e-03 -1.97274154e+00] [-2.14604041e-02 2.79667854e-04 9.99769660e-01 -5.33713132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.044320000000003 meters 0.02078973709182742 Centerline is valid? [True, True] Translation: X:26.72, Y:-1.99, Z:-0.54 [[ 9.94581622e-01 1.01634000e-01 2.18615343e-02 2.67206631e+01] [-1.01600790e-01 9.94821781e-01 -2.62734897e-03 -1.98501946e+00] [-2.20153585e-02 3.91963838e-04 9.99757556e-01 -5.35240641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.10432 meters 0.02224604212822683 Centerline is valid? [True, True] Translation: X:26.78, Y:-1.99, Z:-0.54 [[ 9.94874995e-01 9.88917261e-02 2.10753643e-02 2.67821883e+01] [-9.88601823e-02 9.95098102e-01 -2.53592725e-03 -1.99341675e+00] [-2.12228372e-02 4.39416251e-04 9.99774674e-01 -5.38017229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.164320000000004 meters 0.02471948480420169 Centerline is valid? [True, True] Translation: X:26.84, Y:-2.00, Z:-0.54 [[ 9.95184241e-01 9.59836422e-02 1.98863257e-02 2.68423168e+01] [-9.59548673e-02 9.95382796e-01 -2.39835069e-03 -2.00273862e+00] [-2.00247089e-02 4.78611065e-04 9.99799371e-01 -5.41188294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.224320000000002 meters 0.02503617915159748 Centerline is valid? [True, True] Translation: X:26.90, Y:-2.01, Z:-0.54 [[ 9.95309935e-01 9.47584496e-02 1.94671441e-02 2.69043856e+01] [-9.47305423e-02 9.95500170e-01 -2.35282444e-03 -2.00972313e+00] [-1.96024953e-02 4.97656420e-04 9.99807729e-01 -5.43307383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.28432 meters 0.02462670429732891 Centerline is valid? [True, True] Translation: X:26.97, Y:-2.01, Z:-0.54 [[ 9.95407750e-01 9.37233229e-02 1.94768972e-02 2.69659043e+01] [-9.36950778e-02 9.95598144e-01 -2.35970265e-03 -2.01482370e+00] [-1.96123219e-02 5.23976907e-04 9.99807523e-01 -5.44222023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.344320000000003 meters 0.025483941375100332 Centerline is valid? [True, True] Translation: X:27.03, Y:-2.02, Z:-0.55 [[ 9.95336745e-01 9.43417849e-02 2.01094687e-02 2.70278985e+01] [-9.43116720e-02 9.95539724e-01 -2.44271808e-03 -2.01966869e+00] [-2.02502253e-02 5.34769449e-04 9.99794800e-01 -5.45563374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.404320000000002 meters 0.02472025503528509 Centerline is valid? [True, True] Translation: X:27.09, Y:-2.02, Z:-0.55 [[ 9.95210774e-01 9.55836895e-02 2.04761557e-02 2.70895475e+01] [-9.55525909e-02 9.95421259e-01 -2.49404450e-03 -2.02497940e+00] [-2.06207907e-02 5.25550227e-04 9.99787231e-01 -5.46038557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.46432 meters 0.023948428919036525 Centerline is valid? [True, True] Translation: X:27.15, Y:-2.03, Z:-0.55 [[ 9.95007778e-01 9.75440700e-02 2.10873643e-02 2.71518751e+01] [-9.75113905e-02 9.95231078e-01 -2.57490563e-03 -2.03043402e+00] [-2.12379671e-02 5.05792904e-04 9.99774321e-01 -5.46223968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.524320000000003 meters 0.021656182653771634 Centerline is valid? [True, True] Translation: X:27.21, Y:-2.03, Z:-0.55 [[ 9.94585151e-01 1.01659382e-01 2.15811643e-02 2.72148104e+01] [-1.01625983e-01 9.94819170e-01 -2.64156838e-03 -2.03141080e+00] [-2.17378962e-02 4.34057639e-04 9.99763610e-01 -5.47314129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.58432 meters 0.018305281852969073 Centerline is valid? [True, True] Translation: X:27.28, Y:-2.03, Z:-0.55 [[ 9.94034685e-01 1.06811412e-01 2.20537266e-02 2.72771408e+01] [-1.06777745e-01 9.94279243e-01 -2.70195688e-03 -2.03209873e+00] [-2.22161624e-02 3.30991668e-04 9.99753136e-01 -5.48194651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.64432 meters 0.016945955591912934 Centerline is valid? [True, True] Translation: X:27.34, Y:-2.04, Z:-0.55 [[ 9.93503767e-01 1.11724362e-01 2.16317273e-02 2.73390900e+01] [-1.11692998e-01 9.93739210e-01 -2.65648490e-03 -2.03583507e+00] [-2.17930897e-02 2.23115272e-04 9.99762478e-01 -5.50553244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.704320000000003 meters 0.016417979256693797 Centerline is valid? [True, True] Translation: X:27.40, Y:-2.04, Z:-0.55 [[ 9.93231253e-01 1.14155969e-01 2.14497614e-02 2.74010806e+01] [-1.14125573e-01 9.93462825e-01 -2.63989256e-03 -2.04207792e+00] [-2.16109001e-02 1.74057475e-04 9.99766442e-01 -5.52829224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.76432 meters 0.01644893192941148 Centerline is valid? [True, True] Translation: X:27.46, Y:-2.05, Z:-0.55 [[ 9.93162124e-01 1.14829896e-01 2.10497144e-02 2.74627857e+01] [-1.14800658e-01 9.93385156e-01 -2.59619668e-03 -2.05319840e+00] [-2.12085949e-02 1.61923142e-04 9.99775059e-01 -5.54588055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.824320000000004 meters 0.01653655697377366 Centerline is valid? [True, True] Translation: X:27.52, Y:-2.07, Z:-0.56 [[ 9.93184665e-01 1.14697397e-01 2.07057532e-02 2.75243325e+01] [-1.14668937e-01 9.93400462e-01 -2.56050466e-03 -2.06613347e+00] [-2.08627880e-02 1.68747253e-04 9.99782334e-01 -5.55832221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.884320000000002 meters 0.01656601066544251 Centerline is valid? [True, True] Translation: X:27.59, Y:-2.08, Z:-0.56 [[ 9.93148301e-01 1.15053081e-01 2.04753830e-02 2.75856478e+01] [-1.15025187e-01 9.93359331e-01 -2.53877745e-03 -2.07629730e+00] [-2.06315069e-02 1.66197745e-04 9.99787134e-01 -5.57073305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.94432 meters 0.01622610314196317 Centerline is valid? [True, True] Translation: X:27.65, Y:-2.09, Z:-0.56 [[ 9.93076900e-01 1.15828327e-01 1.95465838e-02 2.76475558e+01] [-1.15802945e-01 9.93269237e-01 -2.42928784e-03 -2.08614966e+00] [-1.96964007e-02 1.48917670e-04 9.99805996e-01 -5.60029342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.004320000000003 meters 0.016348007655477864 Centerline is valid? [True, True] Translation: X:27.71, Y:-2.10, Z:-0.56 [[ 9.93078133e-01 1.16032374e-01 1.82293652e-02 2.77088832e+01] [-1.16010225e-01 9.93245422e-01 -2.27142311e-03 -2.09779406e+00] [-1.83697922e-02 1.40907862e-04 9.99831251e-01 -5.62733245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.064320000000002 meters 0.01625168983647639 Centerline is valid? [True, True] Translation: X:27.77, Y:-2.11, Z:-0.56 [[ 9.93073643e-01 1.16146876e-01 1.77381953e-02 2.77712890e+01] [-1.16125872e-01 9.93232039e-01 -2.21304304e-03 -2.10920609e+00] [-1.78751819e-02 1.37851313e-04 9.99840217e-01 -5.64755813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.12432 meters 0.016887747300446468 Centerline is valid? [True, True] Translation: X:27.83, Y:-2.12, Z:-0.57 [[ 9.93183940e-01 1.15456098e-01 1.59859506e-02 2.78313236e+01] [-1.15438868e-01 9.93312574e-01 -1.99948169e-03 -2.12326136e+00] [-1.61098981e-02 1.40453055e-04 9.99870217e-01 -5.67547880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.184320000000003 meters 0.017022026335423327 Centerline is valid? [True, True] Translation: X:27.89, Y:-2.14, Z:-0.57 [[ 9.93385682e-01 1.13727451e-01 1.58415142e-02 2.78919996e+01] [-1.13710286e-01 9.93511972e-01 -1.98302076e-03 -2.13755099e+00] [-1.59642579e-02 1.68561310e-04 9.99872549e-01 -5.67553639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.244320000000002 meters 0.017616012521758793 Centerline is valid? [True, True] Translation: X:27.95, Y:-2.15, Z:-0.57 [[ 9.93541541e-01 1.12243986e-01 1.66280961e-02 2.79526259e+01] [-1.12224786e-01 9.93680655e-01 -2.08629047e-03 -2.14979007e+00] [-1.67571910e-02 2.06731726e-04 9.99859567e-01 -5.67942581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.30432 meters 0.01881775092031667 Centerline is valid? [True, True] Translation: X:28.01, Y:-2.16, Z:-0.57 [[ 9.93806306e-01 1.09932399e-01 1.62448031e-02 2.80123766e+01] [-1.09913694e-01 9.93939036e-01 -2.04252525e-03 -2.16330456e+00] [-1.63708837e-02 2.44348153e-04 9.99865958e-01 -5.69978256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.364320000000003 meters 0.0202083726120845 Centerline is valid? [True, True] Translation: X:28.07, Y:-2.18, Z:-0.57 [[ 9.94061940e-01 1.07633621e-01 1.59956903e-02 2.80713729e+01] [-1.07615123e-01 9.94190587e-01 -2.01525799e-03 -2.17969182e+00] [-1.61196743e-02 2.81913091e-04 9.99870030e-01 -5.71314257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.42432 meters 0.0192975948323245 Centerline is valid? [True, True] Translation: X:28.13, Y:-2.19, Z:-0.57 [[ 9.94112136e-01 1.07215971e-01 1.56779201e-02 2.81332975e+01] [-1.07198106e-01 9.94235713e-01 -1.97793851e-03 -2.18887492e+00] [-1.57996147e-02 2.85649342e-04 9.99875137e-01 -5.71784540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.48432 meters 0.01905935309146236 Centerline is valid? [True, True] Translation: X:28.20, Y:-2.20, Z:-0.57 [[ 9.94050009e-01 1.07911394e-01 1.48226544e-02 2.81952656e+01] [-1.07895449e-01 9.94160481e-01 -1.87357411e-03 -2.19905337e+00] [-1.49382773e-02 2.63129407e-04 9.99888383e-01 -5.74415126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.544320000000003 meters 0.018345867326107563 Centerline is valid? [True, True] Translation: X:28.26, Y:-2.21, Z:-0.57 [[ 9.93771955e-01 1.10327524e-01 1.56569338e-02 2.82566026e+01] [-1.10309944e-01 9.93895255e-01 -1.98464170e-03 -2.20941161e+00] [-1.57803128e-02 2.45165763e-04 9.99875453e-01 -5.74113280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.60432 meters 0.0179863049768587 Centerline is valid? [True, True] Translation: X:28.32, Y:-2.22, Z:-0.57 [[ 9.93628292e-01 1.11532451e-01 1.62274139e-02 2.83179265e+01] [-1.11513650e-01 9.93760764e-01 -2.06169675e-03 -2.21791975e+00] [-1.63561133e-02 2.38982075e-04 9.99866201e-01 -5.74920969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.664320000000004 meters 0.01695455390702477 Centerline is valid? [True, True] Translation: X:28.38, Y:-2.23, Z:-0.58 [[ 9.93188586e-01 1.15349179e-01 1.64620543e-02 2.83801502e+01] [-1.15330263e-01 9.93324989e-01 -2.09699898e-03 -2.22552370e+00] [-1.65940570e-02 1.84142410e-04 9.99862292e-01 -5.75490861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.724320000000002 meters 0.016422452576940458 Centerline is valid? [True, True] Translation: X:28.44, Y:-2.23, Z:-0.58 [[ 9.92840313e-01 1.18315723e-01 1.64165227e-02 2.84404047e+01] [-1.18297302e-01 9.92976018e-01 -2.09209570e-03 -2.23249485e+00] [-1.65487412e-02 1.35086595e-04 9.99863051e-01 -5.77107182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.78432 meters 0.015515519316961112 Centerline is valid? [True, True] Translation: X:28.50, Y:-2.24, Z:-0.58 [[ 9.92355344e-01 1.22072311e-01 1.81444975e-02 2.85019806e+01] [-1.22050342e-01 9.92521206e-01 -2.31738810e-03 -2.23944709e+00] [-1.82916874e-02 8.51303334e-05 9.99832689e-01 -5.76275090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.844320000000003 meters 0.01520281942141102 Centerline is valid? [True, True] Translation: X:28.56, Y:-2.25, Z:-0.58 [[ 9.92041693e-01 1.24458184e-01 1.90640880e-02 2.85636193e+01] [-1.24434272e-01 9.92224853e-01 -2.44002499e-03 -2.24560001e+00] [-1.92195430e-02 4.83806101e-05 9.99815286e-01 -5.76268748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.904320000000002 meters 0.015271615239709286 Centerline is valid? [True, True] Translation: X:28.63, Y:-2.25, Z:-0.58 [[ 9.92079547e-01 1.24165578e-01 1.90021456e-02 2.86255875e+01] [-1.24141669e-01 9.92261511e-01 -2.43729026e-03 -2.25458026e+00] [-1.91577253e-02 5.90277418e-05 9.99816472e-01 -5.77896312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.96432 meters 0.01551234302238286 Centerline is valid? [True, True] Translation: X:28.69, Y:-2.27, Z:-0.58 [[ 9.92289023e-01 1.22647433e-01 1.78914131e-02 2.86874772e+01] [-1.22625894e-01 9.92450301e-01 -2.30013084e-03 -2.26594464e+00] [-1.80384435e-02 8.84440525e-05 9.99837290e-01 -5.80476829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.024320000000003 meters 0.015939396459050945 Centerline is valid? [True, True] Translation: X:28.75, Y:-2.28, Z:-0.58 [[ 9.92507400e-01 1.20765318e-01 1.85687721e-02 2.87472785e+01] [-1.20741664e-01 9.92681077e-01 -2.39383513e-03 -2.27704720e+00] [-1.87219609e-02 1.33874640e-04 9.99824720e-01 -5.80691270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.08432 meters 0.0165086384683246 Centerline is valid? [True, True] Translation: X:28.81, Y:-2.29, Z:-0.58 [[ 9.92756507e-01 1.18545070e-01 1.95341692e-02 2.88085570e+01] [-1.18518404e-01 9.92948655e-01 -2.52124638e-03 -2.28797920e+00] [-1.96953083e-02 1.87825198e-04 9.99806011e-01 -5.81499748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.14432 meters 0.017112007075827346 Centerline is valid? [True, True] Translation: X:28.87, Y:-2.30, Z:-0.58 [[ 9.92910730e-01 1.17216534e-01 1.97120920e-02 2.88701533e+01] [-1.17189010e-01 9.93106356e-01 -2.54969143e-03 -2.29867540e+00] [-1.98750699e-02 2.21575433e-04 9.99802447e-01 -5.82726443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.204320000000003 meters 0.01707798632027925 Centerline is valid? [True, True] Translation: X:28.93, Y:-2.31, Z:-0.58 [[ 9.92921524e-01 1.17031463e-01 2.02604049e-02 2.89324810e+01] [-1.17002233e-01 9.93128179e-01 -2.62622368e-03 -2.30663078e+00] [-2.04285298e-02 2.37121391e-04 9.99791288e-01 -5.84309105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.26432 meters 0.01719506428983838 Centerline is valid? [True, True] Translation: X:28.99, Y:-2.31, Z:-0.58 [[ 9.92844925e-01 1.17428547e-01 2.16677290e-02 2.89943597e+01] [-1.17395049e-01 9.93081302e-01 -2.81597391e-03 -2.31446315e+00] [-2.18484922e-02 2.52141300e-04 9.99761261e-01 -5.84723766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.324320000000004 meters 0.017035054091860152 Centerline is valid? [True, True] Translation: X:29.06, Y:-2.32, Z:-0.59 [[ 9.92687025e-01 1.18748853e-01 2.17066899e-02 2.90559616e+01] [-1.18715455e-01 9.92924296e-01 -2.82537531e-03 -2.32189040e+00] [-2.18886099e-02 2.27793849e-04 9.99760390e-01 -5.85862044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.384320000000002 meters 0.017002728194477425 Centerline is valid? [True, True] Translation: X:29.12, Y:-2.33, Z:-0.59 [[ 9.92588608e-01 1.19548288e-01 2.18188347e-02 2.91171011e+01] [-1.19514606e-01 9.92828364e-01 -2.84588528e-03 -2.33019882e+00] [-2.20025786e-02 2.17123872e-04 9.99757890e-01 -5.86860885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.44432 meters 0.016552332337902917 Centerline is valid? [True, True] Translation: X:29.18, Y:-2.34, Z:-0.59 [[ 9.92455671e-01 1.20643642e-01 2.18369785e-02 2.91793760e+01] [-1.20610032e-01 9.92695861e-01 -2.85449393e-03 -2.33595165e+00] [-2.20218547e-02 1.99200011e-04 9.99757470e-01 -5.89537275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.504320000000003 meters 0.016924680191218455 Centerline is valid? [True, True] Translation: X:29.24, Y:-2.35, Z:-0.59 [[ 9.92554173e-01 1.19780398e-01 2.21104005e-02 2.92399921e+01] [-1.19745565e-01 9.92800385e-01 -2.89749221e-03 -2.34657847e+00] [-2.22982769e-02 2.28295593e-04 9.99751336e-01 -5.90894250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.564320000000002 meters 0.01821765268008304 Centerline is valid? [True, True] Translation: X:29.30, Y:-2.36, Z:-0.59 [[ 9.92835577e-01 1.17741355e-01 2.03590155e-02 2.92999187e+01] [-1.17711278e-01 9.93044262e-01 -2.67361713e-03 -2.36042576e+00] [-2.05321988e-02 2.57976469e-04 9.99789159e-01 -5.93633683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.62432 meters 0.018477786980825302 Centerline is valid? [True, True] Translation: X:29.36, Y:-2.37, Z:-0.59 [[ 9.93015451e-01 1.16138724e-01 2.07872905e-02 2.93611506e+01] [-1.16106904e-01 9.93232956e-01 -2.73526394e-03 -2.36967022e+00] [-2.09642921e-02 3.02611418e-04 9.99780179e-01 -5.94858647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.684320000000003 meters 0.01962937920814193 Centerline is valid? [True, True] Translation: X:29.42, Y:-2.38, Z:-0.59 [[ 9.93291091e-01 1.13483125e-01 2.22348526e-02 2.94220020e+01] [-1.13445910e-01 9.93539847e-01 -2.93212044e-03 -2.38156790e+00] [-2.24239582e-02 3.89996028e-04 9.99748475e-01 -5.94986410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.744320000000002 meters 0.020963614611481923 Centerline is valid? [True, True] Translation: X:29.48, Y:-2.39, Z:-0.60 [[ 9.93530795e-01 1.11322165e-01 2.24485003e-02 2.94827763e+01] [-1.11283541e-01 9.93784269e-01 -2.96641904e-03 -2.39326130e+00] [-2.26391946e-02 4.49080063e-04 9.99743600e-01 -5.96277243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.80432 meters 0.022292305344411085 Centerline is valid? [True, True] Translation: X:29.54, Y:-2.40, Z:-0.60 [[ 9.93621986e-01 1.10509083e-01 2.24296989e-02 2.95427243e+01] [-1.10470182e-01 9.93875002e-01 -2.96986582e-03 -2.40359602e+00] [-2.26205142e-02 4.73111037e-04 9.99744011e-01 -5.98426796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.864320000000003 meters 0.020868333093149154 Centerline is valid? [True, True] Translation: X:29.60, Y:-2.41, Z:-0.60 [[ 9.93751272e-01 1.09436630e-01 2.19552430e-02 2.96040088e+01] [-1.09398982e-01 9.93993653e-01 -2.91218970e-03 -2.41027771e+00] [-2.21420725e-02 4.92110978e-04 9.99754713e-01 -6.00505721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.92432 meters 0.02178545571445407 Centerline is valid? [True, True] Translation: X:29.66, Y:-2.42, Z:-0.60 [[ 9.93850405e-01 1.08383390e-01 2.26806817e-02 2.96641433e+01] [-1.08342852e-01 9.94109025e-01 -3.01217350e-03 -2.42069167e+00] [-2.28735400e-02 5.36360101e-04 9.99738222e-01 -6.01036222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.984320000000004 meters 0.021623190030680778 Centerline is valid? [True, True] Translation: X:29.73, Y:-2.43, Z:-0.60 [[ 9.93818262e-01 1.08625860e-01 2.29278324e-02 2.97261757e+01] [-1.08584359e-01 9.94082556e-01 -3.05105170e-03 -2.42885377e+00] [-2.31235814e-02 5.42586921e-04 9.99732467e-01 -6.02442669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.044320000000003 meters 0.020827222877120924 Centerline is valid? [True, True] Translation: X:29.79, Y:-2.44, Z:-0.60 [[ 9.93620902e-01 1.10514294e-01 2.24520273e-02 2.97878140e+01] [-1.10474822e-01 9.93874411e-01 -2.99468018e-03 -2.43569250e+00] [-2.26454504e-02 4.95193113e-04 9.99743436e-01 -6.04866748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.10432 meters 0.020550500760501612 Centerline is valid? [True, True] Translation: X:29.85, Y:-2.45, Z:-0.61 [[ 9.93357899e-01 1.12839386e-01 2.25245945e-02 2.98481866e+01] [-1.12800116e-01 9.93613139e-01 -3.01049652e-03 -2.44507737e+00] [-2.27204356e-02 4.49723618e-04 9.99741756e-01 -6.05680304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.164320000000004 meters 0.019488632936759297 Centerline is valid? [True, True] Translation: X:29.91, Y:-2.45, Z:-0.61 [[ 9.92903644e-01 1.16647724e-01 2.31443729e-02 2.99094552e+01] [-1.16607204e-01 9.93173281e-01 -3.09730439e-03 -2.45109475e+00] [-2.33476663e-02 3.76524200e-04 9.99727335e-01 -6.07451811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.224320000000002 meters 0.018660569078653804 Centerline is valid? [True, True] Translation: X:29.97, Y:-2.46, Z:-0.61 [[ 9.92598769e-01 1.19219116e-01 2.31189552e-02 2.99714870e+01] [-1.19179238e-01 9.92867916e-01 -3.10005818e-03 -2.45850605e+00] [-2.33236550e-02 3.21814477e-04 9.99727915e-01 -6.08823096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.28432 meters 0.018170735757533838 Centerline is valid? [True, True] Translation: X:30.03, Y:-2.47, Z:-0.61 [[ 9.92334918e-01 1.21345830e-01 2.33794646e-02 3.00334470e+01] [-1.21305493e-01 9.92610251e-01 -3.14117103e-03 -2.46689890e+00] [-2.35878642e-02 2.81036227e-04 9.99721728e-01 -6.09871528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.344320000000003 meters 0.01706657657289128 Centerline is valid? [True, True] Translation: X:30.10, Y:-2.47, Z:-0.61 [[ 9.92129676e-01 1.23026655e-01 2.33055472e-02 3.00950166e+01] [-1.22986893e-01 9.92403336e-01 -3.13729367e-03 -2.47293956e+00] [-2.35144735e-02 2.46325305e-04 9.99723466e-01 -6.11838533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.404320000000002 meters 0.017149065065792238 Centerline is valid? [True, True] Translation: X:30.16, Y:-2.48, Z:-0.61 [[ 9.92075792e-01 1.23488612e-01 2.31556770e-02 3.01561778e+01] [-1.23449338e-01 9.92345960e-01 -3.12342172e-03 -2.48149903e+00] [-2.33641495e-02 2.40118081e-04 9.99726992e-01 -6.13090139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.46432 meters 0.01713065290411099 Centerline is valid? [True, True] Translation: X:30.22, Y:-2.49, Z:-0.61 [[ 9.92067307e-01 1.23561193e-01 2.31320190e-02 3.02185748e+01] [-1.23521907e-01 9.92336925e-01 -3.12506943e-03 -2.49037820e+00] [-2.33408939e-02 2.42968120e-04 9.99727535e-01 -6.14519260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.524320000000003 meters 0.017392397059412635 Centerline is valid? [True, True] Translation: X:30.28, Y:-2.50, Z:-0.62 [[ 9.92160530e-01 1.22924407e-01 2.25182586e-02 3.02805065e+01] [-1.22886855e-01 9.92416003e-01 -3.04915399e-03 -2.50058497e+00] [-2.27222956e-02 2.58052264e-04 9.99741782e-01 -6.16147399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.58432 meters 0.018177304267184988 Centerline is valid? [True, True] Translation: X:30.34, Y:-2.51, Z:-0.62 [[ 9.92451140e-01 1.20579716e-01 2.23889920e-02 3.03419797e+01] [-1.20541838e-01 9.92703597e-01 -3.03869291e-03 -2.51212828e+00] [-2.25920376e-02 3.16943987e-04 9.99744717e-01 -6.17492093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.64432 meters 0.01994162959419503 Centerline is valid? [True, True] Translation: X:30.40, Y:-2.52, Z:-0.62 [[ 9.92884805e-01 1.16906633e-01 2.26407605e-02 3.04022349e+01] [-1.16866799e-01 9.93142825e-01 -3.07918127e-03 -2.52496956e+00] [-2.28454856e-02 4.11319092e-04 9.99738923e-01 -6.18669465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.704320000000003 meters 0.02178236138697676 Centerline is valid? [True, True] Translation: X:30.46, Y:-2.54, Z:-0.62 [[ 9.93248857e-01 1.13809489e-01 2.24523379e-02 3.04619427e+01] [-1.13769400e-01 9.93502474e-01 -3.05903207e-03 -2.53920715e+00] [-2.26546001e-02 4.83991101e-04 9.99743234e-01 -6.19860924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.76432 meters 0.02272293311822239 Centerline is valid? [True, True] Translation: X:30.52, Y:-2.55, Z:-0.62 [[ 9.93413381e-01 1.12447524e-01 2.20320028e-02 3.05233953e+01] [-1.12408518e-01 9.93657534e-01 -3.00485399e-03 -2.55041180e+00] [-2.22301539e-02 5.08477372e-04 9.99752750e-01 -6.21483806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.824320000000004 meters 0.02125333819724246 Centerline is valid? [True, True] Translation: X:30.58, Y:-2.56, Z:-0.62 [[ 9.93467221e-01 1.12064243e-01 2.15519400e-02 3.05849162e+01] [-1.12026709e-01 9.93700832e-01 -2.94491038e-03 -2.55700937e+00] [-2.17461999e-02 5.11279018e-04 9.99763393e-01 -6.23835717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.884320000000002 meters 0.019963483787963004 Centerline is valid? [True, True] Translation: X:30.65, Y:-2.57, Z:-0.62 [[ 9.93185500e-01 1.14498101e-01 2.17427428e-02 3.06465286e+01] [-1.14460346e-01 9.93423357e-01 -2.97714233e-03 -2.56509565e+00] [-2.19406257e-02 4.68172719e-04 9.99759166e-01 -6.24954547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.94432 meters 0.019346843608729545 Centerline is valid? [True, True] Translation: X:30.71, Y:-2.57, Z:-0.63 [[ 9.92608268e-01 1.19310818e-01 2.22205813e-02 3.07072487e+01] [-1.19272446e-01 9.92856881e-01 -3.04902973e-03 -2.57273246e+00] [-2.24256392e-02 3.76189048e-04 9.99748443e-01 -6.25918496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.004320000000003 meters 0.018283804192237383 Centerline is valid? [True, True] Translation: X:30.77, Y:-2.58, Z:-0.63 [[ 9.92137447e-01 1.23095194e-01 2.26021897e-02 3.07681021e+01] [-1.23056337e-01 9.92394822e-01 -3.10736080e-03 -2.57985022e+00] [-2.28127972e-02 3.01586344e-04 9.99739709e-01 -6.27302851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.064320000000002 meters 0.016891039803629986 Centerline is valid? [True, True] Translation: X:30.83, Y:-2.59, Z:-0.63 [[ 9.91619831e-01 1.27176047e-01 2.27236367e-02 3.08294073e+01] [-1.27137713e-01 9.91880137e-01 -3.12967438e-03 -2.58683230e+00] [-2.29371435e-02 2.14415979e-04 9.99736886e-01 -6.27842143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.12432 meters 0.01608694494374708 Centerline is valid? [True, True] Translation: X:30.89, Y:-2.59, Z:-0.63 [[ 9.91375502e-01 1.29039670e-01 2.28774354e-02 3.08916643e+01] [-1.29001179e-01 9.91639416e-01 -3.15655594e-03 -2.59364129e+00] [-2.30934876e-02 1.78116083e-04 9.99733294e-01 -6.29798642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.184320000000003 meters 0.016089244358019502 Centerline is valid? [True, True] Translation: X:30.95, Y:-2.60, Z:-0.63 [[ 9.91349133e-01 1.29322742e-01 2.24170779e-02 3.09540162e+01] [-1.29285800e-01 9.91602541e-01 -3.09558423e-03 -2.60455239e+00] [-2.26291609e-02 1.70594890e-04 9.99743913e-01 -6.31119024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.244320000000002 meters 0.01640166039500354 Centerline is valid? [True, True] Translation: X:31.02, Y:-2.62, Z:-0.63 [[ 9.91424433e-01 1.28885224e-01 2.15914987e-02 3.10153745e+01] [-1.28850701e-01 9.91659501e-01 -2.98837611e-03 -2.61584478e+00] [-2.17965723e-02 1.80669350e-04 9.99762410e-01 -6.33441568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.30432 meters 0.016769161649862828 Centerline is valid? [True, True] Translation: X:31.08, Y:-2.63, Z:-0.64 [[ 9.91680542e-01 1.27109674e-01 2.03182931e-02 3.10758048e+01] [-1.27078612e-01 9.91888646e-01 -2.81792716e-03 -2.62848804e+00] [-2.05116700e-02 2.12463058e-04 9.99789591e-01 -6.35841666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.364320000000003 meters 0.017619405189334733 Centerline is valid? [True, True] Translation: X:31.14, Y:-2.64, Z:-0.64 [[ 9.91981431e-01 1.24725514e-01 2.04055572e-02 3.11362606e+01] [-1.24693572e-01 9.92191249e-01 -2.83527665e-03 -2.64187697e+00] [-2.05998467e-02 2.68099965e-04 9.99787765e-01 -6.37134792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.42432 meters 0.019258991358191136 Centerline is valid? [True, True] Translation: X:31.20, Y:-2.66, Z:-0.64 [[ 9.92430831e-01 1.21164856e-01 2.00030608e-02 3.11967238e+01] [-1.21133330e-01 9.92632340e-01 -2.78473141e-03 -2.65730024e+00] [-2.01930966e-02 3.40615937e-04 9.99796041e-01 -6.38349574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.484320000000004 meters 0.02096651992652466 Centerline is valid? [True, True] Translation: X:31.26, Y:-2.67, Z:-0.64 [[ 9.92664881e-01 1.19359620e-01 1.92279876e-02 3.12559965e+01] [-1.19330052e-01 9.92851019e-01 -2.68191884e-03 -2.67043524e+00] [-1.94106399e-02 3.67769877e-04 9.99811528e-01 -6.41024100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.544320000000003 meters 0.020481747693840098 Centerline is valid? [True, True] Translation: X:31.32, Y:-2.68, Z:-0.64 [[ 9.92677701e-01 1.19384727e-01 1.83920891e-02 3.13184228e+01] [-1.19357615e-01 9.92848005e-01 -2.56874715e-03 -2.67994616e+00] [-1.85672181e-02 3.54702124e-04 9.99827551e-01 -6.43036758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.60432 meters 0.019872410478063818 Centerline is valid? [True, True] Translation: X:31.38, Y:-2.69, Z:-0.64 [[ 9.92632993e-01 1.19709117e-01 1.86940863e-02 3.13804776e+01] [-1.19681056e-01 9.92808943e-01 -2.61671666e-03 -2.69013852e+00] [-1.88729009e-02 3.60111293e-04 9.99821826e-01 -6.43489403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.664320000000004 meters 0.01888762758820648 Centerline is valid? [True, True] Translation: X:31.44, Y:-2.70, Z:-0.64 [[ 9.92335924e-01 1.22030877e-01 1.94391097e-02 3.14425117e+01] [-1.22000849e-01 9.92526248e-01 -2.72769182e-03 -2.69859408e+00] [-1.96266893e-02 3.35198694e-04 9.99807322e-01 -6.43252437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.724320000000002 meters 0.01806473080414927 Centerline is valid? [True, True] Translation: X:31.50, Y:-2.71, Z:-0.64 [[ 9.91916619e-01 1.25435909e-01 1.91638598e-02 3.15029137e+01] [-1.25407305e-01 9.92101689e-01 -2.69190932e-03 -2.70547704e+00] [-1.93501597e-02 2.66861581e-04 9.99812733e-01 -6.44816049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.78432 meters 0.017515625321767442 Centerline is valid? [True, True] Translation: X:31.56, Y:-2.71, Z:-0.65 [[ 9.91635035e-01 1.27601651e-01 1.94364481e-02 3.15644458e+01] [-1.27572586e-01 9.91825471e-01 -2.73312674e-03 -2.71355256e+00] [-1.96263158e-02 2.30706284e-04 9.99807359e-01 -6.46259880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.844320000000003 meters 0.017806163435643337 Centerline is valid? [True, True] Translation: X:31.63, Y:-2.72, Z:-0.65 [[ 9.91651058e-01 1.27626235e-01 1.84316059e-02 3.16269613e+01] [-1.27600017e-01 9.91822310e-01 -2.59640944e-03 -2.72367562e+00] [-1.86122479e-02 2.22858944e-04 9.99826752e-01 -6.48509076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.904320000000002 meters 0.017799042840691524 Centerline is valid? [True, True] Translation: X:31.69, Y:-2.73, Z:-0.65 [[ 9.91584102e-01 1.28165528e-01 1.82911603e-02 3.16897654e+01] [-1.28139697e-01 9.91752767e-01 -2.58216868e-03 -2.73083407e+00] [-1.84712538e-02 2.16613679e-04 9.99829368e-01 -6.49613187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.96432 meters 0.018163257209792033 Centerline is valid? [True, True] Translation: X:31.75, Y:-2.74, Z:-0.65 [[ 9.91686899e-01 1.27328101e-01 1.85647115e-02 3.17508255e+01] [-1.27301235e-01 9.91860623e-01 -2.62662796e-03 -2.73939822e+00] [-1.87480499e-02 2.41481826e-04 9.99824211e-01 -6.50789153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.024320000000003 meters 0.01927301501548542 Centerline is valid? [True, True] Translation: X:31.81, Y:-2.75, Z:-0.65 [[ 9.91775197e-01 1.26711604e-01 1.80590317e-02 3.18110986e+01] [-1.26685992e-01 9.91939568e-01 -2.55989321e-03 -2.74959174e+00] [-1.82378363e-02 2.51012250e-04 9.99833645e-01 -6.52334877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.08432 meters 0.01844353810922888 Centerline is valid? [True, True] Translation: X:31.87, Y:-2.75, Z:-0.65 [[ 9.91900231e-01 1.25849943e-01 1.71966273e-02 3.18727821e+01] [-1.25826521e-01 9.92049255e-01 -2.44161594e-03 -2.75330305e+00] [-1.73671785e-02 2.58047637e-04 9.99849146e-01 -6.54137696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.144320000000004 meters 0.01943837444617319 Centerline is valid? [True, True] Translation: X:31.93, Y:-2.76, Z:-0.66 [[ 9.92222732e-01 1.23421959e-01 1.61576706e-02 3.19346239e+01] [-1.23400899e-01 9.92354240e-01 -2.29786324e-03 -2.76218615e+00] [-1.63177397e-02 2.86121076e-04 9.99866816e-01 -6.56395007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.204320000000003 meters 0.02016743789197767 Centerline is valid? [True, True] Translation: X:32.00, Y:-2.77, Z:-0.66 [[ 9.92580877e-01 1.20485076e-01 1.63263159e-02 3.19959728e+01] [-1.20463100e-01 9.92715080e-01 -2.32644740e-03 -2.77021587e+00] [-1.64876822e-02 3.42468575e-04 9.99864010e-01 -6.56982022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.26432 meters 0.021305914893558438 Centerline is valid? [True, True] Translation: X:32.06, Y:-2.78, Z:-0.66 [[ 9.92815093e-01 1.18627824e-01 1.56725934e-02 3.20572474e+01] [-1.18607274e-01 9.92938723e-01 -2.23755050e-03 -2.77866928e+00] [-1.58273606e-02 3.62590322e-04 9.99874674e-01 -6.58744017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.324320000000004 meters 0.022365190114967334 Centerline is valid? [True, True] Translation: X:32.12, Y:-2.79, Z:-0.66 [[ 9.92926622e-01 1.17618949e-01 1.62020512e-02 3.21173873e+01] [-1.17596763e-01 9.93058722e-01 -2.31861826e-03 -2.78677658e+00] [-1.63623017e-02 3.96909012e-04 9.99866050e-01 -6.59190777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.384320000000002 meters 0.02234776891005273 Centerline is valid? [True, True] Translation: X:32.18, Y:-2.80, Z:-0.66 [[ 9.92874078e-01 1.18064407e-01 1.61821377e-02 3.21800011e+01] [-1.18042312e-01 9.93005863e-01 -2.31716611e-03 -2.79504230e+00] [-1.63425324e-02 3.90477222e-04 9.99866376e-01 -6.60407193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.44432 meters 0.022251816566515727 Centerline is valid? [True, True] Translation: X:32.24, Y:-2.80, Z:-0.66 [[ 9.92537698e-01 1.20877896e-01 1.60453394e-02 3.22405538e+01] [-1.20856454e-01 9.92667323e-01 -2.30289779e-03 -2.80025974e+00] [-1.62060536e-02 3.46530046e-04 9.99868613e-01 -6.61983233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.504320000000003 meters 0.01941799355647286 Centerline is valid? [True, True] Translation: X:32.30, Y:-2.80, Z:-0.66 [[ 9.91903337e-01 1.26024483e-01 1.56716155e-02 3.23032098e+01] [-1.26004611e-01 9.92027098e-01 -2.25296057e-03 -2.80150097e+00] [-1.58305954e-02 2.60023298e-04 9.99874654e-01 -6.63006655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.564320000000002 meters 0.018135158843348768 Centerline is valid? [True, True] Translation: X:32.37, Y:-2.81, Z:-0.66 [[ 9.91366410e-01 1.30184197e-01 1.56434236e-02 3.23658139e+01] [-1.30164832e-01 9.91489806e-01 -2.25412762e-03 -2.80636755e+00] [-1.58037468e-02 1.98442800e-04 9.99875093e-01 -6.64073732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.62432 meters 0.016677630970576368 Centerline is valid? [True, True] Translation: X:32.43, Y:-2.81, Z:-0.67 [[ 9.90588255e-01 1.36009710e-01 1.53710077e-02 3.24270688e+01] [-1.35991705e-01 9.90707499e-01 -2.21547911e-03 -2.80868718e+00] [-1.55294993e-02 1.04298048e-04 9.99879405e-01 -6.65513814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.684320000000003 meters 0.016020516498849585 Centerline is valid? [True, True] Translation: X:32.49, Y:-2.81, Z:-0.67 [[ 9.90039654e-01 1.39881438e-01 1.59582929e-02 3.24896646e+01] [-1.39862469e-01 9.90168259e-01 -2.30409567e-03 -2.81248151e+00] [-1.61236954e-02 4.91798328e-05 9.99870004e-01 -6.65522309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744320000000002 meters 0.016097776246145157 Centerline is valid? [True, True] Translation: X:32.55, Y:-2.82, Z:-0.67 [[ 9.89995562e-01 1.40286181e-01 1.51187112e-02 3.25509188e+01] [-1.40269144e-01 9.90110997e-01 -2.18673733e-03 -2.82229013e+00] [-1.52759713e-02 4.41715688e-05 9.99883315e-01 -6.67586505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.804320000000004 meters 0.01644290300005861 Centerline is valid? [True, True] Translation: X:32.61, Y:-2.83, Z:-0.67 [[ 9.90091324e-01 1.39612021e-01 1.50881993e-02 3.26115769e+01] [-1.39594905e-01 9.90206282e-01 -2.18684254e-03 -2.83332801e+00] [-1.52457392e-02 5.89380844e-05 9.99883775e-01 -6.68856873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.864320000000003 meters 0.01676195793744065 Centerline is valid? [True, True] Translation: X:32.67, Y:-2.84, Z:-0.67 [[ 9.90402814e-01 1.37524587e-01 1.37569671e-02 3.26730819e+01] [-1.37510107e-01 9.90498350e-01 -1.99748787e-03 -2.84462033e+00] [-1.39009569e-02 8.65955779e-05 9.99903373e-01 -6.70632193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.92432 meters 0.017586897254962222 Centerline is valid? [True, True] Translation: X:32.73, Y:-2.86, Z:-0.67 [[ 9.90809660e-01 1.34636223e-01 1.30117478e-02 3.27335207e+01] [-1.34622977e-01 9.90895086e-01 -1.89258042e-03 -2.85832268e+00] [-1.31480868e-02 1.23506740e-04 9.99913553e-01 -6.72652606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.984320000000004 meters 0.01913847993350771 Centerline is valid? [True, True] Translation: X:32.79, Y:-2.87, Z:-0.67 [[ 9.91348107e-01 1.30647313e-01 1.26574299e-02 3.27927365e+01] [-1.30634409e-01 9.91428893e-01 -1.84452792e-03 -2.87389160e+00] [-1.27899243e-02 1.75073387e-04 9.99918190e-01 -6.73933467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04432 meters 0.02030788897224891 Centerline is valid? [True, True] Translation: X:32.85, Y:-2.89, Z:-0.67 [[ 9.91635818e-01 1.28451685e-01 1.25924454e-02 3.28530453e+01] [-1.28438696e-01 9.91715747e-01 -1.83818984e-03 -2.88724059e+00] [-1.27242450e-02 2.05457614e-04 9.99919022e-01 -6.74899014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.10432 meters 0.021638953607698904 Centerline is valid? [True, True] Translation: X:32.91, Y:-2.90, Z:-0.68 [[ 9.91902286e-01 1.26372258e-01 1.26454545e-02 3.29129184e+01] [-1.26358940e-01 9.91982861e-01 -1.84992250e-03 -2.90062662e+00] [-1.27778530e-02 2.37076140e-04 9.99918332e-01 -6.75997810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.164320000000004 meters 0.019724059090248436 Centerline is valid? [True, True] Translation: X:32.97, Y:-2.91, Z:-0.67 [[ 9.91824159e-01 1.26889620e-01 1.35595788e-02 3.29745629e+01] [-1.26874341e-01 9.91916812e-01 -1.98466962e-03 -2.90960741e+00] [-1.37018082e-02 2.48080655e-04 9.99906095e-01 -6.73745508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.224320000000006 meters 0.019138420626146284 Centerline is valid? [True, True] Translation: X:33.04, Y:-2.92, Z:-0.68 [[ 9.91469601e-01 1.29718420e-01 1.26949517e-02 3.30351294e+01] [-1.29705215e-01 9.91550852e-01 -1.86153551e-03 -2.91760857e+00] [-1.28291657e-02 1.99054426e-04 9.99917683e-01 -6.76175525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.28432 meters 0.019223659410050088 Centerline is valid? [True, True] Translation: X:33.10, Y:-2.93, Z:-0.68 [[ 9.91115765e-01 1.32403493e-01 1.26037556e-02 3.30958529e+01] [-1.32390655e-01 9.91195887e-01 -1.85125586e-03 -2.92757893e+00] [-1.27379035e-02 1.66189403e-04 9.99918856e-01 -6.78982604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.34432 meters 0.017520623348714487 Centerline is valid? [True, True] Translation: X:33.16, Y:-2.93, Z:-0.68 [[ 9.90647221e-01 1.35864494e-01 1.26064317e-02 3.31579217e+01] [-1.35851887e-01 9.90727422e-01 -1.85503918e-03 -2.93291793e+00] [-1.27415716e-02 1.25081878e-04 9.99918815e-01 -6.78962096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.404320000000006 meters 0.01725725441650746 Centerline is valid? [True, True] Translation: X:33.22, Y:-2.94, Z:-0.68 [[ 9.90426950e-01 1.37494154e-01 1.22398850e-02 3.32191880e+01] [-1.37482354e-01 9.90502573e-01 -1.80436896e-03 -2.94346884e+00] [-1.23717278e-02 1.04327448e-04 9.99923462e-01 -6.79638911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.46432 meters 0.01724215809194073 Centerline is valid? [True, True] Translation: X:33.28, Y:-2.95, Z:-0.68 [[ 9.90376934e-01 1.37804911e-01 1.27802683e-02 3.32817009e+01] [-1.37792027e-01 9.90459386e-01 -1.88749844e-03 -2.95349799e+00] [-1.29184432e-02 1.08315849e-04 9.99916548e-01 -6.80232654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.52432 meters 0.017551739388946414 Centerline is valid? [True, True] Translation: X:33.34, Y:-2.96, Z:-0.68 [[ 9.90470293e-01 1.37149208e-01 1.25974004e-02 3.33439602e+01] [-1.37136587e-01 9.90550393e-01 -1.86434998e-03 -2.96445098e+00] [-1.27340541e-02 1.19018767e-04 9.99918912e-01 -6.82076118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.584320000000005 meters 0.018735219278252176 Centerline is valid? [True, True] Translation: X:33.40, Y:-2.98, Z:-0.68 [[ 9.90832395e-01 1.34675376e-01 1.06634008e-02 3.34036745e+01] [-1.34666158e-01 9.90889765e-01 -1.58113094e-03 -2.97985867e+00] [-1.07791941e-02 1.30636539e-04 9.99941894e-01 -6.83571514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64432 meters 0.020560109835483436 Centerline is valid? [True, True] Translation: X:33.46, Y:-2.99, Z:-0.69 [[ 9.91383890e-01 1.30645336e-01 9.47520239e-03 3.34642530e+01] [-1.30637857e-01 9.91429156e-01 -1.40657699e-03 -2.99486544e+00] [-9.57775464e-03 1.56637629e-04 9.99954120e-01 -6.85270435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70432 meters 0.02060571273326507 Centerline is valid? [True, True] Translation: X:33.53, Y:-3.01, Z:-0.68 [[ 9.91741709e-01 1.27936816e-01 8.97518395e-03 3.35254836e+01] [-1.27929978e-01 9.91782305e-01 -1.33420862e-03 -3.00610120e+00] [-9.07212302e-03 1.74995253e-04 9.99958832e-01 -6.84950886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.764320000000005 meters 0.023296447335488097 Centerline is valid? [True, True] Translation: X:33.58, Y:-3.02, Z:-0.69 [[ 9.92086100e-01 1.25228473e-01 9.11038563e-03 3.35845086e+01] [-1.25221274e-01 9.92127908e-01 -1.35869939e-03 -3.02100589e+00] [-9.20881569e-03 2.07132687e-04 9.99957577e-01 -6.85282152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82432 meters 0.023760116436590865 Centerline is valid? [True, True] Translation: X:33.65, Y:-3.03, Z:-0.69 [[ 9.92079316e-01 1.25338897e-01 8.29408964e-03 3.36457654e+01] [-1.25332939e-01 9.92113968e-01 -1.23628977e-03 -3.03147892e+00] [-8.38363738e-03 1.86974879e-04 9.99964839e-01 -6.86197133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88432 meters 0.024100902955425867 Centerline is valid? [True, True] Translation: X:33.71, Y:-3.04, Z:-0.69 [[ 9.91971283e-01 1.26284359e-01 6.72566184e-03 3.37064602e+01] [-1.26280460e-01 9.91994072e-01 -1.00301492e-03 -3.04184221e+00] [-6.79848177e-03 1.45642325e-04 9.99976879e-01 -6.88287486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.944320000000005 meters 0.023395201902942784 Centerline is valid? [True, True] Translation: X:33.77, Y:-3.05, Z:-0.69 [[ 9.91605071e-01 1.29168808e-01 5.89932544e-03 3.37675737e+01] [-1.29165849e-01 9.91622613e-01 -8.81346772e-04 -3.04888993e+00] [-5.96374702e-03 1.11956546e-04 9.99982210e-01 -6.89084804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00432 meters 0.020075890980320265 Centerline is valid? [True, True] Translation: X:33.83, Y:-3.05, Z:-0.69 [[ 9.91073672e-01 1.33184601e-01 5.90243205e-03 3.38297944e+01] [-1.33181706e-01 9.91091244e-01 -8.82630489e-04 -3.05225683e+00] [-5.96740151e-03 8.86558698e-05 9.99982191e-01 -6.85493818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.06432 meters 0.01920880459972679 Centerline is valid? [True, True] Translation: X:33.89, Y:-3.06, Z:-0.69 [[ 9.90715589e-01 1.35806651e-01 6.25909404e-03 3.38918352e+01] [-1.35803434e-01 9.90735357e-01 -9.38004587e-04 -3.05886625e+00] [-6.32849303e-03 7.92893000e-05 9.99979972e-01 -6.85744313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.124320000000004 meters 0.018246724843856147 Centerline is valid? [True, True] Translation: X:33.95, Y:-3.07, Z:-0.69 [[ 9.90419275e-01 1.37920148e-01 6.90595449e-03 3.39534612e+01] [-1.37916267e-01 9.90443349e-01 -1.03732601e-03 -3.06621498e+00] [-6.98302485e-03 7.49442162e-05 9.99975616e-01 -6.85238035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18432 meters 0.01794099697061536 Centerline is valid? [True, True] Translation: X:34.02, Y:-3.07, Z:-0.69 [[ 9.90288256e-01 1.38850700e-01 7.04646141e-03 3.40160046e+01] [-1.38846672e-01 9.90313323e-01 -1.05989822e-03 -3.07385346e+00] [-7.12537222e-03 7.12270395e-05 9.99974612e-01 -6.85687988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.24432 meters 0.018479008657297687 Centerline is valid? [True, True] Translation: X:34.08, Y:-3.08, Z:-0.69 [[ 9.90380705e-01 1.38185202e-01 7.13505351e-03 3.40767571e+01] [-1.38181036e-01 9.90406403e-01 -1.07601458e-03 -3.08334671e+00] [-7.21529198e-03 7.97349972e-05 9.99973966e-01 -6.86508994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.304320000000004 meters 0.01845466416329808 Centerline is valid? [True, True] Translation: X:34.14, Y:-3.09, Z:-0.69 [[ 9.90472073e-01 1.37510186e-01 7.48474802e-03 3.41388843e+01] [-1.37505565e-01 9.90500349e-01 -1.13101440e-03 -3.09243084e+00] [-7.56917153e-03 9.10436766e-05 9.99971349e-01 -6.87020831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36432 meters 0.01883327394200907 Centerline is valid? [True, True] Translation: X:34.20, Y:-3.10, Z:-0.69 [[ 9.90573218e-01 1.36727992e-01 8.37591733e-03 3.42012761e+01] [-1.36722147e-01 9.90608623e-01 -1.26928852e-03 -3.10282147e+00] [-8.47080320e-03 1.12149821e-04 9.99964116e-01 -6.88130648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.42432 meters 0.020064795140039945 Centerline is valid? [True, True] Translation: X:34.26, Y:-3.11, Z:-0.69 [[ 9.90846090e-01 1.34716585e-01 8.68726134e-03 3.42618627e+01] [-1.34710186e-01 9.90884162e-01 -1.32031298e-03 -3.11317062e+00] [-8.78593773e-03 1.37964367e-04 9.99961393e-01 -6.91229098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.484320000000004 meters 0.020968632661618792 Centerline is valid? [True, True] Translation: X:34.32, Y:-3.12, Z:-0.69 [[ 9.91158928e-01 1.32388243e-01 8.79394826e-03 3.43227381e+01] [-1.32381574e-01 9.91197925e-01 -1.33866992e-03 -3.12391275e+00] [-8.89376742e-03 1.62677924e-04 9.99960436e-01 -6.92637244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54432 meters 0.02169707749079137 Centerline is valid? [True, True] Translation: X:34.38, Y:-3.13, Z:-0.69 [[ 9.91471109e-01 1.29928771e-01 1.01761619e-02 3.43835567e+01] [-1.29919673e-01 9.91523306e-01 -1.55289114e-03 -3.13349671e+00] [-1.02916669e-02 2.17563081e-04 9.99947016e-01 -6.93342748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.60432 meters 0.022772133900266306 Centerline is valid? [True, True] Translation: X:34.44, Y:-3.14, Z:-0.69 [[ 9.91519067e-01 1.29476050e-01 1.12201701e-02 3.44444364e+01] [-1.29464925e-01 9.91582518e-01 -1.71527595e-03 -3.14329180e+00] [-1.13478117e-02 2.48110323e-04 9.99935581e-01 -6.94883989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.664320000000004 meters 0.023160226268651458 Centerline is valid? [True, True] Translation: X:34.50, Y:-3.15, Z:-0.70 [[ 9.91466298e-01 1.29848998e-01 1.15679400e-02 3.45048396e+01] [-1.29837141e-01 9.91533747e-01 -1.77331430e-03 -3.15160688e+00] [-1.17002660e-02 2.56233106e-04 9.99931517e-01 -6.97109308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.724320000000006 meters 0.022742697087888748 Centerline is valid? [True, True] Translation: X:34.57, Y:-3.16, Z:-0.70 [[ 9.91268384e-01 1.31252139e-01 1.26438479e-02 3.45662830e+01] [-1.31238073e-01 9.91348983e-01 -1.93946581e-03 -3.15806817e+00] [-1.27890248e-02 2.63176913e-04 9.99918182e-01 -6.98428355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78432 meters 0.02121100115787631 Centerline is valid? [True, True] Translation: X:34.63, Y:-3.16, Z:-0.70 [[ 9.91152687e-01 1.31946781e-01 1.43665336e-02 3.46286818e+01] [-1.31928630e-01 9.91256758e-01 -2.20804033e-03 -3.16291342e+00] [-1.45322674e-02 2.93148010e-04 9.99894358e-01 -6.98368981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.84432 meters 0.020771260036372006 Centerline is valid? [True, True] Translation: X:34.69, Y:-3.17, Z:-0.70 [[ 9.91112102e-01 1.32190441e-01 1.49160201e-02 3.46908279e+01] [-1.32170843e-01 9.91224291e-01 -2.29646213e-03 -3.16976897e+00] [-1.50886917e-02 3.04588466e-04 9.99886113e-01 -6.99712188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.904320000000006 meters 0.021179685553436745 Centerline is valid? [True, True] Translation: X:34.75, Y:-3.18, Z:-0.70 [[ 9.91291207e-01 1.30790817e-01 1.53461681e-02 3.47525217e+01] [-1.30769823e-01 9.91409928e-01 -2.36792229e-03 -3.17734304e+00] [-1.55240459e-02 3.40484854e-04 9.99879437e-01 -7.01315236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96432 meters 0.023996151471972135 Centerline is valid? [True, True] Translation: X:34.81, Y:-3.19, Z:-0.70 [[ 9.91607981e-01 1.28254720e-01 1.62584982e-02 3.48126957e+01] [-1.28230733e-01 9.91741176e-01 -2.51367866e-03 -3.18784176e+00] [-1.64466133e-02 4.07744680e-04 9.99864662e-01 -7.03414947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02432 meters 0.023059618781121696 Centerline is valid? [True, True] Translation: X:34.87, Y:-3.19, Z:-0.70 [[ 9.91850254e-01 1.26114645e-01 1.81154426e-02 3.48744547e+01] [-1.26084414e-01 9.92015548e-01 -2.80589735e-03 -3.19459837e+00] [-1.83246655e-02 4.98955027e-04 9.99831965e-01 -7.03012892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.084320000000005 meters 0.025710212386286957 Centerline is valid? [True, True] Translation: X:34.93, Y:-3.21, Z:-0.70 [[ 9.92290596e-01 1.22500838e-01 1.87860938e-02 3.49345821e+01] [-1.22467575e-01 9.92468233e-01 -2.91532485e-03 -3.20590300e+00] [-1.90017311e-02 5.92162083e-04 9.99819275e-01 -7.04392734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14432 meters 0.025813688684650064 Centerline is valid? [True, True] Translation: X:35.00, Y:-3.21, Z:-0.71 [[ 9.92592842e-01 1.19915161e-01 1.94885457e-02 3.49962790e+01] [-1.19878758e-01 9.92783916e-01 -3.02978765e-03 -3.21199040e+00] [-1.97112322e-02 6.71082886e-04 9.99805490e-01 -7.06116860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20432 meters 0.027473871509242517 Centerline is valid? [True, True] Translation: X:35.06, Y:-3.22, Z:-0.71 [[ 9.92513684e-01 1.20439738e-01 2.02695945e-02 3.50575269e+01] [-1.20400435e-01 9.92720401e-01 -3.15277305e-03 -3.21983667e+00] [-2.05017592e-02 6.88702388e-04 9.99789580e-01 -7.07547794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.264320000000005 meters 0.02704527328271072 Centerline is valid? [True, True] Translation: X:35.12, Y:-3.23, Z:-0.71 [[ 9.92296852e-01 1.22040002e-01 2.12883791e-02 3.51193676e+01] [-1.21996872e-01 9.92524939e-01 -3.31790004e-03 -3.22637709e+00] [-2.15341637e-02 6.95226103e-04 9.99767871e-01 -7.08070273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32432 meters 0.025747510219895606 Centerline is valid? [True, True] Translation: X:35.18, Y:-3.23, Z:-0.71 [[ 9.91847425e-01 1.25691644e-01 2.09832535e-02 3.51801856e+01] [-1.25650441e-01 9.92069169e-01 -3.27588489e-03 -3.22825287e+00] [-2.12285902e-02 6.12622938e-04 9.99774460e-01 -7.10657911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38432 meters 0.022062424957255588 Centerline is valid? [True, True] Translation: X:35.24, Y:-3.23, Z:-0.71 [[ 9.91336700e-01 1.29545000e-01 2.16711835e-02 3.52426006e+01] [-1.29501960e-01 9.91573393e-01 -3.38372522e-03 -3.22746519e+00] [-2.19269137e-02 5.47950253e-04 9.99759426e-01 -7.12554319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.444320000000005 meters 0.021050133056443862 Centerline is valid? [True, True] Translation: X:35.31, Y:-3.23, Z:-0.71 [[ 9.90975767e-01 1.32194062e-01 2.21756498e-02 3.53053964e+01] [-1.32149635e-01 9.91223728e-01 -3.46346921e-03 -3.23119750e+00] [-2.24388803e-02 5.01710020e-04 9.99748091e-01 -7.14665281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50432 meters 0.021697638210810832 Centerline is valid? [True, True] Translation: X:35.37, Y:-3.24, Z:-0.72 [[ 9.91015535e-01 1.31681179e-01 2.34152881e-02 3.53672967e+01] [-1.31631435e-01 9.91291970e-01 -3.65992419e-03 -3.23796800e+00] [-2.36933302e-02 5.44853753e-04 9.99719125e-01 -7.15764997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.56432 meters 0.021404700546270545 Centerline is valid? [True, True] Translation: X:35.43, Y:-3.25, Z:-0.72 [[ 9.91168695e-01 1.30271581e-01 2.47776876e-02 3.54290776e+01] [-1.30215261e-01 9.91478155e-01 -3.87996780e-03 -3.24638948e+00] [-2.50719855e-02 6.19269559e-04 9.99685457e-01 -7.16354294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.624320000000004 meters 0.023207807684544376 Centerline is valid? [True, True] Translation: X:35.49, Y:-3.26, Z:-0.72 [[ 9.91527396e-01 1.27268781e-01 2.60015423e-02 3.54898879e+01] [-1.27205528e-01 9.91867992e-01 -4.07915620e-03 -3.25567315e+00] [-2.63092468e-02 7.37055195e-04 9.99653580e-01 -7.16945831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68432 meters 0.024667045274589138 Centerline is valid? [True, True] Translation: X:35.55, Y:-3.26, Z:-0.72 [[ 9.91959094e-01 1.23698294e-01 2.67560716e-02 3.55514019e+01] [-1.23629853e-01 9.92319500e-01 -4.20359865e-03 -3.26479211e+00] [-2.70705496e-02 8.61948697e-04 9.99633154e-01 -7.17510901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.74432 meters 0.026311878168233598 Centerline is valid? [True, True] Translation: X:35.61, Y:-3.27, Z:-0.72 [[ 9.92180851e-01 1.22041840e-01 2.61332657e-02 3.56116322e+01] [-1.21975912e-01 9.92524559e-01 -4.10815750e-03 -3.27491310e+00] [-2.64392751e-02 8.88406287e-04 9.99650026e-01 -7.18694305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.804320000000004 meters 0.025292057076105476 Centerline is valid? [True, True] Translation: X:35.67, Y:-3.28, Z:-0.72 [[ 9.92074685e-01 1.22964249e-01 2.58382137e-02 3.56732440e+01] [-1.22899999e-01 9.92410730e-01 -4.06616274e-03 -3.28091757e+00] [-2.61421131e-02 8.58420675e-04 9.99657868e-01 -7.20794660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86432 meters 0.022957322951186784 Centerline is valid? [True, True] Translation: X:35.74, Y:-3.28, Z:-0.72 [[ 9.91664668e-01 1.26433667e-01 2.48136010e-02 3.57354549e+01] [-1.26375350e-01 9.91974786e-01 -3.91079792e-03 -3.28367140e+00] [-2.51089231e-02 7.42372617e-04 9.99684446e-01 -7.22335700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92432 meters 0.02191136235615039 Centerline is valid? [True, True] Translation: X:35.80, Y:-3.29, Z:-0.72 [[ 9.91276080e-01 1.29612615e-01 2.39228755e-02 3.57977104e+01] [-1.29559297e-01 9.91564502e-01 -3.77195659e-03 -3.29075562e+00] [-2.42099673e-02 6.39619417e-04 9.99706691e-01 -7.23719161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.984320000000004 meters 0.018724940153849158 Centerline is valid? [True, True] Translation: X:35.86, Y:-3.29, Z:-0.72 [[ 9.90272397e-01 1.37404684e-01 2.19210441e-02 3.58590814e+01] [-1.37361780e-01 9.90514907e-01 -3.45828366e-03 -3.29103418e+00] [-2.21883053e-02 4.13529228e-04 9.99753724e-01 -7.24962031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.044320000000006 meters 0.01789522900914004 Centerline is valid? [True, True] Translation: X:35.92, Y:-3.30, Z:-0.73 [[ 9.89824773e-01 1.40770901e-01 2.07477990e-02 3.59203119e+01] [-1.40733198e-01 9.90042146e-01 -3.27356230e-03 -3.29760100e+00] [-2.10020178e-02 3.20348950e-04 9.99779382e-01 -7.26723928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.10432 meters 0.016599809902036574 Centerline is valid? [True, True] Translation: X:35.98, Y:-3.30, Z:-0.73 [[ 9.89449713e-01 1.43665766e-01 1.86926117e-02 3.59826399e+01] [-1.43635585e-01 9.89626238e-01 -2.95430212e-03 -3.30415996e+00] [-1.89231311e-02 2.38209169e-04 9.99820913e-01 -7.28634471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.164320000000004 meters 0.016799314056747786 Centerline is valid? [True, True] Translation: X:36.04, Y:-3.32, Z:-0.73 [[ 9.89488844e-01 1.43520656e-01 1.77101260e-02 3.60449501e+01] [-1.43493523e-01 9.89647295e-01 -2.79999494e-03 -3.31563683e+00] [-1.79286354e-02 2.29275373e-04 9.99839243e-01 -7.29980968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.224320000000006 meters 0.017053923981968054 Centerline is valid? [True, True] Translation: X:36.11, Y:-3.33, Z:-0.73 [[ 9.89545508e-01 1.43108746e-01 1.78766471e-02 3.61066637e+01] [-1.43080928e-01 9.89706940e-01 -2.83214668e-03 -3.32637124e+00] [-1.80979467e-02 2.44730763e-04 9.99836189e-01 -7.30964468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.28432 meters 0.017661461786309545 Centerline is valid? [True, True] Translation: X:36.17, Y:-3.34, Z:-0.73 [[ 9.89800221e-01 1.41308710e-01 1.80933866e-02 3.61676796e+01] [-1.41279803e-01 9.89965538e-01 -2.87247241e-03 -3.33966674e+00] [-1.83177346e-02 2.86943713e-04 9.99832175e-01 -7.31481847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.34432 meters 0.018098366296569194 Centerline is valid? [True, True] Translation: X:36.23, Y:-3.35, Z:-0.73 [[ 9.89883256e-01 1.40753134e-01 1.78800184e-02 3.62286603e+01] [-1.40724725e-01 9.90044679e-01 -2.84353864e-03 -3.35205106e+00] [-1.81022540e-02 2.98610626e-04 9.99836096e-01 -7.32536647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.404320000000006 meters 0.019201794671907968 Centerline is valid? [True, True] Translation: X:36.29, Y:-3.36, Z:-0.73 [[ 9.90127797e-01 1.39008944e-01 1.79849915e-02 3.62896284e+01] [-1.38979821e-01 9.90291068e-01 -2.86525209e-03 -3.36439658e+00] [-1.82086721e-02 3.37414841e-04 9.99834151e-01 -7.34902125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46432 meters 0.022460228215585236 Centerline is valid? [True, True] Translation: X:36.35, Y:-3.38, Z:-0.74 [[ 9.90416209e-01 1.36920937e-01 1.81215339e-02 3.63488122e+01] [-1.36890929e-01 9.90581905e-01 -2.89200383e-03 -3.38081994e+00] [-1.83468394e-02 3.83613871e-04 9.99831609e-01 -7.37734201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52432 meters 0.021855480513682104 Centerline is valid? [True, True] Translation: X:36.41, Y:-3.39, Z:-0.74 [[ 9.90542680e-01 1.35972101e-01 1.83517375e-02 3.64101048e+01] [-1.35941074e-01 9.90712581e-01 -2.93355034e-03 -3.39037600e+00] [-1.85801782e-02 4.11051924e-04 9.99827289e-01 -7.38692162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.584320000000005 meters 0.021948903576710525 Centerline is valid? [True, True] Translation: X:36.47, Y:-3.40, Z:-0.74 [[ 9.90433185e-01 1.36804377e-01 1.80739689e-02 3.64713845e+01] [-1.36774328e-01 9.90598005e-01 -2.89419692e-03 -3.40115323e+00] [-1.82999763e-02 3.94453733e-04 9.99832464e-01 -7.40948321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64432 meters 0.02092638525197867 Centerline is valid? [True, True] Translation: X:36.53, Y:-3.41, Z:-0.74 [[ 9.90026503e-01 1.39742345e-01 1.78773702e-02 3.65327648e+01] [-1.39713342e-01 9.90187841e-01 -2.86728713e-03 -3.40909369e+00] [-1.81026360e-02 3.40983112e-04 9.99836076e-01 -7.43295631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70432 meters 0.01736490723162232 Centerline is valid? [True, True] Translation: X:36.59, Y:-3.41, Z:-0.74 [[ 9.89317665e-01 1.44493796e-01 1.92899067e-02 3.65948810e+01] [-1.44460827e-01 9.89505667e-01 -3.09913252e-03 -3.41214052e+00] [-1.95352774e-02 2.79390678e-04 9.99809129e-01 -7.43000931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.764320000000005 meters 0.01610632568908065 Centerline is valid? [True, True] Translation: X:36.66, Y:-3.42, Z:-0.74 [[ 9.88629305e-01 1.49099328e-01 1.95317062e-02 3.66560661e+01] [-1.49066312e-01 9.88822204e-01 -3.14369347e-03 -3.41850012e+00] [-1.97821073e-02 1.96428086e-04 9.99804296e-01 -7.44700844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82432 meters 0.014808859295405938 Centerline is valid? [True, True] Translation: X:36.72, Y:-3.42, Z:-0.75 [[ 9.87606407e-01 1.55606627e-01 2.04978583e-02 3.67183195e+01] [-1.55571594e-01 9.87819099e-01 -3.30254234e-03 -3.42311129e+00] [-2.07620734e-02 7.27274853e-05 9.99784442e-01 -7.45389284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88432 meters 0.014642303634531735 Centerline is valid? [True, True] Translation: X:36.78, Y:-3.43, Z:-0.75 [[ 9.86853813e-01 1.60263814e-01 2.08581296e-02 3.67813896e+01] [-1.60228453e-01 9.87074217e-01 -3.36649451e-03 -3.42990645e+00] [-2.11280491e-02 -1.98278828e-05 9.99776778e-01 -7.46540879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.944320000000005 meters 0.01473815669634364 Centerline is valid? [True, True] Translation: X:36.84, Y:-3.44, Z:-0.75 [[ 9.86792097e-01 1.60433825e-01 2.24130550e-02 3.68423120e+01] [-1.60392869e-01 9.87046598e-01 -3.62495951e-03 -3.44207152e+00] [-2.27042958e-02 -1.78127925e-05 9.99742224e-01 -7.47181926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00432 meters 0.014920217606324657 Centerline is valid? [True, True] Translation: X:36.90, Y:-3.46, Z:-0.75 [[ 9.87282761e-01 1.57373465e-01 2.25020419e-02 3.69021153e+01] [-1.57331239e-01 9.87539158e-01 -3.64589015e-03 -3.45780867e+00] [-2.27954139e-02 5.92503634e-05 9.99740149e-01 -7.48485082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06432 meters 0.01539416541536529 Centerline is valid? [True, True] Translation: X:36.96, Y:-3.47, Z:-0.75 [[ 9.87717063e-01 1.54644637e-01 2.23615800e-02 3.69630303e+01] [-1.54602093e-01 9.87970151e-01 -3.62943365e-03 -3.47236582e+00] [-2.26538461e-02 1.27706456e-04 9.99743361e-01 -7.50549300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.124320000000004 meters 0.01641436609644103 Centerline is valid? [True, True] Translation: X:37.02, Y:-3.49, Z:-0.75 [[ 9.88480246e-01 1.49555821e-01 2.32348666e-02 3.70230627e+01] [-1.49508333e-01 9.88753250e-01 -3.77753901e-03 -3.48852163e+00] [-2.35385028e-02 2.60216513e-04 9.99722897e-01 -7.51555377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18432 meters 0.01832068419163573 Centerline is valid? [True, True] Translation: X:37.08, Y:-3.51, Z:-0.75 [[ 9.89259156e-01 1.44328542e-01 2.31428947e-02 3.70829325e+01] [-1.44279845e-01 9.89529747e-01 -3.76910211e-03 -3.50517505e+00] [-2.34445717e-02 3.89565519e-04 9.99725062e-01 -7.53455507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24432 meters 0.02052463555209517 Centerline is valid? [True, True] Translation: X:37.14, Y:-3.52, Z:-0.76 [[ 9.89858360e-01 1.40273163e-01 2.24469892e-02 3.71417667e+01] [-1.40226177e-01 9.90112727e-01 -3.66150513e-03 -3.52098035e+00] [-2.27386606e-02 4.76715981e-04 9.99741330e-01 -7.56428042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.304320000000004 meters 0.02177623970825585 Centerline is valid? [True, True] Translation: X:37.20, Y:-3.53, Z:-0.76 [[ 9.90124962e-01 1.38470408e-01 2.18747599e-02 3.72022409e+01] [-1.38425325e-01 9.90366442e-01 -3.56922143e-03 -3.53367735e+00] [-2.21582597e-02 5.05954480e-04 9.99754348e-01 -7.59832508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36432 meters 0.020389039786256773 Centerline is valid? [True, True] Translation: X:37.26, Y:-3.54, Z:-0.76 [[ 9.90101744e-01 1.38704527e-01 2.14380482e-02 3.72646561e+01] [-1.38661157e-01 9.90333685e-01 -3.50365187e-03 -3.54277002e+00] [-2.17167937e-02 4.96347251e-04 9.99764039e-01 -7.61741812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42432 meters 0.020460424474501422 Centerline is valid? [True, True] Translation: X:37.32, Y:-3.55, Z:-0.76 [[ 9.89915019e-01 1.39977239e-01 2.17859385e-02 3.73248649e+01] [-1.39932601e-01 9.90154604e-01 -3.56763563e-03 -3.55453416e+00] [-2.20708351e-02 4.83093054e-04 9.99756293e-01 -7.62606529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.484320000000004 meters 0.019995059002931095 Centerline is valid? [True, True] Translation: X:37.39, Y:-3.57, Z:-0.76 [[ 9.89640596e-01 1.41752249e-01 2.27550239e-02 3.73863362e+01] [-1.41703927e-01 9.89902057e-01 -3.73035972e-03 -3.56519593e+00] [-2.30540318e-02 4.67239184e-04 9.99734111e-01 -7.63484617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.544320000000006 meters 0.020933565462380215 Centerline is valid? [True, True] Translation: X:37.45, Y:-3.58, Z:-0.76 [[ 9.89648503e-01 1.41593863e-01 2.33884172e-02 3.74469886e+01] [-1.41542610e-01 9.89924713e-01 -3.84089338e-03 -3.57813088e+00] [-2.36966191e-02 4.90676773e-04 9.99719075e-01 -7.64425997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.60432 meters 0.020655383129081578 Centerline is valid? [True, True] Translation: X:37.51, Y:-3.59, Z:-0.77 [[ 9.89869171e-01 1.39731143e-01 2.51839582e-02 3.75086490e+01] [-1.39670914e-01 9.90189308e-01 -4.14358243e-03 -3.58816303e+00] [-2.55158737e-02 5.84138036e-04 9.99674246e-01 -7.65235269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.664320000000004 meters 0.022002762310507212 Centerline is valid? [True, True] Translation: X:37.57, Y:-3.60, Z:-0.77 [[ 9.89993663e-01 1.38510856e-01 2.69683054e-02 3.75681656e+01] [-1.38441117e-01 9.90360691e-01 -4.44513779e-03 -3.60142482e+00] [-2.73240494e-02 6.67135916e-04 9.99626406e-01 -7.65461965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.724320000000006 meters 0.021405489560121154 Centerline is valid? [True, True] Translation: X:37.63, Y:-3.61, Z:-0.77 [[ 9.89981433e-01 1.38529151e-01 2.73209758e-02 3.76304033e+01] [-1.38457373e-01 9.90358121e-01 -4.51087831e-03 -3.61080780e+00] [-2.76824384e-02 6.82895234e-04 9.99616535e-01 -7.66216878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78432 meters 0.021281290203335582 Centerline is valid? [True, True] Translation: X:37.69, Y:-3.62, Z:-0.77 [[ 9.89841721e-01 1.39759284e-01 2.60903976e-02 3.76914962e+01] [-1.39694044e-01 9.90185310e-01 -4.31566494e-03 -3.61909991e+00] [-2.64374827e-02 6.27152054e-04 9.99650272e-01 -7.69602267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.84432 meters 0.02112090469018149 Centerline is valid? [True, True] Translation: X:37.75, Y:-3.63, Z:-0.77 [[ 9.89556103e-01 1.42051282e-01 2.44980223e-02 3.77522752e+01] [-1.41994304e-01 9.89859154e-01 -4.05876731e-03 -3.62851092e+00] [-2.48261447e-02 5.37798329e-04 9.99691639e-01 -7.72395747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.904320000000006 meters 0.020061503988894322 Centerline is valid? [True, True] Translation: X:37.81, Y:-3.64, Z:-0.77 [[ 9.89349489e-01 1.43456763e-01 2.46525189e-02 3.78142179e+01] [-1.43399329e-01 9.89656453e-01 -4.09120127e-03 -3.63692406e+00] [-2.49844349e-02 5.12473229e-04 9.99687709e-01 -7.73326102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96432 meters 0.02024953884375325 Centerline is valid? [True, True] Translation: X:37.88, Y:-3.65, Z:-0.77 [[ 9.89265056e-01 1.44061942e-01 2.45113318e-02 3.78760502e+01] [-1.44005178e-01 9.89568545e-01 -4.07466905e-03 -3.64747202e+00] [-2.48426477e-02 5.01168993e-04 9.99691248e-01 -7.74104015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02432 meters 0.020010532516160418 Centerline is valid? [True, True] Translation: X:37.94, Y:-3.66, Z:-0.78 [[ 9.89323310e-01 1.44014850e-01 2.23408154e-02 3.79383048e+01] [-1.43967538e-01 9.89575418e-01 -3.72027385e-03 -3.65733820e+00] [-2.26436964e-02 4.64201447e-04 9.99743491e-01 -7.76716330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.084320000000005 meters 0.02143373893915891 Centerline is valid? [True, True] Translation: X:38.00, Y:-3.67, Z:-0.78 [[ 9.89346819e-01 1.43882011e-01 2.21548684e-02 3.79986888e+01] [-1.43835294e-01 9.89594738e-01 -3.69628113e-03 -3.67069979e+00] [-2.24561696e-02 4.70251969e-04 9.99747718e-01 -7.78057844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14432 meters 0.02257033123679659 Centerline is valid? [True, True] Translation: X:38.06, Y:-3.68, Z:-0.78 [[ 9.89549979e-01 1.42662203e-01 2.09364644e-02 3.80592581e+01] [-1.42620087e-01 9.89771322e-01 -3.49880842e-03 -3.68345098e+00] [-2.12214597e-02 4.76285427e-04 9.99774686e-01 -7.79913698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20432 meters 0.02136629712296533 Centerline is valid? [True, True] Translation: X:38.12, Y:-3.69, Z:-0.78 [[ 9.89756777e-01 1.41375943e-01 1.98586091e-02 3.81208130e+01] [-1.41337696e-01 9.89955863e-01 -3.32352222e-03 -3.69180830e+00] [-2.01290126e-02 4.82708579e-04 9.99797274e-01 -7.81381501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.264320000000005 meters 0.021849848579186627 Centerline is valid? [True, True] Translation: X:38.18, Y:-3.70, Z:-0.78 [[ 9.89813522e-01 1.41039572e-01 1.94172862e-02 3.81821031e+01] [-1.41002838e-01 9.90003841e-01 -3.25498360e-03 -3.70398286e+00] [-1.96822694e-02 4.83934328e-04 9.99806168e-01 -7.81885623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32432 meters 0.02201310073856823 Centerline is valid? [True, True] Translation: X:38.24, Y:-3.72, Z:-0.78 [[ 9.89748837e-01 1.41631062e-01 1.83815835e-02 3.82440687e+01] [-1.41598156e-01 9.89919410e-01 -3.08609475e-03 -3.71627228e+00] [-1.86333732e-02 4.51660366e-04 9.99826282e-01 -7.83260573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38432 meters 0.020793979505357822 Centerline is valid? [True, True] Translation: X:38.31, Y:-3.72, Z:-0.78 [[ 9.89370245e-01 1.44320909e-01 1.78323538e-02 3.83054798e+01] [-1.44290276e-01 9.89530858e-01 -2.99944487e-03 -3.72445751e+00] [-1.80785470e-02 3.94526253e-04 9.99836492e-01 -7.83958153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.444320000000005 meters 0.019299406316390086 Centerline is valid? [True, True] Translation: X:38.37, Y:-3.73, Z:-0.78 [[ 9.88869140e-01 1.47764029e-01 1.74245457e-02 3.83671468e+01] [-1.47735232e-01 9.89022590e-01 -2.93553121e-03 -3.73273421e+00] [-1.76670353e-02 3.28636915e-04 9.99843872e-01 -7.84250836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50432 meters 0.018369797496776006 Centerline is valid? [True, True] Translation: X:38.43, Y:-3.74, Z:-0.78 [[ 9.88624414e-01 1.49458594e-01 1.68492526e-02 3.84286838e+01] [-1.49431837e-01 9.88767942e-01 -2.84310711e-03 -3.74247325e+00] [-1.70849276e-02 2.92950338e-04 9.99853999e-01 -7.84929104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56432 meters 0.01803751315129997 Centerline is valid? [True, True] Translation: X:38.49, Y:-3.75, Z:-0.79 [[ 9.88332819e-01 1.51396513e-01 1.66533491e-02 3.84892791e+01] [-1.51370568e-01 9.88473079e-01 -2.81487740e-03 -3.75231532e+00] [-1.68875499e-02 2.61208800e-04 9.99857361e-01 -7.85877688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.624320000000004 meters 0.017393275665894402 Centerline is valid? [True, True] Translation: X:38.55, Y:-3.76, Z:-0.79 [[ 9.88069295e-01 1.53187672e-01 1.58935539e-02 3.85501416e+01] [-1.53164210e-01 9.88197089e-01 -2.69026555e-03 -3.76320080e+00] [-1.61180792e-02 2.23845162e-04 9.99870070e-01 -7.86555573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68432 meters 0.01744950775521282 Centerline is valid? [True, True] Translation: X:38.61, Y:-3.78, Z:-0.79 [[ 9.87901082e-01 1.54252412e-01 1.60513104e-02 3.86104995e+01] [-1.54228548e-01 9.88031451e-01 -2.72159878e-03 -3.77568035e+00] [-1.62790126e-02 2.13100096e-04 9.99867465e-01 -7.87028611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74432 meters 0.01654268492132128 Centerline is valid? [True, True] Translation: X:38.67, Y:-3.79, Z:-0.79 [[ 9.87578615e-01 1.56497683e-01 1.40340344e-02 3.86720787e+01] [-1.56479622e-01 9.87678313e-01 -2.38271600e-03 -3.78572091e+00] [-1.42340010e-02 1.57078969e-04 9.99898679e-01 -7.88541602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.804320000000004 meters 0.01658417177184136 Centerline is valid? [True, True] Translation: X:38.73, Y:-3.80, Z:-0.79 [[ 9.87366372e-01 1.57965395e-01 1.24330847e-02 3.87333640e+01] [-1.57951303e-01 9.87444641e-01 -2.11359299e-03 -3.79707433e+00] [-1.26108574e-02 1.23068718e-04 9.99920472e-01 -7.91255965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86432 meters 0.016448687124839156 Centerline is valid? [True, True] Translation: X:38.79, Y:-3.81, Z:-0.79 [[ 9.87269790e-01 1.58615223e-01 1.18141107e-02 3.87947657e+01] [-1.58602508e-01 9.87340467e-01 -2.01143711e-03 -3.81065699e+00] [-1.19835942e-02 1.12083505e-04 9.99928188e-01 -7.92161339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.92432 meters 0.017254584669201798 Centerline is valid? [True, True] Translation: X:38.85, Y:-3.83, Z:-0.79 [[ 9.87484279e-01 1.57273201e-01 1.18295782e-02 3.88543172e+01] [-1.57260306e-01 9.87555124e-01 -2.01831148e-03 -3.82589994e+00] [-1.19997869e-02 1.32727767e-04 9.99927991e-01 -7.93537240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.984320000000004 meters 0.018060194557252062 Centerline is valid? [True, True] Translation: X:38.91, Y:-3.84, Z:-0.79 [[ 9.87762241e-01 1.55491755e-01 1.21683991e-02 3.89149413e+01] [-1.55477938e-01 9.87837177e-01 -2.07915659e-03 -3.84015887e+00] [-1.23436887e-02 1.61794778e-04 9.99923801e-01 -7.94460973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.044320000000006 meters 0.01780826074212376 Centerline is valid? [True, True] Translation: X:38.98, Y:-3.85, Z:-0.79 [[ 9.88131465e-01 1.53130144e-01 1.21394831e-02 3.89757189e+01] [-1.53116178e-01 9.88206012e-01 -2.07715025e-03 -3.85368465e+00] [-1.23143845e-02 1.93746259e-04 9.99924156e-01 -7.93379517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.10432 meters 0.01841833324131418 Centerline is valid? [True, True] Translation: X:39.04, Y:-3.87, Z:-0.80 [[ 9.88249502e-01 1.52355730e-01 1.22740819e-02 3.90359937e+01] [-1.52341348e-01 9.88325699e-01 -2.10375669e-03 -3.86810895e+00] [-1.24513100e-02 2.09186312e-04 9.99922458e-01 -7.95067552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.164320000000004 meters 0.018096374768462906 Centerline is valid? [True, True] Translation: X:39.10, Y:-3.88, Z:-0.80 [[ 9.88077983e-01 1.53469457e-01 1.22075870e-02 3.90973243e+01] [-1.53455274e-01 9.88153372e-01 -2.09576228e-03 -3.87907029e+00] [-1.23846038e-02 1.97457954e-04 9.99923288e-01 -7.97808110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.224320000000006 meters 0.017577455522841033 Centerline is valid? [True, True] Translation: X:39.16, Y:-3.89, Z:-0.80 [[ 9.87814235e-01 1.55152307e-01 1.22800023e-02 3.91582749e+01] [-1.55138041e-01 9.87890545e-01 -2.11170284e-03 -3.88917977e+00] [-1.24589337e-02 1.80874626e-04 9.99922368e-01 -8.00261138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.28432 meters 0.017466831812500964 Centerline is valid? [True, True] Translation: X:39.22, Y:-3.90, Z:-0.80 [[ 9.87305848e-01 1.58287993e-01 1.31176941e-02 3.92185585e+01] [-1.58271923e-01 9.87392975e-01 -2.26089311e-03 -3.90113318e+00] [-1.33101912e-02 1.56030321e-04 9.99911403e-01 -8.03780280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.34432 meters 0.016551164762435008 Centerline is valid? [True, True] Translation: X:39.28, Y:-3.91, Z:-0.80 [[ 9.87095209e-01 1.59508485e-01 1.41453920e-02 3.92796489e+01] [-1.59489898e-01 9.87196546e-01 -2.43974595e-03 -3.91220216e+00] [-1.43534423e-02 1.52214424e-04 9.99896972e-01 -8.03994902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.404320000000006 meters 0.0170916390166587 Centerline is valid? [True, True] Translation: X:39.34, Y:-3.93, Z:-0.81 [[ 9.87188554e-01 1.58867977e-01 1.48231314e-02 3.93405355e+01] [-1.58847428e-01 9.87299821e-01 -2.56103889e-03 -3.92588495e+00] [-1.50417420e-02 1.73611975e-04 9.99886852e-01 -8.05954947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46432 meters 0.017064151918123296 Centerline is valid? [True, True] Translation: X:39.40, Y:-3.94, Z:-0.81 [[ 9.87200564e-01 1.58668618e-01 1.61032869e-02 3.94026263e+01] [-1.58644253e-01 9.87331875e-01 -2.78748714e-03 -3.93866747e+00] [-1.63415752e-02 1.97114952e-04 9.99866448e-01 -8.06005516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52432 meters 0.017137941305056113 Centerline is valid? [True, True] Translation: X:39.46, Y:-3.95, Z:-0.81 [[ 9.87175787e-01 1.58688795e-01 1.73733392e-02 3.94637173e+01] [-1.58660331e-01 9.87328628e-01 -3.01342897e-03 -3.95253542e+00] [-1.76313925e-02 2.18324371e-04 9.99844531e-01 -8.06299867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.584320000000005 meters 0.01709927830530565 Centerline is valid? [True, True] Translation: X:39.53, Y:-3.96, Z:-0.81 [[ 9.87064577e-01 1.59367434e-01 1.74797519e-02 3.95251760e+01] [-1.59338624e-01 9.87219315e-01 -3.03761251e-03 -3.96371068e+00] [-1.77404452e-02 2.13120086e-04 9.99842603e-01 -8.08876518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64432 meters 0.017289732656714265 Centerline is valid? [True, True] Translation: X:39.59, Y:-3.98, Z:-0.81 [[ 9.86885798e-01 1.60572799e-01 1.65165796e-02 3.95850312e+01] [-1.60547150e-01 9.87023982e-01 -2.87598489e-03 -3.97743416e+00] [-1.67640651e-02 1.86578861e-04 9.99859456e-01 -8.12256948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70432 meters 0.01708509039936768 Centerline is valid? [True, True] Translation: X:39.65, Y:-3.99, Z:-0.81 [[ 9.86849841e-01 1.60743970e-01 1.69931619e-02 3.96464160e+01] [-1.60716808e-01 9.86996119e-01 -2.96109698e-03 -3.99146717e+00] [-1.72481633e-02 1.91071343e-04 9.99851221e-01 -8.14298925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.764320000000005 meters 0.01723652816411084 Centerline is valid? [True, True] Translation: X:39.71, Y:-4.01, Z:-0.82 [[ 9.86899972e-01 1.60367006e-01 1.76314709e-02 3.97080508e+01] [-1.60337597e-01 9.87057435e-01 -3.07829251e-03 -4.00532280e+00] [-1.78969309e-02 2.10979117e-04 9.99839815e-01 -8.16958131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82432 meters 0.018109053718265506 Centerline is valid? [True, True] Translation: X:39.77, Y:-4.02, Z:-0.82 [[ 9.87074359e-01 1.59173982e-01 1.86508354e-02 3.97676842e+01] [-1.59140735e-01 9.87250515e-01 -3.26293005e-03 -4.01981023e+00] [-1.89324205e-02 2.52646921e-04 9.99820734e-01 -8.18341119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88432 meters 0.019384650019570036 Centerline is valid? [True, True] Translation: X:39.83, Y:-4.04, Z:-0.82 [[ 9.87368644e-01 1.57034797e-01 2.10530909e-02 3.98269133e+01] [-1.56991814e-01 9.87593013e-01 -3.68941197e-03 -4.03574341e+00] [-2.13712515e-02 3.37646764e-04 9.99771552e-01 -8.17766345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.944320000000005 meters 0.019274241874407582 Centerline is valid? [True, True] Translation: X:39.89, Y:-4.04, Z:-0.82 [[ 9.87239652e-01 1.57520041e-01 2.33517906e-02 3.98887643e+01] [-1.57467140e-01 9.87515722e-01 -4.09874076e-03 -4.04454116e+00] [-2.37058942e-02 3.69299722e-04 9.99718908e-01 -8.18145896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00432 meters 0.018640162896461417 Centerline is valid? [True, True] Translation: X:39.95, Y:-4.05, Z:-0.82 [[ 9.87182855e-01 1.57884878e-01 2.32889753e-02 3.99505333e+01] [-1.57832193e-01 9.87457458e-01 -4.09485213e-03 -4.05419018e+00] [-2.36433876e-02 3.66617774e-04 9.99720389e-01 -8.19957395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06432 meters 0.019181739115644823 Centerline is valid? [True, True] Translation: X:40.01, Y:-4.07, Z:-0.82 [[ 9.87261620e-01 1.57342141e-01 2.36208533e-02 4.00119380e+01] [-1.57287608e-01 9.87544073e-01 -4.16074875e-03 -4.06575307e+00] [-2.39812948e-02 3.92480034e-04 9.99712330e-01 -8.21554926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.124320000000004 meters 0.01956941806793345 Centerline is valid? [True, True] Translation: X:40.07, Y:-4.08, Z:-0.82 [[ 9.87243511e-01 1.57412957e-01 2.39042163e-02 4.00727420e+01] [-1.57356973e-01 9.87532784e-01 -4.21708108e-03 -4.07642161e+00] [-2.42700204e-02 4.01790830e-04 9.99705359e-01 -8.22703510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18432 meters 0.020459067316960403 Centerline is valid? [True, True] Translation: X:40.13, Y:-4.09, Z:-0.82 [[ 9.87394210e-01 1.56349134e-01 2.46499758e-02 4.01332790e+01] [-1.56289142e-01 9.87701751e-01 -4.35376029e-03 -4.08591118e+00] [-2.50275309e-02 4.46354143e-04 9.99686663e-01 -8.24018543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24432 meters 0.021461392144874008 Centerline is valid? [True, True] Translation: X:40.19, Y:-4.10, Z:-0.83 [[ 9.87587513e-01 1.55066087e-01 2.50082721e-02 4.01934826e+01] [-1.55003767e-01 9.87903976e-01 -4.42328552e-03 -4.09601104e+00] [-2.53916731e-02 4.92005154e-04 9.99677458e-01 -8.25631349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.304320000000004 meters 0.02132780265187857 Centerline is valid? [True, True] Translation: X:40.25, Y:-4.11, Z:-0.83 [[ 9.88012275e-01 1.52195384e-01 2.58516846e-02 4.02546413e+01] [-1.52127632e-01 9.88350249e-01 -4.57910771e-03 -4.10522819e+00] [-2.62474380e-02 5.91459059e-04 9.99655302e-01 -8.26510746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.364320000000006 meters 0.02216663112001092 Centerline is valid? [True, True] Translation: X:40.32, Y:-4.12, Z:-0.83 [[ 9.88241979e-01 1.50729562e-01 2.56591233e-02 4.03154660e+01] [-1.50662134e-01 9.88574832e-01 -4.55219191e-03 -4.11586076e+00] [-2.60521134e-02 6.32808865e-04 9.99660386e-01 -8.28427488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.42432 meters 0.022713820319818976 Centerline is valid? [True, True] Translation: X:40.38, Y:-4.12, Z:-0.83 [[ 9.88378849e-01 1.49704355e-01 2.63790893e-02 4.03765773e+01] [-1.49632522e-01 9.88730568e-01 -4.68749402e-03 -4.12481796e+00] [-2.67835503e-02 6.85850267e-04 9.99641021e-01 -8.29787166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.484320000000004 meters 0.023251630298190475 Centerline is valid? [True, True] Translation: X:40.44, Y:-4.14, Z:-0.83 [[ 9.88374171e-01 1.49649592e-01 2.68607127e-02 4.04384286e+01] [-1.49574876e-01 9.88738843e-01 -4.78096154e-03 -4.13556650e+00] [-2.72736989e-02 7.07691121e-04 9.99627753e-01 -8.30693727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.544320000000006 meters 0.023502981114301418 Centerline is valid? [True, True] Translation: X:40.50, Y:-4.15, Z:-0.83 [[ 9.88250566e-01 1.50313538e-01 2.76886065e-02 4.04991818e+01] [-1.50234156e-01 9.88638115e-01 -4.93715991e-03 -4.14509493e+00] [-2.81161337e-02 7.19376648e-04 9.99604405e-01 -8.31213528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.60432 meters 0.021465056849086703 Centerline is valid? [True, True] Translation: X:40.56, Y:-4.15, Z:-0.83 [[ 9.87940109e-01 1.52212639e-01 2.83840417e-02 4.05610900e+01] [-1.52129757e-01 9.88347528e-01 -5.06960929e-03 -4.14983960e+00] [-2.88249560e-02 6.90412981e-04 9.99584236e-01 -8.33346399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.664320000000004 meters 0.02144892441479208 Centerline is valid? [True, True] Translation: X:40.62, Y:-4.16, Z:-0.83 [[ 9.87614764e-01 1.54230739e-01 2.88089626e-02 4.06219924e+01] [-1.54145973e-01 9.88034644e-01 -5.15373147e-03 -4.15838865e+00] [-2.92591169e-02 6.49115708e-04 9.99571650e-01 -8.34366679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.724320000000006 meters 0.020401581558099246 Centerline is valid? [True, True] Translation: X:40.68, Y:-4.17, Z:-0.84 [[ 9.87268094e-01 1.56517517e-01 2.83544978e-02 4.06837110e+01] [-1.56436130e-01 9.87675013e-01 -5.07998140e-03 -4.16581271e+00] [-2.88001350e-02 5.79635641e-04 9.99585022e-01 -8.36376598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.78432 meters 0.019873208175391174 Centerline is valid? [True, True] Translation: X:40.75, Y:-4.17, Z:-0.84 [[ 9.86933163e-01 1.58741911e-01 2.76394340e-02 4.07451783e+01] [-1.58665235e-01 9.87319982e-01 -4.95955492e-03 -4.17308699e+00] [-2.80762547e-02 5.09331946e-04 9.99605654e-01 -8.38745444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.84432 meters 0.019755300703754138 Centerline is valid? [True, True] Translation: X:40.81, Y:-4.18, Z:-0.84 [[ 9.86996937e-01 1.58450168e-01 2.70294305e-02 4.08077880e+01] [-1.58376517e-01 9.87366842e-01 -4.85784469e-03 -4.18276038e+00] [-2.74576897e-02 5.13850785e-04 9.99622834e-01 -8.41268140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.904320000000006 meters 0.021299768959371745 Centerline is valid? [True, True] Translation: X:40.87, Y:-4.20, Z:-0.84 [[ 9.87368784e-01 1.56327160e-01 2.57818524e-02 4.08674139e+01] [-1.56259223e-01 9.87705175e-01 -4.64146691e-03 -4.19580817e+00] [-2.61904563e-02 5.54187309e-04 9.99656818e-01 -8.43095452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.96432 meters 0.021497002635788468 Centerline is valid? [True, True] Translation: X:40.93, Y:-4.21, Z:-0.85 [[ 9.87640802e-01 1.54694409e-01 2.52048702e-02 4.09279916e+01] [-1.54628781e-01 9.87962191e-01 -4.54409196e-03 -4.20702372e+00] [-2.56044044e-02 5.90532266e-04 9.99671979e-01 -8.45296476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02432 meters 0.023764007508123738 Centerline is valid? [True, True] Translation: X:40.99, Y:-4.22, Z:-0.85 [[ 9.88005171e-01 1.52554355e-01 2.39364008e-02 4.09873953e+01] [-1.52494394e-01 9.88294888e-01 -4.32143405e-03 -4.22112188e+00] [-2.43154761e-02 6.19432268e-04 9.99704143e-01 -8.46974057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.084320000000005 meters 0.02276730405958198 Centerline is valid? [True, True] Translation: X:41.05, Y:-4.23, Z:-0.85 [[ 9.88168991e-01 1.51573643e-01 2.33982064e-02 4.10489922e+01] [-1.51515931e-01 9.88445764e-01 -4.23028489e-03 -4.23148810e+00] [-2.37690576e-02 6.35035337e-04 9.99717274e-01 -8.48726590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14432 meters 0.022672280893521694 Centerline is valid? [True, True] Translation: X:41.11, Y:-4.24, Z:-0.85 [[ 9.88168109e-01 1.51689806e-01 2.26713557e-02 4.11107115e+01] [-1.51635507e-01 9.88427954e-01 -4.10526832e-03 -4.24314763e+00] [-2.30317291e-02 6.18912713e-04 9.99734543e-01 -8.50093463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.20432 meters 0.022284630603629674 Centerline is valid? [True, True] Translation: X:41.17, Y:-4.25, Z:-0.85 [[ 9.87919658e-01 1.53408063e-01 2.19252229e-02 4.11715833e+01] [-1.53357548e-01 9.88162762e-01 -3.97711387e-03 -4.25446936e+00] [-2.22758101e-02 5.66670554e-04 9.99751703e-01 -8.51574146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.264320000000005 meters 0.021753080744382862 Centerline is valid? [True, True] Translation: X:41.23, Y:-4.26, Z:-0.85 [[ 9.87558598e-01 1.55778194e-01 2.14748437e-02 4.12326556e+01] [-1.55730163e-01 9.87791929e-01 -3.90140759e-03 -4.26469148e+00] [-2.18204315e-02 5.08587716e-04 9.99761777e-01 -8.53185312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32432 meters 0.020057995169065507 Centerline is valid? [True, True] Translation: X:41.29, Y:-4.27, Z:-0.85 [[ 9.86847480e-01 1.60323362e-01 2.06995318e-02 4.12934561e+01] [-1.60279616e-01 9.87064466e-01 -3.76618869e-03 -4.27254952e+00] [-2.10355803e-02 3.98940809e-04 9.99778648e-01 -8.54734752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38432 meters 0.017750517045537158 Centerline is valid? [True, True] Translation: X:41.35, Y:-4.28, Z:-0.86 [[ 9.85843386e-01 1.66446530e-01 2.02081846e-02 4.13546055e+01] [-1.66406105e-01 9.86050447e-01 -3.67757410e-03 -4.27868488e+00] [-2.05384089e-02 2.62746820e-04 9.99789030e-01 -8.56229508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.444320000000005 meters 0.016709634062182798 Centerline is valid? [True, True] Translation: X:41.42, Y:-4.29, Z:-0.86 [[ 9.85146808e-01 1.70473600e-01 2.06038548e-02 4.14164003e+01] [-1.70432440e-01 9.85362227e-01 -3.75034987e-03 -4.28764524e+00] [-2.09415958e-02 1.83079963e-04 9.99780684e-01 -8.56818508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50432 meters 0.01571104963284878 Centerline is valid? [True, True] Translation: X:41.48, Y:-4.30, Z:-0.86 [[ 9.84279026e-01 1.75451713e-01 2.02853520e-02 4.14782908e+01] [-1.75412760e-01 9.84488034e-01 -3.69781673e-03 -4.29533473e+00] [-2.06194746e-02 8.13738672e-05 9.99787393e-01 -8.57554092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56432 meters 0.015512626001057269 Centerline is valid? [True, True] Translation: X:41.54, Y:-4.30, Z:-0.86 [[ 9.83785924e-01 1.78344640e-01 1.89326546e-02 4.15403449e+01] [-1.78311153e-01 9.83968083e-01 -3.45598060e-03 -4.30493389e+00] [-1.92454835e-02 2.40415983e-05 9.99814788e-01 -8.60568644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.624320000000004 meters 0.015537493849396232 Centerline is valid? [True, True] Translation: X:41.60, Y:-4.32, Z:-0.86 [[ 9.83854739e-01 1.78055312e-01 1.80598638e-02 4.16006875e+01] [-1.78024686e-01 9.84020480e-01 -3.30247027e-03 -4.32004352e+00] [-1.83592982e-02 3.40494411e-05 9.99831453e-01 -8.63596136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68432 meters 0.015897306075221353 Centerline is valid? [True, True] Translation: X:41.66, Y:-4.34, Z:-0.86 [[ 9.84370774e-01 1.75086837e-01 1.89414728e-02 4.16616766e+01] [-1.75052480e-01 9.84552990e-01 -3.46983376e-03 -4.33713137e+00] [-1.92564059e-02 9.98511431e-05 9.99814573e-01 -8.63301300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.74432 meters 0.016111279421546443 Centerline is valid? [True, True] Translation: X:41.72, Y:-4.35, Z:-0.86 [[ 9.84688218e-01 1.73317343e-01 1.87139295e-02 4.17218030e+01] [-1.73283372e-01 9.84866021e-01 -3.43419609e-03 -4.35172698e+00] [-1.90259191e-02 1.38799615e-04 9.99818981e-01 -8.64134300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.804320000000004 meters 0.016681020599337938 Centerline is valid? [True, True] Translation: X:41.78, Y:-4.37, Z:-0.87 [[ 9.85045766e-01 1.71288550e-01 1.85761044e-02 4.17818051e+01] [-1.71254617e-01 9.85220889e-01 -3.41413077e-03 -4.36682821e+00] [-1.88863676e-02 1.81831414e-04 9.99821620e-01 -8.65949959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.864320000000006 meters 0.016886440939205424 Centerline is valid? [True, True] Translation: X:41.84, Y:-4.38, Z:-0.87 [[ 9.85274417e-01 1.70011398e-01 1.81782025e-02 4.18417575e+01] [-1.69978596e-01 9.85442074e-01 -3.34591964e-03 -4.38164535e+00] [-1.84824101e-02 2.06743683e-04 9.99829164e-01 -8.66927659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92432 meters 0.017381123403344433 Centerline is valid? [True, True] Translation: X:41.90, Y:-4.39, Z:-0.87 [[ 9.85315006e-01 1.69807908e-01 1.78777172e-02 4.19025111e+01] [-1.69776057e-01 9.85477158e-01 -3.29561122e-03 -4.39498984e+00] [-1.81777028e-02 2.12006867e-04 9.99834749e-01 -8.68745111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.984320000000004 meters 0.017502785360696885 Centerline is valid? [True, True] Translation: X:41.96, Y:-4.41, Z:-0.87 [[ 9.85512619e-01 1.68636036e-01 1.80766607e-02 4.19630190e+01] [-1.68603172e-01 9.85678360e-01 -3.33790079e-03 -4.40832375e+00] [-1.83806636e-02 2.41761019e-04 9.99831032e-01 -8.70755272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.044320000000006 meters 0.01889237150225826 Centerline is valid? [True, True] Translation: X:42.02, Y:-4.43, Z:-0.87 [[ 9.85720855e-01 1.67544190e-01 1.68327000e-02 4.20221882e+01] [-1.67515458e-01 9.85864536e-01 -3.11264559e-03 -4.42523952e+00] [-1.71162677e-02 2.48462206e-04 9.99853475e-01 -8.73630433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.10432 meters 0.018423270301434543 Centerline is valid? [True, True] Translation: X:42.08, Y:-4.44, Z:-0.87 [[ 9.85770749e-01 1.67245243e-01 1.68836994e-02 4.20834267e+01] [-1.67216222e-01 9.85915291e-01 -3.12621106e-03 -4.43755436e+00] [-1.71687413e-02 2.58499005e-04 9.99852573e-01 -8.74988525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.164320000000004 meters 0.018361993513904492 Centerline is valid? [True, True] Translation: X:42.14, Y:-4.45, Z:-0.88 [[ 9.85762565e-01 1.67296262e-01 1.68560510e-02 4.21449400e+01] [-1.67267252e-01 9.85906635e-01 -3.12638581e-03 -4.44992822e+00] [-1.71415252e-02 2.62408749e-04 9.99853039e-01 -8.76694817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.224320000000006 meters 0.018870810797542097 Centerline is valid? [True, True] Translation: X:42.21, Y:-4.46, Z:-0.88 [[ 9.85682279e-01 1.67593144e-01 1.85197880e-02 4.22050174e+01] [-1.67558053e-01 9.85856204e-01 -3.44157719e-03 -4.46400221e+00] [-1.88346326e-02 2.89162025e-04 9.99822571e-01 -8.76851941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28432 meters 0.01823125475387402 Centerline is valid? [True, True] Translation: X:42.27, Y:-4.48, Z:-0.88 [[ 9.85512944e-01 1.68411205e-01 2.00475268e-02 4.22662259e+01] [-1.68370124e-01 9.85716782e-01 -3.73188844e-03 -4.47617461e+00] [-2.03896754e-02 3.02419796e-04 9.99792063e-01 -8.76608294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.34432 meters 0.01836996519986265 Centerline is valid? [True, True] Translation: X:42.33, Y:-4.49, Z:-0.88 [[ 9.85330230e-01 1.69351758e-01 2.10788798e-02 4.23264946e+01] [-1.69306426e-01 9.85555625e-01 -3.92990458e-03 -4.48874358e+00] [-2.14399448e-02 3.03463976e-04 9.99770092e-01 -8.76895894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.404320000000006 meters 0.01786534386635853 Centerline is valid? [True, True] Translation: X:42.39, Y:-4.50, Z:-0.88 [[ 9.84934866e-01 1.71559489e-01 2.16944948e-02 4.23868509e+01] [-1.71511883e-01 9.85173726e-01 -4.05021678e-03 -4.49939301e+00] [-2.20676994e-02 2.68336065e-04 9.99756443e-01 -8.78373786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.46432 meters 0.016309157078600405 Centerline is valid? [True, True] Translation: X:42.45, Y:-4.51, Z:-0.88 [[ 9.84277907e-01 1.75280910e-01 2.17624651e-02 4.24492348e+01] [-1.75233801e-01 9.84518444e-01 -4.06801141e-03 -4.50645118e+00] [-2.21385930e-02 1.90534285e-04 9.99754893e-01 -8.80583671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52432 meters 0.014957933046005416 Centerline is valid? [True, True] Translation: X:42.51, Y:-4.51, Z:-0.88 [[ 9.83222568e-01 1.81130456e-01 2.15670938e-02 4.25114796e+01] [-1.81085548e-01 9.83459076e-01 -4.03360997e-03 -4.51092843e+00] [-2.19409637e-02 6.04473632e-05 9.99759266e-01 -8.82610044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.584320000000005 meters 0.014699539106558798 Centerline is valid? [True, True] Translation: X:42.57, Y:-4.52, Z:-0.89 [[ 9.82576036e-01 1.84774597e-01 2.00669084e-02 4.25736961e+01] [-1.84736378e-01 9.82780926e-01 -3.75797830e-03 -4.51969121e+00] [-2.04157538e-02 -1.45885642e-05 9.99791577e-01 -8.85920023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64432 meters 0.014833002889954847 Centerline is valid? [True, True] Translation: X:42.64, Y:-4.53, Z:-0.89 [[ 9.81974911e-01 1.87947946e-01 2.00211030e-02 4.26359477e+01] [-1.87910426e-01 9.82178988e-01 -3.75601279e-03 -4.52960397e+00] [-2.03702416e-02 -7.38636904e-05 9.99792502e-01 -8.88515107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70432 meters 0.014906047163817089 Centerline is valid? [True, True] Translation: X:42.70, Y:-4.54, Z:-0.89 [[ 9.81744573e-01 1.89187841e-01 1.96355350e-02 4.26969898e+01] [-1.89151873e-01 9.81940911e-01 -3.69001169e-03 -4.53963769e+00] [-1.99790405e-02 -9.14492759e-05 9.99800395e-01 -8.90813109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.764320000000005 meters 0.014866760743165614 Centerline is valid? [True, True] Translation: X:42.76, Y:-4.55, Z:-0.89 [[ 9.81754531e-01 1.89055527e-01 2.03972713e-02 4.27588989e+01] [-1.89016553e-01 9.81966395e-01 -3.83955884e-03 -4.55177865e+00] [-2.07553248e-02 -8.59176339e-05 9.99784581e-01 -8.91553313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82432 meters 0.014644090641761209 Centerline is valid? [True, True] Translation: X:42.82, Y:-4.57, Z:-0.89 [[ 9.82262318e-01 1.86355153e-01 2.07965422e-02 4.28196694e+01] [-1.86313893e-01 9.82482446e-01 -3.92133917e-03 -4.56880212e+00] [-2.11629994e-02 -2.29010278e-05 9.99776038e-01 -8.92378808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88432 meters 0.014689455759707806 Centerline is valid? [True, True] Translation: X:42.88, Y:-4.58, Z:-0.89 [[ 9.82337297e-01 1.85947218e-01 2.09061394e-02 4.28812944e+01] [-1.85905291e-01 9.82559735e-01 -3.94849681e-03 -4.58028208e+00] [-2.12757428e-02 -7.80624824e-06 9.99773646e-01 -8.93745167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.944320000000005 meters 0.014557453643957816 Centerline is valid? [True, True] Translation: X:42.94, Y:-4.59, Z:-0.90 [[ 9.82439121e-01 1.85471949e-01 2.03354532e-02 4.29420683e+01] [-1.85432051e-01 9.82649559e-01 -3.84683417e-03 -4.59259141e+00] [-2.06961039e-02 8.43558232e-06 9.99785813e-01 -8.96212120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00432 meters 0.01469547584001736 Centerline is valid? [True, True] Translation: X:43.00, Y:-4.61, Z:-0.90 [[ 9.83066623e-01 1.82130964e-01 2.02070959e-02 4.30030626e+01] [-1.82090745e-01 9.83274278e-01 -3.82824992e-03 -4.60877962e+00] [-2.05663604e-02 8.38995810e-05 9.99788487e-01 -8.97089577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06432 meters 0.015132291860545172 Centerline is valid? [True, True] Translation: X:43.06, Y:-4.62, Z:-0.90 [[ 9.83246091e-01 1.81017439e-01 2.14432252e-02 4.30631041e+01] [-1.80971722e-01 9.83479879e-01 -4.06988749e-03 -4.62229766e+00] [-2.18257011e-02 1.21083584e-04 9.99761784e-01 -8.97419631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.124320000000004 meters 0.014921364127103307 Centerline is valid? [True, True] Translation: X:43.13, Y:-4.63, Z:-0.90 [[ 9.83129601e-01 1.81533784e-01 2.23980461e-02 4.31254063e+01] [-1.81483876e-01 9.83384701e-01 -4.25819202e-03 -4.63134089e+00] [-2.27989016e-02 1.21470400e-04 9.99740064e-01 -8.98875988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18432000000001 meters 0.014614093690985621 Centerline is valid? [True, True] Translation: X:43.19, Y:-4.64, Z:-0.90 [[ 9.82524158e-01 1.84736031e-01 2.27789027e-02 4.31866602e+01] [-1.84685102e-01 9.82788175e-01 -4.33787788e-03 -4.64144809e+00] [-2.31881986e-02 5.51458404e-05 9.99731116e-01 -8.99349987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24432 meters 0.014588729669010612 Centerline is valid? [True, True] Translation: X:43.25, Y:-4.65, Z:-0.90 [[ 9.81891474e-01 1.88143205e-01 2.21645442e-02 4.32490841e+01] [-1.88095715e-01 9.82141606e-01 -4.22701368e-03 -4.64992340e+00] [-2.25640049e-02 -1.85870996e-05 9.99745400e-01 -9.02219875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.304320000000004 meters 0.015076177635933618 Centerline is valid? [True, True] Translation: X:43.31, Y:-4.66, Z:-0.91 [[ 9.80888707e-01 1.93373776e-01 2.15389671e-02 4.33113916e+01] [-1.93330044e-01 9.81125153e-01 -4.11436784e-03 -4.65622038e+00] [-2.19280333e-02 -1.28392505e-04 9.99759544e-01 -9.05076515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.364320000000006 meters 0.016030210511611402 Centerline is valid? [True, True] Translation: X:43.37, Y:-4.67, Z:-0.90 [[ 9.80144509e-01 1.96882184e-01 2.35403254e-02 4.33726997e+01] [-1.96830787e-01 9.80427130e-01 -4.50374965e-03 -4.66591146e+00] [-2.39662818e-02 -2.19135295e-04 9.99712743e-01 -9.04209429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.42432 meters 0.01644815141931191 Centerline is valid? [True, True] Translation: X:43.43, Y:-4.68, Z:-0.90 [[ 9.79876992e-01 1.98226439e-01 2.33957119e-02 4.34323241e+01] [-1.98175908e-01 9.80156222e-01 -4.48219123e-03 -4.67762574e+00] [-2.38199414e-02 -2.44470399e-04 9.99716235e-01 -9.04179143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.484320000000004 meters 0.016661586504322198 Centerline is valid? [True, True] Translation: X:43.49, Y:-4.69, Z:-0.90 [[ 9.79847385e-01 1.98308346e-01 2.39353829e-02 4.34934084e+01] [-1.98255389e-01 9.80139652e-01 -4.58938096e-03 -4.68889478e+00] [-2.43701304e-02 -2.48425707e-04 9.99702973e-01 -9.04605900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.544320000000006 meters 0.01596675406107482 Centerline is valid? [True, True] Translation: X:43.55, Y:-4.70, Z:-0.90 [[ 9.80071953e-01 1.97046792e-01 2.51302149e-02 4.35539038e+01] [-1.96987864e-01 9.80394060e-01 -4.82383908e-03 -4.70307729e+00] [-2.55880354e-02 -2.22637949e-04 9.99672548e-01 -9.04500075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.60432 meters 0.015564439214031545 Centerline is valid? [True, True] Translation: X:43.61, Y:-4.72, Z:-0.90 [[ 9.80385298e-01 1.95433016e-01 2.55069519e-02 4.36149554e+01] [-1.95371576e-01 9.80717036e-01 -4.90329094e-03 -4.71698045e+00] [-2.59733672e-02 -1.76219037e-04 9.99662620e-01 -9.04312997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.664320000000004 meters 0.015033879900869788 Centerline is valid? [True, True] Translation: X:43.67, Y:-4.73, Z:-0.91 [[ 9.80781179e-01 1.93581326e-01 2.43833693e-02 4.36744802e+01] [-1.93524450e-01 9.81084225e-01 -4.69364812e-03 -4.72994317e+00] [-2.48307416e-02 -1.15336399e-04 9.99691663e-01 -9.06701596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.724320000000006 meters 0.014746473031313732 Centerline is valid? [True, True] Translation: X:43.74, Y:-4.74, Z:-0.91 [[ 9.81405370e-01 1.90584814e-01 2.28238746e-02 4.37351330e+01] [-1.90534045e-01 9.81670733e-01 -4.39889120e-03 -4.74347959e+00] [-2.32438916e-02 -3.16297037e-05 9.99729824e-01 -9.10170525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.78432 meters 0.014888993324808327 Centerline is valid? [True, True] Translation: X:43.80, Y:-4.76, Z:-0.91 [[ 9.81946913e-01 1.87880510e-01 2.19356766e-02 4.37964344e+01] [-1.87832807e-01 9.82191892e-01 -4.23365564e-03 -4.75627692e+00] [-2.23404651e-02 3.69853745e-05 9.99750420e-01 -9.12163328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.84432 meters 0.015016406316837417 Centerline is valid? [True, True] Translation: X:43.86, Y:-4.77, Z:-0.91 [[ 9.82081105e-01 1.87180789e-01 2.19101561e-02 4.38571730e+01] [-1.87132869e-01 9.82325480e-01 -4.23561179e-03 -4.76847038e+00] [-2.23157298e-02 5.96039256e-05 9.99750971e-01 -9.13876776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.904320000000006 meters 0.015241838837009272 Centerline is valid? [True, True] Translation: X:43.92, Y:-4.78, Z:-0.92 [[ 9.82224864e-01 1.86393776e-01 2.21737633e-02 4.39197055e+01] [-1.86344348e-01 9.82475116e-01 -4.29312650e-03 -4.77719748e+00] [-2.25853827e-02 8.48601307e-05 9.99744914e-01 -9.15314030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.96432 meters 0.015300851540113103 Centerline is valid? [True, True] Translation: X:43.98, Y:-4.79, Z:-0.92 [[ 9.82017378e-01 1.87498035e-01 2.20535017e-02 4.39822972e+01] [-1.87449266e-01 9.82264976e-01 -4.27669079e-03 -4.78688150e+00] [-2.24642534e-02 6.58719829e-05 9.99747645e-01 -9.16622139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02432 meters 0.015509531122502373 Centerline is valid? [True, True] Translation: X:44.04, Y:-4.80, Z:-0.92 [[ 9.82204177e-01 1.86694350e-01 2.04981655e-02 4.40425584e+01] [-1.86651918e-01 9.82418044e-01 -3.98106887e-03 -4.79940359e+00] [-2.08810107e-02 8.42005702e-05 9.99781964e-01 -9.19798264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.084320000000005 meters 0.01638250829524226 Centerline is valid? [True, True] Translation: X:44.10, Y:-4.81, Z:-0.92 [[ 9.82745948e-01 1.83763410e-01 2.10097806e-02 4.41032550e+01] [-1.83718030e-01 9.82970490e-01 -4.08667921e-03 -4.81310692e+00] [-2.14029764e-02 1.56291943e-04 9.99770918e-01 -9.22583294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14432 meters 0.018237487022676357 Centerline is valid? [True, True] Translation: X:44.16, Y:-4.83, Z:-0.92 [[ 9.83527748e-01 1.79461307e-01 2.16057318e-02 4.41619807e+01] [-1.79412147e-01 9.83764997e-01 -4.20847458e-03 -4.82946338e+00] [-2.20102210e-02 2.62820802e-04 9.99757711e-01 -9.24271037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.20432 meters 0.020083330802242005 Centerline is valid? [True, True] Translation: X:44.22, Y:-4.85, Z:-0.92 [[ 9.84166371e-01 1.75701806e-01 2.33544169e-02 4.42221560e+01] [-1.75643161e-01 9.84443361e-01 -4.55521005e-03 -4.84647151e+00] [-2.37914593e-02 3.81040949e-04 9.99716871e-01 -9.24224212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.264320000000005 meters 0.019696456602489067 Centerline is valid? [True, True] Translation: X:44.28, Y:-4.86, Z:-0.93 [[ 9.84567614e-01 1.73309414e-01 2.42993843e-02 4.42831649e+01] [-1.73245033e-01 9.84867317e-01 -4.74615842e-03 -4.85708803e+00] [-2.47542234e-02 4.63166229e-04 9.99693460e-01 -9.26002467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32432 meters 0.021701069701727624 Centerline is valid? [True, True] Translation: X:44.34, Y:-4.87, Z:-0.93 [[ 9.85006990e-01 1.70683396e-01 2.50680585e-02 4.43426819e+01] [-1.70613840e-01 9.85325770e-01 -4.90359350e-03 -4.87267945e+00] [-2.55371660e-02 5.53116145e-04 9.99673720e-01 -9.27429813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38432 meters 0.022438635373514072 Centerline is valid? [True, True] Translation: X:44.40, Y:-4.89, Z:-0.93 [[ 9.85205032e-01 1.69402734e-01 2.59568619e-02 4.44035947e+01] [-1.69327525e-01 9.85546720e-01 -5.08452541e-03 -4.88595609e+00] [-2.64430326e-02 6.14088826e-04 9.99650133e-01 -9.28590924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.444320000000005 meters 0.022775992719648003 Centerline is valid? [True, True] Translation: X:44.46, Y:-4.90, Z:-0.93 [[ 9.85264853e-01 1.69068016e-01 2.58684298e-02 4.44647664e+01] [-1.68993017e-01 9.85604186e-01 -5.07431205e-03 -4.89761642e+00] [-2.63539366e-02 6.27957310e-04 9.99652477e-01 -9.30680344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.50432 meters 0.024348681755573993 Centerline is valid? [True, True] Translation: X:44.52, Y:-4.91, Z:-0.93 [[ 9.85395821e-01 1.68451739e-01 2.48814598e-02 4.45241277e+01] [-1.68381992e-01 9.85709703e-01 -4.88724732e-03 -4.91118610e+00] [-2.53491617e-02 6.26283308e-04 9.99678462e-01 -9.33770124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56432 meters 0.023587909057889107 Centerline is valid? [True, True] Translation: X:44.59, Y:-4.92, Z:-0.94 [[ 9.85204380e-01 1.69637616e-01 2.44009953e-02 4.45854396e+01] [-1.69570750e-01 9.85506332e-01 -4.79896424e-03 -4.92115505e+00] [-2.48614202e-02 5.90265521e-04 9.99690733e-01 -9.36367801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.624320000000004 meters 0.022077949831955018 Centerline is valid? [True, True] Translation: X:44.65, Y:-4.93, Z:-0.94 [[ 9.84937026e-01 1.71282705e-01 2.36915745e-02 4.46464798e+01] [-1.71219997e-01 9.85221774e-01 -4.66561200e-03 -4.93100079e+00] [-2.41405937e-02 5.38862702e-04 9.99708428e-01 -9.39461435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68432000000001 meters 0.020711190076466754 Centerline is valid? [True, True] Translation: X:44.71, Y:-4.94, Z:-0.94 [[ 9.84662432e-01 1.72963319e-01 2.28819818e-02 4.47077358e+01] [-1.72905135e-01 9.84928146e-01 -4.51230396e-03 -4.94144992e+00] [-2.33175710e-02 4.86684040e-04 9.99727990e-01 -9.42090809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74432 meters 0.021083214217861572 Centerline is valid? [True, True] Translation: X:44.77, Y:-4.95, Z:-0.95 [[ 9.84754090e-01 1.72506634e-01 2.23795320e-02 4.47688856e+01] [-1.72450717e-01 9.85008233e-01 -4.41947588e-03 -4.95444056e+00] [-2.28064122e-02 4.92730595e-04 9.99739779e-01 -9.45075427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.804320000000004 meters 0.021222394388858833 Centerline is valid? [True, True] Translation: X:44.83, Y:-4.97, Z:-0.94 [[ 9.84844256e-01 1.71808381e-01 2.37417624e-02 4.48297583e+01] [-1.71745074e-01 9.85130236e-01 -4.69557873e-03 -4.96812504e+00] [-2.41954677e-02 5.46883015e-04 9.99707097e-01 -9.44566599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.864320000000006 meters 0.02310904108570365 Centerline is valid? [True, True] Translation: X:44.89, Y:-4.98, Z:-0.94 [[ 9.85283369e-01 1.69158205e-01 2.45394635e-02 4.48891294e+01] [-1.69089571e-01 9.85588704e-01 -4.86047259e-03 -4.98300713e+00] [-2.50080069e-02 6.39575442e-04 9.99687046e-01 -9.44751838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.92432 meters 0.0269394742819061 Centerline is valid? [True, True] Translation: X:44.95, Y:-5.00, Z:-0.94 [[ 9.85557705e-01 1.67341326e-01 2.59401309e-02 4.49480207e+01] [-1.67263817e-01 9.85898750e-01 -5.14494311e-03 -4.99898545e+00] [-2.64353043e-02 7.31793026e-04 9.99650258e-01 -9.44805456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.984320000000004 meters 0.027505916395146632 Centerline is valid? [True, True] Translation: X:45.01, Y:-5.01, Z:-0.95 [[ 9.86559008e-01 1.61509510e-01 2.48193782e-02 4.50078387e+01] [-1.61436578e-01 9.86870786e-01 -4.92788345e-03 -5.01221826e+00] [-2.52894193e-02 8.54892328e-04 9.99679806e-01 -9.48030356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.044320000000006 meters 0.02968599210672096 Centerline is valid? [True, True] Translation: X:45.07, Y:-5.03, Z:-0.95 [[ 9.87626265e-01 1.54703199e-01 2.57153926e-02 4.50672707e+01] [-1.54622574e-01 9.87960415e-01 -5.10672286e-03 -5.02596686e+00] [-2.61958163e-02 1.06735342e-03 9.99656261e-01 -9.49582660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.10432 meters 0.03521807162529999 Centerline is valid? [True, True] Translation: X:45.12, Y:-5.04, Z:-0.95 [[ 9.88262721e-01 1.50509239e-01 2.61488795e-02 4.51246702e+01] [-1.50424383e-01 9.88607875e-01 -5.19367160e-03 -5.04385728e+00] [-2.66326837e-02 1.19928297e-03 9.99644568e-01 -9.49849752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.164320000000004 meters 0.03881929292075473 Centerline is valid? [True, True] Translation: X:45.18, Y:-5.06, Z:-0.95 [[ 9.88913923e-01 1.46243840e-01 2.57292174e-02 4.51835077e+01] [-1.46160195e-01 9.89247726e-01 -5.11222487e-03 -5.06161177e+00] [-2.62002012e-02 1.29496290e-03 9.99655877e-01 -9.51115038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.224320000000006 meters 0.03208625020318802 Centerline is valid? [True, True] Translation: X:45.25, Y:-5.06, Z:-0.95 [[ 9.88814630e-01 1.47172005e-01 2.42080227e-02 4.52469651e+01] [-1.47098205e-01 9.89110191e-01 -4.81132388e-03 -5.06237340e+00] [-2.46524941e-02 1.19655076e-03 9.99695365e-01 -9.54780288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28432 meters 0.03337291395915693 Centerline is valid? [True, True] Translation: X:45.31, Y:-5.07, Z:-0.96 [[ 9.88344512e-01 1.50586017e-01 2.23377740e-02 4.53064807e+01] [-1.50523923e-01 9.88596373e-01 -4.44525060e-03 -5.07438775e+00] [-2.27524349e-02 1.03106967e-03 9.99740598e-01 -9.58261101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.34432 meters 0.03540505667985279 Centerline is valid? [True, True] Translation: X:45.37, Y:-5.09, Z:-0.96 [[ 9.88022062e-01 1.52751181e-01 2.18970855e-02 4.53663348e+01] [-1.52692018e-01 9.88264210e-01 -4.35868132e-03 -5.08928619e+00] [-2.23058997e-02 9.62963115e-04 9.99750729e-01 -9.59791217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.404320000000006 meters 0.030203118086925128 Centerline is valid? [True, True] Translation: X:45.43, Y:-5.09, Z:-0.96 [[ 9.87730013e-01 1.54403068e-01 2.34332044e-02 4.54282129e+01] [-1.54335614e-01 9.88007438e-01 -4.67121547e-03 -5.09460540e+00] [-2.38734302e-02 9.97321738e-04 9.99714492e-01 -9.59625838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46432 meters 0.03034202791507984 Centerline is valid? [True, True] Translation: X:45.49, Y:-5.11, Z:-0.96 [[ 9.87506011e-01 1.55638227e-01 2.46702320e-02 4.54886048e+01] [-1.55563663e-01 9.87813591e-01 -4.92509402e-03 -5.10708336e+00] [-2.51361234e-02 1.02576828e-03 9.99683511e-01 -9.59832268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52432 meters 0.030249782072104048 Centerline is valid? [True, True] Translation: X:45.55, Y:-5.12, Z:-0.96 [[ 9.87140524e-01 1.57775301e-01 2.57009802e-02 4.55481245e+01] [-1.57694906e-01 9.87474514e-01 -5.13817591e-03 -5.12040157e+00] [-2.61897402e-02 1.01918800e-03 9.99656470e-01 -9.60218131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.584320000000005 meters 0.031059281963782968 Centerline is valid? [True, True] Translation: X:45.61, Y:-5.14, Z:-0.96 [[ 9.87081135e-01 1.58073302e-01 2.61469540e-02 4.56097502e+01] [-1.57990009e-01 9.87426837e-01 -5.23436688e-03 -5.13514950e+00] [-2.66456177e-02 1.03578729e-03 9.99644406e-01 -9.61655090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64432 meters 0.029271085964927467 Centerline is valid? [True, True] Translation: X:45.67, Y:-5.15, Z:-0.96 [[ 9.87442802e-01 1.55772599e-01 2.62984958e-02 4.56705885e+01] [-1.55687338e-01 9.87792318e-01 -5.27159645e-03 -5.14691032e+00] [-2.67986224e-02 1.11105716e-03 9.99640235e-01 -9.64012412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.70432 meters 0.036117039438701114 Centerline is valid? [True, True] Translation: X:45.73, Y:-5.17, Z:-0.97 [[ 9.87878908e-01 1.53031747e-01 2.60105320e-02 4.57276405e+01] [-1.52947331e-01 9.88220575e-01 -5.21629451e-03 -5.16994581e+00] [-2.65024015e-02 1.17482589e-03 9.99648059e-01 -9.65246446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.764320000000005 meters 0.03337512512785924 Centerline is valid? [True, True] Translation: X:45.79, Y:-5.18, Z:-0.97 [[ 9.88176149e-01 1.51129806e-01 2.58395240e-02 4.57881530e+01] [-1.51045737e-01 9.88513171e-01 -5.18621229e-03 -5.18076475e+00] [-2.63265011e-02 1.22194134e-03 9.99652651e-01 -9.67372261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82432 meters 0.03499673573957809 Centerline is valid? [True, True] Translation: X:45.85, Y:-5.20, Z:-0.97 [[ 9.88205587e-01 1.50866612e-01 2.62484798e-02 4.58473263e+01] [-1.50779584e-01 9.88553332e-01 -5.27514356e-03 -5.19582768e+00] [-2.67438652e-02 1.25519147e-03 9.99641531e-01 -9.68210951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88432 meters 0.032716537035077084 Centerline is valid? [True, True] Translation: X:45.91, Y:-5.21, Z:-0.97 [[ 9.88109593e-01 1.51506194e-01 2.61783363e-02 4.59085698e+01] [-1.51419674e-01 9.88455529e-01 -5.26782710e-03 -5.20511069e+00] [-2.66742297e-02 1.24127536e-03 9.99643409e-01 -9.70300215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.944320000000005 meters 0.031015982054528164 Centerline is valid? [True, True] Translation: X:45.97, Y:-5.21, Z:-0.97 [[ 9.87663195e-01 1.54513401e-01 2.54366321e-02 4.59699197e+01] [-1.54432555e-01 9.87990043e-01 -5.12453974e-03 -5.21345038e+00] [-2.59229493e-02 1.13307522e-03 9.99663302e-01 -9.72105787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00432 meters 0.02918807433807617 Centerline is valid? [True, True] Translation: X:46.03, Y:-5.22, Z:-0.98 [[ 9.86960087e-01 1.59440309e-01 2.21037064e-02 4.60288314e+01] [-1.59380472e-01 9.87207185e-01 -4.45417492e-03 -5.22311106e+00] [-2.25311128e-02 8.73193703e-04 9.99745761e-01 -9.76294493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06432 meters 0.02814357194913573 Centerline is valid? [True, True] Translation: X:46.09, Y:-5.23, Z:-0.98 [[ 9.86544421e-01 1.62150448e-01 2.09126382e-02 4.60894088e+01] [-1.62097495e-01 9.86765749e-01 -4.21416381e-03 -5.23320042e+00] [-2.13192037e-02 7.67573520e-04 9.99772425e-01 -9.78231273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.124320000000004 meters 0.028853411235233384 Centerline is valid? [True, True] Translation: X:46.15, Y:-5.24, Z:-0.98 [[ 9.86425724e-01 1.62801168e-01 2.14492674e-02 4.61490779e+01] [-1.62745593e-01 9.86658594e-01 -4.32330557e-03 -5.24437626e+00] [-2.18669432e-02 7.73846073e-04 9.99760590e-01 -9.79144823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18432000000001 meters 0.029499279733931634 Centerline is valid? [True, True] Translation: X:46.21, Y:-5.26, Z:-0.98 [[ 9.86552575e-01 1.61871236e-01 2.26212199e-02 4.62098266e+01] [-1.61809039e-01 9.86811528e-01 -4.56551977e-03 -5.25757453e+00] [-2.30619069e-02 8.43807427e-04 9.99733683e-01 -9.79541011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24432 meters 0.03254145055127212 Centerline is valid? [True, True] Translation: X:46.27, Y:-5.28, Z:-0.98 [[ 9.87035446e-01 1.58944346e-01 2.23096874e-02 4.62678368e+01] [-1.58882977e-01 9.87287129e-01 -4.50822348e-03 -5.27656801e+00] [-2.27426238e-02 9.05146824e-04 9.99740943e-01 -9.80057385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.304320000000004 meters 0.03481243250879919 Centerline is valid? [True, True] Translation: X:46.33, Y:-5.29, Z:-0.98 [[ 9.87521524e-01 1.56048905e-01 2.12127172e-02 4.63273503e+01] [-1.55992740e-01 9.87748897e-01 -4.28731688e-03 -5.29112954e+00] [-2.16218691e-02 9.24787826e-04 9.99765792e-01 -9.83302785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.364320000000006 meters 0.03739484593098835 Centerline is valid? [True, True] Translation: X:46.39, Y:-5.31, Z:-0.98 [[ 9.87759404e-01 1.54409292e-01 2.21162792e-02 4.63868359e+01] [-1.54347807e-01 9.88006460e-01 -4.47090427e-03 -5.30594842e+00] [-2.25413758e-02 1.00257854e-03 9.99745408e-01 -9.84400381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.42432 meters 0.030845266207972514 Centerline is valid? [True, True] Translation: X:46.45, Y:-5.31, Z:-0.98 [[ 9.87880347e-01 1.53218416e-01 2.48301454e-02 4.64488851e+01] [-1.53140437e-01 9.88191667e-01 -5.02349085e-03 -5.31031700e+00] [-2.53066341e-02 1.16010857e-03 9.99679063e-01 -9.82602635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.484320000000004 meters 0.030761102332197036 Centerline is valid? [True, True] Translation: X:46.51, Y:-5.32, Z:-0.98 [[ 9.87712690e-01 1.54387452e-01 2.42519353e-02 4.65104586e+01] [-1.54313255e-01 9.88009758e-01 -4.91293869e-03 -5.32106870e+00] [-2.47196448e-02 1.11017680e-03 9.99693806e-01 -9.84328638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.544320000000006 meters 0.029470491064371437 Centerline is valid? [True, True] Translation: X:46.57, Y:-5.33, Z:-0.99 [[ 9.87381708e-01 1.56629615e-01 2.33350942e-02 4.65712034e+01] [-1.56561409e-01 9.87656886e-01 -4.73304195e-03 -5.32978165e+00] [-2.37884010e-02 1.01994381e-03 9.99716496e-01 -9.87903288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.60432 meters 0.02930424861129762 Centerline is valid? [True, True] Translation: X:46.63, Y:-5.34, Z:-0.99 [[ 9.87168789e-01 1.58136381e-01 2.21509946e-02 4.66318866e+01] [-1.58075275e-01 9.87416837e-01 -4.49407164e-03 -5.34160681e+00] [-2.25829412e-02 9.34882708e-04 9.99744536e-01 -9.90363564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.664320000000004 meters 0.028880927054256066 Centerline is valid? [True, True] Translation: X:46.69, Y:-5.35, Z:-0.99 [[ 9.86879420e-01 1.60099458e-01 2.09086888e-02 4.66934316e+01] [-1.60045335e-01 9.87100526e-01 -4.24762716e-03 -5.35307413e+00] [-2.13190205e-02 8.45557742e-04 9.99772366e-01 -9.93075495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.724320000000006 meters 0.02587588882037669 Centerline is valid? [True, True] Translation: X:46.76, Y:-5.36, Z:-1.00 [[ 9.86192234e-01 1.64388807e-01 2.00299215e-02 4.67551598e+01] [-1.64339981e-01 9.86395355e-01 -4.07106438e-03 -5.35961063e+00] [-2.04266590e-02 7.23135153e-04 9.99791093e-01 -9.95240812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.78432 meters 0.02536914067173167 Centerline is valid? [True, True] Translation: X:46.82, Y:-5.37, Z:-1.00 [[ 9.85834364e-01 1.66621877e-01 1.91769884e-02 4.68162473e+01] [-1.66577527e-01 9.86020654e-01 -3.89847388e-03 -5.37185528e+00] [-1.95584777e-02 6.48794210e-04 9.99808504e-01 -9.97608052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.84432 meters 0.026069458722103603 Centerline is valid? [True, True] Translation: X:46.88, Y:-5.39, Z:-1.00 [[ 9.85731585e-01 1.67216030e-01 1.92883659e-02 4.68754716e+01] [-1.67171168e-01 9.85920069e-01 -3.92668362e-03 -5.38581078e+00] [-1.96733915e-02 6.46197409e-04 9.99806251e-01 -9.98261156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.904320000000006 meters 0.030180469482879467 Centerline is valid? [True, True] Translation: X:46.93, Y:-5.40, Z:-1.00 [[ 9.86204475e-01 1.64279856e-01 2.03190148e-02 4.69339913e+01] [-1.64229331e-01 9.86413488e-01 -4.14217958e-03 -5.40336574e+00] [-2.07234269e-02 7.48057836e-04 9.99784967e-01 -9.99013041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96432 meters 0.02866330019692339 Centerline is valid? [True, True] Translation: X:47.00, Y:-5.41, Z:-1.00 [[ 9.86528264e-01 1.62045668e-01 2.24317859e-02 4.69954817e+01] [-1.61983486e-01 9.86782868e-01 -4.57391663e-03 -5.41465830e+00] [-2.28764854e-02 8.78719158e-04 9.99737913e-01 -9.97456444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02432 meters 0.0292400851107836 Centerline is valid? [True, True] Translation: X:47.06, Y:-5.43, Z:-1.00 [[ 9.86669275e-01 1.61313001e-01 2.14908523e-02 4.70552455e+01] [-1.61255716e-01 9.86902921e-01 -4.38382755e-03 -5.42984970e+00] [-2.19165533e-02 8.59865192e-04 9.99759434e-01 -9.98418327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.084320000000005 meters 0.02813493794134313 Centerline is valid? [True, True] Translation: X:47.12, Y:-5.44, Z:-1.00 [[ 9.86271084e-01 1.63811576e-01 2.08594631e-02 4.71161814e+01] [-1.63758054e-01 9.86491333e-01 -4.26025098e-03 -5.43692469e+00] [-2.12755580e-02 7.85857277e-04 9.99773341e-01 -1.00136058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14432 meters 0.02809392473268389 Centerline is valid? [True, True] Translation: X:47.18, Y:-5.45, Z:-1.00 [[ 9.85985630e-01 1.65600827e-01 2.02164324e-02 4.71765577e+01] [-1.65550917e-01 9.86192598e-01 -4.12956419e-03 -5.44846533e+00] [-2.06211553e-02 7.24842027e-04 9.99787099e-01 -1.00431868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.20432 meters 0.02544521334302794 Centerline is valid? [True, True] Translation: X:47.24, Y:-5.46, Z:-1.01 [[ 9.86065717e-01 1.65308689e-01 1.86397424e-02 4.72377020e+01] [-1.65266122e-01 9.86241642e-01 -3.81207474e-03 -5.45938596e+00] [-1.90134592e-02 6.78438271e-04 9.99818998e-01 -1.00615866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.264320000000005 meters 0.024908241895143797 Centerline is valid? [True, True] Translation: X:47.30, Y:-5.47, Z:-1.01 [[ 9.85765049e-01 1.67089029e-01 1.86688001e-02 4.72987267e+01] [-1.67046544e-01 9.85941597e-01 -3.82346437e-03 -5.46961778e+00] [-1.90452056e-02 6.50479002e-04 9.99818412e-01 -1.00727570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32432 meters 0.025649292313057865 Centerline is valid? [True, True] Translation: X:47.36, Y:-5.49, Z:-1.01 [[ 9.85839993e-01 1.66613779e-01 1.89567243e-02 4.73586063e+01] [-1.66569778e-01 9.86022004e-01 -3.88801945e-03 -5.48529630e+00] [-1.93395449e-02 6.75347717e-04 9.99812745e-01 -1.00770495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38432 meters 0.02623311414985927 Centerline is valid? [True, True] Translation: X:47.42, Y:-5.50, Z:-1.01 [[ 9.85949146e-01 1.65906628e-01 1.94749402e-02 4.74197280e+01] [-1.65859935e-01 9.86141208e-01 -4.00004356e-03 -5.49847534e+00] [-1.98686748e-02 7.13727214e-04 9.99802344e-01 -1.00855892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.444320000000005 meters 0.02707597467766925 Centerline is valid? [True, True] Translation: X:47.48, Y:-5.51, Z:-1.01 [[ 9.86116169e-01 1.64914481e-01 1.94452032e-02 4.74804052e+01] [-1.64867629e-01 9.86307594e-01 -3.99946767e-03 -5.51260067e+00] [-1.98385217e-02 7.38055189e-04 9.99802925e-01 -1.00948792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50432000000001 meters 0.02861226596608847 Centerline is valid? [True, True] Translation: X:47.54, Y:-5.53, Z:-1.01 [[ 9.86260491e-01 1.64063516e-01 1.93237463e-02 4.75396771e+01] [-1.64016976e-01 9.86449488e-01 -3.97997110e-03 -5.52758575e+00] [-1.97148676e-02 7.55865825e-04 9.99805357e-01 -1.01087298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56432 meters 0.02839336746925289 Centerline is valid? [True, True] Translation: X:47.60, Y:-5.54, Z:-1.01 [[ 9.86325305e-01 1.63642074e-01 1.95873376e-02 4.75999799e+01] [-1.63594071e-01 9.86519469e-01 -4.03938348e-03 -5.54164677e+00] [-1.99843030e-02 7.79773845e-04 9.99799990e-01 -1.01027789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.624320000000004 meters 0.027983742943363428 Centerline is valid? [True, True] Translation: X:47.66, Y:-5.55, Z:-1.01 [[ 9.86252680e-01 1.64077579e-01 1.96009827e-02 4.76620618e+01] [-1.64029485e-01 9.86447132e-01 -4.04766986e-03 -5.55368042e+00] [-1.99994650e-02 7.76886159e-04 9.99799689e-01 -1.01196202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68432000000001 meters 0.026844496161894077 Centerline is valid? [True, True] Translation: X:47.72, Y:-5.56, Z:-1.01 [[ 9.85935776e-01 1.66064752e-01 1.87920962e-02 4.77231985e+01] [-1.66020793e-01 9.86114593e-01 -3.88654073e-03 -5.56253569e+00] [-1.91765777e-02 7.12000845e-04 9.99815859e-01 -1.01434115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74432 meters 0.02801555868456708 Centerline is valid? [True, True] Translation: X:47.78, Y:-5.58, Z:-1.02 [[ 9.85520018e-01 1.68576596e-01 1.82270413e-02 4.77826593e+01] [-1.68535571e-01 9.85688344e-01 -3.77501879e-03 -5.57726800e+00] [-1.86025620e-02 6.48451780e-04 9.99826747e-01 -1.01628887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.804320000000004 meters 0.025521125528782808 Centerline is valid? [True, True] Translation: X:47.84, Y:-5.59, Z:-1.02 [[ 9.85024168e-01 1.71321732e-01 1.93972431e-02 4.78436529e+01] [-1.71275732e-01 9.85214929e-01 -4.02086258e-03 -5.58727654e+00] [-1.97993147e-02 6.38369812e-04 9.99803771e-01 -1.01611684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.864320000000006 meters 0.026163550098756528 Centerline is valid? [True, True] Translation: X:47.90, Y:-5.60, Z:-1.02 [[ 9.84654312e-01 1.73597243e-01 1.78852656e-02 4.79033932e+01] [-1.73558502e-01 9.84816581e-01 -3.70784993e-03 -5.60150874e+00] [-1.82573786e-02 5.46810515e-04 9.99833171e-01 -1.01848556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.92432 meters 0.02346297786535386 Centerline is valid? [True, True] Translation: X:47.96, Y:-5.61, Z:-1.02 [[ 9.83900228e-01 1.77760497e-01 1.84810113e-02 4.79640406e+01] [-1.77719765e-01 9.84073658e-01 -3.83669730e-03 -5.61013641e+00] [-1.88686896e-02 4.90486374e-04 9.99821850e-01 -1.01882198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.984320000000004 meters 0.02122206267628265 Centerline is valid? [True, True] Translation: X:48.03, Y:-5.62, Z:-1.02 [[ 9.83401388e-01 1.80433881e-01 1.91134755e-02 4.80253561e+01] [-1.80390809e-01 9.83587011e-01 -3.96836131e-03 -5.61873423e+00] [-1.95157931e-02 4.54596707e-04 9.99809445e-01 -1.01924933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.044320000000006 meters 0.02109338265061846 Centerline is valid? [True, True] Translation: X:48.09, Y:-5.63, Z:-1.02 [[ 9.83397983e-01 1.80362558e-01 1.99438042e-02 4.80873471e+01] [-1.80315533e-01 9.83600079e-01 -4.14641743e-03 -5.63162622e+00] [-2.03645858e-02 4.81400867e-04 9.99792504e-01 -1.01919895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.10432 meters 0.02073407442464635 Centerline is valid? [True, True] Translation: X:48.15, Y:-5.64, Z:-1.02 [[ 9.83527214e-01 1.79593288e-01 2.05053682e-02 4.81481825e+01] [-1.79543269e-01 9.83740811e-01 -4.26986535e-03 -5.64318191e+00] [-2.09388067e-02 5.17927916e-04 9.99780625e-01 -1.02010828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.164320000000004 meters 0.02125682468751304 Centerline is valid? [True, True] Translation: X:48.21, Y:-5.66, Z:-1.02 [[ 9.83818206e-01 1.77977305e-01 2.06353031e-02 4.82079964e+01] [-1.77926169e-01 9.84034432e-01 -4.30287226e-03 -5.65801028e+00] [-2.10716624e-02 5.61683637e-04 9.99777810e-01 -1.02102211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.224320000000006 meters 0.025200061977283295 Centerline is valid? [True, True] Translation: X:48.27, Y:-5.68, Z:-1.02 [[ 9.84658114e-01 1.73220362e-01 2.10500582e-02 4.82654961e+01] [-1.73165940e-01 9.84882856e-01 -4.39506380e-03 -5.67546736e+00] [-2.14931559e-02 6.82482121e-04 9.99768762e-01 -1.02240867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.28432 meters 0.024254239605698027 Centerline is valid? [True, True] Translation: X:48.33, Y:-5.68, Z:-1.02 [[ 9.84927542e-01 1.71526798e-01 2.22776452e-02 4.83274119e+01] [-1.71465401e-01 9.85179160e-01 -4.65181096e-03 -5.68449568e+00] [-2.27453820e-02 7.61851380e-04 9.99741000e-01 -1.02325200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.34432 meters 0.02760721579074123 Centerline is valid? [True, True] Translation: X:48.39, Y:-5.70, Z:-1.03 [[ 9.85947793e-01 1.65600007e-01 2.19906246e-02 4.83865768e+01] [-1.65538573e-01 9.86192598e-01 -4.59792200e-03 -5.70087471e+00] [-2.24484071e-02 8.93014441e-04 9.99747604e-01 -1.02508584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.404320000000006 meters 0.028940471563240634 Centerline is valid? [True, True] Translation: X:48.45, Y:-5.71, Z:-1.03 [[ 9.86026432e-01 1.65223216e-01 2.12876762e-02 4.84460413e+01] [-1.65165539e-01 9.86255812e-01 -4.45185851e-03 -5.71406576e+00] [-2.17306447e-02 8.73659650e-04 9.99763480e-01 -1.02669669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46432 meters 0.028029661890799615 Centerline is valid? [True, True] Translation: X:48.51, Y:-5.72, Z:-1.03 [[ 9.86068383e-01 1.65107768e-01 2.02130666e-02 4.85073726e+01] [-1.65055684e-01 9.86275179e-01 -4.23004428e-03 -5.72390331e+00] [-2.06340590e-02 8.34831400e-04 9.99786747e-01 -1.03010201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.52432 meters 0.030343864247897607 Centerline is valid? [True, True] Translation: X:48.57, Y:-5.74, Z:-1.03 [[ 9.86334263e-01 1.63420177e-01 2.09419798e-02 4.85667956e+01] [-1.63363753e-01 9.86556142e-01 -4.38887466e-03 -5.73837580e+00] [-2.13776695e-02 9.07737024e-04 9.99771059e-01 -1.03239702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.584320000000005 meters 0.032516948379813934 Centerline is valid? [True, True] Translation: X:48.63, Y:-5.75, Z:-1.03 [[ 9.86692351e-01 1.61022984e-01 2.25788016e-02 4.86274402e+01] [-1.60956689e-01 9.86950111e-01 -4.73531542e-03 -5.75168693e+00] [-2.30466453e-02 1.03809036e-03 9.99733852e-01 -1.03451024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64432 meters 0.03595806656500018 Centerline is valid? [True, True] Translation: X:48.68, Y:-5.77, Z:-1.04 [[ 9.87195293e-01 1.57550445e-01 2.49661819e-02 4.86847847e+01] [-1.57468230e-01 9.87510163e-01 -5.23785787e-03 -5.76857214e+00] [-2.54795852e-02 1.23940815e-03 9.99674574e-01 -1.03608969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70432 meters 0.0359929980162018 Centerline is valid? [True, True] Translation: X:48.75, Y:-5.78, Z:-1.04 [[ 9.86831772e-01 1.59182515e-01 2.87050494e-02 4.87462968e+01] [-1.59074450e-01 9.87248209e-01 -6.02441922e-03 -5.77877378e+00] [-2.92979908e-02 1.37884834e-03 9.99569771e-01 -1.03571256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.764320000000005 meters 0.03707237377077186 Centerline is valid? [True, True] Translation: X:48.81, Y:-5.79, Z:-1.04 [[ 9.86560177e-01 1.60596580e-01 3.01289995e-02 4.88065766e+01] [-1.60477928e-01 9.87019122e-01 -6.33151332e-03 -5.79071302e+00] [-3.07547180e-02 1.41137948e-03 9.99525965e-01 -1.03812317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82432 meters 0.032406203504739696 Centerline is valid? [True, True] Translation: X:48.87, Y:-5.80, Z:-1.04 [[ 9.86895080e-01 1.58484062e-01 3.03463844e-02 4.88683609e+01] [-1.58362509e-01 9.87360406e-01 -6.38319811e-03 -5.79819436e+00] [-3.09744535e-02 1.49381726e-03 9.99519060e-01 -1.04316487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88432 meters 0.03824426306491112 Centerline is valid? [True, True] Translation: X:48.93, Y:-5.82, Z:-1.05 [[ 9.87392939e-01 1.55045920e-01 3.18739125e-02 4.89252241e+01] [-1.54909970e-01 9.87905829e-01 -6.70634382e-03 -5.81783639e+00] [-3.25282152e-02 1.68420969e-03 9.99469399e-01 -1.04536188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.944320000000005 meters 0.0374686547012274 Centerline is valid? [True, True] Translation: X:48.99, Y:-5.83, Z:-1.05 [[ 9.87793120e-01 1.52105219e-01 3.35969357e-02 4.89850238e+01] [-1.51952462e-01 9.88362523e-01 -7.06913386e-03 -5.82864805e+00] [-3.42812043e-02 1.87770470e-03 9.99410463e-01 -1.04975192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00432000000001 meters 0.0463594529911411 Centerline is valid? [True, True] Translation: X:49.04, Y:-5.86, Z:-1.05 [[ 9.87698981e-01 1.52426916e-01 3.48820667e-02 4.90418423e+01] [-1.52262297e-01 9.88312837e-01 -7.34365922e-03 -5.85509830e+00] [-3.55937656e-02 1.94210114e-03 9.99364454e-01 -1.04797550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06432 meters 0.035127815992247194 Centerline is valid? [True, True] Translation: X:49.10, Y:-5.85, Z:-1.05 [[ 9.87218233e-01 1.55146639e-01 3.64647982e-02 4.91048300e+01] [-1.54968348e-01 9.87889558e-01 -7.68318736e-03 -5.85252758e+00] [-3.72152141e-02 1.93409310e-03 9.99305402e-01 -1.05439117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.124320000000004 meters 0.03478760988897356 Centerline is valid? [True, True] Translation: X:49.16, Y:-5.86, Z:-1.06 [[ 9.86449348e-01 1.59640528e-01 3.78495075e-02 4.91638287e+01] [-1.59451694e-01 9.87173512e-01 -7.97584880e-03 -5.86450585e+00] [-3.86373000e-02 1.83260277e-03 9.99251620e-01 -1.05695490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18432000000001 meters 0.03285825083819458 Centerline is valid? [True, True] Translation: X:49.22, Y:-5.87, Z:-1.06 [[ 9.85642114e-01 1.63949391e-01 4.03759798e-02 4.92246830e+01] [-1.63738061e-01 9.86467153e-01 -8.50903537e-03 -5.87255601e+00] [-4.12246290e-02 1.77577897e-03 9.99148326e-01 -1.05831355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24432 meters 0.031183698229903863 Centerline is valid? [True, True] Translation: X:49.29, Y:-5.88, Z:-1.06 [[ 9.85268940e-01 1.65733368e-01 4.21612070e-02 4.92864205e+01] [-1.65504250e-01 9.86168986e-01 -8.89231135e-03 -5.88258752e+00] [-4.30518275e-02 1.78345921e-03 9.99071248e-01 -1.06092732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.304320000000004 meters 0.03417879273922138 Centerline is valid? [True, True] Translation: X:49.35, Y:-5.90, Z:-1.06 [[ 9.85962372e-01 1.61292849e-01 4.31603829e-02 4.93456358e+01] [-1.61048178e-01 9.86904499e-01 -9.11009340e-03 -5.89881687e+00] [-4.40645689e-02 2.03130826e-03 9.99026620e-01 -1.06437085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.364320000000006 meters 0.035479587200365294 Centerline is valid? [True, True] Translation: X:49.40, Y:-5.91, Z:-1.07 [[ 9.86553478e-01 1.56977272e-01 4.55013241e-02 4.94047210e+01] [-1.56700657e-01 9.87599427e-01 -9.60600087e-03 -5.91251450e+00] [-4.64450055e-02 2.34674620e-03 9.98918092e-01 -1.06853643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.42432 meters 0.04263286303356569 Centerline is valid? [True, True] Translation: X:49.46, Y:-5.93, Z:-1.07 [[ 9.87672429e-01 1.48941573e-01 4.81620202e-02 4.94613284e+01] [-1.48621966e-01 9.88841783e-01 -1.01705183e-02 -5.93204781e+00] [-4.91394309e-02 2.88720636e-03 9.98787755e-01 -1.07146507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.484320000000004 meters 0.04755566122834046 Centerline is valid? [True, True] Translation: X:49.52, Y:-5.95, Z:-1.07 [[ 9.88020012e-01 1.45089610e-01 5.25876453e-02 4.95204192e+01] [-1.44702927e-01 9.89412796e-01 -1.11077253e-02 -5.94749835e+00] [-5.36425048e-02 3.36506873e-03 9.98554534e-01 -1.07233550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.544320000000006 meters 0.05082662287412192 Centerline is valid? [True, True] Translation: X:49.58, Y:-5.96, Z:-1.07 [[ 9.88057743e-01 1.44579313e-01 5.32796264e-02 4.95794919e+01] [-1.44181346e-01 9.89487225e-01 -1.12592235e-02 -5.96331131e+00] [-5.43473605e-02 3.44283470e-03 9.98516155e-01 -1.07325693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.60432 meters 0.05463520124501661 Centerline is valid? [True, True] Translation: X:49.64, Y:-5.97, Z:-1.08 [[ 9.88012622e-01 1.44532585e-01 5.42345812e-02 4.96401172e+01] [-1.44119442e-01 9.89493781e-01 -1.14736072e-02 -5.97498949e+00] [-5.53230909e-02 3.51981111e-03 9.98462301e-01 -1.07879083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 357.97 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%| | 0/1622 [00:00