+ python -m lidar_slam --no-model /working/c57f2f85-1cb3-493a-9e13-2e5c27d0f439 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/c57f2f85-1cb3-493a-9e13-2e5c27d0f439 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 0.024340128 Adjusted end_distance from 9.223372036854776e+18 to 59.974340128 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.024340128 meters 0.0232948064951652 Centerline is valid? [0, True] SLAMing on 0.084340128 meters 0.024002010181309295 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.00, Z:0.00 [[ 9.99999998e-01 -1.43030410e-05 -6.30189704e-05 5.94858304e-02] [ 1.43031214e-05 1.00000000e+00 1.27520404e-06 -4.97118734e-03] [ 6.30189522e-05 -1.27610540e-06 9.99999998e-01 5.81933101e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.14434012799999998 meters 0.022431454310713746 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.01, Z:-0.00 [[ 9.99999715e-01 4.12113511e-05 -7.53364245e-04 1.19764705e-01] [-4.11984207e-05 9.99999999e-01 1.71790532e-05 -6.14689528e-03] [ 7.53364952e-04 -1.71480109e-05 9.99999716e-01 -7.58346728e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20434012799999998 meters 0.021303022596119235 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.01, Z:-0.00 [[ 9.99996716e-01 2.24094144e-03 -1.24357541e-03 1.79933335e-01] [-2.24090791e-03 9.99997489e-01 2.83573958e-05 -8.19928997e-03] [ 1.24363583e-03 -2.55705647e-05 9.99999226e-01 -1.39494987e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.264340128 meters 0.020115364580880757 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.01, Z:-0.00 [[ 9.99980483e-01 6.19729333e-03 -7.92030323e-04 2.39032079e-01] [-6.19728110e-03 9.99980797e-01 1.79007049e-05 -9.10555941e-03] [ 7.92126049e-04 -1.29919210e-05 9.99999686e-01 -2.57821258e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.324340128 meters 0.01929737309701648 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.01, Z:0.00 [[ 9.99959691e-01 8.97827509e-03 -8.78369810e-05 2.98329041e-01] [-8.97827493e-03 9.99959694e-01 2.20266828e-06 -9.60730497e-03] [ 8.78532169e-05 -1.41395493e-06 9.99999996e-01 1.19268634e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.384340128 meters 0.018313400471062412 Centerline is valid? [True, True] Translation: X:0.36, Y:-0.01, Z:0.00 [[ 9.99924107e-01 1.23001838e-02 6.96382985e-04 3.58621917e-01] [-1.23001758e-02 9.99924350e-01 -1.58778662e-05 -1.00936904e-02] [-6.96525604e-04 7.31102805e-06 9.99999757e-01 2.43641368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.444340128 meters 0.018486800066390897 Centerline is valid? [True, True] Translation: X:0.42, Y:-0.01, Z:0.00 [[ 9.99917478e-01 1.27174844e-02 1.81714338e-03 4.20171077e-01] [-1.27174292e-02 9.99919129e-01 -4.18925164e-05 -1.33459046e-02] [-1.81752919e-03 1.87796671e-05 9.99998348e-01 4.34108050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5043401279999999 meters 0.018142848108528148 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.02, Z:0.00 [[ 9.99932147e-01 1.14821546e-02 1.96498929e-03 4.81800634e-01] [-1.14820820e-02 9.99934078e-01 -4.82311362e-05 -1.67357333e-02] [-1.96541355e-03 2.56656956e-05 9.99998068e-01 3.23399241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.564340128 meters 0.02087097326577422 Centerline is valid? [True, True] Translation: X:0.54, Y:-0.03, Z:0.00 [[ 9.99970783e-01 7.41031134e-03 1.87617955e-03 5.43109576e-01] [-7.41023685e-03 9.99972543e-01 -4.66519293e-05 -2.64380625e-02] [-1.87647374e-03 3.27476314e-05 9.99998239e-01 3.81464736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6243401279999999 meters 0.021504557641402355 Centerline is valid? [True, True] Translation: X:0.60, Y:-0.03, Z:0.00 [[ 9.99991672e-01 3.91609867e-03 1.14885372e-03 6.04762198e-01] [-3.91606679e-03 9.99992332e-01 -2.99977912e-05 -3.10832802e-02] [-1.14896239e-03 2.54985535e-05 9.99999340e-01 2.77923779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6843401279999999 meters 0.024286852409279015 Centerline is valid? [True, True] Translation: X:0.66, Y:-0.04, Z:0.00 [[ 9.99997782e-01 3.71106337e-04 -2.07331809e-03 6.64585098e-01] [-3.71006739e-04 9.99999930e-01 4.84219347e-05 -3.97090681e-02] [ 2.07333591e-03 -4.76526123e-05 9.99997850e-01 2.78942827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7443401279999999 meters 0.022462288898210264 Centerline is valid? [True, True] Translation: X:0.72, Y:-0.04, Z:0.00 [[ 9.99989472e-01 9.31470865e-04 -4.49318585e-03 7.24721905e-01] [-9.30999110e-04 9.99999561e-01 1.07083911e-04 -3.85755252e-02] [ 4.49328362e-03 -1.02899632e-04 9.99989900e-01 1.73477469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.804340128 meters 0.022370589078472267 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.04, Z:0.00 [[ 9.99980968e-01 2.62397651e-03 -5.58375497e-03 7.82728262e-01] [-2.62327478e-03 9.99996550e-01 1.32993527e-04 -4.07097349e-02] [ 5.58408468e-03 -1.18343272e-04 9.99984402e-01 2.86874550e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8643401279999999 meters 0.021042883143520257 Centerline is valid? [True, True] Translation: X:0.84, Y:-0.04, Z:0.00 [[ 9.99963730e-01 4.53397609e-03 -7.20987580e-03 8.41703680e-01] [-4.53286000e-03 9.99989712e-01 1.71133405e-04 -4.10121614e-02] [ 7.21057754e-03 -1.38445840e-04 9.99973994e-01 2.79030588e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9243401279999999 meters 0.02061331502983198 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.04, Z:0.00 [[ 9.99934928e-01 5.77193250e-03 -9.83997381e-03 8.99284671e-01] [-5.76995294e-03 9.99983327e-01 2.29552384e-04 -4.11463910e-02] [ 9.84113472e-03 -1.72761261e-04 9.99951560e-01 1.13928910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9843401279999999 meters 0.019717136462239885 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.04, Z:0.00 [[ 9.99911369e-01 7.86200359e-03 -1.07443994e-02 9.57705154e-01] [-7.85977690e-03 9.99969080e-01 2.49452291e-04 -3.96960566e-02] [ 1.07460284e-02 -1.64981600e-04 9.99942246e-01 1.37026521e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.044340128 meters 0.019269438910315805 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.04, Z:0.00 [[ 9.99907072e-01 8.73204437e-03 -1.04689703e-02 1.01665519e+00] [-8.72998678e-03 9.99961864e-01 2.42224499e-04 -3.99866818e-02] [ 1.04706861e-02 -1.50808017e-04 9.99945169e-01 2.49650191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.104340128 meters 0.019040914789496082 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.04, Z:0.00 [[ 9.99901577e-01 9.06874074e-03 -1.07048545e-02 1.07499063e+00] [-9.06661818e-03 9.99958867e-01 2.46793750e-04 -4.15401260e-02] [ 1.07066523e-02 -1.49712632e-04 9.99942671e-01 2.81807499e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1643401279999999 meters 0.019716384877565517 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.04, Z:0.00 [[ 9.99902511e-01 8.52055598e-03 -1.10620173e-02 1.13279378e+00] [-8.51826644e-03 9.99963687e-01 2.54073379e-04 -4.45388502e-02] [ 1.10637804e-02 -1.59819399e-04 9.99938782e-01 3.43795670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.224340128 meters 0.0202399953586389 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.05, Z:0.00 [[ 9.99908779e-01 6.36436556e-03 -1.19134133e-02 1.19150160e+00] [-6.36157169e-03 9.99979728e-01 2.72396123e-04 -4.82369379e-02] [ 1.19149054e-02 -1.96583242e-04 9.99928996e-01 3.23322138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.284340128 meters 0.019617918060738194 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.05, Z:0.00 [[ 9.99874833e-01 6.75371215e-03 -1.43075548e-02 1.24927893e+00] [-6.74974430e-03 9.99977167e-01 3.25596414e-04 -4.92281805e-02] [ 1.43094271e-02 -2.28983324e-04 9.99897589e-01 1.83914524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3443401279999998 meters 0.01908039196757383 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.05, Z:0.00 [[ 9.99845778e-01 8.23216012e-03 -1.55129618e-02 1.30778194e+00] [-8.22770162e-03 9.99966090e-01 3.51205727e-04 -4.98261890e-02] [ 1.55153269e-02 -2.23515542e-04 9.99879605e-01 1.50864549e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4043401279999999 meters 0.017905329173126826 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.05, Z:0.00 [[ 9.99813446e-01 1.12109289e-02 -1.57285805e-02 1.36570430e+00] [-1.12067368e-02 9.99937140e-01 3.54644337e-04 -5.08852179e-02] [ 1.57315677e-02 -1.78312115e-04 9.99876235e-01 2.16161439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.464340128 meters 0.016787027445481557 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.05, Z:0.00 [[ 9.99780702e-01 1.28998732e-02 -1.64966844e-02 1.42488385e+00] [-1.28955183e-02 9.99916781e-01 3.70338401e-04 -5.18229858e-02] [ 1.65000889e-02 -1.57523892e-04 9.99863852e-01 3.15744382e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.524340128 meters 0.01586406780231961 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.05, Z:0.00 [[ 9.99751107e-01 1.51072661e-02 -1.64162702e-02 1.48388623e+00] [-1.51032736e-02 9.99885872e-01 3.67162228e-04 -5.22942216e-02] [ 1.64199435e-02 -1.19131422e-04 9.99865177e-01 4.48292200e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.584340128 meters 0.015270355332270447 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.06, Z:0.01 [[ 9.99749451e-01 1.61458813e-02 -1.55030873e-02 1.54253839e+00] [-1.61424646e-02 9.99869642e-01 3.45511319e-04 -5.64540342e-02] [ 1.55066450e-02 -9.51667139e-05 9.99879760e-01 7.34355562e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6443401279999998 meters 0.014894116631071427 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.06, Z:0.01 [[ 9.99725973e-01 1.74655725e-02 -1.55863248e-02 1.59996500e+00] [-1.74623008e-02 9.99847463e-01 3.45991114e-04 -6.23876372e-02] [ 1.55899902e-02 -7.37232106e-05 9.99878466e-01 9.79499424e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.704340128 meters 0.014604805676616657 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.07, Z:0.01 [[ 9.99710409e-01 1.83011594e-02 -1.56258042e-02 1.65780883e+00] [-1.82979992e-02 9.99832518e-01 3.45196569e-04 -6.54271871e-02] [ 1.56295047e-02 -5.91756499e-05 9.99877850e-01 1.14511546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.764340128 meters 0.014300266264845233 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.07, Z:0.01 [[ 9.99679975e-01 1.94851092e-02 -1.61331419e-02 1.71580288e+00] [-1.94819269e-02 9.99810146e-01 3.54406373e-04 -7.03863493e-02] [ 1.61369846e-02 -3.99882632e-05 9.99869790e-01 1.38077951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8243401279999998 meters 0.01430290172232574 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.08, Z:0.02 [[ 9.99657917e-01 2.02098146e-02 -1.66015782e-02 1.77355457e+00] [-2.02065799e-02 9.99795760e-01 3.62575168e-04 -7.93219064e-02] [ 1.66055151e-02 -2.69900209e-05 9.99862119e-01 1.55766541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8843401279999998 meters 0.014363402516699736 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.08, Z:0.02 [[ 9.99633989e-01 2.09760184e-02 -1.70849210e-02 1.83042468e+00] [-2.09727437e-02 9.99779979e-01 3.70838377e-04 -8.44287136e-02] [ 1.70889407e-02 -1.23849758e-05 9.99853973e-01 1.62554475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.944340128 meters 0.01429554461417277 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.09, Z:0.02 [[ 9.99585154e-01 2.24490995e-02 -1.80432021e-02 1.88946491e+00] [-2.24457263e-02 9.99747987e-01 3.89465074e-04 -9.21004600e-02] [ 1.80473981e-02 1.56892714e-05 9.99837132e-01 1.72614588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.004340128 meters 0.014387532884114693 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.10, Z:0.02 [[ 9.99570012e-01 2.31266472e-02 -1.80263251e-02 1.94629039e+00] [-2.31234273e-02 9.99732543e-01 3.87061748e-04 -1.01072829e-01] [ 1.80304552e-02 2.99351012e-05 9.99837438e-01 1.75457108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.064340128 meters 0.014243965251589618 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.11, Z:0.02 [[ 9.99554826e-01 2.36498495e-02 -1.81888281e-02 2.00410488e+00] [-2.36467029e-02 9.99720302e-01 3.88076417e-04 -1.07204953e-01] [ 1.81929187e-02 4.22021601e-05 9.99834494e-01 1.97002419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.124340128 meters 0.014298647084980742 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.12, Z:0.02 [[ 9.99539550e-01 2.45476794e-02 -1.78353359e-02 2.06148056e+00] [-2.45448353e-02 9.99698659e-01 3.78376816e-04 -1.16389707e-01] [ 1.78392496e-02 5.95627896e-05 9.99840866e-01 2.14286954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.184340128 meters 0.014316021989821787 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.12, Z:0.02 [[ 9.99543287e-01 2.44952060e-02 -1.76975370e-02 2.11956800e+00] [-2.44924349e-02 9.99699946e-01 3.73337160e-04 -1.23463604e-01] [ 1.77013718e-02 6.02891217e-05 9.99843317e-01 2.22189770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2443401279999997 meters 0.014193928834484492 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.13, Z:0.02 [[ 9.99551309e-01 2.45604624e-02 -1.71454167e-02 2.17701133e+00] [-2.45579028e-02 9.99698344e-01 3.59848860e-04 -1.33931051e-01] [ 1.71490827e-02 6.13680764e-05 9.99852942e-01 2.32946674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3043401279999998 meters 0.014094791765705052 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.14, Z:0.03 [[ 9.99562908e-01 2.46682613e-02 -1.62932198e-02 2.23501943e+00] [-2.46659889e-02 9.99695690e-01 3.40437882e-04 -1.44625596e-01] [ 1.62966597e-02 6.15993010e-05 9.99867199e-01 2.57976539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.364340128 meters 0.013686823679287478 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.16, Z:0.03 [[ 9.99587054e-01 2.40033818e-02 -1.57974241e-02 2.29323186e+00] [-2.40011847e-02 9.99711876e-01 3.28685501e-04 -1.55448240e-01] [ 1.58007621e-02 5.06071222e-05 9.99875159e-01 2.84218312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.424340128 meters 0.013590753851127171 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.16, Z:0.03 [[ 9.99608743e-01 2.28298593e-02 -1.61604169e-02 2.35210014e+00] [-2.28274284e-02 9.99739364e-01 3.34897103e-04 -1.62945503e-01] [ 1.61638506e-02 3.41346870e-05 9.99869356e-01 2.81645620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.484340128 meters 0.01359275076103353 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.18, Z:0.03 [[ 9.99699648e-01 1.87689367e-02 -1.57588413e-02 2.40950121e+00] [-1.87661423e-02 9.99823848e-01 3.25191922e-04 -1.75976976e-01] [ 1.57621688e-02 -2.93615921e-05 9.99875769e-01 2.92174630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.544340128 meters 0.014314588240709187 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.19, Z:0.03 [[ 9.99782876e-01 1.44971171e-02 -1.49677735e-02 2.46848497e+00] [-1.44941377e-02 9.99894907e-01 3.07521167e-04 -1.88214494e-01] [ 1.49706587e-02 -9.05094265e-05 9.99887929e-01 3.00359159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.604340128 meters 0.015060020422640054 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.20, Z:0.03 [[ 9.99787659e-01 1.24744352e-02 -1.64020204e-02 2.52718711e+00] [-1.24706077e-02 9.99922183e-01 3.35612443e-04 -1.95662876e-01] [ 1.64049306e-02 -1.30998016e-04 9.99865421e-01 2.95904646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6643401279999996 meters 0.014989327533030441 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.20, Z:0.03 [[ 9.99789870e-01 1.23163175e-02 -1.63866772e-02 2.58464270e+00] [-1.23125017e-02 9.99924143e-01 3.33727222e-04 -2.02312831e-01] [ 1.63895445e-02 -1.31896104e-04 9.99865674e-01 3.05266569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7243401279999997 meters 0.014166815711653182 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.20, Z:0.03 [[ 9.99758318e-01 1.50504458e-02 -1.60246699e-02 2.64240288e+00] [-1.50471761e-02 9.99886732e-01 3.24596081e-04 -2.04637176e-01] [ 1.60277402e-02 -8.33916014e-05 9.99871544e-01 3.19963570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7843401279999997 meters 0.013812141483821613 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.21, Z:0.03 [[ 9.99728919e-01 1.67003048e-02 -1.62231082e-02 2.70149954e+00] [-1.66971947e-02 9.99860539e-01 3.27147847e-04 -2.06102886e-01] [ 1.62263091e-02 -5.61787670e-05 9.99868343e-01 3.23666338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.844340128 meters 0.013517862401923545 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.21, Z:0.03 [[ 9.99710509e-01 1.81593426e-02 -1.57840356e-02 2.75928132e+00] [-1.81566010e-02 9.99835105e-01 3.16988587e-04 -2.08713565e-01] [ 1.57871892e-02 -3.03123856e-05 9.99875374e-01 3.29791993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.904340128 meters 0.013283204666744921 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.21, Z:0.04 [[ 9.99709388e-01 1.86391925e-02 -1.52878980e-02 2.81774172e+00] [-1.86366974e-02 9.99826275e-01 3.05666502e-04 -2.10411334e-01] [ 1.52909395e-02 -2.06617431e-05 9.99883087e-01 3.51196758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.964340128 meters 0.01348304313005168 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.21, Z:0.04 [[ 9.99724446e-01 1.81227307e-02 -1.49197701e-02 2.87532576e+00] [-1.81203166e-02 9.99835769e-01 2.96985483e-04 -2.13098796e-01] [ 1.49227020e-02 -2.65526895e-05 9.99888650e-01 3.54144600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.024340128 meters 0.01369189284131473 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.22, Z:0.04 [[ 9.99790055e-01 1.53216583e-02 -1.36048736e-02 2.93429634e+00] [-1.53194083e-02 9.99882615e-01 2.69586687e-04 -2.18651215e-01] [ 1.36074071e-02 -6.11114752e-05 9.99907413e-01 3.92632212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.084340128 meters 0.014000982209005496 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.22, Z:0.04 [[ 9.99814757e-01 1.39615301e-02 -1.32487034e-02 2.99334883e+00] [-1.39592911e-02 9.99902530e-01 2.61467596e-04 -2.21619452e-01] [ 1.32510625e-02 -7.64766543e-05 9.99912198e-01 4.01930499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.144340128 meters 0.014418459574916876 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.23, Z:0.04 [[ 9.99821926e-01 1.21266494e-02 -1.44589409e-02 3.05085925e+00] [-1.21238100e-02 9.99926464e-01 2.84016261e-04 -2.25041887e-01] [ 1.44613218e-02 -1.08668232e-04 9.99895424e-01 3.99306340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2043401279999997 meters 0.014587745691987028 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.23, Z:0.04 [[ 9.99830967e-01 1.19795659e-02 -1.39473448e-02 3.10870812e+00] [-1.19769291e-02 9.99928237e-01 2.72564193e-04 -2.27630072e-01] [ 1.39496091e-02 -1.05471760e-04 9.99902694e-01 4.05281188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2643401279999997 meters 0.014734271109897034 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.23, Z:0.04 [[ 9.99826177e-01 1.26944392e-02 -1.36552984e-02 3.16756992e+00] [-1.26919969e-02 9.99919418e-01 2.65504399e-04 -2.29733229e-01] [ 1.36575685e-02 -9.21452428e-05 9.99906727e-01 4.13644991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.324340128 meters 0.014158918963623004 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.23, Z:0.04 [[ 9.99784946e-01 1.51267864e-02 -1.41860013e-02 3.22661216e+00] [-1.51244112e-02 9.99885582e-01 2.74708205e-04 -2.29412893e-01] [ 1.41885336e-02 -6.00942106e-05 9.99899336e-01 4.10864995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.384340128 meters 0.013797541447552977 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.23, Z:0.04 [[ 9.99749809e-01 1.67156857e-02 -1.48628927e-02 3.28430246e+00] [-1.67132727e-02 9.99860282e-01 2.86550777e-04 -2.29137485e-01] [ 1.48656060e-02 -3.80715061e-05 9.99889500e-01 4.15922898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.444340128 meters 0.013827093708254178 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.23, Z:0.04 [[ 9.99768783e-01 1.62895283e-02 -1.40368317e-02 3.34360121e+00] [-1.62873486e-02 9.99867316e-01 2.69598770e-04 -2.31654702e-01] [ 1.40393609e-02 -4.09136630e-05 9.99901442e-01 4.24809628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.504340128 meters 0.013969219643567355 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.24, Z:0.04 [[ 9.99799940e-01 1.44081311e-02 -1.38739479e-02 3.40279467e+00] [-1.44058300e-02 9.99896195e-01 2.65781786e-04 -2.35978138e-01] [ 1.38763371e-02 -6.58628782e-05 9.99903717e-01 4.42302490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.564340128 meters 0.015234132553060864 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.24, Z:0.04 [[ 9.99827507e-01 1.21690423e-02 -1.40310267e-02 3.46082295e+00] [-1.21664857e-02 9.99925950e-01 2.67556985e-04 -2.44232441e-01] [ 1.40332436e-02 -9.68025476e-05 9.99901525e-01 4.42833526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6243401279999996 meters 0.01498541049159166 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.25, Z:0.05 [[ 9.99837635e-01 1.07318642e-02 -1.44751813e-02 3.51946365e+00] [-1.07290129e-02 9.99942405e-01 2.74625835e-04 -2.48175800e-01] [ 1.44772949e-02 -1.19276839e-04 9.99895191e-01 4.53243589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6843401279999997 meters 0.01541993275172526 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.25, Z:0.05 [[ 9.99846783e-01 9.54700418e-03 -1.46719361e-02 3.57798463e+00] [-9.54396518e-03 9.99954417e-01 2.77135574e-04 -2.54957240e-01] [ 1.46739132e-02 -1.37064664e-04 9.99892323e-01 4.54069241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7443401279999997 meters 0.01510240730729829 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.26, Z:0.05 [[ 9.99852631e-01 9.27606103e-03 -1.44454228e-02 3.63547911e+00] [-9.27310646e-03 9.99956967e-01 2.71502029e-04 -2.60263246e-01] [ 1.44473197e-02 -1.37508074e-04 9.99895623e-01 4.67233567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8043401279999998 meters 0.015093711956056003 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.27, Z:0.05 [[ 9.99863389e-01 9.07437578e-03 -1.38151476e-02 3.69381582e+00] [-9.07167625e-03 9.99958818e-01 2.58058918e-04 -2.65629979e-01] [ 1.38169204e-02 -1.32697117e-04 9.99904533e-01 4.73255754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.864340128 meters 0.015381988702930926 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.27, Z:0.05 [[ 9.99886863e-01 8.40125727e-03 -1.24771864e-02 3.75157186e+00] [-8.39901852e-03 9.99964701e-01 2.31817603e-04 -2.74326943e-01] [ 1.24786936e-02 -1.26995256e-04 9.99922130e-01 4.86750488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.924340128 meters 0.016065414744006207 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.28, Z:0.05 [[ 9.99914487e-01 7.82452824e-03 -1.04783353e-02 3.81044738e+00] [-7.82292611e-03 9.99969382e-01 1.93877498e-04 -2.83046680e-01] [ 1.04795315e-02 -1.11889676e-04 9.99945082e-01 5.12657797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.984340128 meters 0.015454377476691957 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.29, Z:0.05 [[ 9.99921922e-01 7.97107148e-03 -9.62346691e-03 3.86906130e+00] [-7.96973169e-03 9.99968225e-01 1.77562818e-04 -2.86999110e-01] [ 9.62457649e-03 -1.00852505e-04 9.99953678e-01 5.23514416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.044340128 meters 0.015196269283792464 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.29, Z:0.05 [[ 9.99907863e-01 9.05616260e-03 -1.01119453e-02 3.92805432e+00] [-9.05474697e-03 9.99958988e-01 1.85770193e-04 -2.93695357e-01] [ 1.01132129e-02 -9.41919706e-05 9.99948856e-01 5.09997837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1043401280000005 meters 0.014581258812898328 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.30, Z:0.05 [[ 9.99891021e-01 9.78186885e-03 -1.10571402e-02 3.98728427e+00] [-9.78023010e-03 9.99952152e-01 2.02271806e-04 -2.99852163e-01] [ 1.10585898e-02 -9.41083869e-05 9.99938847e-01 5.04941110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.164340128 meters 0.01453241975951548 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.31, Z:0.05 [[ 9.99882860e-01 9.66773558e-03 -1.18659761e-02 4.04598759e+00] [-9.66585160e-03 9.99953261e-01 2.16112287e-04 -3.07576363e-01] [ 1.18675108e-02 -1.01392208e-04 9.99929573e-01 4.91776963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.224340128000001 meters 0.014801343068741746 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.31, Z:0.05 [[ 9.99894240e-01 8.87822805e-03 -1.15189195e-02 4.10342072e+00] [-8.87641062e-03 9.99960582e-01 2.08894116e-04 -3.14390459e-01] [ 1.15203200e-02 -1.06625364e-04 9.99933633e-01 4.95069448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.284340128 meters 0.017329511743212823 Centerline is valid? [True, True] Translation: X:4.16, Y:-0.33, Z:0.05 [[ 9.99925779e-01 5.30259734e-03 -1.09689681e-02 4.16066412e+00] [-5.30074528e-03 9.99985931e-01 1.97911907e-04 -3.28300602e-01] [ 1.09698632e-02 -1.39753512e-04 9.99939819e-01 4.99316830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.344340128000001 meters 0.01928185217077679 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.34, Z:0.05 [[ 9.99938963e-01 2.23114740e-03 -1.08209568e-02 4.21920846e+00] [-2.22917681e-03 9.99997497e-01 1.94166735e-04 -3.38374041e-01] [ 1.08213629e-02 -1.70033058e-04 9.99941433e-01 5.05080095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.404340128 meters 0.019783472827996206 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.35, Z:0.05 [[ 9.99950555e-01 -1.66783231e-03 -9.80339548e-03 4.27775948e+00] [ 1.66963124e-03 9.99998591e-01 1.75319102e-04 -3.46844060e-01] [ 9.80308926e-03 -1.91678489e-04 9.99951930e-01 5.19815745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.464340128 meters 0.020090997727910367 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.35, Z:0.05 [[ 9.99948693e-01 -3.73912319e-03 -9.41431658e-03 4.33640235e+00] [ 3.74086777e-03 9.99992989e-01 1.67708094e-04 -3.54801355e-01] [ 9.41362349e-03 -2.02917203e-04 9.99955670e-01 5.22591252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.524340128 meters 0.020061057390739746 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.36, Z:0.05 [[ 9.99945514e-01 -4.18544665e-03 -9.56302621e-03 4.39434901e+00] [ 4.18726066e-03 9.99991219e-01 1.69675863e-04 -3.60813888e-01] [ 9.56223207e-03 -2.09709502e-04 9.99954259e-01 5.18831122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.584340128 meters 0.020384959379617075 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.36, Z:0.05 [[ 9.99946309e-01 -3.24810772e-03 -9.84021285e-03 4.45233088e+00] [ 3.24995303e-03 9.99994704e-01 1.71543064e-04 -3.64638444e-01] [ 9.83960355e-03 -2.03514083e-04 9.99951569e-01 5.06916076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6443401280000005 meters 0.01922889583784119 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.37, Z:0.05 [[ 9.99929460e-01 -7.84978213e-04 -1.18515158e-02 4.51081959e+00] [ 7.87462907e-04 9.99999669e-01 2.04986971e-04 -3.68953068e-01] [ 1.18513510e-02 -2.14305140e-04 9.99929747e-01 4.81399868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.704340128 meters 0.016503267568620725 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.37, Z:0.05 [[ 9.99911185e-01 4.66331908e-03 -1.24849922e-02 4.56949605e+00] [-4.66102125e-03 9.99989115e-01 2.13138767e-04 -3.68784679e-01] [ 1.24858502e-02 -1.54927023e-04 9.99922037e-01 4.68918665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.764340128000001 meters 0.014385282155109546 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.36, Z:0.05 [[ 9.99883157e-01 9.69775026e-03 -1.18163305e-02 4.62820102e+00] [-9.69605782e-03 9.99952972e-01 2.00510261e-04 -3.64606059e-01] [ 1.18177193e-02 -8.59150092e-05 9.99930165e-01 4.80907138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.824340128 meters 0.01359085806169222 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.36, Z:0.05 [[ 9.99828333e-01 1.42104147e-02 -1.18898633e-02 4.68676743e+00] [-1.42090529e-02 9.99899027e-01 1.99007133e-04 -3.63261864e-01] [ 1.18914907e-02 -3.00292732e-05 9.99929293e-01 4.93099890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.884340128 meters 0.013905949366632859 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.37, Z:0.05 [[ 9.99840984e-01 1.25025063e-02 -1.27159191e-02 4.74570887e+00] [-1.25008221e-02 9.99921839e-01 2.11923513e-04 -3.70656137e-01] [ 1.27175748e-02 -5.29303713e-05 9.99919127e-01 4.99089686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.944340128 meters 0.01473583444733042 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.37, Z:0.05 [[ 9.99872508e-01 9.48430252e-03 -1.28458797e-02 4.80463076e+00] [-9.48234275e-03 9.99955019e-01 2.13460541e-04 -3.73799738e-01] [ 1.28473264e-02 -9.16242922e-05 9.99917465e-01 4.96758089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.004340128 meters 0.015296065982099618 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.38, Z:0.05 [[ 9.99886797e-01 7.59952748e-03 -1.29861301e-02 4.86339450e+00] [-7.59737819e-03 9.99971116e-01 2.14831312e-04 -3.75206233e-01] [ 1.29873876e-02 -1.16146451e-04 9.99915654e-01 4.99133198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.064340128 meters 0.018261705060513472 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.38, Z:0.05 [[ 9.99920131e-01 3.58861280e-05 -1.26384206e-02 4.92248028e+00] [-3.32571597e-05 9.99999978e-01 2.08224101e-04 -3.82113318e-01] [ 1.26384278e-02 -2.07787152e-04 9.99920110e-01 5.13123532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.124340128 meters 0.023444657967539983 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.39, Z:0.05 [[ 9.99886824e-01 -8.34385806e-03 -1.25187808e-02 4.98126294e+00] [ 8.34708696e-03 9.99965141e-01 2.05695973e-04 -3.92826800e-01] [ 1.25166282e-02 -3.10168045e-04 9.99921616e-01 5.36096924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1843401280000005 meters 0.028256734467381656 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.40, Z:0.05 [[ 9.99822294e-01 -1.39061199e-02 -1.27278968e-02 5.03918376e+00] [ 1.39099037e-02 9.99903231e-01 2.08807341e-04 -3.99368777e-01] [ 1.27237615e-02 -3.85814055e-04 9.99918975e-01 5.47566643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.244340128 meters 0.03411530494700116 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.41, Z:0.06 [[ 9.99689622e-01 -2.11706868e-02 -1.31324468e-02 5.09994538e+00] [ 2.11753304e-02 9.99775755e-01 2.14631211e-04 -4.05890371e-01] [ 1.31249580e-02 -4.92648493e-04 9.99913743e-01 5.53158918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.304340128 meters 0.030524371793617375 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.40, Z:0.06 [[ 9.99578843e-01 -2.57275166e-02 -1.34250624e-02 5.16056063e+00] [ 2.57327812e-02 9.99668833e-01 2.19529053e-04 -4.02733210e-01] [ 1.34149685e-02 -5.64900790e-04 9.99909856e-01 5.88865255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.364340128 meters 0.0295937517557162 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.40, Z:0.06 [[ 9.99575254e-01 -2.60281783e-02 -1.31090077e-02 5.21858477e+00] [ 2.60332101e-02 9.99661056e-01 2.13317921e-04 -4.01320264e-01] [ 1.30990122e-02 -5.54496867e-04 9.99914051e-01 6.06706460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.424340128 meters 0.028278900134006434 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.40, Z:0.06 [[ 9.99674625e-01 -2.26399442e-02 -1.17505887e-02 5.27892062e+00] [ 2.26437199e-02 9.99743580e-01 1.88364781e-04 -3.97061646e-01] [ 1.17433111e-02 -4.54380532e-04 9.99930942e-01 6.37647681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.484340128 meters 0.025390059358419932 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.39, Z:0.07 [[ 9.99807795e-01 -1.61557282e-02 -1.11069989e-02 5.33934981e+00] [ 1.61586957e-02 9.99869424e-01 1.77485835e-04 -3.91749213e-01] [ 1.11026812e-02 -3.56926337e-04 9.99938300e-01 6.63346604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.544340128 meters 0.02223673716331423 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.39, Z:0.07 [[ 9.99863297e-01 -1.16828894e-02 -1.17003051e-02 5.39889144e+00] [ 1.16858711e-02 9.99931700e-01 1.86504398e-04 -3.85146588e-01] [ 1.16973271e-02 -3.23207160e-04 9.99931532e-01 6.68739556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6043401280000005 meters 0.02000856475680749 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.38, Z:0.07 [[ 9.99895685e-01 -7.16500622e-03 -1.25411889e-02 5.45840904e+00] [ 7.16806295e-03 9.99974289e-01 1.98802165e-04 -3.77764879e-01] [ 1.25394420e-02 -2.88677459e-04 9.99921336e-01 6.72258436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.664340128 meters 0.02092153270334212 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.38, Z:0.07 [[ 9.99905116e-01 -5.94580158e-03 -1.24260709e-02 5.51678645e+00] [ 5.94866914e-03 9.99982288e-01 1.93821889e-04 -3.76762100e-01] [ 1.24246984e-02 -2.67722083e-04 9.99922775e-01 6.84833212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.724340128000001 meters 0.020867747947880547 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.37, Z:0.07 [[ 9.99892510e-01 -7.95257415e-03 -1.23176740e-02 5.57605690e+00] [ 7.95550385e-03 9.99968337e-01 1.88863936e-04 -3.73422981e-01] [ 1.23157820e-02 -2.86836938e-04 9.99924117e-01 6.92467963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.784340128 meters 0.022341667536528255 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.37, Z:0.07 [[ 9.99876149e-01 -1.02237655e-02 -1.19650078e-02 5.63450939e+00] [ 1.02266598e-02 9.99947690e-01 1.80733820e-04 -3.73826318e-01] [ 1.19625341e-02 -3.03073500e-04 9.99928400e-01 6.99698792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.844340128 meters 0.023990850675048362 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.37, Z:0.07 [[ 9.99835381e-01 -1.44172986e-02 -1.10159845e-02 5.69421700e+00] [ 1.44199964e-02 9.99896013e-01 1.65511207e-04 -3.74158725e-01] [ 1.10124528e-02 -3.24334418e-04 9.99939309e-01 7.19425759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.904340128 meters 0.028198571149858957 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.38, Z:0.07 [[ 9.99813222e-01 -1.68370983e-02 -9.48855358e-03 5.75206662e+00] [ 1.68392059e-02 9.99858200e-01 1.42269200e-04 -3.78654923e-01] [ 9.48481270e-03 -3.02022335e-04 9.99954973e-01 7.32223820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.964340128 meters 0.02581948791705639 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.37, Z:0.07 [[ 9.99772715e-01 -1.90509103e-02 -9.56982938e-03 5.81142223e+00] [ 1.90531472e-02 9.99818462e-01 1.42625023e-04 -3.71669336e-01] [ 9.56537496e-03 -3.24927975e-04 9.99954198e-01 7.24522133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.024340128 meters 0.026311327864569904 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.37, Z:0.07 [[ 9.99753696e-01 -1.92460005e-02 -1.10516865e-02 5.86915881e+00] [ 1.92489581e-02 9.99814709e-01 1.61293027e-04 -3.68783355e-01] [ 1.10465345e-02 -3.73986750e-04 9.99938915e-01 6.99109303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.084340128 meters 0.025680844688495172 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.37, Z:0.07 [[ 9.99767809e-01 -1.74169151e-02 -1.26877659e-02 5.92826095e+00] [ 1.74206132e-02 9.99848233e-01 1.81007689e-04 -3.65213585e-01] [ 1.26826878e-02 -4.01994324e-04 9.99919491e-01 6.78799496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1443401280000005 meters 0.02399450709794997 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.36, Z:0.07 [[ 9.99796101e-01 -1.53418438e-02 -1.31295030e-02 5.98781404e+00] [ 1.53455797e-02 9.99882233e-01 1.83840051e-04 -3.60943629e-01] [ 1.31251364e-02 -3.85282402e-04 9.99913787e-01 6.77789187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.204340128 meters 0.023256580815170517 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.36, Z:0.07 [[ 9.99825485e-01 -1.34386007e-02 -1.29770176e-02 6.04655247e+00] [ 1.34420485e-02 9.99909636e-01 1.78495858e-04 -3.57694100e-01] [ 1.29734462e-02 -3.52902407e-04 9.99915779e-01 6.71421306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.264340128000001 meters 0.02365256791478444 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.36, Z:0.07 [[ 9.99815330e-01 -1.39937985e-02 -1.31711427e-02 6.10523177e+00] [ 1.39973527e-02 9.99902016e-01 1.77700919e-04 -3.58512368e-01] [ 1.31673655e-02 -3.62029233e-04 9.99913241e-01 6.81939676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.324340128 meters 0.022363372203027462 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.36, Z:0.07 [[ 9.99818418e-01 -1.48144305e-02 -1.19859562e-02 6.16446228e+00] [ 1.48173980e-02 9.99890204e-01 1.58811188e-04 -3.56110492e-01] [ 1.19822875e-02 -3.36383035e-04 9.99928153e-01 6.98399539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.384340128 meters 0.022290136279114154 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.35, Z:0.07 [[ 9.99835477e-01 -1.49025589e-02 -1.03408570e-02 6.22305320e+00] [ 1.49047470e-02 9.99888909e-01 1.34560721e-04 -3.54915731e-01] [ 1.03377030e-02 -2.88666440e-04 9.99946523e-01 7.09071904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.444340128 meters 0.021582257281972203 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.35, Z:0.07 [[ 9.99840283e-01 -1.53095120e-02 -9.22098426e-03 6.28086314e+00] [ 1.53112474e-02 9.99882769e-01 1.17630198e-04 -3.54370696e-01] [ 9.21810242e-03 -2.58796182e-04 9.99957479e-01 7.25627664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.504340128 meters 0.021628509336714043 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.35, Z:0.07 [[ 9.99842500e-01 -1.52247069e-02 -9.12044826e-03 6.33894284e+00] [ 1.52263750e-02 9.99884066e-01 1.13484471e-04 -3.54197370e-01] [ 9.11766311e-03 -2.52337962e-04 9.99958401e-01 7.31733640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.564340128 meters 0.021117075044649554 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.35, Z:0.07 [[ 9.99838417e-01 -1.43544862e-02 -1.08207891e-02 6.39806795e+00] [ 1.43567408e-02 9.99896928e-01 1.30711859e-04 -3.52174978e-01] [ 1.08177975e-02 -2.86042003e-04 9.99941445e-01 7.17995015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.624340128 meters 0.02228733635048917 Centerline is valid? [True, True] Translation: X:6.46, Y:-0.35, Z:0.07 [[ 9.99829074e-01 -1.42728493e-02 -1.17519486e-02 6.45557913e+00] [ 1.42754657e-02 9.99898091e-01 1.38774992e-04 -3.53863526e-01] [ 1.17487703e-02 -3.06515811e-04 9.99930934e-01 7.14935873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6843401280000005 meters 0.021852343671359825 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.35, Z:0.07 [[ 9.99807291e-01 -1.47788351e-02 -1.29215885e-02 6.51430474e+00] [ 1.47820108e-02 9.99890729e-01 1.50286297e-04 -3.53423214e-01] [ 1.29179555e-02 -3.41264397e-04 9.99916501e-01 7.16932746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.744340128 meters 0.022029933973195425 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.36, Z:0.07 [[ 9.99811973e-01 -1.39628982e-02 -1.34557110e-02 6.57185382e+00] [ 1.39662263e-02 9.99902456e-01 1.53400690e-04 -3.55140946e-01] [ 1.34522566e-02 -3.41297352e-04 9.99909456e-01 7.27772545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.804340128 meters 0.021575496560750255 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.36, Z:0.07 [[ 9.99847026e-01 -1.07180636e-02 -1.38219824e-02 6.62943134e+00] [ 1.07212448e-02 9.99942514e-01 1.56076050e-04 -3.55014015e-01] [ 1.38195150e-02 -3.04241032e-04 9.99904460e-01 7.35225242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.864340128 meters 0.01912751088607519 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.35, Z:0.08 [[ 9.99874976e-01 -8.10693379e-03 -1.35760512e-02 6.68805389e+00] [ 8.10973112e-03 9.99967104e-01 1.51009310e-04 -3.51337663e-01] [ 1.35743804e-02 -2.61088555e-04 9.99907830e-01 7.55349981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.924340128 meters 0.017508919050852858 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.35, Z:0.08 [[ 9.99890482e-01 -6.36858877e-03 -1.33590879e-02 6.74673867e+00] [ 6.37109606e-03 9.99979694e-01 1.45134058e-04 -3.48935357e-01] [ 1.33578924e-02 -2.30230196e-04 9.99910753e-01 7.65621166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.984340128 meters 0.016232514578858957 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.35, Z:0.08 [[ 9.99895838e-01 -1.64673533e-03 -1.43387772e-02 6.80428845e+00] [ 1.64909183e-03 9.99998629e-01 1.52522247e-04 -3.46230261e-01] [ 1.43385063e-02 -1.76152320e-04 9.99897183e-01 7.66079742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.044340128 meters 0.015494804277324655 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.35, Z:0.08 [[ 9.99894285e-01 -1.20033244e-03 -1.44906248e-02 6.86275257e+00] [ 1.20265815e-03 9.99999265e-01 1.51784463e-04 -3.45360999e-01] [ 1.44904319e-02 -1.69195685e-04 9.99894994e-01 7.79817696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1043401280000005 meters 0.016883085404161766 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.35, Z:0.08 [[ 9.99902088e-01 -4.03876354e-03 -1.33978542e-02 6.92032476e+00] [ 4.04096547e-03 9.99991826e-01 1.37281604e-04 -3.49755141e-01] [ 1.33971902e-02 -1.91408429e-04 9.99910235e-01 7.91678095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.164340128 meters 0.01861316528086175 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.36, Z:0.08 [[ 9.99882125e-01 -1.04851134e-02 -1.12159945e-02 6.98023535e+00] [ 1.04870528e-02 9.99945003e-01 1.14114560e-04 -3.55187902e-01] [ 1.12141812e-02 -2.31723835e-04 9.99937092e-01 8.30421119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.224340128 meters 0.02329955039262572 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.36, Z:0.08 [[ 9.99829022e-01 -1.53173184e-02 -1.03588679e-02 7.03877769e+00] [ 1.53192279e-02 9.99882648e-01 1.05010591e-04 -3.63412174e-01] [ 1.03560438e-02 -2.63682496e-04 9.99946340e-01 8.43652031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.284340128 meters 0.02403886347468968 Centerline is valid? [True, True] Translation: X:7.10, Y:-0.36, Z:0.08 [[ 9.99830408e-01 -1.48493296e-02 -1.08928089e-02 7.09659545e+00] [ 1.48514058e-02 9.99889706e-01 1.09738187e-04 -3.64584060e-01] [ 1.08899780e-02 -2.71493102e-04 9.99940666e-01 8.35640991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.344340128 meters 0.019468407968796612 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.36, Z:0.08 [[ 9.99859382e-01 -1.00125426e-02 -1.34523387e-02 7.15572483e+00] [ 1.00152538e-02 9.99949837e-01 1.34189133e-04 -3.57342148e-01] [ 1.34503204e-02 -2.68898850e-04 9.99909504e-01 8.20549807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.404340128 meters 0.017107740588419924 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.35, Z:0.08 [[ 9.99878397e-01 -5.69943637e-03 -1.45157395e-02 7.21485451e+00] [ 5.70210940e-03 9.99983733e-01 1.42765988e-04 -3.52611928e-01] [ 1.45146897e-02 -2.25518962e-04 9.99894631e-01 8.11516575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.464340128 meters 0.014321737234777051 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.35, Z:0.08 [[ 9.99883301e-01 1.38485342e-03 -1.52140180e-02 7.27419731e+00] [-1.38279871e-03 9.99999033e-01 1.45572173e-04 -3.46545055e-01] [ 1.52142048e-02 -1.24517261e-04 9.99884250e-01 8.09223722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.524340128 meters 0.014135651141633216 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.35, Z:0.08 [[ 9.99899536e-01 1.71371883e-03 -1.40706016e-02 7.33294322e+00] [-1.71203048e-03 9.99998526e-01 1.32035201e-04 -3.49255652e-01] [ 1.40708072e-02 -1.07932637e-04 9.99900995e-01 8.27640561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.584340128 meters 0.014184179833829335 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.35, Z:0.08 [[ 9.99908232e-01 1.31597535e-03 -1.34831637e-02 7.39069337e+00] [-1.31440436e-03 9.99999128e-01 1.25376295e-04 -3.50633255e-01] [ 1.34833169e-02 -1.07642460e-04 9.99909090e-01 8.42783209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6443401280000005 meters 0.014218997407847824 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.35, Z:0.09 [[ 9.99924466e-01 5.54282741e-04 -1.22782055e-02 7.44875058e+00] [-5.52938799e-04 9.99999841e-01 1.12851930e-04 -3.52011482e-01] [ 1.22782661e-02 -1.06054310e-04 9.99924614e-01 8.60859913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.704340128 meters 0.014293801059550519 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.36, Z:0.09 [[ 9.99932836e-01 1.53811779e-04 -1.15888136e-02 7.50723778e+00] [-1.52602596e-04 9.99999983e-01 1.05224695e-04 -3.56044413e-01] [ 1.15888296e-02 -1.03449144e-04 9.99932842e-01 8.68272733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.764340128 meters 0.014316770993020981 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.36, Z:0.09 [[ 9.99932036e-01 3.35663576e-04 -1.16537693e-02 7.56475746e+00] [-3.34468935e-04 9.99999939e-01 1.04459946e-04 -3.57506914e-01] [ 1.16538037e-02 -1.00555023e-04 9.99932087e-01 8.66246324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.824340128 meters 0.014300312066908863 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.36, Z:0.09 [[ 9.99938091e-01 -3.51627680e-04 -1.11215981e-02 7.62347016e+00] [ 3.52745228e-04 9.99999933e-01 9.85230916e-05 -3.59367801e-01] [ 1.11215627e-02 -1.02440083e-04 9.99938148e-01 8.69800480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.884340128 meters 0.015335098725176768 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.37, Z:0.09 [[ 9.99911658e-01 -4.53818438e-03 -1.24932389e-02 7.68202562e+00] [ 4.53990811e-03 9.99989689e-01 1.09615830e-04 -3.65761761e-01] [ 1.24926126e-02 -1.66324303e-04 9.99921950e-01 8.64233499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.944340128 meters 0.016837515163629437 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.37, Z:0.09 [[ 9.99884531e-01 -7.77811776e-03 -1.30547112e-02 7.73930675e+00] [ 7.78026045e-03 9.99969727e-01 1.13352186e-04 -3.71958216e-01] [ 1.30534343e-02 -2.14908151e-04 9.99914777e-01 8.61542447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.004340127999999 meters 0.01886057648875178 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.38, Z:0.09 [[ 9.99842881e-01 -1.14218983e-02 -1.35555678e-02 7.79736855e+00] [ 1.14245224e-02 9.99934731e-01 1.16158005e-04 -3.79592863e-01] [ 1.35533563e-02 -2.71005641e-04 9.99908112e-01 8.56443461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.064340128 meters 0.020121642052811035 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.38, Z:0.09 [[ 9.99804201e-01 -1.37832971e-02 -1.41978832e-02 7.85601224e+00] [ 1.37863835e-02 9.99904956e-01 1.19528090e-04 -3.84525053e-01] [ 1.41948863e-02 -3.15242149e-04 9.99899198e-01 8.59609099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.124340128 meters 0.020815276006829447 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.39, Z:0.09 [[ 9.99780925e-01 -1.54445918e-02 -1.41267982e-02 7.91484867e+00] [ 1.54477609e-02 9.99880670e-01 1.15234900e-04 -3.89202880e-01] [ 1.41233327e-02 -3.33437057e-04 9.99900205e-01 8.57356028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.184340128 meters 0.02171161751846348 Centerline is valid? [True, True] Translation: X:7.97, Y:-0.40, Z:0.09 [[ 9.99767213e-01 -1.55251227e-02 -1.49830230e-02 7.97280417e+00] [ 1.55286488e-02 9.99879416e-01 1.19022526e-04 -3.95481100e-01] [ 1.49793684e-02 -3.51660921e-04 9.99887741e-01 8.57030631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.244340128 meters 0.020520116531482953 Centerline is valid? [True, True] Translation: X:8.03, Y:-0.40, Z:0.09 [[ 9.99802410e-01 -1.40676103e-02 -1.40443214e-02 8.03214875e+00] [ 1.40705386e-02 9.99900999e-01 1.09712021e-04 -3.95626855e-01] [ 1.40413876e-02 -3.07301510e-04 9.99901368e-01 8.72918389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.304340128 meters 0.018631167002011315 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.39, Z:0.09 [[ 9.99867070e-01 -9.87748027e-03 -1.29721563e-02 8.08964121e+00] [ 9.87959452e-03 9.99951191e-01 9.89100060e-05 -3.94506114e-01] [ 1.29705462e-02 -2.27056502e-04 9.99915853e-01 8.92007980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.364340128 meters 0.015733611396328378 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.39, Z:0.09 [[ 9.99901511e-01 -6.15245554e-03 -1.26141048e-02 8.14892733e+00] [ 6.15413882e-03 9.99981059e-01 9.46324250e-05 -3.92834584e-01] [ 1.26132837e-02 -1.72252057e-04 9.99920435e-01 9.07297201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.424340128 meters 0.016293019777030213 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.40, Z:0.09 [[ 9.99893589e-01 -6.51969460e-03 -1.30500825e-02 8.20664081e+00] [ 6.52149124e-03 9.99978730e-01 9.51225655e-05 -3.96525583e-01] [ 1.30491847e-02 -1.80218442e-04 9.99914840e-01 9.07541637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.484340128 meters 0.016185155933944703 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.40, Z:0.09 [[ 9.99866802e-01 -9.22940631e-03 -1.34609070e-02 8.26523957e+00] [ 9.23153694e-03 9.99957384e-01 9.61546719e-05 -3.98158562e-01] [ 1.34594459e-02 -2.20406724e-04 9.99909393e-01 9.18284694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.544340128 meters 0.02008996766321159 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.41, Z:0.09 [[ 9.99841391e-01 -1.34862299e-02 -1.16324555e-02 8.32324885e+00] [ 1.34880794e-02 9.99909028e-01 8.05557462e-05 -4.09027480e-01] [ 1.16303109e-02 -2.37442453e-04 9.99932337e-01 9.43106607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.604340128 meters 0.01967887243437518 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.41, Z:0.10 [[ 9.99813812e-01 -1.60129012e-02 -1.07670349e-02 8.38254858e+00] [ 1.60146198e-02 9.99871755e-01 7.34135748e-05 -4.10619733e-01] [ 1.07644785e-02 -2.45829877e-04 9.99942031e-01 9.61660214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.664340128000001 meters 0.019164821456169986 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.41, Z:0.10 [[ 9.99807017e-01 -1.59518027e-02 -1.14659853e-02 8.44059614e+00] [ 1.59537097e-02 9.99872729e-01 7.48612992e-05 -4.10408548e-01] [ 1.14633319e-02 -2.57771853e-04 9.99934261e-01 9.55844496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.724340128 meters 0.01906989739277134 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.41, Z:0.10 [[ 9.99827805e-01 -1.35543499e-02 -1.26743657e-02 8.49864887e+00] [ 1.35564413e-02 9.99908104e-01 7.91016053e-05 -4.11538188e-01] [ 1.26721288e-02 -2.50907279e-04 9.99919674e-01 9.50015296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.784340128 meters 0.017446917392299584 Centerline is valid? [True, True] Translation: X:8.56, Y:-0.41, Z:0.10 [[ 9.99837238e-01 -1.21685328e-02 -1.33200345e-02 8.55730554e+00] [ 1.21706938e-02 9.99925931e-01 8.11840895e-05 -4.09143375e-01] [ 1.33180600e-02 -2.43284937e-04 9.99911281e-01 9.55290734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.844340128 meters 0.018230662407074195 Centerline is valid? [True, True] Translation: X:8.62, Y:-0.41, Z:0.10 [[ 9.99843246e-01 -1.13573412e-02 -1.35828408e-02 8.61534224e+00] [ 1.13594718e-02 9.99935476e-01 7.97119998e-05 -4.10814116e-01] [ 1.35810590e-02 -2.33993401e-04 9.99907746e-01 9.57390716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.904340128 meters 0.017327435507642222 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.41, Z:0.10 [[ 9.99839534e-01 -1.22464191e-02 -1.30740583e-02 8.67320414e+00] [ 1.22484438e-02 9.99924982e-01 7.47997528e-05 -4.11222836e-01] [ 1.30721614e-02 -2.34924618e-04 9.99914528e-01 9.74932347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.964340128 meters 0.018312983067841515 Centerline is valid? [True, True] Translation: X:8.73, Y:-0.41, Z:0.10 [[ 9.99817357e-01 -1.39656973e-02 -1.30465559e-02 8.73168731e+00] [ 1.39678086e-02 9.99902443e-01 7.07240832e-05 -4.14484802e-01] [ 1.30442955e-02 -2.52942963e-04 9.99914888e-01 9.86844390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.024340128 meters 0.020420686441391528 Centerline is valid? [True, True] Translation: X:8.79, Y:-0.42, Z:0.10 [[ 9.99771007e-01 -1.70757902e-02 -1.28976849e-02 8.78935116e+00] [ 1.70780752e-02 9.99854157e-01 6.70330672e-05 -4.20223568e-01] [ 1.28946592e-02 -2.87285349e-04 9.99916819e-01 9.97169144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.084340128000001 meters 0.0221217911017215 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.43, Z:0.10 [[ 9.99721680e-01 -2.03721655e-02 -1.18969286e-02 8.84841363e+00] [ 2.03743262e-02 9.99792420e-01 6.04307043e-05 -4.25036496e-01] [ 1.18932280e-02 -3.02805790e-04 9.99929227e-01 1.00504599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.144340128 meters 0.021998733113574736 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.43, Z:0.10 [[ 9.99685333e-01 -2.21104428e-02 -1.18474982e-02 8.90689298e+00] [ 2.21126709e-02 9.99755483e-01 5.70812703e-05 -4.27149721e-01] [ 1.18433392e-02 -3.19043137e-04 9.99929814e-01 1.02112278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.204340128 meters 0.021927145340798003 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.43, Z:0.10 [[ 9.99675105e-01 -2.24713161e-02 -1.20301790e-02 8.96454514e+00] [ 2.24735990e-02 9.99747435e-01 5.45952947e-05 -4.28662232e-01] [ 1.20259138e-02 -3.24938975e-04 9.99927633e-01 1.02009287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.264340128 meters 0.020710782274825326 Centerline is valid? [True, True] Translation: X:9.02, Y:-0.43, Z:0.10 [[ 9.99735508e-01 -1.95336411e-02 -1.21388571e-02 9.02342513e+00] [ 1.95357045e-02 9.99809159e-01 5.14201557e-05 -4.26195095e-01] [ 1.21355361e-02 -2.88547682e-04 9.99926320e-01 1.01710610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.324340128 meters 0.01871632187883407 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.42, Z:0.10 [[ 9.99781178e-01 -1.69604598e-02 -1.22449819e-02 9.08270738e+00] [ 1.69623267e-02 9.99856128e-01 4.86120079e-05 -4.21618820e-01] [ 1.22423957e-02 -2.56304753e-04 9.99925026e-01 1.01237977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.384340128 meters 0.019744286496317705 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.42, Z:0.10 [[ 9.99783360e-01 -1.69990993e-02 -1.20109932e-02 9.13989287e+00] [ 1.70008632e-02 9.99855474e-01 4.47647492e-05 -4.23317496e-01] [ 1.20084964e-02 -2.48952305e-04 9.99927864e-01 1.01946570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.444340128 meters 0.019618577921516046 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.42, Z:0.10 [[ 9.99776301e-01 -1.80891240e-02 -1.09604545e-02 9.19894382e+00] [ 1.80906417e-02 9.99836350e-01 3.93396617e-05 -4.23089252e-01] [ 1.09579492e-02 -2.37612516e-04 9.99939932e-01 1.03323621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.504340128 meters 0.020114841982783325 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.42, Z:0.11 [[ 9.99753429e-01 -2.03321300e-02 -8.92669973e-03 9.25744726e+00] [ 2.03332094e-02 9.99793258e-01 3.01661812e-05 -4.22371758e-01] [ 8.92424087e-03 -2.11667198e-04 9.99960156e-01 1.05673147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.564340128 meters 0.020350493921628666 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.42, Z:0.10 [[ 9.99760708e-01 -1.99381438e-02 -8.99986552e-03 9.31560455e+00] [ 1.99392017e-02 9.99801194e-01 2.78342110e-05 -4.20088855e-01] [ 8.99752133e-03 -2.07277685e-04 9.99959500e-01 1.04126274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.624340128 meters 0.020350493921628666 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.42, Z:0.10 [[ 9.99754661e-01 -2.02390803e-02 -8.99986761e-03 9.37320529e+00] [ 2.02401443e-02 9.99795147e-01 2.71450961e-05 -4.20075765e-01] [ 8.99747457e-03 -2.09297055e-04 9.99959500e-01 1.04688976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.684340128 meters 0.021293013698127885 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.42, Z:0.11 [[ 9.99735071e-01 -2.11882269e-02 -8.99148443e-03 9.43133222e+00] [ 2.11893018e-02 9.99775481e-01 2.42889871e-05 -4.20474367e-01] [ 8.98895103e-03 -2.14805830e-04 9.99959575e-01 1.05181364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.744340128 meters 0.02317120852981081 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.42, Z:0.11 [[ 9.99692760e-01 -2.33493627e-02 -8.31824699e-03 9.48880629e+00] [ 2.33503480e-02 9.99727343e-01 2.13470190e-05 -4.22698492e-01] [ 8.31548052e-03 -2.15574423e-04 9.99965403e-01 1.06075540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.804340128 meters 0.02427215855667729 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.42, Z:0.11 [[ 9.99598205e-01 -2.74907170e-02 -6.90573148e-03 9.54860085e+00] [ 2.74914905e-02 9.99622037e-01 1.70950487e-05 -4.23878076e-01] [ 6.90265142e-03 -2.06937031e-04 9.99976155e-01 1.08466744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.864340128 meters 0.025434014773262743 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.42, Z:0.11 [[ 9.99442709e-01 -3.21647457e-02 -8.92746911e-03 9.60832890e+00] [ 3.21662208e-02 9.99482533e-01 2.16607559e-05 -4.22551169e-01] [ 8.92215273e-03 -3.08811627e-04 9.99960149e-01 1.05845337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.924340128 meters 0.03029675127187224 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.43, Z:0.11 [[ 9.99363412e-01 -3.45902563e-02 -8.73414481e-03 9.66647557e+00] [ 3.45917588e-02 9.99401526e-01 2.09706220e-05 -4.26573791e-01] [ 8.72819227e-03 -3.23086703e-04 9.99961856e-01 1.06228841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.984340128 meters 0.030839439355036562 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.43, Z:0.11 [[ 9.99355450e-01 -3.46945643e-02 -9.21799114e-03 9.72497585e+00] [ 3.46962302e-02 9.99397904e-01 2.08140197e-05 -4.25214402e-01] [ 9.21171890e-03 -3.40630146e-04 9.99957513e-01 1.06558710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.044340128 meters 0.026834527236538817 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.42, Z:0.11 [[ 9.99379701e-01 -3.40849489e-02 -8.85608949e-03 9.78395411e+00] [ 3.40864412e-02 9.99418888e-01 1.75748141e-05 -4.15895348e-01] [ 8.85034407e-03 -3.19436486e-04 9.99960784e-01 1.06026465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.104340128 meters 0.026777357486353997 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.41, Z:0.11 [[ 9.99431405e-01 -3.25359709e-02 -8.84740379e-03 9.84142833e+00] [ 3.25373773e-02 9.99470519e-01 1.50348747e-05 -4.14630446e-01] [ 8.84223009e-03 -3.02897642e-04 9.99960861e-01 1.07402493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.164340128 meters 0.024170952072308387 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.41, Z:0.11 [[ 9.99544646e-01 -2.91699485e-02 -7.72107569e-03 9.90015744e+00] [ 2.91709143e-02 9.99574438e-01 1.24766734e-05 -4.07025035e-01] [ 7.71742596e-03 -2.37701830e-04 9.99970192e-01 1.10601940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.224340128 meters 0.023390428583132665 Centerline is valid? [True, True] Translation: X:9.96, Y:-0.40, Z:0.11 [[ 9.99582806e-01 -2.81050221e-02 -6.65748990e-03 9.95922526e+00] [ 2.81057178e-02 9.99604956e-01 1.09451476e-05 -4.02703326e-01] [ 6.65455229e-03 -1.98054114e-04 9.99977839e-01 1.11597366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.284340128 meters 0.023977127100943314 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.40, Z:0.12 [[ 9.99601085e-01 -2.78275920e-02 -4.82650565e-03 1.00157759e+01] [ 2.78279484e-02 9.99612728e-01 6.70125129e-06 -4.01283616e-01] [ 4.82445000e-03 -1.41010328e-04 9.99988352e-01 1.15185314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.344340128 meters 0.024897785509688294 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.40, Z:0.12 [[ 9.99566861e-01 -2.91980063e-02 -3.68343620e-03 1.00748196e+01] [ 2.91982254e-02 9.99573641e-01 5.71022566e-06 -4.00963625e-01] [ 3.68169900e-03 -1.13257552e-04 9.99993216e-01 1.17082560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.404340128 meters 0.02326181001324824 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.40, Z:0.12 [[ 9.99533455e-01 -3.03679779e-02 -3.26474177e-03 1.01339190e+01] [ 3.03681548e-02 9.99538781e-01 4.60679319e-06 -3.96738131e-01] [ 3.26309611e-03 -1.03748827e-04 9.99994671e-01 1.16679174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.464340128 meters 0.024649663463953246 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.40, Z:0.12 [[ 9.99489776e-01 -3.17133659e-02 -3.80125542e-03 1.01915734e+01] [ 3.17136058e-02 9.99496997e-01 2.83305313e-06 -3.96155767e-01] [ 3.79925353e-03 -1.23383123e-04 9.99992775e-01 1.16051609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.524340128 meters 0.025413173717030044 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.40, Z:0.12 [[ 9.99444883e-01 -3.30227778e-02 -4.40706527e-03 1.02507132e+01] [ 3.30231145e-02 9.99454588e-01 3.63450307e-06 -3.95712513e-01] [ 4.40454158e-03 -1.49167506e-04 9.99990289e-01 1.15250659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.584340128 meters 0.027722374626977367 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.40, Z:0.11 [[ 9.99392514e-01 -3.44645753e-02 -5.17639455e-03 1.03082113e+01] [ 3.44650455e-02 9.99405904e-01 1.63668464e-06 -3.96775303e-01] [ 5.17326287e-03 -1.80040364e-04 9.99986602e-01 1.14442696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.644340128 meters 0.025647176502926222 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.39, Z:0.11 [[ 9.99360329e-01 -3.53414513e-02 -5.46937311e-03 1.03672780e+01] [ 3.53419905e-02 9.99375277e-01 1.93408789e-06 -3.92479478e-01] [ 5.46588792e-03 -1.95231383e-04 9.99985043e-01 1.13987598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.704340128 meters 0.02747987484465178 Centerline is valid? [True, True] Translation: X:10.42, Y:-0.39, Z:0.11 [[ 9.99331241e-01 -3.60982285e-02 -5.82991602e-03 1.04249636e+01] [ 3.60988397e-02 9.99348224e-01 -3.95185034e-07 -3.93908878e-01] [ 5.82613049e-03 -2.10058283e-04 9.99983006e-01 1.14381382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.764340128 meters 0.028079527025982598 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.39, Z:0.11 [[ 9.99248605e-01 -3.82997324e-02 -5.94616332e-03 1.04834598e+01] [ 3.83004037e-02 9.99266270e-01 -9.88635035e-07 -3.91804858e-01] [ 5.94183831e-03 -2.26752563e-04 9.99982321e-01 1.13709662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.824340128 meters 0.030831643169325598 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.39, Z:0.11 [[ 9.99217539e-01 -3.91461144e-02 -5.64719533e-03 1.05412520e+01] [ 3.91467305e-02 9.99233473e-01 -1.43556713e-06 -3.94820656e-01] [ 5.64292279e-03 -2.19634790e-04 9.99984054e-01 1.14214188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.884340128 meters 0.028482889006624577 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.39, Z:0.11 [[ 9.99277601e-01 -3.73805906e-02 -6.85325209e-03 1.06005203e+01] [ 3.73814537e-02 9.99301069e-01 -2.14539750e-06 -3.89171423e-01] [ 6.84854234e-03 -2.54040678e-04 9.99976516e-01 1.12595178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.944340128 meters 0.025819649099841448 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.38, Z:0.11 [[ 9.99432904e-01 -3.25419742e-02 -8.65390586e-03 1.06604504e+01] [ 3.25431437e-02 9.99470332e-01 -5.67739447e-06 -3.80974839e-01] [ 8.64950691e-03 -2.75951127e-04 9.99962554e-01 1.09628282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.004340128 meters 0.023387145920935423 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.37, Z:0.11 [[ 9.99601525e-01 -2.66516296e-02 -9.29959818e-03 1.07190849e+01] [ 2.66527238e-02 9.99644753e-01 -6.26935311e-06 -3.73885932e-01] [ 9.29646161e-03 -2.41592767e-04 9.99956758e-01 1.08107109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.064340128 meters 0.022183632820814297 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.37, Z:0.11 [[ 9.99649482e-01 -2.44608972e-02 -1.01280695e-02 1.07777172e+01] [ 2.44620759e-02 9.99700759e-01 -7.49806667e-06 -3.71267895e-01] [ 1.01252222e-02 -2.40258167e-04 9.99948710e-01 1.07638940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.124340128 meters 0.021616094792185566 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.37, Z:0.11 [[ 9.99684686e-01 -2.28460704e-02 -1.04204689e-02 1.08356114e+01] [ 2.28472038e-02 9.99738969e-01 -1.02736731e-05 -3.70038285e-01] [ 1.04179836e-02 -2.27808144e-04 9.99945705e-01 1.07747473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.184340128 meters 0.019781726969518437 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.37, Z:0.11 [[ 9.99688227e-01 -2.27753072e-02 -1.02339544e-02 1.08933389e+01] [ 2.27763867e-02 9.99740584e-01 -1.10667438e-05 -3.66367108e-01] [ 1.02315516e-02 -2.22029211e-04 9.99947632e-01 1.07941690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.244340128 meters 0.02223335998266674 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.37, Z:0.11 [[ 9.99690540e-01 -2.30588097e-02 -9.33356013e-03 1.09515562e+01] [ 2.30596954e-02 9.99734090e-01 -1.27243123e-05 -3.69604543e-01] [ 9.33137165e-03 -2.02508680e-04 9.99956441e-01 1.08696209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.304340128 meters 0.019897279425386417 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.37, Z:0.11 [[ 9.99645750e-01 -2.51997339e-02 -8.56435634e-03 1.10102497e+01] [ 2.52005539e-02 9.99682416e-01 -1.21746348e-05 -3.66961921e-01] [ 8.56194323e-03 -2.03656201e-04 9.99963325e-01 1.09911177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.364340128 meters 0.022021223843049418 Centerline is valid? [True, True] Translation: X:11.07, Y:-0.37, Z:0.11 [[ 9.99549465e-01 -2.88879235e-02 -8.14579923e-03 1.10693832e+01] [ 2.88887707e-02 9.99582632e-01 -1.36575861e-05 -3.70526167e-01] [ 8.14279397e-03 -2.21670693e-04 9.99966822e-01 1.10684104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.424340128 meters 0.023401469774928428 Centerline is valid? [True, True] Translation: X:11.13, Y:-0.37, Z:0.11 [[ 9.99496138e-01 -3.08163183e-02 -7.60424994e-03 1.11279781e+01] [ 3.08170982e-02 9.99525040e-01 -1.46161564e-05 -3.71730257e-01] [ 7.60108864e-03 -2.19732125e-04 9.99971087e-01 1.11507337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.484340128 meters 0.023776575056606755 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.37, Z:0.11 [[ 9.99445785e-01 -3.20319814e-02 -9.05954392e-03 1.11867407e+01] [ 3.20331123e-02 9.99486808e-01 -2.02780482e-05 -3.72012751e-01] [ 9.05554418e-03 -2.69938578e-04 9.99958961e-01 1.10522595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.544340128 meters 0.021174811315831207 Centerline is valid? [True, True] Translation: X:11.25, Y:-0.37, Z:0.11 [[ 9.99454363e-01 -3.13071241e-02 -1.05281021e-02 1.12453720e+01] [ 3.13085775e-02 9.99509766e-01 -2.67776283e-05 -3.66552366e-01] [ 1.05237792e-02 -3.02856883e-04 9.99944578e-01 1.09074837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.604340128 meters 0.021285431631439276 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.37, Z:0.11 [[ 9.99470444e-01 -3.03297542e-02 -1.17871422e-02 1.13031311e+01] [ 3.03314695e-02 9.99539895e-01 -3.32533960e-05 -3.65816711e-01] [ 1.17827275e-02 -3.24285559e-04 9.99930529e-01 1.08368090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.664340128 meters 0.020287784960694392 Centerline is valid? [True, True] Translation: X:11.36, Y:-0.36, Z:0.11 [[ 9.99537771e-01 -2.78226178e-02 -1.22533965e-02 1.13622801e+01] [ 2.78242628e-02 9.99612830e-01 -3.62414929e-05 -3.62932781e-01] [ 1.22496606e-02 -3.04716982e-04 9.99924924e-01 1.08772916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.724340128 meters 0.020188009526082726 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.36, Z:0.11 [[ 9.99609236e-01 -2.49206496e-02 -1.26624317e-02 1.14199049e+01] [ 2.49221353e-02 9.99689395e-01 -4.04714065e-05 -3.61418959e-01] [ 1.26595072e-02 -2.75119244e-04 9.99919827e-01 1.09125032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.784340128 meters 0.0180818851929332 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.36, Z:0.11 [[ 9.99656504e-01 -2.34091452e-02 -1.17850056e-02 1.14785515e+01] [ 2.34103106e-02 9.99725940e-01 -3.90763210e-05 -3.57215251e-01] [ 1.17826905e-02 -2.36827742e-04 9.99930554e-01 1.11306838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.844340128 meters 0.01646913766347285 Centerline is valid? [True, True] Translation: X:11.54, Y:-0.35, Z:0.11 [[ 9.99715213e-01 -2.14326009e-02 -1.04946412e-02 1.15375670e+01] [ 2.14333894e-02 9.99770278e-01 -3.73434300e-05 -3.53355251e-01] [ 1.04930308e-02 -1.87602937e-04 9.99944929e-01 1.12834996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.904340128 meters 0.015813139425485206 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.35, Z:0.11 [[ 9.99744388e-01 -2.00247427e-02 -1.04961519e-02 1.15969572e+01] [ 2.00254234e-02 9.99799470e-01 -4.02486999e-05 -3.50448846e-01] [ 1.04948531e-02 -1.69951475e-04 9.99944913e-01 1.13486631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.964340128 meters 0.015208926212880903 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.35, Z:0.11 [[ 9.99775616e-01 -1.83353450e-02 -1.06081459e-02 1.16561781e+01] [ 1.83359160e-02 9.99831882e-01 -4.34363830e-05 -3.48378271e-01] [ 1.06071589e-02 -1.51083436e-04 9.99943731e-01 1.13651606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.024340128 meters 0.014263065521006126 Centerline is valid? [True, True] Translation: X:11.71, Y:-0.35, Z:0.11 [[ 9.99804986e-01 -1.55445171e-02 -1.21802557e-02 1.17149468e+01] [ 1.55450179e-02 9.99879167e-01 -5.35630504e-05 -3.46833513e-01] [ 1.21796165e-02 -1.35789688e-04 9.99925816e-01 1.12882653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.084340128 meters 0.013520109183400346 Centerline is valid? [True, True] Translation: X:11.77, Y:-0.34, Z:0.11 [[ 9.99828107e-01 -1.28130854e-02 -1.34008226e-02 1.17736353e+01] [ 1.28133949e-02 9.99917903e-01 -6.27667551e-05 -3.42439271e-01] [ 1.34005267e-02 -1.08954067e-04 9.99910203e-01 1.11583759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.144340128 meters 0.012988573758328356 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.34, Z:0.11 [[ 9.99849613e-01 -1.15385266e-02 -1.29465892e-02 1.18322325e+01] [ 1.15386653e-02 9.99933425e-01 -6.39887541e-05 -3.40376986e-01] [ 1.29464656e-02 -8.54072280e-05 9.99916187e-01 1.11628498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.204340128 meters 0.012906028952766557 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.34, Z:0.11 [[ 9.99853879e-01 -1.21447240e-02 -1.20302256e-02 1.18898890e+01] [ 1.21448501e-02 9.99926247e-01 -6.25733083e-05 -3.42601051e-01] [ 1.20300983e-02 -8.35411216e-05 9.99927632e-01 1.13426785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.264340128 meters 0.013556587558219006 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.35, Z:0.11 [[ 9.99824195e-01 -1.45707977e-02 -1.18013366e-02 1.19485959e+01] [ 1.45710461e-02 9.99893835e-01 -6.49400164e-05 -3.46404627e-01] [ 1.18010300e-02 -1.07029220e-04 9.99930360e-01 1.14085380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.324340128 meters 0.014927613784755631 Centerline is valid? [True, True] Translation: X:12.01, Y:-0.35, Z:0.11 [[ 9.99786478e-01 -1.67193220e-02 -1.21434547e-02 1.20060352e+01] [ 1.67197054e-02 9.99860214e-01 -6.99511236e-05 -3.51453739e-01] [ 1.21429267e-02 -1.33098798e-04 9.99926263e-01 1.13855193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.384340128 meters 0.0155395120057758 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.36, Z:0.11 [[ 9.99745760e-01 -1.85376098e-02 -1.28363553e-02 1.20647529e+01] [ 1.85381560e-02 9.99828151e-01 -7.64451295e-05 -3.55434853e-01] [ 1.28355664e-02 -1.61536662e-04 9.99917608e-01 1.14089206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.444340128 meters 0.016189998815520402 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.36, Z:0.11 [[ 9.99634922e-01 -2.29902995e-02 -1.41940040e-02 1.21237178e+01] [ 2.29913598e-02 9.99735660e-01 -8.84914006e-05 -3.60673343e-01] [ 1.41922864e-02 -2.37880358e-04 9.99899256e-01 1.14099593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.504340128 meters 0.01830256123073792 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.37, Z:0.11 [[ 9.99534575e-01 -2.67789930e-02 -1.46123033e-02 1.21815521e+01] [ 2.67804704e-02 9.99641334e-01 -9.45907616e-05 -3.65950102e-01] [ 1.46095954e-02 -2.96777619e-04 9.99893230e-01 1.13810406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.564340128 meters 0.020920832885714606 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.37, Z:0.11 [[ 9.99461877e-01 -2.91102536e-02 -1.51178684e-02 1.22388967e+01] [ 2.91120701e-02 9.99576149e-01 -9.99441997e-05 -3.72136781e-01] [ 1.51143700e-02 -3.40222026e-04 9.99885714e-01 1.13063337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.624340128 meters 0.01961443946235765 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.37, Z:0.11 [[ 9.99409952e-01 -3.05281126e-02 -1.57411095e-02 1.22972874e+01] [ 3.05302258e-02 9.99533838e-01 -1.06097946e-04 -3.73219017e-01] [ 1.57370106e-02 -3.74544284e-04 9.99876095e-01 1.14258910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.684340128 meters 0.019426001235010065 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.38, Z:0.12 [[ 9.99394334e-01 -3.10649648e-02 -1.56822420e-02 1.23550369e+01] [ 3.10670762e-02 9.99517296e-01 -1.09017515e-04 -3.75002855e-01] [ 1.56780587e-02 -3.78249919e-04 9.99877020e-01 1.15973474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.744340128 meters 0.018072178849439895 Centerline is valid? [True, True] Translation: X:12.41, Y:-0.37, Z:0.12 [[ 9.99480287e-01 -2.82575346e-02 -1.55134361e-02 1.24142417e+01] [ 2.82591903e-02 9.99600623e-01 -1.12518904e-04 -3.74468565e-01] [ 1.55104199e-02 -3.25936715e-04 9.99879653e-01 1.17191441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.804340128 meters 0.016152890919837497 Centerline is valid? [True, True] Translation: X:12.47, Y:-0.37, Z:0.12 [[ 9.99587406e-01 -2.37094969e-02 -1.62135089e-02 1.24728593e+01] [ 2.37106339e-02 9.99718856e-01 -1.22129621e-04 -3.74632454e-01] [ 1.62118462e-02 -2.62353343e-04 9.99868545e-01 1.18108107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.864340128 meters 0.014990212063716854 Centerline is valid? [True, True] Translation: X:12.53, Y:-0.37, Z:0.12 [[ 9.99662008e-01 -2.01575269e-02 -1.64177988e-02 1.25303902e+01] [ 2.01581601e-02 9.99796796e-01 -1.26930249e-04 -3.74529948e-01] [ 1.64170213e-02 -2.04065270e-04 9.99865211e-01 1.19453136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.924340128 meters 0.013418727341994523 Centerline is valid? [True, True] Translation: X:12.59, Y:-0.37, Z:0.12 [[ 9.99728567e-01 -1.58861814e-02 -1.70417486e-02 1.25892269e+01] [ 1.58861931e-02 9.99873797e-01 -1.34698029e-04 -3.71957901e-01] [ 1.70417377e-02 -1.36067041e-04 9.99854770e-01 1.19971713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.984340128 meters 0.013395058211635832 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.37, Z:0.12 [[ 9.99732969e-01 -1.53544330e-02 -1.72693967e-02 1.26460920e+01] [ 1.53543021e-02 9.99882106e-01 -1.40180125e-04 -3.74074987e-01] [ 1.72695131e-02 -1.25016841e-04 9.99850863e-01 1.20433334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.044340128 meters 0.013840398170941893 Centerline is valid? [True, True] Translation: X:12.70, Y:-0.38, Z:0.12 [[ 9.99708522e-01 -1.73895697e-02 -1.67473260e-02 1.27049214e+01] [ 1.73896804e-02 9.99848778e-01 -1.39025445e-04 -3.78643047e-01] [ 1.67472110e-02 -1.52245725e-04 9.99859744e-01 1.22742692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.104340128 meters 0.013833726308198428 Centerline is valid? [True, True] Translation: X:12.76, Y:-0.38, Z:0.13 [[ 9.99669747e-01 -1.98759931e-02 -1.62893465e-02 1.27641840e+01] [ 1.98763573e-02 9.99802436e-01 -1.39558631e-04 -3.79044948e-01] [ 1.62889022e-02 -1.84260329e-04 9.99867310e-01 1.25397824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.164340128 meters 0.01538472459332508 Centerline is valid? [True, True] Translation: X:12.82, Y:-0.38, Z:0.13 [[ 9.99576988e-01 -2.40047778e-02 -1.64199885e-02 1.28229299e+01] [ 2.40056281e-02 9.99711813e-01 -1.45336184e-04 -3.82265213e-01] [ 1.64187453e-02 -2.48897434e-04 9.99865172e-01 1.26118595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.224340128 meters 0.01894859589163586 Centerline is valid? [True, True] Translation: X:12.88, Y:-0.39, Z:0.12 [[ 9.99443767e-01 -2.84318263e-02 -1.74294841e-02 1.28807739e+01] [ 2.84333938e-02 9.99595677e-01 -1.57920027e-04 -3.87891613e-01] [ 1.74269269e-02 -3.37747197e-04 9.99848083e-01 1.24928232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.284340128 meters 0.018349392297562838 Centerline is valid? [True, True] Translation: X:12.94, Y:-0.39, Z:0.13 [[ 9.99374858e-01 -3.06296670e-02 -1.76555161e-02 1.29399275e+01] [ 3.06315624e-02 9.99530730e-01 -1.63123995e-04 -3.86202932e-01] [ 1.76522273e-02 -3.77794023e-04 9.99844116e-01 1.26273793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.344340128 meters 0.018965553528226743 Centerline is valid? [True, True] Translation: X:13.00, Y:-0.39, Z:0.13 [[ 9.99341489e-01 -3.12423823e-02 -1.84526872e-02 1.29989660e+01] [ 3.12444611e-02 9.99511757e-01 -1.75702872e-04 -3.85649617e-01] [ 1.84491672e-02 -4.00957098e-04 9.99829719e-01 1.26511914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.404340128 meters 0.018932323178078192 Centerline is valid? [True, True] Translation: X:13.06, Y:-0.38, Z:0.13 [[ 9.99358080e-01 -3.06101438e-02 -1.86130831e-02 1.30583667e+01] [ 3.06120577e-02 9.99531325e-01 -1.82151498e-04 -3.83610575e-01] [ 1.86099353e-02 -3.87750200e-04 9.99826745e-01 1.27404173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.464340128 meters 0.018666936642518298 Centerline is valid? [True, True] Translation: X:13.12, Y:-0.38, Z:0.13 [[ 9.99402626e-01 -2.85706915e-02 -1.94449847e-02 1.31162183e+01] [ 2.85723268e-02 9.99591709e-01 -1.93774126e-04 -3.79325008e-01] [ 1.94425818e-02 -3.61930088e-04 9.99810910e-01 1.27083835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.524340128 meters 0.018904014471537185 Centerline is valid? [True, True] Translation: X:13.17, Y:-0.38, Z:0.13 [[ 9.99357949e-01 -2.96966705e-02 -2.00448839e-02 1.31746020e+01] [ 2.96985858e-02 9.99558879e-01 -2.02188674e-04 -3.76954418e-01] [ 2.00420461e-02 -3.93245847e-04 9.99799061e-01 1.26443995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.584340128 meters 0.019984096959826676 Centerline is valid? [True, True] Translation: X:13.23, Y:-0.38, Z:0.13 [[ 9.99245380e-01 -3.41192377e-02 -1.85619919e-02 1.32337903e+01] [ 3.41215730e-02 9.99417671e-01 -1.90975665e-04 -3.77569045e-01] [ 1.85576987e-02 -4.42532810e-04 9.99827693e-01 1.29623863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.644340128 meters 0.02116838404229932 Centerline is valid? [True, True] Translation: X:13.29, Y:-0.38, Z:0.13 [[ 9.99139785e-01 -3.76371223e-02 -1.74108308e-02 1.32920391e+01] [ 3.76396529e-02 9.99291361e-01 -1.82441334e-04 -3.77978114e-01] [ 1.74053593e-02 -4.73053232e-04 9.99848403e-01 1.31531451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.704340128 meters 0.023383653792388333 Centerline is valid? [True, True] Translation: X:13.35, Y:-0.38, Z:0.13 [[ 9.99003221e-01 -4.14433410e-02 -1.65835229e-02 1.33513720e+01] [ 4.14461385e-02 9.99140724e-01 -1.75107203e-04 -3.79546302e-01] [ 1.65765302e-02 -5.12390329e-04 9.99862469e-01 1.33272107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.764340128 meters 0.024553188287409967 Centerline is valid? [True, True] Translation: X:13.41, Y:-0.38, Z:0.13 [[ 9.98933844e-01 -4.32092563e-02 -1.62522311e-02 1.34106055e+01] [ 4.32121386e-02 9.99065904e-01 -1.73947784e-04 -3.78710069e-01] [ 1.62445661e-02 -5.28531334e-04 9.99867909e-01 1.34239138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.824340128 meters 0.025878769828882046 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.38, Z:0.14 [[ 9.98943071e-01 -4.33298050e-02 -1.53385012e-02 1.34683833e+01] [ 4.33323395e-02 9.99060699e-01 -1.67221523e-04 -3.76119198e-01] [ 1.53313394e-02 -4.97608360e-04 9.99882344e-01 1.35435043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.884340128 meters 0.02280374675958965 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.37, Z:0.14 [[ 9.99030458e-01 -4.14247650e-02 -1.49041031e-02 1.35274891e+01] [ 4.14269115e-02 9.99141523e-01 -1.64819723e-04 -3.67540168e-01] [ 1.48981359e-02 -4.52771035e-04 9.99888914e-01 1.37693490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.944340128 meters 0.02124489727644146 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.36, Z:0.14 [[ 9.99211480e-01 -3.69278823e-02 -1.45859699e-02 1.35866278e+01] [ 3.69294177e-02 9.99317863e-01 -1.64146647e-04 -3.61268513e-01] [ 1.45820818e-02 -3.74634161e-04 9.99893606e-01 1.38905107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.004340127999999 meters 0.019478540015573895 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.36, Z:0.14 [[ 9.99343816e-01 -3.30835850e-02 -1.47449428e-02 1.36450696e+01] [ 3.30847246e-02 9.99452537e-01 -1.66702263e-04 -3.55468640e-01] [ 1.47423856e-02 -3.21239496e-04 9.99891274e-01 1.39331308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.064340128 meters 0.0171790561994936 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.35, Z:0.14 [[ 9.99520007e-01 -2.70506462e-02 -1.51002620e-02 1.37026937e+01] [ 2.70511307e-02 9.99634036e-01 -1.72200112e-04 -3.47736711e-01] [ 1.50993939e-02 -2.36361703e-04 9.99885970e-01 1.39395376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.124340128 meters 0.015455654160930817 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.34, Z:0.14 [[ 9.99621519e-01 -2.27627429e-02 -1.54491285e-02 1.37617443e+01] [ 2.27626947e-02 9.99740880e-01 -1.78983334e-04 -3.41479052e-01] [ 1.54491995e-02 -1.72748204e-04 9.99880639e-01 1.39677617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.184340128 meters 0.014894605318963675 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.34, Z:0.14 [[ 9.99644468e-01 -2.15837621e-02 -1.56549791e-02 1.38208145e+01] [ 2.15835038e-02 9.99767032e-01 -1.85473007e-04 -3.38158641e-01] [ 1.56553352e-02 -1.52482236e-04 9.99877436e-01 1.39824103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.244340128 meters 0.015221217214209834 Centerline is valid? [True, True] Translation: X:13.88, Y:-0.34, Z:0.14 [[ 9.99616558e-01 -2.26974912e-02 -1.58606406e-02 1.38793268e+01] [ 2.26972998e-02 9.99742365e-01 -1.92095458e-04 -3.36730781e-01] [ 1.58609144e-02 -1.67971914e-04 9.99874194e-01 1.40001033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.304340128 meters 0.01662070427469189 Centerline is valid? [True, True] Translation: X:13.94, Y:-0.34, Z:0.14 [[ 9.99525901e-01 -2.70258346e-02 -1.47505270e-02 1.39384208e+01] [ 2.70260857e-02 9.99634712e-01 -1.82348007e-04 -3.38079736e-01] [ 1.47500669e-02 -2.16387450e-04 9.99891188e-01 1.42357904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.364340128 meters 0.017337256716884266 Centerline is valid? [True, True] Translation: X:14.00, Y:-0.34, Z:0.14 [[ 9.99409608e-01 -3.16953658e-02 -1.32604109e-02 1.39972747e+01] [ 3.16959358e-02 9.99497544e-01 -1.67227149e-04 -3.38370481e-01] [ 1.32590485e-02 -2.53172714e-04 9.99912063e-01 1.44501970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.424340127999999 meters 0.01958677687152802 Centerline is valid? [True, True] Translation: X:14.06, Y:-0.34, Z:0.14 [[ 9.99247507e-01 -3.64830122e-02 -1.31684946e-02 1.40566369e+01] [ 3.64839513e-02 9.99334225e-01 -1.68991042e-04 -3.40419907e-01] [ 1.31658926e-02 -3.11574836e-04 9.99913277e-01 1.43959354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.484340128 meters 0.021319897305846883 Centerline is valid? [True, True] Translation: X:14.11, Y:-0.34, Z:0.14 [[ 9.99140804e-01 -3.88492643e-02 -1.44356318e-02 1.41141426e+01] [ 3.88506239e-02 9.99245012e-01 -1.86342082e-04 -3.40323280e-01] [ 1.44319723e-02 -3.74651325e-04 9.99895783e-01 1.42103626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.544340128 meters 0.021728040264718435 Centerline is valid? [True, True] Translation: X:14.17, Y:-0.34, Z:0.14 [[ 9.99118811e-01 -3.92836532e-02 -1.47782483e-02 1.41717365e+01] [ 3.92850884e-02 9.99228024e-01 -1.93278406e-04 -3.39370431e-01] [ 1.47744325e-02 -3.87456700e-04 9.99890777e-01 1.42077113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.604340128 meters 0.02048415991119791 Centerline is valid? [True, True] Translation: X:14.23, Y:-0.34, Z:0.14 [[ 9.99126724e-01 -3.86574803e-02 -1.58552364e-02 1.42310236e+01] [ 3.86589756e-02 9.99252440e-01 -2.12287384e-04 -3.36426484e-01] [ 1.58515902e-02 -4.00845200e-04 9.99874275e-01 1.41598062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.664340128 meters 0.019980338120776025 Centerline is valid? [True, True] Translation: X:14.29, Y:-0.34, Z:0.14 [[ 9.99154647e-01 -3.78097119e-02 -1.61374408e-02 1.42901175e+01] [ 3.78110770e-02 9.99284881e-01 -2.20615527e-04 -3.35609515e-01] [ 1.61342420e-02 -3.89744987e-04 9.99869759e-01 1.42134683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.724340128 meters 0.019657513658977513 Centerline is valid? [True, True] Translation: X:14.35, Y:-0.34, Z:0.14 [[ 9.99223615e-01 -3.62461741e-02 -1.54396277e-02 1.43477876e+01] [ 3.62471882e-02 9.99342832e-01 -2.14244670e-04 -3.35978427e-01] [ 1.54372468e-02 -3.45564759e-04 9.99880779e-01 1.43054082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.784340128 meters 0.019570983727718566 Centerline is valid? [True, True] Translation: X:14.41, Y:-0.34, Z:0.14 [[ 9.99259489e-01 -3.52806001e-02 -1.53542351e-02 1.44061554e+01] [ 3.52814515e-02 9.99377393e-01 -2.15506835e-04 -3.35736791e-01] [ 1.53522787e-02 -3.26372451e-04 9.99882094e-01 1.43404043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.844340128 meters 0.01930068070898287 Centerline is valid? [True, True] Translation: X:14.46, Y:-0.34, Z:0.14 [[ 9.99279844e-01 -3.45905492e-02 -1.55976972e-02 1.44647614e+01] [ 3.45912783e-02 9.99401518e-01 -2.23124189e-04 -3.35262146e-01] [ 1.55960802e-02 -3.16580779e-04 9.99878324e-01 1.43285224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.904340128 meters 0.01829829295028844 Centerline is valid? [True, True] Translation: X:14.52, Y:-0.33, Z:0.14 [[ 9.99303614e-01 -3.36555716e-02 -1.61117565e-02 1.45232639e+01] [ 3.36561575e-02 9.99433443e-01 -2.34860050e-04 -3.34785283e-01] [ 1.61105326e-02 -3.07563318e-04 9.99870170e-01 1.44382089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.964340128 meters 0.017602334503897747 Centerline is valid? [True, True] Translation: X:14.58, Y:-0.33, Z:0.15 [[ 9.99326258e-01 -3.33087174e-02 -1.54129781e-02 1.45824231e+01] [ 3.33091496e-02 9.99445070e-01 -2.28743214e-04 -3.33238661e-01] [ 1.54120441e-02 -2.84804092e-04 9.99881187e-01 1.46046782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.024340128 meters 0.017407545253209145 Centerline is valid? [True, True] Translation: X:14.64, Y:-0.33, Z:0.15 [[ 9.99340411e-01 -3.32552151e-02 -1.45888390e-02 1.46402130e+01] [ 3.32555377e-02 9.99446857e-01 -2.20543291e-04 -3.31489306e-01] [ 1.45881035e-02 -2.64761862e-04 9.99893553e-01 1.47832139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.084340128 meters 0.017400836717021924 Centerline is valid? [True, True] Translation: X:14.70, Y:-0.33, Z:0.15 [[ 9.99325125e-01 -3.40228901e-02 -1.38469509e-02 1.46980576e+01] [ 3.40231969e-02 9.99421021e-01 -2.13479459e-04 -3.30423976e-01] [ 1.38461970e-02 -2.57782152e-04 9.99904104e-01 1.49650679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.144340128 meters 0.017652549657327862 Centerline is valid? [True, True] Translation: X:14.76, Y:-0.33, Z:0.15 [[ 9.99301750e-01 -3.51091690e-02 -1.27812216e-02 1.47567297e+01] [ 3.51094728e-02 9.99383452e-01 -2.00678269e-04 -3.28497027e-01] [ 1.27803870e-02 -2.48203806e-04 9.99918297e-01 1.52230743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.204340128 meters 0.017196961441884012 Centerline is valid? [True, True] Translation: X:14.81, Y:-0.32, Z:0.15 [[ 9.99347639e-01 -3.33967749e-02 -1.37459768e-02 1.48145979e+01] [ 3.33969174e-02 9.99442143e-01 -2.19244941e-04 -3.24062814e-01] [ 1.37456306e-02 -2.39971336e-04 9.99905496e-01 1.52845702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.264340128 meters 0.01583183079060945 Centerline is valid? [True, True] Translation: X:14.87, Y:-0.32, Z:0.15 [[ 9.99404989e-01 -3.13470673e-02 -1.43885133e-02 1.48737851e+01] [ 3.13469721e-02 9.99508536e-01 -2.32198981e-04 -3.18230949e-01] [ 1.43887206e-02 -2.18975504e-04 9.99896453e-01 1.54094184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.324340128 meters 0.01490739132402775 Centerline is valid? [True, True] Translation: X:14.93, Y:-0.31, Z:0.16 [[ 9.99478710e-01 -2.85726611e-02 -1.50303409e-02 1.49315792e+01] [ 2.85721942e-02 9.99591701e-01 -2.45842198e-04 -3.12317034e-01] [ 1.50312284e-02 -1.83735777e-04 9.99887008e-01 1.55012958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.384340128 meters 0.014906377271723744 Centerline is valid? [True, True] Translation: X:14.99, Y:-0.31, Z:0.16 [[ 9.99468286e-01 -2.86641916e-02 -1.55405607e-02 1.49895608e+01] [ 2.86636613e-02 9.99589080e-01 -2.56901968e-04 -3.07727188e-01] [ 1.55415387e-02 -1.88684000e-04 9.99879205e-01 1.55497608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.444340128 meters 0.015376187493267414 Centerline is valid? [True, True] Translation: X:15.05, Y:-0.31, Z:0.16 [[ 9.99432013e-01 -3.01192144e-02 -1.51156933e-02 1.50481331e+01] [ 3.01188143e-02 9.99546293e-01 -2.54170348e-04 -3.05757160e-01] [ 1.51164907e-02 -2.01240779e-04 9.99885719e-01 1.57075964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.504340127999999 meters 0.016825963766291852 Centerline is valid? [True, True] Translation: X:15.11, Y:-0.31, Z:0.16 [[ 9.99342864e-01 -3.28402369e-02 -1.53414220e-02 1.51056003e+01] [ 3.28400972e-02 9.99460584e-01 -2.61098007e-04 -3.06066078e-01] [ 1.53417212e-02 -2.42887361e-04 9.99882279e-01 1.58237956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.564340128 meters 0.016909373711936744 Centerline is valid? [True, True] Translation: X:15.16, Y:-0.30, Z:0.16 [[ 9.99281298e-01 -3.47782676e-02 -1.50784525e-02 1.51639040e+01] [ 3.47783320e-02 9.99395018e-01 -2.58023361e-04 -3.04006563e-01] [ 1.50783039e-02 -2.66565509e-04 9.99886280e-01 1.60471488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.624340128 meters 0.01679889139358105 Centerline is valid? [True, True] Translation: X:15.22, Y:-0.30, Z:0.16 [[ 9.99250896e-01 -3.57474081e-02 -1.48246332e-02 1.52228558e+01] [ 3.57475424e-02 9.99360820e-01 -2.56010625e-04 -2.98523797e-01] [ 1.48243093e-02 -2.74125357e-04 9.99890076e-01 1.61219642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.684340128 meters 0.01728670926526105 Centerline is valid? [True, True] Translation: X:15.28, Y:-0.29, Z:0.16 [[ 9.99255895e-01 -3.54120474e-02 -1.52853731e-02 1.52810321e+01] [ 3.54121001e-02 9.99372759e-01 -2.67300621e-04 -2.94776060e-01] [ 1.52852512e-02 -2.74185442e-04 9.99883136e-01 1.61505238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.744340128 meters 0.017635388652535753 Centerline is valid? [True, True] Translation: X:15.34, Y:-0.29, Z:0.16 [[ 9.99203570e-01 -3.66847634e-02 -1.56988204e-02 1.53403517e+01] [ 3.66849354e-02 9.99326843e-01 -2.77118589e-04 -2.92270504e-01] [ 1.56984187e-02 -2.99012329e-04 9.99876728e-01 1.61323511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.804340128 meters 0.019197822607729707 Centerline is valid? [True, True] Translation: X:15.40, Y:-0.29, Z:0.16 [[ 9.99063749e-01 -4.05203569e-02 -1.51567162e-02 1.53989286e+01] [ 4.05208971e-02 9.99178654e-01 -2.71583933e-04 -2.90427296e-01] [ 1.51552720e-02 -3.42834076e-04 9.99885093e-01 1.61835015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.864340128 meters 0.02345694653763842 Centerline is valid? [True, True] Translation: X:15.46, Y:-0.29, Z:0.16 [[ 9.98864600e-01 -4.53508880e-02 -1.45879647e-02 1.54589458e+01] [ 4.53518642e-02 9.98971040e-01 -2.64062643e-04 -2.92795107e-01] [ 1.45849297e-02 -3.97828567e-04 9.99893555e-01 1.62222974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.924340127999999 meters 0.026052132045062192 Centerline is valid? [True, True] Translation: X:15.52, Y:-0.29, Z:0.16 [[ 9.98733258e-01 -4.83261825e-02 -1.40163668e-02 1.55165619e+01] [ 4.83273674e-02 9.98831518e-01 -2.54350221e-04 -2.93721877e-01] [ 1.40122807e-02 -4.23346084e-04 9.99901734e-01 1.62462169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.984340128 meters 0.028079418837382235 Centerline is valid? [True, True] Translation: X:15.58, Y:-0.29, Z:0.16 [[ 9.98603396e-01 -5.11544283e-02 -1.32091712e-02 1.55757617e+01] [ 5.11557022e-02 9.98690661e-01 -2.41644510e-04 -2.91956334e-01] [ 1.32042371e-02 -4.34417397e-04 9.99912726e-01 1.63051149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.044340127999998 meters 0.02774401783449204 Centerline is valid? [True, True] Translation: X:15.63, Y:-0.29, Z:0.16 [[ 9.98659113e-01 -4.99536646e-02 -1.35870136e-02 1.56344945e+01] [ 4.99548475e-02 9.98751445e-01 -2.52520149e-04 -2.86933208e-01] [ 1.35826638e-02 -4.26555647e-04 9.99907660e-01 1.62215691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.104340127999997 meters 0.025492928747172214 Centerline is valid? [True, True] Translation: X:15.69, Y:-0.28, Z:0.16 [[ 9.98856366e-01 -4.54385297e-02 -1.48761378e-02 1.56927425e+01] [ 4.54393966e-02 9.98967058e-01 -2.79894708e-04 -2.79653285e-01] [ 1.48734896e-02 -3.96388113e-04 9.99889305e-01 1.60668062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.164340128 meters 0.021798735535304713 Centerline is valid? [True, True] Translation: X:15.75, Y:-0.27, Z:0.16 [[ 9.99017235e-01 -4.15745860e-02 -1.53661308e-02 1.57519583e+01] [ 4.15750303e-02 9.99135342e-01 -2.90666431e-04 -2.70771748e-01] [ 1.53649287e-02 -3.48466581e-04 9.99881892e-01 1.60533202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.224340127999998 meters 0.017056897306025037 Centerline is valid? [True, True] Translation: X:15.81, Y:-0.26, Z:0.16 [[ 9.99272450e-01 -3.54551675e-02 -1.40535296e-02 1.58105474e+01] [ 3.54549119e-02 9.99371241e-01 -2.67410924e-04 -2.60827767e-01] [ 1.40541744e-02 -2.31050284e-04 9.99901209e-01 1.62012734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.284340127999997 meters 0.015979769052686443 Centerline is valid? [True, True] Translation: X:15.87, Y:-0.26, Z:0.16 [[ 9.99356279e-01 -3.35624627e-02 -1.26723712e-02 1.58694254e+01] [ 3.35620825e-02 9.99436605e-01 -2.42722976e-04 -2.57114172e-01] [ 1.26733780e-02 -1.82744437e-04 9.99919673e-01 1.63655257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.344340128 meters 0.015486626200247206 Centerline is valid? [True, True] Translation: X:15.93, Y:-0.26, Z:0.17 [[ 9.99376533e-01 -3.31622746e-02 -1.21165048e-02 1.59273381e+01] [ 3.31618550e-02 9.99449967e-01 -2.35587475e-04 -2.55686587e-01] [ 1.21176529e-02 -1.66365182e-04 9.99926565e-01 1.65213538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.404340127999998 meters 0.016412916857292358 Centerline is valid? [True, True] Translation: X:15.99, Y:-0.26, Z:0.17 [[ 9.99315502e-01 -3.51758446e-02 -1.14537366e-02 1.59861493e+01] [ 3.51755613e-02 9.99381123e-01 -2.26246770e-04 -2.56336482e-01] [ 1.14546065e-02 -1.76799708e-04 9.99934378e-01 1.66178466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.464340127999996 meters 0.017946688187815623 Centerline is valid? [True, True] Translation: X:16.04, Y:-0.26, Z:0.17 [[ 9.99229671e-01 -3.76535497e-02 -1.10578286e-02 1.60442471e+01] [ 3.76534058e-02 9.99290835e-01 -2.21277394e-04 -2.58394723e-01] [ 1.10583186e-02 -1.95257968e-04 9.99938836e-01 1.66719793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.524340128 meters 0.01878129172989845 Centerline is valid? [True, True] Translation: X:16.10, Y:-0.26, Z:0.17 [[ 9.99129956e-01 -3.99431597e-02 -1.19948093e-02 1.61029096e+01] [ 3.99431346e-02 9.99201925e-01 -2.41748267e-04 -2.58549455e-01] [ 1.19948927e-02 -2.37572345e-04 9.99928030e-01 1.65696299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.584340127999997 meters 0.019717176839757527 Centerline is valid? [True, True] Translation: X:16.16, Y:-0.26, Z:0.16 [[ 9.99057395e-01 -4.13386725e-02 -1.32452355e-02 1.61614909e+01] [ 4.13387096e-02 9.99145153e-01 -2.71101285e-04 -2.58788291e-01] [ 1.32451198e-02 -2.76695200e-04 9.99912241e-01 1.64746645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.644340128 meters 0.02043928603360232 Centerline is valid? [True, True] Translation: X:16.22, Y:-0.26, Z:0.16 [[ 9.98980756e-01 -4.27152741e-02 -1.45895529e-02 1.62206516e+01] [ 4.27153996e-02 9.99087235e-01 -3.03155652e-04 -2.59981262e-01] [ 1.45891855e-02 -3.20351921e-04 9.99893521e-01 1.63748722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.704340128 meters 0.02099828375015372 Centerline is valid? [True, True] Translation: X:16.28, Y:-0.26, Z:0.16 [[ 9.98914276e-01 -4.36534244e-02 -1.62679730e-02 1.62799115e+01] [ 4.36536225e-02 9.99046667e-01 -3.43094367e-04 -2.61200774e-01] [ 1.62674415e-02 -3.67434093e-04 9.99867609e-01 1.62177911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.764340127999997 meters 0.02172669802084163 Centerline is valid? [True, True] Translation: X:16.34, Y:-0.26, Z:0.16 [[ 9.98905591e-01 -4.38293110e-02 -1.63282520e-02 1.63367704e+01] [ 4.38294723e-02 9.99038966e-01 -3.48147452e-04 -2.62369850e-01] [ 1.63278190e-02 -3.67892231e-04 9.99866625e-01 1.62789865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.824340128 meters 0.021237746365766422 Centerline is valid? [True, True] Translation: X:16.40, Y:-0.26, Z:0.17 [[ 9.98962145e-01 -4.28446416e-02 -1.54586309e-02 1.63959190e+01] [ 4.28446234e-02 9.99081692e-01 -3.32510421e-04 -2.62272919e-01] [ 1.54586814e-02 -3.30153894e-04 9.99880453e-01 1.65531176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.884340127999998 meters 0.01931929545634441 Centerline is valid? [True, True] Translation: X:16.46, Y:-0.26, Z:0.17 [[ 9.99026593e-01 -4.16479045e-02 -1.45367649e-02 1.64550920e+01] [ 4.16477043e-02 9.99132308e-01 -3.16629834e-04 -2.59164999e-01] [ 1.45373384e-02 -2.89101262e-04 9.99894286e-01 1.68410574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.944340127999997 meters 0.01984956764560697 Centerline is valid? [True, True] Translation: X:16.51, Y:-0.26, Z:0.17 [[ 9.99066853e-01 -4.08810433e-02 -1.39342847e-02 1.65125070e+01] [ 4.08807410e-02 9.99163986e-01 -3.06648274e-04 -2.59366728e-01] [ 1.39351716e-02 -2.63281759e-04 9.99902866e-01 1.69484445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.004340128 meters 0.017549762158063156 Centerline is valid? [True, True] Translation: X:16.57, Y:-0.26, Z:0.17 [[ 9.99076906e-01 -4.08984772e-02 -1.31396492e-02 1.65704226e+01] [ 4.08981833e-02 9.99163277e-01 -2.91185724e-04 -2.56116931e-01] [ 1.31405640e-02 -2.46470849e-04 9.99913629e-01 1.72232158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.064340127999998 meters 0.016934323695788452 Centerline is valid? [True, True] Translation: X:16.63, Y:-0.25, Z:0.17 [[ 9.99061854e-01 -4.12714480e-02 -1.31179099e-02 1.66286646e+01] [ 4.12711318e-02 9.99147940e-01 -2.94923489e-04 -2.53899236e-01] [ 1.31189045e-02 -2.46744180e-04 9.99913913e-01 1.73628298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.124340127999996 meters 0.01736628295816713 Centerline is valid? [True, True] Translation: X:16.69, Y:-0.25, Z:0.17 [[ 9.99097774e-01 -4.04729172e-02 -1.28678269e-02 1.66863500e+01] [ 4.04725040e-02 9.99180610e-01 -2.92624933e-04 -2.54931389e-01] [ 1.28691265e-02 -2.28432258e-04 9.99917163e-01 1.74934360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.184340128 meters 0.017073501953700984 Centerline is valid? [True, True] Translation: X:16.74, Y:-0.25, Z:0.18 [[ 9.99080515e-01 -4.11927865e-02 -1.18860494e-02 1.67442031e+01] [ 4.11924667e-02 9.99151193e-01 -2.71824377e-04 -2.54251561e-01] [ 1.18871576e-02 -2.18041254e-04 9.99929321e-01 1.77311139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.244340127999997 meters 0.017162762271587605 Centerline is valid? [True, True] Translation: X:16.80, Y:-0.26, Z:0.18 [[ 9.99002612e-01 -4.32115998e-02 -1.12489553e-02 1.68029281e+01] [ 4.32114045e-02 9.99065917e-01 -2.60521015e-04 -2.55081456e-01] [ 1.12497053e-02 -2.25821983e-04 9.99936695e-01 1.79189162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.304340128 meters 0.018917683857539874 Centerline is valid? [True, True] Translation: X:16.86, Y:-0.26, Z:0.18 [[ 9.98868597e-01 -4.58736720e-02 -1.25352613e-02 1.68605380e+01] [ 4.58735974e-02 9.98947209e-01 -2.93625492e-04 -2.59428192e-01] [ 1.25355340e-02 -2.81744248e-04 9.99921387e-01 1.79611024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.364340128 meters 0.019157821150957682 Centerline is valid? [True, True] Translation: X:16.92, Y:-0.26, Z:0.18 [[ 9.98886368e-01 -4.51995025e-02 -1.35288084e-02 1.69187885e+01] [ 4.51993351e-02 9.98977937e-01 -3.18288616e-04 -2.61116940e-01] [ 1.35293676e-02 -2.93558987e-04 9.99908431e-01 1.79566349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.424340127999997 meters 0.01669277983642778 Centerline is valid? [True, True] Translation: X:16.98, Y:-0.26, Z:0.18 [[ 9.99038024e-01 -4.15489006e-02 -1.40255482e-02 1.69776508e+01] [ 4.15483312e-02 9.99136440e-01 -3.32107759e-04 -2.57945681e-01] [ 1.40272350e-02 -2.50949842e-04 9.99901582e-01 1.80891969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.484340128 meters 0.01476441825403385 Centerline is valid? [True, True] Translation: X:17.04, Y:-0.26, Z:0.18 [[ 9.99226140e-01 -3.61088299e-02 -1.55972320e-02 1.70360826e+01] [ 3.61073924e-02 9.99347846e-01 -3.73854928e-04 -2.55203540e-01] [ 1.56005596e-02 -1.89609758e-04 9.99878286e-01 1.80058711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.544340127999998 meters 0.013319946379624074 Centerline is valid? [True, True] Translation: X:17.09, Y:-0.25, Z:0.18 [[ 9.99329002e-01 -3.30578246e-02 -1.57710396e-02 1.70947374e+01] [ 3.30559069e-02 9.99453431e-01 -3.82331611e-04 -2.52634730e-01] [ 1.57750586e-02 -1.39250948e-04 9.99875556e-01 1.81030160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.604340127999997 meters 0.01253607108063176 Centerline is valid? [True, True] Translation: X:17.15, Y:-0.25, Z:0.18 [[ 9.99416364e-01 -2.99135932e-02 -1.64957359e-02 1.71535853e+01] [ 2.99109894e-02 9.99552484e-01 -4.04601608e-04 -2.53348593e-01] [ 1.65004569e-02 -8.90383126e-05 9.99863854e-01 1.81600106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.664340128 meters 0.012997679557971245 Centerline is valid? [True, True] Translation: X:17.21, Y:-0.26, Z:0.18 [[ 9.99403586e-01 -3.06980506e-02 -1.58145936e-02 1.72104351e+01] [ 3.06957013e-02 9.99528699e-01 -3.91321493e-04 -2.58894398e-01] [ 1.58191530e-02 -9.43519392e-05 9.99874865e-01 1.82101299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.724340127999998 meters 0.013025195646466104 Centerline is valid? [True, True] Translation: X:17.27, Y:-0.26, Z:0.18 [[ 9.99347935e-01 -3.28161680e-02 -1.50600113e-02 1.72687763e+01] [ 3.28142345e-02 9.99461397e-01 -3.75537903e-04 -2.62807790e-01] [ 1.50642236e-02 -1.18889713e-04 9.99886521e-01 1.84068770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.784340127999997 meters 0.013998918530007926 Centerline is valid? [True, True] Translation: X:17.33, Y:-0.27, Z:0.19 [[ 9.99223798e-01 -3.67180570e-02 -1.42683159e-02 1.73273123e+01] [ 3.67166724e-02 9.99325651e-01 -3.59076994e-04 -2.71191506e-01] [ 1.42718787e-02 -1.65086801e-04 9.99898138e-01 1.85145029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.844340128 meters 0.015558170684779347 Centerline is valid? [True, True] Translation: X:17.39, Y:-0.28, Z:0.19 [[ 9.99090767e-01 -4.05437771e-02 -1.31848994e-02 1.73850899e+01] [ 4.05429117e-02 9.99177743e-01 -3.33023743e-04 -2.80402007e-01] [ 1.31875601e-02 -2.01833266e-04 9.99913020e-01 1.85807012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.904340127999998 meters 0.01548129410108166 Centerline is valid? [True, True] Translation: X:17.44, Y:-0.29, Z:0.19 [[ 9.99054211e-01 -4.12248286e-02 -1.38273947e-02 1.74435871e+01] [ 4.12239229e-02 9.99149871e-01 -3.50633485e-04 -2.85391296e-01] [ 1.38300945e-02 -2.19717595e-04 9.99904336e-01 1.85423425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.964340127999996 meters 0.015140023052249195 Centerline is valid? [True, True] Translation: X:17.50, Y:-0.29, Z:0.18 [[ 9.99055480e-01 -4.05825457e-02 -1.55307424e-02 1.75018073e+01] [ 4.05812808e-02 9.99176162e-01 -3.96711561e-04 -2.87490991e-01] [ 1.55340472e-02 -2.33920559e-04 9.99879312e-01 1.84023205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.024340128 meters 0.014495012974634085 Centerline is valid? [True, True] Translation: X:17.56, Y:-0.29, Z:0.18 [[ 9.99068167e-01 -3.93006101e-02 -1.78398141e-02 1.75598751e+01] [ 3.92986278e-02 9.99227404e-01 -4.61808488e-04 -2.90106618e-01] [ 1.78441805e-02 -2.39702055e-04 9.99840751e-01 1.81547047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.084340127999997 meters 0.014450260964574302 Centerline is valid? [True, True] Translation: X:17.62, Y:-0.29, Z:0.18 [[ 9.99062183e-01 -3.88871831e-02 -1.90405458e-02 1.76179649e+01] [ 3.88847302e-02 9.99243578e-01 -4.99173727e-04 -2.92622639e-01] [ 1.90455546e-02 -2.41680893e-04 9.99818588e-01 1.80954717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.144340128 meters 0.015170857433746958 Centerline is valid? [True, True] Translation: X:17.68, Y:-0.30, Z:0.18 [[ 9.99027682e-01 -3.92821559e-02 -2.00150736e-02 1.76756599e+01] [ 3.92794395e-02 9.99228125e-01 -5.28983173e-04 -2.98513575e-01] [ 2.00204041e-02 -2.57712041e-04 9.99799538e-01 1.79998961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.204340128 meters 0.0139228127697449 Centerline is valid? [True, True] Translation: X:17.73, Y:-0.29, Z:0.18 [[ 9.99198263e-01 -3.60799623e-02 -1.73513150e-02 1.77345661e+01] [ 3.60773887e-02 9.99348893e-01 -4.61422658e-04 -2.92499489e-01] [ 1.73566655e-02 -1.64937415e-04 9.99849348e-01 1.82036424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.264340127999997 meters 0.013045530165143173 Centerline is valid? [True, True] Translation: X:17.79, Y:-0.29, Z:0.18 [[ 9.99291701e-01 -3.40309893e-02 -1.60619792e-02 1.77936767e+01] [ 3.40284531e-02 9.99420771e-01 -4.31250558e-04 -2.88122562e-01] [ 1.60673515e-02 -1.15619202e-04 9.99870905e-01 1.84400955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.324340128 meters 0.013232000180405983 Centerline is valid? [True, True] Translation: X:17.85, Y:-0.29, Z:0.18 [[ 9.99301102e-01 -3.38262418e-02 -1.59088792e-02 1.78506813e+01] [ 3.38236729e-02 9.99427723e-01 -4.30590927e-04 -2.86538247e-01] [ 1.59143402e-02 -1.07806739e-04 9.99873353e-01 1.84741557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.384340127999998 meters 0.013625239963074224 Centerline is valid? [True, True] Translation: X:17.91, Y:-0.28, Z:0.18 [[ 9.99258894e-01 -3.51956830e-02 -1.55860754e-02 1.79083371e+01] [ 3.51933362e-02 9.99380432e-01 -4.24909042e-04 -2.82339652e-01] [ 1.55913737e-02 -1.23931850e-04 9.99878439e-01 1.84344254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.444340127999997 meters 0.01584775175605246 Centerline is valid? [True, True] Translation: X:17.97, Y:-0.28, Z:0.18 [[ 9.99024125e-01 -4.09549839e-02 -1.65374453e-02 1.79667116e+01] [ 4.09530624e-02 9.99160968e-01 -4.54966361e-04 -2.81948032e-01] [ 1.65422030e-02 -2.22736660e-04 9.99863144e-01 1.81844032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.504340128 meters 0.017296358810049206 Centerline is valid? [True, True] Translation: X:18.03, Y:-0.28, Z:0.18 [[ 9.98797708e-01 -4.62318976e-02 -1.63018581e-02 1.80251155e+01] [ 4.62307003e-02 9.98930688e-01 -4.50483681e-04 -2.81333547e-01] [ 1.63052530e-02 -3.03704247e-04 9.99867014e-01 1.83057276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.564340127999998 meters 0.022385962504381088 Centerline is valid? [True, True] Translation: X:18.09, Y:-0.29, Z:0.18 [[ 9.98265379e-01 -5.69980874e-02 -1.47462476e-02 1.80856982e+01] [ 5.69982666e-02 9.98374194e-01 -4.08463808e-04 -2.88000607e-01] [ 1.47455548e-02 -4.32755276e-04 9.99891185e-01 1.84871486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.624340127999996 meters 0.027538057725244237 Centerline is valid? [True, True] Translation: X:18.15, Y:-0.29, Z:0.19 [[ 9.97872925e-01 -6.35889136e-02 -1.43553423e-02 1.81451821e+01] [ 6.35897607e-02 9.97976044e-01 -3.97895597e-04 -2.93953015e-01] [ 1.43515895e-02 -5.15803537e-04 9.99896878e-01 1.86075792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.684340128 meters 0.03183778630518112 Centerline is valid? [True, True] Translation: X:18.21, Y:-0.30, Z:0.19 [[ 9.97390907e-01 -7.09542311e-02 -1.32994878e-02 1.82055289e+01] [ 7.09556093e-02 9.97479406e-01 -3.68799412e-04 -2.96268357e-01] [ 1.32921331e-02 -5.75836082e-04 9.99911490e-01 1.86387995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.744340127999997 meters 0.031106012577910513 Centerline is valid? [True, True] Translation: X:18.26, Y:-0.29, Z:0.19 [[ 9.97440185e-01 -7.02890159e-02 -1.31350977e-02 1.82648228e+01] [ 7.02902908e-02 9.97526512e-01 -3.65136482e-04 -2.92932511e-01] [ 1.31282733e-02 -5.59068039e-04 9.99913664e-01 1.87749294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.804340127999996 meters 0.026888281503982876 Centerline is valid? [True, True] Translation: X:18.32, Y:-0.28, Z:0.19 [[ 9.97953959e-01 -6.24088523e-02 -1.38935259e-02 1.83249961e+01] [ 6.24094801e-02 9.98050553e-01 -3.88800064e-04 -2.81191034e-01] [ 1.38907058e-02 -4.79083166e-04 9.99903405e-01 1.87672135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.864340128 meters 0.02285152878001805 Centerline is valid? [True, True] Translation: X:18.38, Y:-0.27, Z:0.19 [[ 9.98261023e-01 -5.76467475e-02 -1.23200213e-02 1.83848279e+01] [ 5.76468769e-02 9.98336976e-01 -3.44909990e-04 -2.72241072e-01] [ 1.23194157e-02 -3.65900551e-04 9.99924046e-01 1.89916010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.924340127999997 meters 0.02148120055840904 Centerline is valid? [True, True] Translation: X:18.44, Y:-0.27, Z:0.19 [[ 9.98462267e-01 -5.41349488e-02 -1.19377275e-02 1.84424824e+01] [ 5.41348148e-02 9.98533580e-01 -3.34594590e-04 -2.66834590e-01] [ 1.19383350e-02 -3.12166594e-04 9.99928687e-01 1.91607121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.984340128 meters 0.021996302343252963 Centerline is valid? [True, True] Translation: X:18.50, Y:-0.27, Z:0.19 [[ 9.98452398e-01 -5.44316740e-02 -1.14017993e-02 1.85005917e+01] [ 5.44315555e-02 9.98517452e-01 -3.20942275e-04 -2.65657401e-01] [ 1.14023650e-02 -3.00172088e-04 9.99934946e-01 1.92655834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.044340127999998 meters 0.023514510004810894 Centerline is valid? [True, True] Translation: X:18.56, Y:-0.27, Z:0.19 [[ 9.98349220e-01 -5.64020819e-02 -1.08462399e-02 1.85591760e+01] [ 5.64020578e-02 9.98408089e-01 -3.08346273e-04 -2.66051332e-01] [ 1.08463650e-02 -3.03912987e-04 9.99941130e-01 1.93925076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.104340127999997 meters 0.025574056245803348 Centerline is valid? [True, True] Translation: X:18.62, Y:-0.27, Z:0.20 [[ 9.98247770e-01 -5.82937915e-02 -1.01599427e-02 1.86165591e+01] [ 5.82938440e-02 9.98299425e-01 -2.91220161e-04 -2.67151773e-01] [ 1.01596413e-02 -3.01552240e-04 9.99948344e-01 1.95305705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.164340128 meters 0.02399077219284197 Centerline is valid? [True, True] Translation: X:18.68, Y:-0.26, Z:0.20 [[ 9.98109442e-01 -6.05858005e-02 -1.03393554e-02 1.86750815e+01] [ 6.05859651e-02 9.98162939e-01 -2.97587021e-04 -2.62525622e-01] [ 1.03383910e-02 -3.29395411e-04 9.99946503e-01 1.95810456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.224340127999998 meters 0.024420439923983246 Centerline is valid? [True, True] Translation: X:18.73, Y:-0.26, Z:0.19 [[ 9.98032447e-01 -6.16433208e-02 -1.14602204e-02 1.87337299e+01] [ 6.16435542e-02 9.98098172e-01 -3.33206049e-04 -2.59618699e-01] [ 1.14589649e-02 -3.73898268e-04 9.99934274e-01 1.94986728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.284340127999997 meters 0.02432864163986174 Centerline is valid? [True, True] Translation: X:18.79, Y:-0.26, Z:0.19 [[ 9.97977310e-01 -6.23272415e-02 -1.25141017e-02 1.87928206e+01] [ 6.23275284e-02 9.98055682e-01 -3.67451949e-04 -2.55539200e-01] [ 1.25126725e-02 -4.13264320e-04 9.99921628e-01 1.94243954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.344340128 meters 0.024029474000209335 Centerline is valid? [True, True] Translation: X:18.85, Y:-0.25, Z:0.19 [[ 9.97891145e-01 -6.34764586e-02 -1.35647094e-02 1.88520055e+01] [ 6.34768487e-02 9.97983230e-01 -4.02216967e-04 -2.52072322e-01] [ 1.35628838e-02 -4.59676257e-04 9.99907914e-01 1.93360757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.404340127999998 meters 0.027023430151089555 Centerline is valid? [True, True] Translation: X:18.91, Y:-0.25, Z:0.19 [[ 9.97737706e-01 -6.55007180e-02 -1.51369367e-02 1.89102972e+01] [ 6.55013791e-02 9.97852376e-01 -4.52629269e-04 -2.52936635e-01] [ 1.51340758e-02 -5.39884942e-04 9.99885328e-01 1.91699590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.464340127999996 meters 0.02901093154893859 Centerline is valid? [True, True] Translation: X:18.97, Y:-0.25, Z:0.19 [[ 9.97619243e-01 -6.70077649e-02 -1.63035511e-02 1.89676530e+01] [ 6.70086905e-02 9.97752271e-01 -4.90109018e-04 -2.53764963e-01] [ 1.62997462e-02 -6.03537420e-04 9.99866968e-01 1.91435758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.524340128 meters 0.026472060443767674 Centerline is valid? [True, True] Translation: X:19.03, Y:-0.25, Z:0.19 [[ 9.97586640e-01 -6.72044200e-02 -1.74488363e-02 1.90256849e+01] [ 6.72054389e-02 9.97739019e-01 -5.28636086e-04 -2.47432898e-01] [ 1.74449115e-02 -6.45296406e-04 9.99847618e-01 1.93110295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.584340127999997 meters 0.027560214781618856 Centerline is valid? [True, True] Translation: X:19.08, Y:-0.25, Z:0.19 [[ 9.97595289e-01 -6.69791927e-02 -1.78165038e-02 1.90837333e+01] [ 6.69801501e-02 9.97754160e-01 -5.43655033e-04 -2.46174386e-01] [ 1.78129043e-02 -6.51004397e-04 9.99841126e-01 1.93547470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.644340128 meters 0.02787154069269987 Centerline is valid? [True, True] Translation: X:19.14, Y:-0.24, Z:0.20 [[ 9.97553423e-01 -6.76320819e-02 -1.76937845e-02 1.91420865e+01] [ 6.76330751e-02 9.97710114e-01 -5.42937716e-04 -2.42793742e-01] [ 1.76899878e-02 -6.55075678e-04 9.99843305e-01 1.95019833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.704340128 meters 0.029500834966532243 Centerline is valid? [True, True] Translation: X:19.20, Y:-0.24, Z:0.20 [[ 9.97530774e-01 -6.82131460e-02 -1.67129275e-02 1.91997900e+01] [ 6.82140618e-02 9.97670575e-01 -5.15930975e-04 -2.42613899e-01] [ 1.67091892e-02 -6.25399641e-04 9.99860196e-01 1.96711718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.764340127999997 meters 0.02949297300718054 Centerline is valid? [True, True] Translation: X:19.26, Y:-0.24, Z:0.20 [[ 9.97401763e-01 -7.00785789e-02 -1.66947800e-02 1.92583260e+01] [ 7.00797081e-02 9.97541260e-01 -5.18100967e-04 -2.40469083e-01] [ 1.66900396e-02 -6.53210487e-04 9.99860498e-01 1.98307367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.824340128 meters 0.028973980756832534 Centerline is valid? [True, True] Translation: X:19.32, Y:-0.24, Z:0.20 [[ 9.97308499e-01 -7.12945267e-02 -1.71127920e-02 1.93166883e+01] [ 7.12958346e-02 9.97455071e-01 -5.34415985e-04 -2.37944108e-01] [ 1.71073421e-02 -6.87093183e-04 9.99853423e-01 1.99626363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.884340127999998 meters 0.02844230489137886 Centerline is valid? [True, True] Translation: X:19.38, Y:-0.23, Z:0.20 [[ 9.97263152e-01 -7.19033056e-02 -1.72081458e-02 1.93755141e+01] [ 7.19046674e-02 9.97411363e-01 -5.40370839e-04 -2.34789496e-01] [ 1.72024546e-02 -6.98454076e-04 9.99851783e-01 2.00720481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.944340127999997 meters 0.02852755692211132 Centerline is valid? [True, True] Translation: X:19.43, Y:-0.23, Z:0.20 [[ 9.97292986e-01 -7.15631853e-02 -1.68941285e-02 1.94348778e+01] [ 7.15643747e-02 9.97435840e-01 -5.34918070e-04 -2.31989950e-01] [ 1.68890897e-02 -6.75547703e-04 9.99857141e-01 2.01865697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.004340128 meters 0.027599548358268364 Centerline is valid? [True, True] Translation: X:19.49, Y:-0.23, Z:0.20 [[ 9.97385350e-01 -7.01192942e-02 -1.74856728e-02 1.94940762e+01] [ 7.01202685e-02 9.97538388e-01 -5.58123244e-04 -2.27449342e-01] [ 1.74817651e-02 -6.69436124e-04 9.99846958e-01 2.02517718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.064340127999998 meters 0.025062977062987477 Centerline is valid? [True, True] Translation: X:19.55, Y:-0.22, Z:0.20 [[ 9.97731011e-01 -6.49417316e-02 -1.77595406e-02 1.95536964e+01] [ 6.49418664e-02 9.97888886e-01 -5.69733749e-04 -2.19950004e-01] [ 1.77590477e-02 -5.84896683e-04 9.99842125e-01 2.03000729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.124340127999996 meters 0.02040769372628917 Centerline is valid? [True, True] Translation: X:19.61, Y:-0.21, Z:0.21 [[ 9.98190382e-01 -5.75869604e-02 -1.73119685e-02 1.96136880e+01] [ 5.75859725e-02 9.98340396e-01 -5.55971310e-04 -2.09481651e-01] [ 1.73152542e-02 -4.41961330e-04 9.99849982e-01 2.05234202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.184340128 meters 0.01956189512715907 Centerline is valid? [True, True] Translation: X:19.67, Y:-0.21, Z:0.21 [[ 9.98448785e-01 -5.29552813e-02 -1.71977335e-02 1.96712267e+01] [ 5.29536041e-02 9.98596820e-01 -5.53205559e-04 -2.05278775e-01] [ 1.72028971e-02 -3.58334550e-04 9.99851955e-01 2.05793254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.244340127999997 meters 0.017319046281836503 Centerline is valid? [True, True] Translation: X:19.73, Y:-0.20, Z:0.21 [[ 9.98536201e-01 -5.12473963e-02 -1.72962357e-02 1.97295107e+01] [ 5.12453920e-02 9.98685935e-01 -5.59362069e-04 -1.99303811e-01] [ 1.73021732e-02 -3.27809104e-04 9.99850252e-01 2.07331350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.304340127999996 meters 0.015405569698038166 Centerline is valid? [True, True] Translation: X:19.79, Y:-0.19, Z:0.21 [[ 9.98725798e-01 -4.74666257e-02 -1.71376718e-02 1.97879076e+01] [ 4.74640219e-02 9.98872792e-01 -5.58876099e-04 -1.92583918e-01] [ 1.71448820e-02 -2.55258851e-04 9.99852983e-01 2.08444023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.364340128 meters 0.014538188452423245 Centerline is valid? [True, True] Translation: X:19.85, Y:-0.19, Z:0.21 [[ 9.98837992e-01 -4.53190277e-02 -1.63966960e-02 1.98467188e+01] [ 4.53162834e-02 9.98972544e-01 -5.39065965e-04 -1.86808954e-01] [ 1.64042791e-02 -2.04597758e-04 9.99865420e-01 2.09806808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.424340127999997 meters 0.014625910688138958 Centerline is valid? [True, True] Translation: X:19.90, Y:-0.18, Z:0.21 [[ 9.98836519e-01 -4.57791611e-02 -1.51617015e-02 1.99042992e+01] [ 4.57768053e-02 9.98951566e-01 -5.02573925e-04 -1.83979594e-01] [ 1.51688128e-02 -1.92065066e-04 9.99884928e-01 2.12013558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.484340128 meters 0.0160559599793445 Centerline is valid? [True, True] Translation: X:19.96, Y:-0.18, Z:0.21 [[ 9.98727945e-01 -4.82666110e-02 -1.45885575e-02 1.99623232e+01] [ 4.82646464e-02 9.98834464e-01 -4.86918054e-04 -1.84285114e-01] [ 1.45950559e-02 -2.17812901e-04 9.99893463e-01 2.14081017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.544340127999998 meters 0.01678146877876871 Centerline is valid? [True, True] Translation: X:20.02, Y:-0.18, Z:0.21 [[ 9.98574704e-01 -5.10136257e-02 -1.56898054e-02 2.00209366e+01] [ 5.10116514e-02 9.98697920e-01 -5.26271711e-04 -1.82347537e-01] [ 1.56962230e-02 -2.74841264e-04 9.99876769e-01 2.13366919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.604340127999997 meters 0.018514422417969835 Centerline is valid? [True, True] Translation: X:20.08, Y:-0.18, Z:0.21 [[ 9.98457503e-01 -5.30983805e-02 -1.62227245e-02 2.00789547e+01] [ 5.30964904e-02 9.98589236e-01 -5.47503106e-04 -1.82024915e-01] [ 1.62289096e-02 -3.14711151e-04 9.99868253e-01 2.13197927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.664340128 meters 0.01880073992901658 Centerline is valid? [True, True] Translation: X:20.14, Y:-0.18, Z:0.21 [[ 9.98297624e-01 -5.57417775e-02 -1.71670781e-02 2.01375132e+01] [ 5.57399998e-02 9.98445148e-01 -5.82387618e-04 -1.80258828e-01] [ 1.71728492e-02 -3.75496755e-04 9.99852465e-01 2.13770632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.724340127999998 meters 0.02033035248604132 Centerline is valid? [True, True] Translation: X:20.20, Y:-0.18, Z:0.21 [[ 9.98135825e-01 -5.81640092e-02 -1.84884499e-02 2.01966809e+01] [ 5.81622655e-02 9.98306942e-01 -6.32463140e-04 -1.79033629e-01] [ 1.84939344e-02 -4.44046011e-04 9.99828874e-01 2.13807002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.784340127999997 meters 0.02070342808653711 Centerline is valid? [True, True] Translation: X:20.26, Y:-0.18, Z:0.21 [[ 9.98059048e-01 -5.92007303e-02 -1.93238092e-02 2.02555122e+01] [ 5.91989161e-02 9.98245984e-01 -6.66397603e-04 -1.75719840e-01] [ 1.93293662e-02 -4.78844405e-04 9.99813056e-01 2.13504406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.844340128 meters 0.022498366218740587 Centerline is valid? [True, True] Translation: X:20.31, Y:-0.18, Z:0.22 [[ 9.98040363e-01 -5.99419004e-02 -1.79555853e-02 2.03124155e+01] [ 5.99403900e-02 9.98201764e-01 -6.22766732e-04 -1.76506737e-01] [ 1.79606268e-02 -4.54718452e-04 9.99838592e-01 2.16182925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.904340127999998 meters 0.022025409184411 Centerline is valid? [True, True] Translation: X:20.37, Y:-0.17, Z:0.22 [[ 9.98044112e-01 -6.01168386e-02 -1.71439806e-02 2.03703731e+01] [ 6.01154284e-02 9.98191253e-01 -5.98056263e-04 -1.71326285e-01] [ 1.71489247e-02 -4.33731205e-04 9.99852852e-01 2.17737463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.964340127999996 meters 0.021006209383036774 Centerline is valid? [True, True] Translation: X:20.43, Y:-0.16, Z:0.22 [[ 9.98077127e-01 -5.93172752e-02 -1.79863907e-02 2.04288522e+01] [ 5.93154992e-02 9.98239085e-01 -6.32672236e-04 -1.64947594e-01] [ 1.79922466e-02 -4.35416058e-04 9.99838032e-01 2.17587178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.024340128 meters 0.021383881699937043 Centerline is valid? [True, True] Translation: X:20.49, Y:-0.16, Z:0.22 [[ 9.98193962e-01 -5.71640854e-02 -1.84684009e-02 2.04865003e+01] [ 5.71617806e-02 9.98364715e-01 -6.53090445e-04 -1.61511704e-01] [ 1.84755331e-02 -4.03775742e-04 9.99829231e-01 2.17435416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.084340127999997 meters 0.01898178390574132 Centerline is valid? [True, True] Translation: X:20.55, Y:-0.15, Z:0.22 [[ 9.98318833e-01 -5.50118542e-02 -1.82538755e-02 2.05450391e+01] [ 5.50091862e-02 9.98485638e-01 -6.48613014e-04 -1.54082834e-01] [ 1.82619139e-02 -3.56608251e-04 9.99833174e-01 2.18672904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.144340127999996 meters 0.01809201250920741 Centerline is valid? [True, True] Translation: X:20.60, Y:-0.15, Z:0.22 [[ 9.98466749e-01 -5.23404810e-02 -1.80173475e-02 2.06030047e+01] [ 5.23373880e-02 9.98629252e-01 -6.43475944e-04 -1.46940742e-01] [ 1.80263301e-02 -3.00491573e-04 9.99837467e-01 2.18768394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.204340128 meters 0.018009732237589664 Centerline is valid? [True, True] Translation: X:20.66, Y:-0.14, Z:0.22 [[ 9.98469711e-01 -5.20680849e-02 -1.86319676e-02 2.06612047e+01] [ 5.20646649e-02 9.98643492e-01 -6.68912931e-04 -1.43928817e-01] [ 1.86415222e-02 -3.02177848e-04 9.99826186e-01 2.18835393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.264340127999997 meters 0.019438344095601093 Centerline is valid? [True, True] Translation: X:20.72, Y:-0.14, Z:0.22 [[ 9.98366288e-01 -5.38320012e-02 -1.91538714e-02 2.07193986e+01] [ 5.38286398e-02 9.98549948e-01 -6.91386933e-04 -1.42805858e-01] [ 1.91633161e-02 -3.40769440e-04 9.99816309e-01 2.18217834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.324340128 meters 0.020153937914900232 Centerline is valid? [True, True] Translation: X:20.78, Y:-0.14, Z:0.22 [[ 9.98111263e-01 -5.85964301e-02 -1.84489656e-02 2.07781122e+01] [ 5.85940665e-02 9.98281668e-01 -6.69101094e-04 -1.39312657e-01] [ 1.84564711e-02 -4.13162578e-04 9.99829579e-01 2.20463583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.384340127999998 meters 0.022309775924741482 Centerline is valid? [True, True] Translation: X:20.84, Y:-0.14, Z:0.22 [[ 9.97755229e-01 -6.46048669e-02 -1.76270656e-02 2.08379978e+01] [ 6.46035963e-02 9.97910799e-01 -6.42098839e-04 -1.40431179e-01] [ 1.76317218e-02 -4.98114356e-04 9.99844425e-01 2.22484501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.444340127999997 meters 0.02990351136841185 Centerline is valid? [True, True] Translation: X:20.90, Y:-0.15, Z:0.22 [[ 9.97563211e-01 -6.76615630e-02 -1.70162709e-02 2.08957094e+01] [ 6.76608027e-02 9.97708189e-01 -6.21049475e-04 -1.48219996e-01] [ 1.70192940e-02 -5.31798437e-04 9.99855020e-01 2.21270714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.504340128 meters 0.025928521297290483 Centerline is valid? [True, True] Translation: X:20.95, Y:-0.14, Z:0.22 [[ 9.97401529e-01 -6.97501210e-02 -1.80308500e-02 2.09545397e+01] [ 6.97495472e-02 9.97564315e-01 -6.61460279e-04 -1.36863151e-01] [ 1.80330695e-02 -5.97902133e-04 9.99837212e-01 2.22396471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.564340127999998 meters 0.03324567808115092 Centerline is valid? [True, True] Translation: X:21.01, Y:-0.14, Z:0.22 [[ 9.97411717e-01 -6.93735577e-02 -1.88991316e-02 2.10128609e+01] [ 6.93727924e-02 9.97590562e-01 -6.96885337e-04 -1.41809515e-01] [ 1.89019407e-02 -6.16003930e-04 9.99821153e-01 2.19418256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.624340127999996 meters 0.022405717828507195 Centerline is valid? [True, True] Translation: X:21.07, Y:-0.12, Z:0.22 [[ 9.97659393e-01 -6.56519866e-02 -1.91193993e-02 2.10709072e+01] [ 6.56504887e-02 9.97842429e-01 -7.06670795e-04 -1.22999607e-01] [ 1.91245422e-02 -5.50181149e-04 9.99816958e-01 2.23581494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.684340128 meters 0.019426020355513853 Centerline is valid? [True, True] Translation: X:21.13, Y:-0.11, Z:0.23 [[ 9.98089018e-01 -5.89570993e-02 -1.85032891e-02 2.11299630e+01] [ 5.89545260e-02 9.98260434e-01 -6.84988889e-04 -1.12174948e-01] [ 1.85114863e-02 -4.07172748e-04 9.99828565e-01 2.25074942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.744340127999997 meters 0.015525512613869277 Centerline is valid? [True, True] Translation: X:21.19, Y:-0.10, Z:0.23 [[ 9.98646951e-01 -4.91177979e-02 -1.70794908e-02 2.11884859e+01] [ 4.91141554e-02 9.98792971e-01 -6.32911614e-04 -1.00494492e-01] [ 1.70899626e-02 -2.06789511e-04 9.99853935e-01 2.27724298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.804340127999996 meters 0.013532416803835547 Centerline is valid? [True, True] Translation: X:21.25, Y:-0.09, Z:0.23 [[ 9.98947514e-01 -4.26699509e-02 -1.68267718e-02 2.12469059e+01] [ 4.26654629e-02 9.99089219e-01 -6.25777561e-04 -9.20276633e-02] [ 1.68381482e-02 -9.28030712e-05 9.99858224e-01 2.28439179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.864340128 meters 0.012856077688690265 Centerline is valid? [True, True] Translation: X:21.31, Y:-0.08, Z:0.23 [[ 9.99306528e-01 -3.37568411e-02 -1.57142907e-02 2.13051761e+01] [ 3.37517616e-02 9.99430074e-01 -5.88414356e-04 -8.02789738e-02] [ 1.57251977e-02 5.76213160e-05 9.99876350e-01 2.30187147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.924340127999997 meters 0.013651119842973835 Centerline is valid? [True, True] Translation: X:21.36, Y:-0.07, Z:0.23 [[ 9.99479659e-01 -2.88607615e-02 -1.44037199e-02 2.13634742e+01] [ 2.88559321e-02 9.99583433e-01 -5.43050541e-04 -7.32646995e-02] [ 1.44133927e-02 1.27135205e-04 9.99896114e-01 2.32042776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.984340128 meters 0.013898109964164154 Centerline is valid? [True, True] Translation: X:21.42, Y:-0.07, Z:0.23 [[ 9.99505606e-01 -2.82677955e-02 -1.37650147e-02 2.14211531e+01] [ 2.82632753e-02 9.99600377e-01 -5.22843025e-04 -7.24825111e-02] [ 1.37742935e-02 1.33540135e-04 9.99905121e-01 2.34095625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.044340127999998 meters 0.013666319961472525 Centerline is valid? [True, True] Translation: X:21.48, Y:-0.07, Z:0.23 [[ 9.99458036e-01 -2.98153106e-02 -1.39528408e-02 2.14791532e+01] [ 2.98107676e-02 9.99555418e-01 -5.33511525e-04 -7.36189459e-02] [ 1.39625444e-02 1.17277486e-04 9.99902512e-01 2.34877179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.104340127999997 meters 0.013042967398073388 Centerline is valid? [True, True] Translation: X:21.54, Y:-0.08, Z:0.23 [[ 9.99333397e-01 -3.32343004e-02 -1.51077373e-02 2.15385902e+01] [ 3.32293276e-02 9.99447585e-01 -5.80125544e-04 -7.70285671e-02] [ 1.51186716e-02 7.77188776e-05 9.99885703e-01 2.34428626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.164340128 meters 0.012818771425344806 Centerline is valid? [True, True] Translation: X:21.60, Y:-0.08, Z:0.23 [[ 9.99266073e-01 -3.51023928e-02 -1.53341728e-02 2.15963295e+01] [ 3.50974222e-02 9.99383720e-01 -5.93223059e-04 -7.78637497e-02] [ 1.53455462e-02 5.45977383e-05 9.99882249e-01 2.34864482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.224340127999998 meters 0.012839593451225604 Centerline is valid? [True, True] Translation: X:21.65, Y:-0.08, Z:0.24 [[ 9.99136156e-01 -3.84226222e-02 -1.58317521e-02 2.16545097e+01] [ 3.84176594e-02 9.99261578e-01 -6.17591839e-04 -8.26493107e-02] [ 1.58437911e-02 8.83947552e-06 9.99874479e-01 2.35576503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.284340127999997 meters 0.013689357596749751 Centerline is valid? [True, True] Translation: X:21.71, Y:-0.09, Z:0.24 [[ 9.98857407e-01 -4.47068240e-02 -1.68872716e-02 2.17125167e+01] [ 4.47020068e-02 9.99000146e-01 -6.62813585e-04 -9.17389240e-02] [ 1.69000190e-02 -9.28386686e-05 9.99857180e-01 2.35047563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.344340128 meters 0.014758379132623003 Centerline is valid? [True, True] Translation: X:21.77, Y:-0.10, Z:0.24 [[ 9.98588180e-01 -5.05232106e-02 -1.64027788e-02 2.17714586e+01] [ 5.05194046e-02 9.98722870e-01 -6.46574758e-04 -9.93701859e-02] [ 1.64144974e-02 -1.82996710e-04 9.99865256e-01 2.36445142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.404340127999998 meters 0.016148160387535113 Centerline is valid? [True, True] Translation: X:21.83, Y:-0.11, Z:0.24 [[ 9.98389052e-01 -5.43855090e-02 -1.61714758e-02 2.18307421e+01] [ 5.43822439e-02 9.98519985e-01 -6.41910446e-04 -1.07195639e-01] [ 1.61824524e-02 -2.38564778e-04 9.99869027e-01 2.37355726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.464340127999996 meters 0.01591371278611217 Centerline is valid? [True, True] Translation: X:21.89, Y:-0.11, Z:0.24 [[ 9.98443463e-01 -5.33674965e-02 -1.62037775e-02 2.18888903e+01] [ 5.33640302e-02 9.98574916e-01 -6.46524347e-04 -1.10194678e-01] [ 1.62151892e-02 -2.19180866e-04 9.99868501e-01 2.38059938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.524340128 meters 0.014679958605969998 Centerline is valid? [True, True] Translation: X:21.95, Y:-0.11, Z:0.24 [[ 9.98611005e-01 -5.00324328e-02 -1.65171411e-02 2.19480521e+01] [ 5.00283290e-02 9.98747580e-01 -6.61809177e-04 -1.07763688e-01] [ 1.65295666e-02 -1.65435041e-04 9.99863364e-01 2.38752461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.584340127999997 meters 0.013315887486884281 Centerline is valid? [True, True] Translation: X:22.01, Y:-0.10, Z:0.24 [[ 9.98837428e-01 -4.54284623e-02 -1.61259768e-02 2.20072071e+01] [ 4.54238813e-02 9.98967591e-01 -6.50432922e-04 -1.04459718e-01] [ 1.61388764e-02 -8.28277098e-05 9.99869756e-01 2.39898267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.644340127999996 meters 0.012575450200901915 Centerline is valid? [True, True] Translation: X:22.07, Y:-0.10, Z:0.24 [[ 9.99085766e-01 -4.00241184e-02 -1.50234113e-02 2.20660500e+01] [ 4.00194719e-02 9.99198714e-01 -6.09911407e-04 -1.03419851e-01] [ 1.50357844e-02 8.12482133e-06 9.99886956e-01 2.41991926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.704340128 meters 0.012656365903957769 Centerline is valid? [True, True] Translation: X:22.12, Y:-0.11, Z:0.24 [[ 9.99191790e-01 -3.76038558e-02 -1.42026757e-02 2.21235682e+01] [ 3.75994083e-02 9.99292724e-01 -5.80131077e-04 -1.05142597e-01] [ 1.42144457e-02 4.56500059e-05 9.99898969e-01 2.43549770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.764340127999997 meters 0.012677305239450758 Centerline is valid? [True, True] Translation: X:22.18, Y:-0.11, Z:0.25 [[ 9.99240627e-01 -3.67216412e-02 -1.30265319e-02 2.21821710e+01] [ 3.67177865e-02 9.99325531e-01 -5.35032917e-04 -1.08354535e-01] [ 1.30373932e-02 5.63212093e-05 9.99915008e-01 2.45151434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.824340128 meters 0.012685305014649782 Centerline is valid? [True, True] Translation: X:22.24, Y:-0.11, Z:0.24 [[ 9.99202510e-01 -3.74332001e-02 -1.38960528e-02 2.22389001e+01] [ 3.74288297e-02 9.99299131e-01 -5.74533438e-04 -1.10699288e-01] [ 1.39078201e-02 5.39622599e-05 9.99903280e-01 2.44773389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.884340127999998 meters 0.012447969542144511 Centerline is valid? [True, True] Translation: X:22.30, Y:-0.12, Z:0.25 [[ 9.99113499e-01 -3.99002066e-02 -1.34234870e-02 2.22972561e+01] [ 3.98963191e-02 9.99203669e-01 -5.57378364e-04 -1.17104966e-01] [ 1.34350370e-02 2.13365250e-05 9.99909746e-01 2.45692273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.944340127999997 meters 0.01267851779916285 Centerline is valid? [True, True] Translation: X:22.35, Y:-0.12, Z:0.24 [[ 9.98976622e-01 -4.30461410e-02 -1.38830630e-02 2.23541303e+01] [ 4.30422357e-02 9.99073085e-01 -5.80111917e-04 -1.23666900e-01] [ 1.38951662e-02 -1.80398265e-05 9.99903457e-01 2.44967025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.004340128 meters 0.013091951768420483 Centerline is valid? [True, True] Translation: X:22.41, Y:-0.13, Z:0.24 [[ 9.98848328e-01 -4.56622546e-02 -1.47300801e-02 2.24135208e+01] [ 4.56581029e-02 9.98956934e-01 -6.18196741e-04 -1.26657101e-01] [ 1.47429440e-02 -5.50627337e-05 9.99891315e-01 2.44508444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.064340127999998 meters 0.013846429599211525 Centerline is valid? [True, True] Translation: X:22.47, Y:-0.13, Z:0.24 [[ 9.98655973e-01 -4.97669728e-02 -1.44739668e-02 2.24729220e+01] [ 4.97633395e-02 9.98760850e-01 -6.11295618e-04 -1.32111497e-01] [ 1.44864537e-02 -1.09798904e-04 9.99895060e-01 2.44450202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.124340127999996 meters 0.013902018608410581 Centerline is valid? [True, True] Translation: X:22.53, Y:-0.13, Z:0.25 [[ 9.98644011e-01 -5.03191431e-02 -1.33462916e-02 2.25311265e+01] [ 5.03160554e-02 9.98733184e-01 -5.67241281e-04 -1.29228829e-01] [ 1.33579274e-02 -1.05060641e-04 9.99910773e-01 2.45479894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.184340128 meters 0.013891388372947183 Centerline is valid? [True, True] Translation: X:22.59, Y:-0.12, Z:0.25 [[ 9.98645574e-01 -5.02287352e-02 -1.35680409e-02 2.25888304e+01] [ 5.02254781e-02 9.98737735e-01 -5.80909752e-04 -1.24318559e-01] [ 1.35800928e-02 -1.01338387e-04 9.99907781e-01 2.45292013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.244340127999997 meters 0.014214773988750646 Centerline is valid? [True, True] Translation: X:22.65, Y:-0.12, Z:0.25 [[ 9.98597080e-01 -5.11750630e-02 -1.36009226e-02 2.26469234e+01] [ 5.11718208e-02 9.98689692e-01 -5.86508014e-04 -1.21182553e-01] [ 1.36131158e-02 -1.10298784e-04 9.99907331e-01 2.45227508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.304340127999996 meters 0.015198838978236092 Centerline is valid? [True, True] Translation: X:22.71, Y:-0.12, Z:0.24 [[ 9.98412027e-01 -5.42002444e-02 -1.53544399e-02 2.27061019e+01] [ 5.41963949e-02 9.98530073e-01 -6.67006765e-04 -1.17830312e-01] [ 1.53680220e-02 -1.66207715e-04 9.99881891e-01 2.43288993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.364340128 meters 0.016196502118440544 Centerline is valid? [True, True] Translation: X:22.77, Y:-0.11, Z:0.24 [[ 9.98217764e-01 -5.72382771e-02 -1.68841881e-02 2.27652702e+01] [ 5.72339748e-02 9.98360520e-01 -7.38307267e-04 -1.14188440e-01] [ 1.68987663e-02 -2.29357770e-04 9.99857179e-01 2.41053035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.424340127999997 meters 0.01753529013541936 Centerline is valid? [True, True] Translation: X:22.82, Y:-0.11, Z:0.24 [[ 9.98004741e-01 -6.05909106e-02 -1.77560678e-02 2.28239117e+01] [ 6.05865943e-02 9.98162639e-01 -7.81415377e-04 -1.12506092e-01] [ 1.77707902e-02 -2.95923425e-04 9.99842043e-01 2.41214775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.484340128 meters 0.018800717406585066 Centerline is valid? [True, True] Translation: X:22.88, Y:-0.11, Z:0.24 [[ 9.97893640e-01 -6.27682501e-02 -1.63838629e-02 2.28820121e+01] [ 6.27648178e-02 9.98028082e-01 -7.24110902e-04 -1.10117424e-01] [ 1.63970065e-02 -3.05744508e-04 9.99865513e-01 2.42954155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.544340127999998 meters 0.01787584333729806 Centerline is valid? [True, True] Translation: X:22.94, Y:-0.10, Z:0.25 [[ 9.97852027e-01 -6.38245127e-02 -1.47568262e-02 2.29404003e+01] [ 6.38218077e-02 9.97961096e-01 -6.54643296e-04 -1.04922580e-01] [ 1.47685207e-02 -2.88570183e-04 9.99890898e-01 2.45552017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.604340127999997 meters 0.018708928284956756 Centerline is valid? [True, True] Translation: X:23.00, Y:-0.10, Z:0.25 [[ 9.97837794e-01 -6.45953322e-02 -1.21317364e-02 2.29982292e+01] [ 6.45935268e-02 9.97911511e-01 -5.40999988e-04 -1.02138393e-01] [ 1.21413455e-02 -2.43801406e-04 9.99926261e-01 2.48973693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.664340128 meters 0.017844174302494006 Centerline is valid? [True, True] Translation: X:23.06, Y:-0.10, Z:0.25 [[ 9.97887614e-01 -6.41632840e-02 -1.01676857e-02 2.30565136e+01] [ 6.41619841e-02 9.97939394e-01 -4.54330747e-04 -9.56739625e-02] [ 1.01758855e-02 -1.99007865e-04 9.99948205e-01 2.51700184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.724340127999998 meters 0.017486001493449824 Centerline is valid? [True, True] Translation: X:23.12, Y:-0.09, Z:0.25 [[ 9.97956902e-01 -6.31158801e-02 -9.92002311e-03 2.31157521e+01] [ 6.31145645e-02 9.98006189e-01 -4.45926607e-04 -9.15708763e-02] [ 9.92838951e-03 -1.81082404e-04 9.99950696e-01 2.53062444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.784340127999997 meters 0.01719190474793276 Centerline is valid? [True, True] Translation: X:23.17, Y:-0.09, Z:0.25 [[ 9.98025624e-01 -6.19380318e-02 -1.04179308e-02 2.31736583e+01] [ 6.19364892e-02 9.98079982e-01 -4.70953093e-04 -8.71183334e-02] [ 1.04270981e-02 -1.75226804e-04 9.99945621e-01 2.52772272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.844340128 meters 0.01856574995565085 Centerline is valid? [True, True] Translation: X:23.23, Y:-0.09, Z:0.25 [[ 9.97861869e-01 -6.42251871e-02 -1.21167769e-02 2.32325351e+01] [ 6.42232483e-02 9.97935405e-01 -5.49447308e-04 -8.56483003e-02] [ 1.21270490e-02 -2.29906253e-04 9.99926438e-01 2.50986709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.904340127999998 meters 0.021471185065924686 Centerline is valid? [True, True] Translation: X:23.29, Y:-0.09, Z:0.25 [[ 9.97552153e-01 -6.87476826e-02 -1.27850726e-02 2.32916537e+01] [ 6.87458585e-02 9.97634035e-01 -5.82617055e-04 -8.64994763e-02] [ 1.27948771e-02 -2.97729892e-04 9.99918098e-01 2.50868409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.964340127999996 meters 0.025968042925349193 Centerline is valid? [True, True] Translation: X:23.35, Y:-0.09, Z:0.25 [[ 9.97100128e-01 -7.50695690e-02 -1.24857756e-02 2.33504835e+01] [ 7.50683160e-02 9.97178231e-01 -5.69648143e-04 -9.03643056e-02] [ 1.24933068e-02 -3.69289910e-04 9.99921887e-01 2.52348348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.024340128 meters 0.02306108585033165 Centerline is valid? [True, True] Translation: X:23.41, Y:-0.08, Z:0.25 [[ 9.96906776e-01 -7.76047601e-02 -1.24250076e-02 2.34091373e+01] [ 7.76037002e-02 9.96984124e-01 -5.68137841e-04 -8.36102523e-02] [ 1.24316255e-02 -3.97846098e-04 9.99922645e-01 2.53445004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.084340127999997 meters 0.029852743528588972 Centerline is valid? [True, True] Translation: X:23.47, Y:-0.09, Z:0.25 [[ 9.96680051e-01 -8.03505728e-02 -1.31400677e-02 2.34668526e+01] [ 8.03495825e-02 9.96766562e-01 -6.04126268e-04 -9.02199687e-02] [ 1.31461220e-02 -4.53678354e-04 9.99913483e-01 2.52952117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.144340127999996 meters 0.026235652533528515 Centerline is valid? [True, True] Translation: X:23.53, Y:-0.08, Z:0.25 [[ 9.96564012e-01 -8.15496504e-02 -1.44853511e-02 2.35256270e+01] [ 8.15485365e-02 9.96669147e-01 -6.68527697e-04 -8.04376637e-02] [ 1.44916208e-02 -5.15028541e-04 9.99894858e-01 2.53232587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.204340128 meters 0.02650768684547393 Centerline is valid? [True, True] Translation: X:23.58, Y:-0.08, Z:0.25 [[ 9.96560429e-01 -8.16297697e-02 -1.42791048e-02 2.35835600e+01] [ 8.16286382e-02 9.96662594e-01 -6.63020208e-04 -7.61744277e-02] [ 1.42855718e-02 -5.04844179e-04 9.99897829e-01 2.54009007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.264340127999997 meters 0.026572754956954332 Centerline is valid? [True, True] Translation: X:23.64, Y:-0.07, Z:0.26 [[ 9.96662402e-01 -8.05194813e-02 -1.34413179e-02 2.36409627e+01] [ 8.05183327e-02 9.96752930e-01 -6.27466990e-04 -7.17796153e-02] [ 1.34481963e-02 -4.56899745e-04 9.99909465e-01 2.56021666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.324340128 meters 0.02653596696132961 Centerline is valid? [True, True] Translation: X:23.70, Y:-0.07, Z:0.26 [[ 9.96740540e-01 -7.96764242e-02 -1.26476324e-02 2.37000489e+01] [ 7.96753137e-02 9.96820693e-01 -5.92451091e-04 -6.77399324e-02] [ 1.26546261e-02 -4.17184058e-04 9.99919840e-01 2.57175797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.384340127999998 meters 0.02660911951825328 Centerline is valid? [True, True] Translation: X:23.76, Y:-0.06, Z:0.26 [[ 9.96791797e-01 -7.89620914e-02 -1.30806151e-02 2.37585555e+01] [ 7.89607964e-02 9.96877532e-01 -6.16224608e-04 -6.47200681e-02] [ 1.30884297e-02 -4.18608153e-04 9.99914255e-01 2.57305316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.444340127999997 meters 0.026121668393142197 Centerline is valid? [True, True] Translation: X:23.82, Y:-0.06, Z:0.26 [[ 9.96945685e-01 -7.70345007e-02 -1.28447105e-02 2.38167152e+01] [ 7.70330505e-02 9.97028354e-01 -6.08355224e-04 -5.99222023e-02] [ 1.28534049e-02 -3.82970118e-04 9.99917318e-01 2.57789639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.504340128 meters 0.023861652526440777 Centerline is valid? [True, True] Translation: X:23.88, Y:-0.05, Z:0.26 [[ 9.97269170e-01 -7.28675373e-02 -1.20218161e-02 2.38758987e+01] [ 7.28659355e-02 9.97341581e-01 -5.71771623e-04 -5.19347247e-02] [ 1.20315206e-02 -3.05770664e-04 9.99927572e-01 2.58098791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.564340127999998 meters 0.022572640346393082 Centerline is valid? [True, True] Translation: X:23.93, Y:-0.05, Z:0.26 [[ 9.97481150e-01 -6.97939541e-02 -1.26554113e-02 2.39338198e+01] [ 6.97919240e-02 9.97561389e-01 -6.02522935e-04 -4.58314411e-02] [ 1.26666021e-02 -2.82240231e-04 9.99919736e-01 2.57169418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.624340127999996 meters 0.019713794745274304 Centerline is valid? [True, True] Translation: X:23.99, Y:-0.04, Z:0.26 [[ 9.97514790e-01 -6.93680429e-02 -1.23417439e-02 2.39923532e+01] [ 6.93660608e-02 9.97591100e-01 -5.89110550e-04 -3.67229760e-02] [ 1.23528794e-02 -2.68451675e-04 9.99923664e-01 2.56982997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.684340128 meters 0.021132698473413442 Centerline is valid? [True, True] Translation: X:24.05, Y:-0.03, Z:0.26 [[ 9.97451589e-01 -7.01437678e-02 -1.30453079e-02 2.40502226e+01] [ 7.01415795e-02 9.97536850e-01 -6.25764641e-04 -3.35582500e-02] [ 1.30570689e-02 -2.90848566e-04 9.99914711e-01 2.55521259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.744340127999997 meters 0.023423604132555988 Centerline is valid? [True, True] Translation: X:24.11, Y:-0.03, Z:0.26 [[ 9.97132730e-01 -7.46259458e-02 -1.25414267e-02 2.41100424e+01] [ 7.46242651e-02 9.97211540e-01 -6.02577151e-04 -3.25092522e-02] [ 1.25514234e-02 -3.35045354e-04 9.99921172e-01 2.55735590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.804340127999996 meters 0.026080423327113328 Centerline is valid? [True, True] Translation: X:24.17, Y:-0.03, Z:0.26 [[ 9.96829218e-01 -7.86729352e-02 -1.19196669e-02 2.41697813e+01] [ 7.86717009e-02 9.96900414e-01 -5.73125106e-04 -3.22032891e-02] [ 1.19278103e-02 -3.66432617e-04 9.99928794e-01 2.56011836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.864340128 meters 0.027900402938142378 Centerline is valid? [True, True] Translation: X:24.23, Y:-0.03, Z:0.26 [[ 9.96443881e-01 -8.35700463e-02 -1.07535561e-02 2.42293617e+01] [ 8.35693226e-02 9.96501832e-01 -5.17415188e-04 -3.14271319e-02] [ 1.07591788e-02 -3.83092203e-04 9.99942045e-01 2.57965756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.924340127999997 meters 0.028015476145279293 Centerline is valid? [True, True] Translation: X:24.29, Y:-0.03, Z:0.26 [[ 9.96282890e-01 -8.56012032e-02 -9.63519291e-03 2.42883960e+01] [ 8.56007142e-02 9.96329415e-01 -4.63897958e-04 -2.57750175e-02] [ 9.63953633e-03 -3.62605796e-04 9.99953473e-01 2.58883192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.984340128 meters 0.0250504335332316 Centerline is valid? [True, True] Translation: X:24.35, Y:-0.02, Z:0.26 [[ 9.96356345e-01 -8.47419859e-02 -9.63479190e-03 2.43471065e+01] [ 8.47414320e-02 9.96402866e-01 -4.66451342e-04 -1.53341518e-02] [ 9.63966228e-03 -3.51714308e-04 9.99953476e-01 2.58877943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.044340127999998 meters 0.026088889918254272 Centerline is valid? [True, True] Translation: X:24.40, Y:-0.01, Z:0.26 [[ 9.96544736e-01 -8.25660930e-02 -9.02385810e-03 2.44047424e+01] [ 8.25654954e-02 9.96585544e-01 -4.39378859e-04 -1.20869643e-02] [ 9.02932432e-03 -3.07198625e-04 9.99959188e-01 2.59777165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.104340127999997 meters 0.0226325728872052 Centerline is valid? [True, True] Translation: X:24.46, Y:-0.00, Z:0.26 [[ 9.96858511e-01 -7.87849707e-02 -8.12632093e-03 2.44628344e+01] [ 7.87843545e-02 9.96891603e-01 -3.96417239e-04 -1.09134979e-03] [ 8.13229282e-03 -2.45055049e-04 9.99966902e-01 2.60746279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.164340128 meters 0.02231351643186209 Centerline is valid? [True, True] Translation: X:24.52, Y:0.01, Z:0.26 [[ 9.97103590e-01 -7.56419997e-02 -7.91945179e-03 2.45208372e+01] [ 7.56413106e-02 9.97135017e-01 -3.86934200e-04 6.83531088e-03] [ 7.92603117e-03 -2.13224233e-04 9.99968566e-01 2.61546740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.224340127999998 meters 0.020206023627612462 Centerline is valid? [True, True] Translation: X:24.58, Y:0.01, Z:0.26 [[ 9.97160308e-01 -7.49563317e-02 -7.27113652e-03 2.45794928e+01] [ 7.49557326e-02 9.97186799e-01 -3.55256097e-04 1.45907386e-02] [ 7.27731004e-03 -1.90766086e-04 9.99973502e-01 2.61975176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.284340127999997 meters 0.021379961682124762 Centerline is valid? [True, True] Translation: X:24.64, Y:0.02, Z:0.26 [[ 9.97243264e-01 -7.36950075e-02 -8.65554385e-03 2.46377031e+01] [ 7.36940854e-02 9.97280803e-01 -4.25847960e-04 1.91091575e-02] [ 8.66339059e-03 -2.13188379e-04 9.99962449e-01 2.61038414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.344340128 meters 0.019766387990089118 Centerline is valid? [True, True] Translation: X:24.70, Y:0.03, Z:0.26 [[ 9.97286675e-01 -7.30526133e-02 -9.08862321e-03 2.46964154e+01] [ 7.30515461e-02 9.97328065e-01 -4.49791764e-04 2.72911592e-02] [ 9.09719746e-03 -2.15366644e-04 9.99958596e-01 2.60016870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.404340127999998 meters 0.020228607383866355 Centerline is valid? [True, True] Translation: X:24.75, Y:0.03, Z:0.26 [[ 9.97233163e-01 -7.37287196e-02 -9.49176227e-03 2.47546777e+01] [ 7.37275604e-02 9.97278308e-01 -4.72449897e-04 3.23249107e-02] [ 9.50076174e-03 -2.28661771e-04 9.99954841e-01 2.60524381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.464340127999996 meters 0.02152218101581564 Centerline is valid? [True, True] Translation: X:24.81, Y:0.04, Z:0.26 [[ 9.96961058e-01 -7.72580990e-02 -9.99176128e-03 2.48137669e+01] [ 7.72569590e-02 9.97011089e-01 -5.00599458e-04 3.53244605e-02] [ 1.00005722e-02 -2.72854926e-04 9.99949956e-01 2.60512720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.524340128 meters 0.025699621519224378 Centerline is valid? [True, True] Translation: X:24.87, Y:0.03, Z:0.26 [[ 9.96722217e-01 -8.02857295e-02 -9.95110222e-03 2.48713222e+01] [ 8.02847224e-02 9.96771846e-01 -5.01276971e-04 3.34947526e-02] [ 9.95922391e-03 -2.99287585e-04 9.99950361e-01 2.61439981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.584340127999997 meters 0.024699537036745704 Centerline is valid? [True, True] Translation: X:24.93, Y:0.04, Z:0.26 [[ 9.96374783e-01 -8.46064101e-02 -8.89085940e-03 2.49307263e+01] [ 8.46057650e-02 9.96414403e-01 -4.49316037e-04 3.93120867e-02] [ 8.89699538e-03 -3.04530793e-04 9.99960375e-01 2.62564097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.644340127999996 meters 0.026872812093041692 Centerline is valid? [True, True] Translation: X:24.99, Y:0.04, Z:0.26 [[ 9.96220543e-01 -8.62373484e-02 -1.03802277e-02 2.49889090e+01] [ 8.62365522e-02 9.96274551e-01 -5.25098124e-04 4.06788434e-02] [ 1.03868397e-02 -3.72041506e-04 9.99945986e-01 2.62406057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.704340128 meters 0.02634035692700893 Centerline is valid? [True, True] Translation: X:25.05, Y:0.04, Z:0.26 [[ 9.96343131e-01 -8.45288057e-02 -1.24597563e-02 2.50475587e+01] [ 8.45275019e-02 9.96420946e-01 -6.32164864e-04 4.42397411e-02] [ 1.24685983e-02 -4.23338956e-04 9.99922174e-01 2.61954548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.764340127999997 meters 0.024845046115913073 Centerline is valid? [True, True] Translation: X:25.11, Y:0.05, Z:0.26 [[ 9.96637263e-01 -8.08546429e-02 -1.32925908e-02 2.51066553e+01] [ 8.08527893e-02 9.96725824e-01 -6.77664900e-04 5.11279201e-02] [ 1.33038608e-02 -3.99356950e-04 9.99911420e-01 2.62389398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.824340128 meters 0.024365620095011156 Centerline is valid? [True, True] Translation: X:25.17, Y:0.06, Z:0.26 [[ 9.96767274e-01 -7.90255969e-02 -1.44898869e-02 2.51658625e+01] [ 7.90231658e-02 9.96872504e-01 -7.41148621e-04 5.53449600e-02] [ 1.45031396e-02 -4.06284043e-04 9.99894741e-01 2.61866736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.884340127999998 meters 0.021320191873543927 Centerline is valid? [True, True] Translation: X:25.22, Y:0.06, Z:0.26 [[ 9.96825998e-01 -7.80527620e-02 -1.56746905e-02 2.52243332e+01] [ 7.80497308e-02 9.96949141e-01 -8.05960548e-04 6.03773840e-02] [ 1.56897766e-02 -4.20002943e-04 9.99876820e-01 2.63535316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.944340127999997 meters 0.02182926626785296 Centerline is valid? [True, True] Translation: X:25.28, Y:0.06, Z:0.26 [[ 9.96776653e-01 -7.87100101e-02 -1.55254393e-02 2.52829493e+01] [ 7.87070490e-02 9.96897465e-01 -8.02602136e-04 6.22448273e-02] [ 1.55404439e-02 -4.21946441e-04 9.99879151e-01 2.64453778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.004340128 meters 0.023460440838350794 Centerline is valid? [True, True] Translation: X:25.34, Y:0.06, Z:0.27 [[ 9.96641454e-01 -8.04229809e-02 -1.54258502e-02 2.53412679e+01] [ 8.04202126e-02 9.96760728e-01 -8.00692751e-04 6.26969463e-02] [ 1.54402757e-02 -4.42546564e-04 9.99880694e-01 2.65611671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.064340127999998 meters 0.023753096699362743 Centerline is valid? [True, True] Translation: X:25.40, Y:0.06, Z:0.27 [[ 9.96439665e-01 -8.29567999e-02 -1.50387490e-02 2.53997736e+01] [ 8.29544353e-02 9.96553034e-01 -7.82044014e-04 6.30703044e-02] [ 1.50517868e-02 -4.68271257e-04 9.99886606e-01 2.68416237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.124340127999996 meters 0.025189977016639 Centerline is valid? [True, True] Translation: X:25.46, Y:0.06, Z:0.27 [[ 9.96375589e-01 -8.38229298e-02 -1.44707505e-02 2.54579878e+01] [ 8.38208116e-02 9.96480558e-01 -7.53888325e-04 6.27207557e-02] [ 1.44830146e-02 -4.61794124e-04 9.99895009e-01 2.70315246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.184340128 meters 0.0262774713029165 Centerline is valid? [True, True] Translation: X:25.52, Y:0.06, Z:0.27 [[ 9.96257146e-01 -8.51530073e-02 -1.48547624e-02 2.55163881e+01] [ 8.51509014e-02 9.96367765e-01 -7.75345620e-04 6.47801453e-02] [ 1.48668295e-02 -4.92452797e-04 9.99889361e-01 2.71083071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.244340127999997 meters 0.025133469375065193 Centerline is valid? [True, True] Translation: X:25.57, Y:0.07, Z:0.27 [[ 9.96265929e-01 -8.48812438e-02 -1.57915651e-02 2.55748835e+01] [ 8.48787884e-02 9.96390941e-01 -8.26860835e-04 7.00335352e-02] [ 1.58047574e-02 -5.16595636e-04 9.99874964e-01 2.71834087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.304340127999996 meters 0.022912601718407623 Centerline is valid? [True, True] Translation: X:25.63, Y:0.08, Z:0.27 [[ 9.96522631e-01 -8.17139048e-02 -1.62936728e-02 2.56341135e+01] [ 8.17108092e-02 9.96655713e-01 -8.56741465e-04 7.65000374e-02] [ 1.63091898e-02 -4.77606935e-04 9.99866882e-01 2.72648163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.364340128 meters 0.02173820683677195 Centerline is valid? [True, True] Translation: X:25.69, Y:0.08, Z:0.27 [[ 9.96721510e-01 -7.90312325e-02 -1.73290254e-02 2.56929583e+01] [ 7.90272663e-02 9.96872035e-01 -9.14615146e-04 8.27800527e-02] [ 1.73471040e-02 -4.57848917e-04 9.99849423e-01 2.72620255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.424340127999997 meters 0.019031795015818982 Centerline is valid? [True, True] Translation: X:25.75, Y:0.09, Z:0.27 [[ 9.97128591e-01 -7.36212021e-02 -1.77339074e-02 2.57514920e+01] [ 7.36161334e-02 9.97286209e-01 -9.39339120e-04 9.04452586e-02] [ 1.77549366e-02 -3.68859802e-04 9.99842301e-01 2.74168307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.484340127999996 meters 0.018175798394756356 Centerline is valid? [True, True] Translation: X:25.81, Y:0.10, Z:0.27 [[ 9.97352118e-01 -7.05735085e-02 -1.75537313e-02 2.58091492e+01] [ 7.05680439e-02 9.97506533e-01 -9.31301219e-04 9.53519769e-02] [ 1.75756869e-02 -3.09897241e-04 9.99845488e-01 2.74895691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.544340127999998 meters 0.01668625562626993 Centerline is valid? [True, True] Translation: X:25.87, Y:0.10, Z:0.28 [[ 9.97574572e-01 -6.73508308e-02 -1.75737954e-02 2.58677588e+01] [ 6.73448003e-02 9.97729323e-01 -9.35395875e-04 1.01414116e-01] [ 1.75968906e-02 -2.50376599e-04 9.99845131e-01 2.75851629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.604340127999997 meters 0.016336542341837044 Centerline is valid? [True, True] Translation: X:25.93, Y:0.10, Z:0.28 [[ 9.97642650e-01 -6.63682395e-02 -1.74470596e-02 2.59269644e+01] [ 6.63620646e-02 9.97795172e-01 -9.33280664e-04 1.04973262e-01] [ 1.74705320e-02 -2.26742301e-04 9.99847353e-01 2.77229867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.664340128 meters 0.016280497698933354 Centerline is valid? [True, True] Translation: X:25.99, Y:0.11, Z:0.28 [[ 9.97529660e-01 -6.79154061e-02 -1.79464731e-02 2.59859994e+01] [ 6.79090338e-02 9.97691050e-01 -9.64952702e-04 1.07446046e-01] [ 1.79705707e-02 -2.56158707e-04 9.99838483e-01 2.78216796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.724340127999998 meters 0.01705841551553845 Centerline is valid? [True, True] Translation: X:26.05, Y:0.11, Z:0.28 [[ 9.97385719e-01 -6.99902481e-02 -1.79747820e-02 2.60452186e+01] [ 6.99841022e-02 9.97547634e-01 -9.71490912e-04 1.08476061e-01] [ 1.79986961e-02 -2.88997815e-04 9.99837969e-01 2.78914152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.784340127999997 meters 0.019959330959132944 Centerline is valid? [True, True] Translation: X:26.10, Y:0.11, Z:0.28 [[ 9.97136537e-01 -7.34729247e-02 -1.79013100e-02 2.61031401e+01] [ 7.34673272e-02 9.97297152e-01 -9.71010209e-04 1.05482828e-01] [ 1.79242685e-02 -3.46931644e-04 9.99839287e-01 2.78497801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.844340128 meters 0.02064502257515287 Centerline is valid? [True, True] Translation: X:26.16, Y:0.11, Z:0.28 [[ 9.96781701e-01 -7.80349043e-02 -1.83519345e-02 2.61621159e+01] [ 7.80297327e-02 9.96950532e-01 -9.98782966e-04 1.07151364e-01] [ 1.83739108e-02 -4.36427959e-04 9.99831090e-01 2.79080742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.904340127999998 meters 0.022387277570252453 Centerline is valid? [True, True] Translation: X:26.22, Y:0.11, Z:0.28 [[ 9.96450715e-01 -8.21726669e-02 -1.82653896e-02 2.62218826e+01] [ 8.21681835e-02 9.96617979e-01 -9.97074352e-04 1.06916517e-01] [ 1.82855480e-02 -5.07298436e-04 9.99832677e-01 2.79138213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.964340127999996 meters 0.024648012539798515 Centerline is valid? [True, True] Translation: X:26.28, Y:0.11, Z:0.28 [[ 9.96297359e-01 -8.38340844e-02 -1.90635603e-02 2.62797538e+01] [ 8.38294796e-02 9.96479570e-01 -1.04194820e-03 1.06016942e-01] [ 1.90837991e-02 -5.59998100e-04 9.99817731e-01 2.78417840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.024340128 meters 0.025054183804774578 Centerline is valid? [True, True] Translation: X:26.34, Y:0.11, Z:0.28 [[ 9.96273698e-01 -8.39546306e-02 -1.97569836e-02 2.63378430e+01] [ 8.39496296e-02 9.96469410e-01 -1.08383131e-03 1.09790420e-01] [ 1.97782225e-02 -5.78798829e-04 9.99804224e-01 2.77247808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.084340127999997 meters 0.021799928377855115 Centerline is valid? [True, True] Translation: X:26.40, Y:0.12, Z:0.28 [[ 9.96548408e-01 -8.04362277e-02 -2.05251847e-02 2.63960484e+01] [ 8.04300046e-02 9.96759619e-01 -1.12985896e-03 1.18757604e-01] [ 2.05495568e-02 -5.24881546e-04 9.99788698e-01 2.77132404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.144340127999996 meters 0.01830110289293655 Centerline is valid? [True, True] Translation: X:26.46, Y:0.13, Z:0.28 [[ 9.97085758e-01 -7.39173660e-02 -1.88736223e-02 2.64555280e+01] [ 7.39109162e-02 9.97264305e-01 -1.04000745e-03 1.26499534e-01] [ 1.88988644e-02 -3.57990092e-04 9.99821336e-01 2.79011157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.204340128 meters 0.015523318321076719 Centerline is valid? [True, True] Translation: X:26.51, Y:0.14, Z:0.28 [[ 9.97640836e-01 -6.63483153e-02 -1.76256375e-02 2.65133767e+01] [ 6.63414916e-02 9.97796503e-01 -9.72212373e-04 1.35471877e-01] [ 1.76513041e-02 -1.99392315e-04 9.99844184e-01 2.79801936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.264340127999997 meters 0.013548057080868509 Centerline is valid? [True, True] Translation: X:26.57, Y:0.14, Z:0.28 [[ 9.98102835e-01 -5.94008524e-02 -1.61947142e-02 2.65706670e+01] [ 5.93941509e-02 9.98234208e-01 -8.94888979e-04 1.43418002e-01] [ 1.62192749e-02 -6.86800741e-05 9.99868457e-01 2.80908940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.324340128 meters 0.012982671370588386 Centerline is valid? [True, True] Translation: X:26.63, Y:0.15, Z:0.28 [[ 9.98305893e-01 -5.62846259e-02 -1.47439562e-02 2.66288600e+01] [ 5.62786928e-02 9.98414764e-01 -8.17339478e-04 1.48772981e-01] [ 1.47665872e-02 -1.38157640e-05 9.99890968e-01 2.82890443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.384340127999998 meters 0.012760568510859419 Centerline is valid? [True, True] Translation: X:26.69, Y:0.15, Z:0.29 [[ 9.98465353e-01 -5.39059079e-02 -1.26922160e-02 2.66872687e+01] [ 5.39012782e-02 9.98546019e-01 -7.06805018e-04 1.52627839e-01] [ 1.27118627e-02 2.15936551e-05 9.99919201e-01 2.85359739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.444340127999997 meters 0.01284857370502125 Centerline is valid? [True, True] Translation: X:26.74, Y:0.16, Z:0.29 [[ 9.98552308e-01 -5.26202072e-02 -1.11535379e-02 2.67442880e+01] [ 5.26165201e-02 9.98614597e-01 -6.23961114e-04 1.56626478e-01] [ 1.11709188e-02 3.61974574e-05 9.99937603e-01 2.87173095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.504340128 meters 0.012920481385782513 Centerline is valid? [True, True] Translation: X:26.80, Y:0.16, Z:0.29 [[ 9.98549740e-01 -5.27507421e-02 -1.07599012e-02 2.68024463e+01] [ 5.27473014e-02 9.98607710e-01 -6.03500350e-04 1.58703093e-01] [ 1.07767553e-02 3.50693682e-05 9.99941928e-01 2.87791688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.564340127999998 meters 0.012969766705851116 Centerline is valid? [True, True] Translation: X:26.86, Y:0.16, Z:0.29 [[ 9.98488081e-01 -5.39086696e-02 -1.07427777e-02 2.68604385e+01] [ 5.39052712e-02 9.98545870e-01 -6.05860696e-04 1.60152015e-01] [ 1.07598174e-02 2.58523395e-05 9.99942111e-01 2.87336642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.624340127999996 meters 0.013091599866650587 Centerline is valid? [True, True] Translation: X:26.92, Y:0.16, Z:0.29 [[ 9.98313068e-01 -5.67081093e-02 -1.24582888e-02 2.69186806e+01] [ 5.67037023e-02 9.98390800e-01 -7.06968602e-04 1.60813252e-01] [ 1.24783318e-02 -6.55103900e-07 9.99922143e-01 2.85056016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.684340128 meters 0.013503557828940844 Centerline is valid? [True, True] Translation: X:26.98, Y:0.16, Z:0.28 [[ 9.98106484e-01 -5.99479411e-02 -1.37727993e-02 2.69764943e+01] [ 5.99428083e-02 9.98201504e-01 -7.85551583e-04 1.60543944e-01] [ 1.37951211e-02 -4.15161375e-05 9.99904842e-01 2.84093669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.744340127999997 meters 0.014752045582990564 Centerline is valid? [True, True] Translation: X:27.04, Y:0.16, Z:0.28 [[ 9.97744189e-01 -6.54883785e-02 -1.47582186e-02 2.70352824e+01] [ 6.54830480e-02 9.97853324e-01 -8.44655334e-04 1.57835351e-01] [ 1.47818526e-02 -1.23663185e-04 9.99890735e-01 2.84826827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.804340127999996 meters 0.016376721252843555 Centerline is valid? [True, True] Translation: X:27.09, Y:0.16, Z:0.29 [[ 9.97392990e-01 -7.07768985e-02 -1.40660822e-02 2.70938607e+01] [ 7.07725399e-02 9.97492153e-01 -8.08024179e-04 1.56702068e-01] [ 1.40879961e-02 -1.89574713e-04 9.99900741e-01 2.86301255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.864340128 meters 0.016971862459195228 Centerline is valid? [True, True] Translation: X:27.15, Y:0.16, Z:0.29 [[ 9.97275835e-01 -7.25058040e-02 -1.35578886e-02 2.71531912e+01] [ 7.25018876e-02 9.97367970e-01 -7.80796203e-04 1.58720790e-01] [ 1.35788161e-02 -2.04303334e-04 9.99907783e-01 2.87174258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.924340127999997 meters 0.018849611786769627 Centerline is valid? [True, True] Translation: X:27.21, Y:0.16, Z:0.29 [[ 9.96981321e-01 -7.65707307e-02 -1.28518334e-02 2.72116767e+01] [ 7.65675107e-02 9.97064122e-01 -7.43116861e-04 1.57760903e-01] [ 1.28710030e-02 -2.43159263e-04 9.99917136e-01 2.89407317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.984340127999996 meters 0.019356573091026306 Centerline is valid? [True, True] Translation: X:27.27, Y:0.16, Z:0.29 [[ 9.96839022e-01 -7.84827908e-02 -1.23456993e-02 2.72702262e+01] [ 7.84799405e-02 9.96915436e-01 -7.15920386e-04 1.60525382e-01] [ 1.23638057e-02 -2.55232373e-04 9.99923533e-01 2.90702690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.044340127999998 meters 0.019476413123128176 Centerline is valid? [True, True] Translation: X:27.33, Y:0.16, Z:0.29 [[ 9.96802137e-01 -7.87860647e-02 -1.33512728e-02 2.73281161e+01] [ 7.87827047e-02 9.96891509e-01 -7.78240441e-04 1.64632797e-01] [ 1.33710850e-02 -2.76097652e-04 9.99910565e-01 2.90129827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.104340127999997 meters 0.018723896967141093 Centerline is valid? [True, True] Translation: X:27.39, Y:0.17, Z:0.29 [[ 9.96993645e-01 -7.61365212e-02 -1.43840972e-02 2.73854312e+01] [ 7.61322921e-02 9.97097370e-01 -8.42154560e-04 1.70771493e-01] [ 1.44064642e-02 -2.55471549e-04 9.99896189e-01 2.90215893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.164340128 meters 0.01601418787691231 Centerline is valid? [True, True] Translation: X:27.44, Y:0.18, Z:0.29 [[ 9.97373901e-01 -7.10955668e-02 -1.38102478e-02 2.74437461e+01] [ 7.10911576e-02 9.97469493e-01 -8.10548948e-04 1.80454264e-01] [ 1.38329273e-02 -1.73366139e-04 9.99904305e-01 2.91725168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.224340127999998 meters 0.01476339620576921 Centerline is valid? [True, True] Translation: X:27.50, Y:0.19, Z:0.29 [[ 9.97626136e-01 -6.75621900e-02 -1.33208026e-02 2.75020631e+01] [ 6.75577259e-02 9.97715058e-01 -7.85333854e-04 1.88157178e-01] [ 1.33434242e-02 -1.16453553e-04 9.99910966e-01 2.92192211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.284340127999997 meters 0.013909546742555722 Centerline is valid? [True, True] Translation: X:27.56, Y:0.19, Z:0.29 [[ 9.97903171e-01 -6.32799032e-02 -1.35983488e-02 2.75592236e+01] [ 6.32748120e-02 9.97995817e-01 -8.04737051e-04 1.94137768e-01] [ 1.36220189e-02 -5.73833107e-05 9.99907214e-01 2.91429053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.344340128 meters 0.013493714365902689 Centerline is valid? [True, True] Translation: X:27.62, Y:0.20, Z:0.29 [[ 9.97983337e-01 -6.17932133e-02 -1.45209267e-02 2.76173208e+01] [ 6.17872154e-02 9.98088973e-01 -8.61743447e-04 1.98109574e-01] [ 1.45464267e-02 -3.72020243e-05 9.99894194e-01 2.91203641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.404340127999998 meters 0.01338887978228078 Centerline is valid? [True, True] Translation: X:27.68, Y:0.20, Z:0.29 [[ 9.98041799e-01 -6.03346473e-02 -1.65014649e-02 2.76766056e+01] [ 6.03266166e-02 9.98178206e-01 -9.84464595e-04 2.00888182e-01] [ 1.65307999e-02 -1.29407298e-05 9.99863357e-01 2.90268296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.464340127999996 meters 0.013460820160086576 Centerline is valid? [True, True] Translation: X:27.73, Y:0.20, Z:0.29 [[ 9.97938751e-01 -6.20829169e-02 -1.62468749e-02 2.77342776e+01] [ 6.20753061e-02 9.98070994e-01 -9.72811373e-04 2.00050001e-01] [ 1.62759295e-02 -3.77235636e-05 9.99867538e-01 2.90170114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.524340128 meters 0.01382776077721726 Centerline is valid? [True, True] Translation: X:27.79, Y:0.20, Z:0.29 [[ 9.97740375e-01 -6.52003940e-02 -1.62188776e-02 2.77932616e+01] [ 6.51931707e-02 9.97872187e-01 -9.74241007e-04 1.97853345e-01] [ 1.62478878e-02 -8.53204682e-05 9.99867991e-01 2.91127122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.584340127999997 meters 0.015189738410079848 Centerline is valid? [True, True] Translation: X:27.85, Y:0.19, Z:0.29 [[ 9.97377042e-01 -7.07063405e-02 -1.54806104e-02 2.78529560e+01] [ 7.07003587e-02 9.97497161e-01 -9.34022082e-04 1.91625020e-01] [ 1.55079062e-02 -1.62912527e-04 9.99879732e-01 2.92197847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.644340127999996 meters 0.016811051033887938 Centerline is valid? [True, True] Translation: X:27.91, Y:0.19, Z:0.29 [[ 9.97065783e-01 -7.50127185e-02 -1.52616019e-02 2.79119697e+01] [ 7.50073465e-02 9.97182552e-01 -9.24897054e-04 1.87256231e-01] [ 1.52879821e-02 -2.22549054e-04 9.99883107e-01 2.93633523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.704340128 meters 0.017716839709662077 Centerline is valid? [True, True] Translation: X:27.97, Y:0.19, Z:0.30 [[ 9.96939294e-01 -7.67460839e-02 -1.49024593e-02 2.79706140e+01] [ 7.67410970e-02 9.97050641e-01 -9.07042892e-04 1.86464915e-01] [ 1.49281186e-02 -2.39364374e-04 9.99888541e-01 2.95107786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.764340127999997 meters 0.01778621966152264 Centerline is valid? [True, True] Translation: X:28.03, Y:0.19, Z:0.30 [[ 9.96946045e-01 -7.66139908e-02 -1.51287737e-02 2.80286881e+01] [ 7.66087721e-02 9.97060801e-01 -9.25033375e-04 1.86084368e-01] [ 1.51551777e-02 -2.36788414e-04 9.99885126e-01 2.96118585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.824340127999996 meters 0.016413061561616617 Centerline is valid? [True, True] Translation: X:28.09, Y:0.19, Z:0.30 [[ 9.97059629e-01 -7.49168601e-02 -1.61108665e-02 2.80875149e+01] [ 7.49106425e-02 9.97189759e-01 -9.89907253e-04 1.91681191e-01] [ 1.61397519e-02 -2.19878803e-04 9.99869722e-01 2.96216888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.884340127999998 meters 0.015318697904575225 Centerline is valid? [True, True] Translation: X:28.15, Y:0.20, Z:0.29 [[ 9.97383715e-01 -7.01271222e-02 -1.75474338e-02 2.81454732e+01] [ 7.01189349e-02 9.97538051e-01 -1.08215647e-03 1.97366539e-01] [ 1.75801215e-02 -1.51082131e-04 9.99845446e-01 2.94789278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.944340127999997 meters 0.013848293749501155 Centerline is valid? [True, True] Translation: X:28.20, Y:0.20, Z:0.30 [[ 9.97676051e-01 -6.58656578e-02 -1.74416831e-02 2.82042019e+01] [ 6.58568559e-02 9.97828497e-01 -1.07916777e-03 2.04609303e-01] [ 1.74748885e-02 -7.19945665e-05 9.99847300e-01 2.97144160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.004340128 meters 0.013518076016721142 Centerline is valid? [True, True] Translation: X:28.26, Y:0.21, Z:0.30 [[ 9.97883727e-01 -6.27948306e-02 -1.68782752e-02 2.82624091e+01] [ 6.27860654e-02 9.98026457e-01 -1.04923811e-03 2.09669191e-01] [ 1.69108520e-02 -1.27028596e-05 9.99857001e-01 2.99682619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.064340127999998 meters 0.013492674487056905 Centerline is valid? [True, True] Translation: X:28.32, Y:0.21, Z:0.30 [[ 9.97991259e-01 -6.12321814e-02 -1.62501431e-02 2.83188368e+01] [ 6.12237864e-02 9.98123549e-01 -1.01406136e-03 2.14257761e-01] [ 1.62817437e-02 1.71290811e-05 9.99867443e-01 3.00686222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.124340127999996 meters 0.01344466491328365 Centerline is valid? [True, True] Translation: X:28.38, Y:0.22, Z:0.30 [[ 9.98043715e-01 -6.07036470e-02 -1.49602612e-02 2.83768793e+01] [ 6.06964300e-02 9.98155833e-01 -9.36402768e-04 2.17772638e-01] [ 1.49895150e-02 2.65364510e-05 9.99887651e-01 3.02943352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.184340128 meters 0.013477102005344679 Centerline is valid? [True, True] Translation: X:28.44, Y:0.22, Z:0.30 [[ 9.98027922e-01 -6.10273859e-02 -1.46944207e-02 2.84352730e+01] [ 6.10203920e-02 9.98136092e-01 -9.24256417e-04 2.20666426e-01] [ 1.47234366e-02 2.57743975e-05 9.99891604e-01 3.03896189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.244340127999997 meters 0.01349394978068651 Centerline is valid? [True, True] Translation: X:28.49, Y:0.22, Z:0.30 [[ 9.97948426e-01 -6.23446989e-02 -1.45629120e-02 2.84921875e+01] [ 6.23379168e-02 9.98054677e-01 -9.19620998e-04 2.22197690e-01] [ 1.45919159e-02 9.91273318e-06 9.99893532e-01 3.03811069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.304340127999996 meters 0.013539183037878523 Centerline is valid? [True, True] Translation: X:28.55, Y:0.22, Z:0.30 [[ 9.97879617e-01 -6.30860406e-02 -1.60131946e-02 2.85499908e+01] [ 6.30778820e-02 9.98008092e-01 -1.01455504e-03 2.23870297e-01] [ 1.60453020e-02 2.32539298e-06 9.99871266e-01 3.02731745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.364340128 meters 0.013678866219401386 Centerline is valid? [True, True] Translation: X:28.61, Y:0.22, Z:0.30 [[ 9.97766238e-01 -6.47297080e-02 -1.65105771e-02 2.86078534e+01] [ 6.47211746e-02 9.97902833e-01 -1.05120959e-03 2.24185914e-01] [ 1.65439962e-02 -1.97225043e-05 9.99863139e-01 3.02544126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.424340127999997 meters 0.014046717124222268 Centerline is valid? [True, True] Translation: X:28.67, Y:0.22, Z:0.30 [[ 9.97570516e-01 -6.76468600e-02 -1.66423667e-02 2.86653893e+01] [ 6.76385298e-02 9.97709325e-01 -1.06355086e-03 2.23897982e-01] [ 1.66761903e-02 -6.46982381e-05 9.99860941e-01 3.02018320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.484340127999996 meters 0.015014482206923484 Centerline is valid? [True, True] Translation: X:28.72, Y:0.22, Z:0.30 [[ 9.97326949e-01 -7.12731724e-02 -1.60963055e-02 2.87236825e+01] [ 7.12658213e-02 9.97456826e-01 -1.03055963e-03 2.21828342e-01] [ 1.61288211e-02 -1.19311540e-04 9.99869915e-01 3.02482554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.544340127999998 meters 0.017393543784106083 Centerline is valid? [True, True] Translation: X:28.78, Y:0.22, Z:0.30 [[ 9.96835946e-01 -7.78285114e-02 -1.61499240e-02 2.87828442e+01] [ 7.78219297e-02 9.96966736e-01 -1.03654289e-03 2.15729316e-01] [ 1.61816096e-02 -2.23555038e-04 9.99869044e-01 3.02535730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.604340127999997 meters 0.020434666399520025 Centerline is valid? [True, True] Translation: X:28.84, Y:0.21, Z:0.30 [[ 9.96420326e-01 -8.29032165e-02 -1.65405914e-02 2.88407005e+01] [ 8.28969561e-02 9.96557555e-01 -1.06494432e-03 2.11091653e-01] [ 1.65719386e-02 -3.10032518e-04 9.99862628e-01 3.00921806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.664340128 meters 0.021294242738367504 Centerline is valid? [True, True] Translation: X:28.90, Y:0.21, Z:0.30 [[ 9.96317131e-01 -8.39966253e-02 -1.72261559e-02 2.88994365e+01] [ 8.39899473e-02 9.96465981e-01 -1.11205105e-03 2.12480785e-01] [ 1.72586869e-02 -3.38868409e-04 9.99851000e-01 2.99957559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.724340127999998 meters 0.019785495904945473 Centerline is valid? [True, True] Translation: X:28.96, Y:0.22, Z:0.30 [[ 9.96558779e-01 -8.12011191e-02 -1.66426411e-02 2.89584120e+01] [ 8.11944286e-02 9.96697698e-01 -1.07842229e-03 2.18643945e-01] [ 1.66752512e-02 -2.76578539e-04 9.99860920e-01 3.00575478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.784340127999997 meters 0.019476760484442013 Centerline is valid? [True, True] Translation: X:29.02, Y:0.22, Z:0.30 [[ 9.96615056e-01 -8.04325601e-02 -1.70009735e-02 2.90169926e+01] [ 8.04253950e-02 9.96760018e-01 -1.10584814e-03 2.22804200e-01] [ 1.70348368e-02 -2.65205095e-04 9.99854861e-01 3.00612478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.844340128 meters 0.017634903911387917 Centerline is valid? [True, True] Translation: X:29.07, Y:0.23, Z:0.30 [[ 9.96922004e-01 -7.64763275e-02 -1.72594771e-02 2.90747385e+01] [ 7.64682972e-02 9.97071378e-01 -1.12570891e-03 2.30580068e-01] [ 1.72950207e-02 -1.97558844e-04 9.99850410e-01 3.00499655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.904340127999998 meters 0.014841440692137452 Centerline is valid? [True, True] Translation: X:29.13, Y:0.24, Z:0.30 [[ 9.97241023e-01 -7.25521985e-02 -1.57009955e-02 2.91330915e+01] [ 7.25450295e-02 9.97364610e-01 -1.02641735e-03 2.42531520e-01] [ 1.57340860e-02 -1.15443688e-04 9.99876205e-01 3.04106774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.964340127999996 meters 0.014291911478549234 Centerline is valid? [True, True] Translation: X:29.19, Y:0.25, Z:0.31 [[ 9.97383501e-01 -7.08369785e-02 -1.44317489e-02 2.91920711e+01] [ 7.08306887e-02 9.97487903e-01 -9.47144245e-04 2.49667944e-01] [ 1.44625878e-02 -7.75446731e-05 9.99895408e-01 3.06462732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.024340128 meters 0.01409087045205398 Centerline is valid? [True, True] Translation: X:29.25, Y:0.26, Z:0.31 [[ 9.97495113e-01 -6.93806388e-02 -1.37777541e-02 2.92495023e+01] [ 6.93747144e-02 9.97590259e-01 -9.08042678e-04 2.55424830e-01] [ 1.38075539e-02 -5.00596249e-05 9.99904670e-01 3.07991679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.084340127999997 meters 0.013945549945501623 Centerline is valid? [True, True] Translation: X:29.31, Y:0.26, Z:0.31 [[ 9.97594566e-01 -6.79979935e-02 -1.34667813e-02 2.93073399e+01] [ 6.79921516e-02 9.97685458e-01 -8.91690313e-04 2.62364842e-01] [ 1.34962450e-02 -2.60900263e-05 9.99908921e-01 3.08782477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.144340127999996 meters 0.014138492890865105 Centerline is valid? [True, True] Translation: X:29.37, Y:0.27, Z:0.31 [[ 9.97618650e-01 -6.74205101e-02 -1.45431870e-02 2.93654089e+01] [ 6.74135802e-02 9.97724649e-01 -9.66769422e-04 2.67995548e-01] [ 1.45752762e-02 -1.59410982e-05 9.99893775e-01 3.07886296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.204340128 meters 0.014412340628644082 Centerline is valid? [True, True] Translation: X:29.42, Y:0.27, Z:0.31 [[ 9.97502148e-01 -6.88000876e-02 -1.60004072e-02 2.94242109e+01] [ 6.87918327e-02 9.97630466e-01 -1.06638041e-03 2.72299447e-01] [ 1.60358608e-02 -3.69805924e-05 9.99871417e-01 3.07542473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.264340127999997 meters 0.014644521912197112 Centerline is valid? [True, True] Translation: X:29.48, Y:0.27, Z:0.31 [[ 9.97409086e-01 -6.99224645e-02 -1.69104669e-02 2.94825524e+01] [ 6.99133202e-02 9.97552428e-01 -1.13204178e-03 2.74884929e-01] [ 1.69482324e-02 -5.31581314e-05 9.99856367e-01 3.08463697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.324340127999996 meters 0.01513594521646512 Centerline is valid? [True, True] Translation: X:29.54, Y:0.28, Z:0.31 [[ 9.97260308e-01 -7.17839837e-02 -1.78588035e-02 2.95415122e+01] [ 7.17739878e-02 9.97420199e-01 -1.20086661e-03 2.77367760e-01] [ 1.78989343e-02 -8.42209376e-05 9.99839798e-01 3.09289252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.384340127999998 meters 0.015728004954470052 Centerline is valid? [True, True] Translation: X:29.60, Y:0.28, Z:0.31 [[ 9.97018616e-01 -7.50520548e-02 -1.79183577e-02 2.96000025e+01] [ 7.50424327e-02 9.97179608e-01 -1.20971366e-03 2.78832427e-01] [ 1.79586124e-02 -1.38530112e-04 9.99838722e-01 3.11179834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.444340127999997 meters 0.016498815544822514 Centerline is valid? [True, True] Translation: X:29.66, Y:0.28, Z:0.31 [[ 9.96748177e-01 -7.87557662e-02 -1.70469989e-02 2.96590999e+01] [ 7.87475211e-02 9.96893923e-01 -1.15542247e-03 2.79747805e-01] [ 1.70850458e-02 -1.90743668e-04 9.99854022e-01 3.13750124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.504340128 meters 0.018660723780279838 Centerline is valid? [True, True] Translation: X:29.72, Y:0.28, Z:0.32 [[ 9.96366883e-01 -8.35102745e-02 -1.67053241e-02 2.97171440e+01] [ 8.35029694e-02 9.96506881e-01 -1.13555434e-03 2.77876053e-01] [ 1.67418009e-02 -2.63515432e-04 9.99859812e-01 3.16307320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.564340127999998 meters 0.018894668848792092 Centerline is valid? [True, True] Translation: X:29.78, Y:0.28, Z:0.32 [[ 9.96203956e-01 -8.56969792e-02 -1.52874654e-02 2.97754537e+01] [ 8.56910827e-02 9.96321210e-01 -1.04153767e-03 2.82133567e-01] [ 1.53204827e-02 -2.72415519e-04 9.99882597e-01 3.19151925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.624340127999996 meters 0.019157026818559696 Centerline is valid? [True, True] Translation: X:29.83, Y:0.29, Z:0.32 [[ 9.96149731e-01 -8.62242762e-02 -1.58457749e-02 2.98328319e+01] [ 8.62179343e-02 9.96275711e-01 -1.08420204e-03 2.87776932e-01] [ 1.58802452e-02 -2.86162410e-04 9.99873860e-01 3.19618304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.684340128 meters 0.019255770303649954 Centerline is valid? [True, True] Translation: X:29.89, Y:0.29, Z:0.32 [[ 9.96162922e-01 -8.60296192e-02 -1.60728704e-02 2.98891797e+01] [ 8.60230064e-02 9.96292540e-01 -1.10361950e-03 2.94813397e-01] [ 1.61082248e-02 -2.83251807e-04 9.99870214e-01 3.20254182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.744340127999997 meters 0.018550634485337055 Centerline is valid? [True, True] Translation: X:29.95, Y:0.30, Z:0.32 [[ 9.96141394e-01 -8.61703379e-02 -1.66431922e-02 2.99463617e+01] [ 8.61632090e-02 9.96280376e-01 -1.14626857e-03 3.03079768e-01] [ 1.66800602e-02 -2.92185276e-04 9.99860835e-01 3.21165040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.804340127999996 meters 0.019732582398288324 Centerline is valid? [True, True] Translation: X:30.00, Y:0.31, Z:0.32 [[ 9.95957626e-01 -8.81782872e-02 -1.71171553e-02 3.00036870e+01] [ 8.81709676e-02 9.96104653e-01 -1.18329162e-03 3.06428655e-01] [ 1.71548187e-02 -3.30727836e-04 9.99852791e-01 3.21235957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.864340128 meters 0.0204156181596605 Centerline is valid? [True, True] Translation: X:30.06, Y:0.31, Z:0.32 [[ 9.95843309e-01 -8.94433524e-02 -1.72043998e-02 3.00626742e+01] [ 8.94360843e-02 9.95991849e-01 -1.19294719e-03 3.11782001e-01] [ 1.72421432e-02 -3.50705675e-04 9.99851282e-01 3.21820355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.924340127999997 meters 0.019911361993404087 Centerline is valid? [True, True] Translation: X:30.12, Y:0.32, Z:0.32 [[ 9.95685107e-01 -9.14111022e-02 -1.59743252e-02 3.01214301e+01] [ 9.14050231e-02 9.95813178e-01 -1.11178393e-03 3.19679694e-01] [ 1.60090729e-02 -3.53146865e-04 9.99871784e-01 3.23929787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.984340127999996 meters 0.02074894181661773 Centerline is valid? [True, True] Translation: X:30.18, Y:0.32, Z:0.33 [[ 9.95591949e-01 -9.25479107e-02 -1.52169460e-02 3.01789480e+01] [ 9.25424796e-02 9.95708171e-01 -1.06218805e-03 3.24024957e-01] [ 1.52499407e-02 -3.50708039e-04 9.99883651e-01 3.25991208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.044340127999998 meters 0.021356303953740864 Centerline is valid? [True, True] Translation: X:30.24, Y:0.33, Z:0.33 [[ 9.95380418e-01 -9.48270194e-02 -1.50219586e-02 3.02369409e+01] [ 9.48219640e-02 9.95493693e-01 -1.05003693e-03 3.31201782e-01] [ 1.50538369e-02 -3.79225420e-04 9.99886613e-01 3.27216687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.104340127999997 meters 0.02239507607134675 Centerline is valid? [True, True] Translation: X:30.30, Y:0.34, Z:0.33 [[ 9.95165925e-01 -9.69771260e-02 -1.54990237e-02 3.02951372e+01] [ 9.69719647e-02 9.95286521e-01 -1.08596622e-03 3.39172863e-01] [ 1.55312833e-02 -4.22254202e-04 9.99879293e-01 3.26858882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.164340128 meters 0.02446327754364105 Centerline is valid? [True, True] Translation: X:30.35, Y:0.35, Z:0.33 [[ 9.94952988e-01 -9.91781155e-02 -1.52398682e-02 3.03528927e+01] [ 9.91733348e-02 9.95069597e-01 -1.07098674e-03 3.45101782e-01] [ 1.52709479e-02 -4.45807095e-04 9.99883293e-01 3.26782971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.224340127999998 meters 0.023793065135493202 Centerline is valid? [True, True] Translation: X:30.41, Y:0.35, Z:0.33 [[ 9.94703910e-01 -1.01760110e-01 -1.44572446e-02 3.04108123e+01] [ 1.01756060e-01 9.94808861e-01 -1.01735722e-03 3.52878676e-01] [ 1.44857214e-02 -4.59143043e-04 9.99894971e-01 3.28117156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.284340127999997 meters 0.02668677690325971 Centerline is valid? [True, True] Translation: X:30.47, Y:0.36, Z:0.33 [[ 9.94248410e-01 -1.06137015e-01 -1.43189665e-02 3.04694295e+01] [ 1.06133477e-01 9.94351380e-01 -1.00887155e-03 3.57322977e-01] [ 1.43451627e-02 -5.16652769e-04 9.99896969e-01 3.28839421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.344340128 meters 0.027132433940597337 Centerline is valid? [True, True] Translation: X:30.53, Y:0.36, Z:0.33 [[ 9.93964614e-01 -1.08848269e-01 -1.36528868e-02 3.05280330e+01] [ 1.08845286e-01 9.94058235e-01 -9.63593936e-04 3.64772210e-01] [ 1.36766501e-02 -5.28274097e-04 9.99906331e-01 3.29852930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.404340127999998 meters 0.02833431496905258 Centerline is valid? [True, True] Translation: X:30.59, Y:0.37, Z:0.33 [[ 9.93732799e-01 -1.10983034e-01 -1.33375820e-02 3.05865520e+01] [ 1.10980329e-01 9.93822154e-01 -9.45027293e-04 3.73265059e-01] [ 1.33600665e-02 -5.41104629e-04 9.99910604e-01 3.29584500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.464340127999996 meters 0.03199924637904858 Centerline is valid? [True, True] Translation: X:30.64, Y:0.38, Z:0.33 [[ 9.93753318e-01 -1.10648118e-01 -1.45374123e-02 3.06447829e+01] [ 1.10644807e-01 9.93859475e-01 -1.03432521e-03 3.78718638e-01] [ 1.45625911e-02 -5.80625076e-04 9.99893791e-01 3.28219402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.524340128 meters 0.027754999926114562 Centerline is valid? [True, True] Translation: X:30.70, Y:0.39, Z:0.33 [[ 9.93853283e-01 -1.09717379e-01 -1.47563427e-02 3.07030231e+01] [ 1.09713802e-01 9.93962660e-01 -1.05413606e-03 3.93666064e-01] [ 1.47829106e-02 -5.71317876e-04 9.99890564e-01 3.28164061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.584340127999997 meters 0.027292811165228848 Centerline is valid? [True, True] Translation: X:30.76, Y:0.40, Z:0.33 [[ 9.94139168e-01 -1.07057373e-01 -1.50344220e-02 3.07606945e+01] [ 1.07053305e-01 9.94252699e-01 -1.07741718e-03 4.04253001e-01] [ 1.50633601e-02 -5.38381949e-04 9.99886396e-01 3.28186137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.644340127999996 meters 0.028822289060571736 Centerline is valid? [True, True] Translation: X:30.82, Y:0.41, Z:0.33 [[ 9.94229603e-01 -1.06239333e-01 -1.48559847e-02 3.08193005e+01] [ 1.06235236e-01 9.94340453e-01 -1.06689195e-03 4.08165790e-01] [ 1.48852525e-02 -5.17493482e-04 9.99889075e-01 3.27927779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.704340128 meters 0.029004407000376185 Centerline is valid? [True, True] Translation: X:30.88, Y:0.42, Z:0.33 [[ 9.94495205e-01 -1.03709551e-01 -1.49538204e-02 3.08763104e+01] [ 1.03705062e-01 9.94607510e-01 -1.07736336e-03 4.17820896e-01] [ 1.49849150e-02 -4.79354190e-04 9.99887605e-01 3.27713472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.764340127999997 meters 0.02778029734598586 Centerline is valid? [True, True] Translation: X:30.93, Y:0.43, Z:0.33 [[ 9.94604675e-01 -1.02845845e-01 -1.35747279e-02 3.09347323e+01] [ 1.02842038e-01 9.94697218e-01 -9.80049235e-04 4.28055872e-01] [ 1.36035380e-02 -4.21291131e-04 9.99907379e-01 3.29557298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.824340127999996 meters 0.02954972707007984 Centerline is valid? [True, True] Translation: X:30.99, Y:0.43, Z:0.33 [[ 9.94757565e-01 -1.01504812e-01 -1.24161404e-02 3.09923294e+01] [ 1.01501487e-01 9.94834981e-01 -8.99267206e-04 4.33614319e-01] [ 1.24432907e-02 -3.65703859e-04 9.99922512e-01 3.31202932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.884340127999998 meters 0.025908981296034694 Centerline is valid? [True, True] Translation: X:31.05, Y:0.45, Z:0.33 [[ 9.94844008e-01 -1.00616409e-01 -1.27176371e-02 3.10509658e+01] [ 1.00612825e-01 9.94925227e-01 -9.22922322e-04 4.46333448e-01] [ 1.27459591e-02 -3.61393649e-04 9.99918702e-01 3.31821354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.944340127999997 meters 0.025978373649613237 Centerline is valid? [True, True] Translation: X:31.11, Y:0.45, Z:0.33 [[ 9.94930494e-01 -9.96371930e-02 -1.36287142e-02 3.11079677e+01] [ 9.96329389e-02 9.95023765e-01 -9.92452715e-04 4.54874604e-01] [ 1.36597797e-02 -3.70447378e-04 9.99906632e-01 3.31469247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.004340128 meters 0.025791300377460868 Centerline is valid? [True, True] Translation: X:31.17, Y:0.46, Z:0.33 [[ 9.95022314e-01 -9.87718051e-02 -1.32183856e-02 3.11668332e+01] [ 9.87676959e-02 9.95110050e-01 -9.64913356e-04 4.63456027e-01] [ 1.32490546e-02 -3.45439169e-04 9.99912168e-01 3.33048760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.064340128 meters 0.026344727460992083 Centerline is valid? [True, True] Translation: X:31.22, Y:0.47, Z:0.33 [[ 9.95022267e-01 -9.87684262e-02 -1.32471461e-02 3.12231407e+01] [ 9.87642586e-02 9.95110386e-01 -9.70045182e-04 4.69971407e-01] [ 1.32781825e-02 -3.43128011e-04 9.99911782e-01 3.33512524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.124340128 meters 0.027617848687487095 Centerline is valid? [True, True] Translation: X:31.28, Y:0.48, Z:0.33 [[ 9.94930499e-01 -9.97379314e-02 -1.28703883e-02 3.12804036e+01] [ 9.97340577e-02 9.95013682e-01 -9.44066177e-04 4.76795188e-01] [ 1.29003717e-02 -3.44335822e-04 9.99916727e-01 3.33639964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.184340127999995 meters 0.027244130446943342 Centerline is valid? [True, True] Translation: X:31.34, Y:0.48, Z:0.33 [[ 9.94785114e-01 -1.01120924e-01 -1.33092469e-02 3.13385826e+01] [ 1.01116878e-01 9.94874072e-01 -9.78231370e-04 4.83823867e-01] [ 1.33399443e-02 -3.72659494e-04 9.99910950e-01 3.34873570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.244340128 meters 0.030218657103952717 Centerline is valid? [True, True] Translation: X:31.40, Y:0.49, Z:0.34 [[ 9.94650214e-01 -1.02410051e-01 -1.35327039e-02 3.13960109e+01] [ 1.02405945e-01 9.94742191e-01 -9.97812318e-04 4.88829468e-01] [ 1.35637375e-02 -3.93355094e-04 9.99907931e-01 3.35070843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.304340128 meters 0.028611594495162356 Centerline is valid? [True, True] Translation: X:31.45, Y:0.50, Z:0.34 [[ 9.94611298e-01 -1.02863370e-01 -1.29418941e-02 3.14529381e+01] [ 1.02859628e-01 9.94695422e-01 -9.56183469e-04 5.00131723e-01] [ 1.29715991e-02 -3.80167529e-04 9.99915793e-01 3.37201553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.364340127999995 meters 0.026476809632847806 Centerline is valid? [True, True] Translation: X:31.51, Y:0.51, Z:0.34 [[ 9.94761305e-01 -1.01453122e-01 -1.25383179e-02 3.15109839e+01] [ 1.01449450e-01 9.94840260e-01 -9.30168114e-04 5.10951772e-01] [ 1.25679919e-02 -3.46710207e-04 9.99920960e-01 3.38878299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.424340128 meters 0.024476241369948557 Centerline is valid? [True, True] Translation: X:31.57, Y:0.52, Z:0.34 [[ 9.94971642e-01 -9.94401345e-02 -1.19620863e-02 3.15696048e+01] [ 9.94366072e-02 9.95043500e-01 -8.90747265e-04 5.21303595e-01] [ 1.19913722e-02 -3.03201005e-04 9.99928055e-01 3.40239628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.484340128 meters 0.021983323211456417 Centerline is valid? [True, True] Translation: X:31.63, Y:0.54, Z:0.34 [[ 9.95411119e-01 -9.49663852e-02 -1.17511790e-02 3.16277963e+01] [ 9.49626343e-02 9.95480450e-01 -8.78026134e-04 5.35624561e-01] [ 1.17814519e-02 -2.41925938e-04 9.99930567e-01 3.40693453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.544340127999995 meters 0.020409466599126517 Centerline is valid? [True, True] Translation: X:31.69, Y:0.55, Z:0.34 [[ 9.95632963e-01 -9.26661258e-02 -1.13133629e-02 3.16859647e+01] [ 9.26624866e-02 9.95697216e-01 -8.46553712e-04 5.45556015e-01] [ 1.13431308e-02 -2.05467560e-04 9.99935644e-01 3.41878128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.604340128 meters 0.019920694765820174 Centerline is valid? [True, True] Translation: X:31.74, Y:0.55, Z:0.34 [[ 9.95776967e-01 -9.11858488e-02 -1.06476302e-02 3.17435961e+01] [ 9.11825106e-02 9.95833877e-01 -7.99561396e-04 5.53074484e-01] [ 1.06761795e-02 -1.74692832e-04 9.99942993e-01 3.43256893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.664340128 meters 0.020109948145939138 Centerline is valid? [True, True] Translation: X:31.80, Y:0.56, Z:0.34 [[ 9.95703917e-01 -9.19643400e-02 -1.07828517e-02 3.18011736e+01] [ 9.19609422e-02 9.95762284e-01 -8.11554751e-04 5.59174174e-01] [ 1.08117911e-02 -1.83532956e-04 9.99941534e-01 3.43314856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.724340127999994 meters 0.019800436833609065 Centerline is valid? [True, True] Translation: X:31.86, Y:0.57, Z:0.34 [[ 9.95633249e-01 -9.28560575e-02 -9.60137632e-03 3.18592417e+01] [ 9.28533781e-02 9.95679529e-01 -7.25424482e-04 5.66036788e-01] [ 9.62725391e-03 -1.69263492e-04 9.99953643e-01 3.43996104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.784340128 meters 0.020791603119299285 Centerline is valid? [True, True] Translation: X:31.92, Y:0.57, Z:0.34 [[ 9.95532702e-01 -9.39419704e-02 -9.46286207e-03 3.19171906e+01] [ 9.39393903e-02 9.95577659e-01 -7.17754277e-04 5.70308070e-01] [ 9.48844132e-03 -1.74387639e-04 9.99954969e-01 3.44253897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.844340128 meters 0.020271232717256827 Centerline is valid? [True, True] Translation: X:31.98, Y:0.58, Z:0.34 [[ 9.95442700e-01 -9.48832680e-02 -9.53921420e-03 3.19754725e+01] [ 9.48806802e-02 9.95488388e-01 -7.24490939e-04 5.76172685e-01] [ 9.56491904e-03 -1.83897916e-04 9.99954238e-01 3.44311283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.904340127999994 meters 0.021333586476214885 Centerline is valid? [True, True] Translation: X:32.03, Y:0.58, Z:0.34 [[ 9.95255378e-01 -9.67790256e-02 -1.00276335e-02 3.20345544e+01] [ 9.67762308e-02 9.95305871e-01 -7.64709497e-04 5.79848643e-01] [ 1.00545703e-02 -2.09355335e-04 9.99949430e-01 3.43615510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.964340127999996 meters 0.021200238788460557 Centerline is valid? [True, True] Translation: X:32.09, Y:0.58, Z:0.34 [[ 9.95240983e-01 -9.69771671e-02 -9.52972350e-03 3.20927386e+01] [ 9.69746267e-02 9.95286587e-01 -7.29397783e-04 5.84943036e-01] [ 9.55554090e-03 -1.98214812e-04 9.99954325e-01 3.44693221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.024340128 meters 0.020271743576685975 Centerline is valid? [True, True] Translation: X:32.15, Y:0.59, Z:0.35 [[ 9.95324077e-01 -9.61588425e-02 -9.13559338e-03 3.21510022e+01] [ 9.61564461e-02 9.95365985e-01 -7.02211199e-04 5.91785477e-01] [ 9.16078273e-03 -1.79518479e-04 9.99958023e-01 3.45966994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.084340128 meters 0.01920215800894793 Centerline is valid? [True, True] Translation: X:32.21, Y:0.60, Z:0.35 [[ 9.95671910e-01 -9.24554202e-02 -9.45747029e-03 3.22085979e+01] [ 9.24526565e-02 9.95716814e-01 -7.29947828e-04 5.99273691e-01] [ 9.48444981e-03 -1.47579704e-04 9.99955011e-01 3.46199316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.144340127999996 meters 0.017179608308413384 Centerline is valid? [True, True] Translation: X:32.27, Y:0.61, Z:0.35 [[ 9.95979040e-01 -8.90976462e-02 -9.34669456e-03 3.22672418e+01] [ 8.90947906e-02 9.96022890e-01 -7.22287569e-04 6.08358727e-01] [ 9.37387585e-03 -1.13358515e-04 9.99956058e-01 3.46630208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.204340128 meters 0.015190293610343136 Centerline is valid? [True, True] Translation: X:32.33, Y:0.62, Z:0.35 [[ 9.96494716e-01 -8.30257878e-02 -1.02469045e-02 3.23256976e+01] [ 8.30220009e-02 9.96547397e-01 -7.95117358e-04 6.17844827e-01] [ 1.02775413e-02 -5.83882719e-05 9.99947183e-01 3.46850449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.264340128 meters 0.01473876355493782 Centerline is valid? [True, True] Translation: X:32.38, Y:0.63, Z:0.35 [[ 9.96942993e-01 -7.74376980e-02 -1.03957824e-02 3.23843596e+01] [ 7.74334644e-02 9.96997193e-01 -8.09735509e-04 6.25923047e-01] [ 1.04272700e-02 2.27869256e-06 9.99945635e-01 3.47688252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.324340127999996 meters 0.01486926924345576 Centerline is valid? [True, True] Translation: X:32.44, Y:0.63, Z:0.35 [[ 9.97110839e-01 -7.51832811e-02 -1.08373866e-02 3.24421812e+01] [ 7.51785109e-02 9.97169731e-01 -8.47447449e-04 6.31341927e-01] [ 1.08704278e-02 3.02604504e-05 9.99940915e-01 3.47343659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.384340128 meters 0.01496168729571267 Centerline is valid? [True, True] Translation: X:32.50, Y:0.63, Z:0.35 [[ 9.97144303e-01 -7.46502279e-02 -1.14272515e-02 3.25001149e+01] [ 7.46448430e-02 9.97209778e-01 -8.97613368e-04 6.32102979e-01] [ 1.14623740e-02 4.20646602e-05 9.99934304e-01 3.47557005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.444340128 meters 0.014730106964702868 Centerline is valid? [True, True] Translation: X:32.56, Y:0.63, Z:0.35 [[ 9.96949711e-01 -7.69653283e-02 -1.29464712e-02 3.25574259e+01] [ 7.69585566e-02 9.97033770e-01 -1.02117602e-03 6.28312810e-01] [ 1.29866641e-02 2.17193993e-05 9.99915669e-01 3.46368390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.504340127999996 meters 0.014673841829273393 Centerline is valid? [True, True] Translation: X:32.62, Y:0.63, Z:0.35 [[ 9.96757381e-01 -7.92178864e-02 -1.41155647e-02 3.26160520e+01] [ 7.92100198e-02 9.96857325e-01 -1.11639172e-03 6.26305373e-01] [ 1.41596422e-02 -5.32246679e-06 9.99899747e-01 3.45786338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.564340128 meters 0.014745708712818386 Centerline is valid? [True, True] Translation: X:32.67, Y:0.62, Z:0.35 [[ 9.96610695e-01 -8.09763673e-02 -1.44896597e-02 3.26744128e+01] [ 8.09681920e-02 9.96716021e-01 -1.15093107e-03 6.24711233e-01] [ 1.45352742e-02 -2.61713344e-05 9.99894357e-01 3.45969823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.624340128 meters 0.014786838934456314 Centerline is valid? [True, True] Translation: X:32.73, Y:0.62, Z:0.35 [[ 9.96414993e-01 -8.32166733e-02 -1.52363773e-02 3.27333719e+01] [ 8.32078134e-02 9.96531476e-01 -1.21560567e-03 6.21574880e-01] [ 1.52846882e-02 -5.65379220e-05 9.99883181e-01 3.46188450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.684340127999995 meters 0.015356281714443514 Centerline is valid? [True, True] Translation: X:32.79, Y:0.61, Z:0.35 [[ 9.96192944e-01 -8.57143211e-02 -1.58957308e-02 3.27917746e+01] [ 8.57049308e-02 9.96319751e-01 -1.27228216e-03 6.14670711e-01] [ 1.59462833e-02 -9.49039968e-05 9.99872845e-01 3.46342015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.744340128 meters 0.015672918704028403 Centerline is valid? [True, True] Translation: X:32.85, Y:0.61, Z:0.35 [[ 9.96069342e-01 -8.71369146e-02 -1.59067091e-02 3.28504485e+01] [ 8.71276443e-02 9.96196339e-01 -1.27618718e-03 6.11022469e-01] [ 1.59574083e-02 -1.14743163e-04 9.99872666e-01 3.46442367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.804340128 meters 0.015537854753647435 Centerline is valid? [True, True] Translation: X:32.91, Y:0.61, Z:0.35 [[ 9.96064931e-01 -8.73370212e-02 -1.50631580e-02 3.29084150e+01] [ 8.73286584e-02 9.96178816e-01 -1.21330713e-03 6.11426728e-01] [ 1.51115655e-02 -1.06912703e-04 9.99885808e-01 3.48208840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.864340127999995 meters 0.014763188587185458 Centerline is valid? [True, True] Translation: X:32.97, Y:0.61, Z:0.35 [[ 9.96213292e-01 -8.56769972e-02 -1.47827153e-02 3.29674974e+01] [ 8.56686912e-02 9.96322963e-01 -1.19537489e-03 6.12037915e-01] [ 1.48307748e-02 -7.55675143e-05 9.99890015e-01 3.50001160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.924340128 meters 0.014475811154650346 Centerline is valid? [True, True] Translation: X:33.03, Y:0.61, Z:0.35 [[ 9.96358066e-01 -8.39752950e-02 -1.47903251e-02 3.30258980e+01] [ 8.39667277e-02 9.96467836e-01 -1.20037955e-03 6.13847626e-01] [ 1.48388854e-02 -4.58873509e-05 9.99889897e-01 3.50835346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.984340128 meters 0.014384006979329723 Centerline is valid? [True, True] Translation: X:33.08, Y:0.61, Z:0.35 [[ 9.96468187e-01 -8.25075058e-02 -1.56097642e-02 3.30837337e+01] [ 8.24977046e-02 9.96590443e-01 -1.27187445e-03 6.14708611e-01] [ 1.56614810e-02 -2.03872908e-05 9.99877351e-01 3.50632721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.044340127999995 meters 0.014345230575783009 Centerline is valid? [True, True] Translation: X:33.14, Y:0.62, Z:0.35 [[ 9.96531104e-01 -8.18526034e-02 -1.50302930e-02 3.31417367e+01] [ 8.18433734e-02 9.96644446e-01 -1.22920692e-03 6.15999165e-01] [ 1.50804718e-02 -5.18695081e-06 9.99886283e-01 3.51769148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.104340128 meters 0.01427512330102652 Centerline is valid? [True, True] Translation: X:33.20, Y:0.62, Z:0.35 [[ 9.96548822e-01 -8.17200498e-02 -1.45697767e-02 3.31998112e+01] [ 8.17112974e-02 9.96655323e-01 -1.19600050e-03 6.15206647e-01] [ 1.46187827e-02 1.35753032e-06 9.99893140e-01 3.53301568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.164340128 meters 0.014329155198475997 Centerline is valid? [True, True] Translation: X:33.26, Y:0.62, Z:0.35 [[ 9.96514807e-01 -8.20949465e-02 -1.47871300e-02 3.32578475e+01] [ 8.20859034e-02 9.96624513e-01 -1.21848413e-03 6.15060001e-01] [ 1.48372476e-02 4.22555755e-07 9.99889922e-01 3.53960724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.224340127999994 meters 0.014429775965190943 Centerline is valid? [True, True] Translation: X:33.32, Y:0.62, Z:0.35 [[ 9.96445840e-01 -8.29224120e-02 -1.48176160e-02 3.33157611e+01] [ 8.29133545e-02 9.96556006e-01 -1.22560441e-03 6.16368488e-01] [ 1.48682143e-02 -7.32983801e-06 9.99889462e-01 3.54775503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.284340128 meters 0.014413827132766543 Centerline is valid? [True, True] Translation: X:33.37, Y:0.62, Z:0.36 [[ 9.96372770e-01 -8.39618844e-02 -1.38457350e-02 3.33736823e+01] [ 8.39540192e-02 9.96468967e-01 -1.14934399e-03 6.15584746e-01] [ 1.38933464e-02 -1.72300467e-05 9.99903483e-01 3.56665060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.344340128 meters 0.014603169408927448 Centerline is valid? [True, True] Translation: X:33.43, Y:0.62, Z:0.36 [[ 9.96282643e-01 -8.50096951e-02 -1.39372804e-02 3.34309727e+01] [ 8.50017769e-02 9.96380124e-01 -1.16060493e-03 6.15687428e-01] [ 1.39854918e-02 -2.84030515e-05 9.99902198e-01 3.56010541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.404340127999994 meters 0.014927056389873338 Centerline is valid? [True, True] Translation: X:33.49, Y:0.62, Z:0.36 [[ 9.96143497e-01 -8.64291168e-02 -1.51043181e-02 3.34895820e+01] [ 8.64199378e-02 9.96258001e-01 -1.26056600e-03 6.16762119e-01] [ 1.51567474e-02 -4.96096073e-05 9.99885129e-01 3.55397443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.464340127999996 meters 0.015082882351452215 Centerline is valid? [True, True] Translation: X:33.55, Y:0.61, Z:0.36 [[ 9.95900000e-01 -8.90928144e-02 -1.56735739e-02 3.35490643e+01] [ 8.90831950e-02 9.96023324e-01 -1.31222405e-03 6.14114009e-01] [ 1.57281550e-02 -8.94081169e-05 9.99876301e-01 3.55661631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.524340128 meters 0.015752841078065363 Centerline is valid? [True, True] Translation: X:33.61, Y:0.61, Z:0.36 [[ 9.95675178e-01 -9.15452419e-02 -1.58242962e-02 3.36073539e+01] [ 9.15356949e-02 9.95800910e-01 -1.32808178e-03 6.12526256e-01] [ 1.58794281e-02 -1.26149887e-04 9.99873906e-01 3.56443957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.584340128 meters 0.01630623856924879 Centerline is valid? [True, True] Translation: X:33.67, Y:0.61, Z:0.36 [[ 9.95344062e-01 -9.52266369e-02 -1.49025153e-02 3.36662823e+01] [ 9.52185480e-02 9.95455603e-01 -1.25300167e-03 6.10506606e-01] [ 1.49541115e-02 -1.71828099e-04 9.99888166e-01 3.58190451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.644340127999996 meters 0.0168588285815621 Centerline is valid? [True, True] Translation: X:33.73, Y:0.61, Z:0.36 [[ 9.95090056e-01 -9.80346810e-02 -1.36008189e-02 3.37255626e+01] [ 9.80281580e-02 9.95182980e-01 -1.14705045e-03 6.08531259e-01] [ 1.36477542e-02 -1.91844735e-04 9.99906847e-01 3.60174602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.704340128 meters 0.017061183621892503 Centerline is valid? [True, True] Translation: X:33.78, Y:0.61, Z:0.36 [[ 9.95075758e-01 -9.82418757e-02 -1.31441799e-02 3.37825363e+01] [ 9.82357611e-02 9.95162549e-01 -1.11159293e-03 6.10181334e-01] [ 1.31898006e-02 -1.85109337e-04 9.99912994e-01 3.61336622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.764340128 meters 0.016115600753334812 Centerline is valid? [True, True] Translation: X:33.84, Y:0.62, Z:0.36 [[ 9.95294363e-01 -9.59597571e-02 -1.34482579e-02 3.38410711e+01] [ 9.59531163e-02 9.95385202e-01 -1.13966059e-03 6.15451482e-01] [ 1.34955585e-02 -1.56104495e-04 9.99908919e-01 3.61938072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.824340127999996 meters 0.015208979924721602 Centerline is valid? [True, True] Translation: X:33.90, Y:0.62, Z:0.36 [[ 9.95495976e-01 -9.38103317e-02 -1.36887973e-02 3.38990972e+01] [ 9.38031961e-02 9.95590079e-01 -1.16382614e-03 6.23057191e-01] [ 1.37376097e-02 -1.25468699e-04 9.99905627e-01 3.62085822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.884340128 meters 0.014604148955153195 Centerline is valid? [True, True] Translation: X:33.96, Y:0.63, Z:0.36 [[ 9.95772655e-01 -9.07691303e-02 -1.40635641e-02 3.39561554e+01] [ 9.07612500e-02 9.95871959e-01 -1.19889328e-03 6.29423440e-01] [ 1.41143316e-02 -8.26015136e-05 9.99900384e-01 3.62383304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.944340128 meters 0.01449882946655822 Centerline is valid? [True, True] Translation: X:34.01, Y:0.63, Z:0.36 [[ 9.95704236e-01 -9.14598692e-02 -1.44279740e-02 3.40139172e+01] [ 9.14516120e-02 9.95808759e-01 -1.23241877e-03 6.34508465e-01] [ 1.44802198e-02 -9.23368883e-05 9.99895152e-01 3.62090892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.004340127999996 meters 0.014796329786922077 Centerline is valid? [True, True] Translation: X:34.07, Y:0.64, Z:0.36 [[ 9.95510438e-01 -9.35369160e-02 -1.44849596e-02 3.40732072e+01] [ 9.35287494e-02 9.95615805e-01 -1.24168070e-03 6.37244806e-01] [ 1.45375977e-02 -1.18654054e-04 9.99894317e-01 3.62263860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.064340128 meters 0.016103621064422216 Centerline is valid? [True, True] Translation: X:34.13, Y:0.64, Z:0.36 [[ 9.95101482e-01 -9.79167962e-02 -1.36140494e-02 3.41310043e+01] [ 9.79099501e-02 9.95194590e-01 -1.17007937e-03 6.36183488e-01] [ 1.36631987e-02 -1.68603181e-04 9.99906640e-01 3.63703511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.124340128 meters 0.016831069241394554 Centerline is valid? [True, True] Translation: X:34.19, Y:0.64, Z:0.37 [[ 9.94788405e-01 -1.01207453e-01 -1.23726151e-02 3.41897158e+01] [ 1.01202028e-01 9.94865325e-01 -1.06536786e-03 6.39078475e-01] [ 1.24169089e-02 -1.92318152e-04 9.99922889e-01 3.65933468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.184340127999995 meters 0.01700584134427796 Centerline is valid? [True, True] Translation: X:34.25, Y:0.64, Z:0.37 [[ 9.94638177e-01 -1.02689264e-01 -1.22397941e-02 3.42484453e+01] [ 1.02684027e-01 9.94713463e-01 -1.05724377e-03 6.44242391e-01] [ 1.22836555e-02 -2.05256328e-04 9.99924532e-01 3.65936610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.244340128 meters 0.018285426804871642 Centerline is valid? [True, True] Translation: X:34.31, Y:0.65, Z:0.37 [[ 9.94564225e-01 -1.03335658e-01 -1.27962216e-02 3.43066770e+01] [ 1.03329947e-01 9.94646517e-01 -1.10841704e-03 6.47668624e-01] [ 1.28422562e-02 -2.19840962e-04 9.99917511e-01 3.65078991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.304340128 meters 0.018609035299008772 Centerline is valid? [True, True] Translation: X:34.37, Y:0.65, Z:0.37 [[ 9.94319903e-01 -1.05593563e-01 -1.33390427e-02 3.43655888e+01] [ 1.05587534e-01 9.94409339e-01 -1.15738582e-03 6.53108801e-01] [ 1.33866811e-02 -2.57624875e-04 9.99910361e-01 3.65176481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.364340127999995 meters 0.019801249044555807 Centerline is valid? [True, True] Translation: X:34.42, Y:0.66, Z:0.37 [[ 9.94082073e-01 -1.07812019e-01 -1.33192096e-02 3.44240148e+01] [ 1.07806160e-01 9.94171257e-01 -1.15922576e-03 6.57002488e-01] [ 1.33665538e-02 -2.83527293e-04 9.99910623e-01 3.65711680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.424340128 meters 0.022418850632685058 Centerline is valid? [True, True] Translation: X:34.48, Y:0.66, Z:0.37 [[ 9.93670330e-01 -1.11638002e-01 -1.24992502e-02 3.44818853e+01] [ 1.11633110e-01 9.93748892e-01 -1.09054616e-03 6.58827379e-01] [ 1.25428624e-02 -3.11686804e-04 9.99921287e-01 3.66880384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.484340128 meters 0.02197578374170149 Centerline is valid? [True, True] Translation: X:34.54, Y:0.66, Z:0.37 [[ 9.93556031e-01 -1.12672083e-01 -1.23050482e-02 3.45399319e+01] [ 1.12667408e-01 9.93632175e-01 -1.07473962e-03 6.64625243e-01] [ 1.23477850e-02 -3.18563855e-04 9.99923712e-01 3.67753061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.544340127999995 meters 0.02206872078634688 Centerline is valid? [True, True] Translation: X:34.60, Y:0.67, Z:0.37 [[ 9.93237036e-01 -1.15440070e-01 -1.24007910e-02 3.45980535e+01] [ 1.15435521e-01 9.93314384e-01 -1.08443463e-03 6.70988875e-01] [ 1.24430713e-02 -3.54391122e-04 9.99922519e-01 3.68690785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.604340128 meters 0.023298569590760855 Centerline is valid? [True, True] Translation: X:34.66, Y:0.68, Z:0.37 [[ 9.93063805e-01 -1.16940854e-01 -1.22113105e-02 3.46568295e+01] [ 1.16936529e-01 9.93138814e-01 -1.06997699e-03 6.75981955e-01] [ 1.22526505e-02 -3.65392851e-04 9.99924867e-01 3.69133802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.664340128 meters 0.024467934069547347 Centerline is valid? [True, True] Translation: X:34.72, Y:0.68, Z:0.37 [[ 9.92852552e-01 -1.18634994e-01 -1.30210989e-02 3.47154741e+01] [ 1.18630173e-01 9.92937849e-01 -1.14466746e-03 6.80621144e-01] [ 1.30649395e-02 -4.08209212e-04 9.99914567e-01 3.69357713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.724340127999994 meters 0.025157566849536565 Centerline is valid? [True, True] Translation: X:34.77, Y:0.69, Z:0.37 [[ 9.92755759e-01 -1.19416223e-01 -1.32578105e-02 3.47743381e+01] [ 1.19411248e-01 9.92844191e-01 -1.16911125e-03 6.85786795e-01] [ 1.33025510e-02 -4.22489764e-04 9.99911428e-01 3.70637440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.784340128 meters 0.024725274624537018 Centerline is valid? [True, True] Translation: X:34.83, Y:0.69, Z:0.37 [[ 9.92748727e-01 -1.19504576e-01 -1.29854172e-02 3.48321993e+01] [ 1.19499764e-01 9.92833565e-01 -1.14866112e-03 6.93287697e-01] [ 1.30296283e-02 -4.11422425e-04 9.99915026e-01 3.71825193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.844340128 meters 0.02482001873059707 Centerline is valid? [True, True] Translation: X:34.89, Y:0.70, Z:0.37 [[ 9.92888664e-01 -1.18290900e-01 -1.33926634e-02 3.48898808e+01] [ 1.18285622e-01 9.92978902e-01 -1.18831777e-03 7.00971513e-01] [ 1.34391993e-02 -4.04292274e-04 9.99909608e-01 3.72539569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.904340127999994 meters 0.024604512779141226 Centerline is valid? [True, True] Translation: X:34.95, Y:0.71, Z:0.37 [[ 9.92958916e-01 -1.17705209e-01 -1.33444474e-02 3.49482871e+01] [ 1.17699885e-01 9.93048503e-01 -1.18635852e-03 7.07986116e-01] [ 1.33913241e-02 -3.92634652e-04 9.99910255e-01 3.73624421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.964340127999996 meters 0.023360025662249186 Centerline is valid? [True, True] Translation: X:35.01, Y:0.72, Z:0.37 [[ 9.93143209e-01 -1.16180184e-01 -1.29896874e-02 3.50065148e+01] [ 1.16174966e-01 9.93228089e-01 -1.15818370e-03 7.16806488e-01] [ 1.30362804e-02 -3.58834208e-04 9.99914960e-01 3.74589558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.024340128 meters 0.02395228744071848 Centerline is valid? [True, True] Translation: X:35.06, Y:0.72, Z:0.38 [[ 9.93264816e-01 -1.15148805e-01 -1.28747203e-02 3.50646198e+01] [ 1.15143548e-01 9.93348196e-01 -1.15131849e-03 7.23100929e-01] [ 1.29216532e-02 -3.38876828e-04 9.99916455e-01 3.75728347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.084340127999994 meters 0.02277999443019552 Centerline is valid? [True, True] Translation: X:35.12, Y:0.73, Z:0.38 [[ 9.93331760e-01 -1.14558071e-01 -1.29793481e-02 3.51230971e+01] [ 1.14552633e-01 9.93416498e-01 -1.16408780e-03 7.31520668e-01] [ 1.30272542e-02 -3.30493111e-04 9.99915087e-01 3.76699931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.144340127999996 meters 0.0230557298841152 Centerline is valid? [True, True] Translation: X:35.18, Y:0.74, Z:0.38 [[ 9.93460096e-01 -1.13499569e-01 -1.24452942e-02 3.51804637e+01] [ 1.13494452e-01 9.93538000e-01 -1.11887903e-03 7.37966359e-01] [ 1.24918650e-02 -3.00910175e-04 9.99921928e-01 3.77756456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.204340128 meters 0.023473309685851727 Centerline is valid? [True, True] Translation: X:35.24, Y:0.74, Z:0.38 [[ 9.93442463e-01 -1.13618738e-01 -1.27615074e-02 3.52375166e+01] [ 1.13613349e-01 9.93524377e-01 -1.14881522e-03 7.43603452e-01] [ 1.28093956e-02 -3.08595765e-04 9.99917909e-01 3.78104969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.264340128 meters 0.021836928136867554 Centerline is valid? [True, True] Translation: X:35.30, Y:0.75, Z:0.38 [[ 9.93255609e-01 -1.15147899e-01 -1.35741127e-02 3.52955856e+01] [ 1.15141903e-01 9.93348298e-01 -1.22503286e-03 7.51362169e-01] [ 1.36248817e-02 -3.46178410e-04 9.99907117e-01 3.78677281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.324340127999996 meters 0.02556126963947632 Centerline is valid? [True, True] Translation: X:35.35, Y:0.75, Z:0.38 [[ 9.93103229e-01 -1.16436370e-01 -1.37312560e-02 3.53538464e+01] [ 1.16430315e-01 9.93198086e-01 -1.24226750e-03 7.51920536e-01] [ 1.37825023e-02 -3.65034600e-04 9.99904950e-01 3.78215640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.384340128 meters 0.023897310660597897 Centerline is valid? [True, True] Translation: X:35.41, Y:0.76, Z:0.38 [[ 9.92982640e-01 -1.17441536e-01 -1.38910868e-02 3.54120727e+01] [ 1.17435409e-01 9.93079725e-01 -1.25875450e-03 7.60576749e-01] [ 1.39427867e-02 -3.81384100e-04 9.99902722e-01 3.79112863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.444340128 meters 0.023586200940178992 Centerline is valid? [True, True] Translation: X:35.47, Y:0.77, Z:0.38 [[ 9.92859352e-01 -1.18507794e-01 -1.36458679e-02 3.54701386e+01] [ 1.18501933e-01 9.92953047e-01 -1.24009484e-03 7.67365448e-01] [ 1.36966670e-02 -3.85821973e-04 9.99906122e-01 3.80287735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.504340127999996 meters 0.023271183152169597 Centerline is valid? [True, True] Translation: X:35.53, Y:0.78, Z:0.38 [[ 9.92907724e-01 -1.18108105e-01 -1.35914177e-02 3.55283918e+01] [ 1.18102205e-01 9.93000672e-01 -1.23879187e-03 7.75038392e-01] [ 1.36425982e-02 -3.75170368e-04 9.99906865e-01 3.81257613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.564340128 meters 0.023552683197392947 Centerline is valid? [True, True] Translation: X:35.59, Y:0.78, Z:0.38 [[ 9.93014100e-01 -1.17230730e-01 -1.34146764e-02 3.55858392e+01] [ 1.17224862e-01 9.93104642e-01 -1.22560939e-03 7.81357807e-01] [ 1.34658565e-02 -3.55486197e-04 9.99909268e-01 3.81667279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.624340128 meters 0.02003113489235707 Centerline is valid? [True, True] Translation: X:35.64, Y:0.79, Z:0.38 [[ 9.93306239e-01 -1.14780907e-01 -1.29637326e-02 3.56441056e+01] [ 1.14775195e-01 9.93390783e-01 -1.18620945e-03 7.94692202e-01] [ 1.30142067e-02 -3.09645683e-04 9.99915264e-01 3.82909544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.684340127999995 meters 0.018925529520893367 Centerline is valid? [True, True] Translation: X:35.70, Y:0.80, Z:0.38 [[ 9.93675518e-01 -1.11624747e-01 -1.22016487e-02 3.57022310e+01] [ 1.11619408e-01 9.93750398e-01 -1.11975870e-03 8.04681449e-01] [ 1.22503860e-02 -2.49263998e-04 9.99924930e-01 3.82760947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.744340128 meters 0.01817803763090022 Centerline is valid? [True, True] Translation: X:35.76, Y:0.81, Z:0.38 [[ 9.93939438e-01 -1.09305612e-01 -1.16909065e-02 3.57598332e+01] [ 1.09300518e-01 9.94008169e-01 -1.07568000e-03 8.12967158e-01] [ 1.17384344e-02 -2.08661361e-04 9.99931080e-01 3.82723933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.804340128 meters 0.01699826342792182 Centerline is valid? [True, True] Translation: X:35.82, Y:0.82, Z:0.38 [[ 9.94338275e-01 -1.05657729e-01 -1.13065883e-02 3.58166417e+01] [ 1.05652717e-01 9.94402544e-01 -1.04139043e-03 8.22700739e-01] [ 1.13533311e-02 -1.59077406e-04 9.99935536e-01 3.82277245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.864340127999995 meters 0.016234733366466577 Centerline is valid? [True, True] Translation: X:35.88, Y:0.83, Z:0.38 [[ 9.94562576e-01 -1.03548607e-01 -1.10890980e-02 3.58751018e+01] [ 1.03543640e-01 9.94624386e-01 -1.02263477e-03 8.30074534e-01] [ 1.11353797e-02 -1.31131296e-04 9.99937991e-01 3.82336485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.924340128 meters 0.015014428926556545 Centerline is valid? [True, True] Translation: X:35.93, Y:0.84, Z:0.38 [[ 9.94919355e-01 -1.00148535e-01 -1.02833337e-02 3.59335134e+01] [ 1.00144056e-01 9.94972494e-01 -9.50869067e-04 8.39764254e-01] [ 1.03268623e-02 -8.37767069e-05 9.99946673e-01 3.83156055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.984340128 meters 0.014304129980092714 Centerline is valid? [True, True] Translation: X:35.99, Y:0.85, Z:0.38 [[ 9.95216125e-01 -9.72704638e-02 -9.12804276e-03 3.59911274e+01] [ 9.72667929e-02 9.95257984e-01 -8.46288659e-04 8.47729015e-01] [ 9.16707632e-03 -4.56153248e-05 9.99957980e-01 3.83935754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.044340127999995 meters 0.01398712949905451 Centerline is valid? [True, True] Translation: X:36.05, Y:0.85, Z:0.38 [[ 9.95332934e-01 -9.60581464e-02 -9.22948393e-03 3.60488088e+01] [ 9.60543298e-02 9.95375724e-01 -8.56939402e-04 8.54279644e-01] [ 9.26912025e-03 -3.35918838e-05 9.99957040e-01 3.83718511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.104340128 meters 0.013785463192368948 Centerline is valid? [True, True] Translation: X:36.11, Y:0.86, Z:0.38 [[ 9.95496855e-01 -9.42299198e-02 -1.03311998e-02 3.61064612e+01] [ 9.42250040e-02 9.95550462e-01 -9.62623017e-04 8.61240245e-01] [ 1.03759386e-02 -1.51691534e-05 9.99946168e-01 3.82144819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.164340128 meters 0.013631347724200847 Centerline is valid? [True, True] Translation: X:36.16, Y:0.87, Z:0.38 [[ 9.95589051e-01 -9.30854472e-02 -1.17277940e-02 3.61633220e+01] [ 9.30789876e-02 9.95658124e-01 -1.09660898e-03 8.66703246e-01] [ 1.17789518e-02 1.60701605e-07 9.99930626e-01 3.80960224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.224340127999994 meters 0.013735715297211463 Centerline is valid? [True, True] Translation: X:36.22, Y:0.87, Z:0.38 [[ 9.95602092e-01 -9.29011106e-02 -1.20771597e-02 3.62212312e+01] [ 9.28942209e-02 9.95675340e-01 -1.13140944e-03 8.72161083e-01] [ 1.21300393e-02 4.53526310e-06 9.99926428e-01 3.81181965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.284340128 meters 0.013630392236594615 Centerline is valid? [True, True] Translation: X:36.28, Y:0.88, Z:0.38 [[ 9.95577774e-01 -9.33484000e-02 -1.05343736e-02 3.62778555e+01] [ 9.33431531e-02 9.95633505e-01 -9.89723723e-04 8.76169033e-01] [ 1.05807644e-02 2.03529388e-06 9.99944022e-01 3.82986318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.344340128 meters 0.01357399074911274 Centerline is valid? [True, True] Translation: X:36.34, Y:0.88, Z:0.38 [[ 9.95457132e-01 -9.46487145e-02 -1.03304953e-02 3.63358742e+01] [ 9.46437159e-02 9.95510734e-01 -9.72775570e-04 8.79603158e-01] [ 1.03761909e-02 -9.36008579e-06 9.99946166e-01 3.84282521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.404340127999994 meters 0.01360064084446281 Centerline is valid? [True, True] Translation: X:36.39, Y:0.88, Z:0.38 [[ 9.95376546e-01 -9.54458689e-02 -1.07525982e-02 3.63925538e+01] [ 9.54404629e-02 9.95434622e-01 -1.01595211e-03 8.84022465e-01] [ 1.08004769e-02 -1.49780417e-05 9.99941673e-01 3.84953495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.464340127999996 meters 0.013639971605635366 Centerline is valid? [True, True] Translation: X:36.45, Y:0.89, Z:0.39 [[ 9.95326648e-01 -9.60019255e-02 -1.04160084e-02 3.64500253e+01] [ 9.59968598e-02 9.95381148e-01 -9.86374885e-04 8.88735448e-01] [ 1.04625923e-02 -1.81388930e-05 9.99945265e-01 3.86190115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.524340128 meters 0.013541855437035127 Centerline is valid? [True, True] Translation: X:36.51, Y:0.89, Z:0.39 [[ 9.95289391e-01 -9.64305578e-02 -1.00087567e-02 3.65083176e+01] [ 9.64258719e-02 9.95339714e-01 -9.50821641e-04 8.94450084e-01] [ 1.00538013e-02 -1.87603964e-05 9.99949459e-01 3.86693687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.584340127999994 meters 0.013670231000458843 Centerline is valid? [True, True] Translation: X:36.57, Y:0.90, Z:0.39 [[ 9.95258811e-01 -9.67014490e-02 -1.04272738e-02 3.65664265e+01] [ 9.66963428e-02 9.95313433e-01 -9.93924077e-04 8.98672000e-01] [ 1.04745195e-02 -1.90675427e-05 9.99945141e-01 3.88086985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.644340127999996 meters 0.013800371088619959 Centerline is valid? [True, True] Translation: X:36.62, Y:0.90, Z:0.39 [[ 9.95243109e-01 -9.67199275e-02 -1.16794333e-02 3.66239552e+01] [ 9.67134768e-02 9.95311637e-01 -1.11718568e-03 9.04270280e-01] [ 1.17327300e-02 -1.76872536e-05 9.99931169e-01 3.88239479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.704340128 meters 0.013811838039137539 Centerline is valid? [True, True] Translation: X:36.68, Y:0.91, Z:0.39 [[ 9.95216690e-01 -9.69408922e-02 -1.20914418e-02 3.66807692e+01] [ 9.69339540e-02 9.95290140e-01 -1.15993903e-03 9.09505899e-01] [ 1.21469383e-02 -1.76805868e-05 9.99926223e-01 3.88478282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.764340128 meters 0.01401324157952262 Centerline is valid? [True, True] Translation: X:36.74, Y:0.91, Z:0.39 [[ 9.95004845e-01 -9.89409619e-02 -1.32681518e-02 3.67386171e+01] [ 9.89327521e-02 9.95093304e-01 -1.27531346e-03 9.12060511e-01] [ 1.33292298e-02 -4.37117026e-05 9.99911161e-01 3.88391950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.824340127999996 meters 0.01429447740560693 Centerline is valid? [True, True] Translation: X:36.80, Y:0.91, Z:0.39 [[ 9.94806097e-01 -1.00814019e-01 -1.40486130e-02 3.67976096e+01] [ 1.00804940e-01 9.94905286e-01 -1.35474147e-03 9.14378059e-01] [ 1.41136163e-02 -6.84645106e-05 9.99900396e-01 3.89346834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.884340128 meters 0.014768200863712524 Centerline is valid? [True, True] Translation: X:36.86, Y:0.92, Z:0.39 [[ 9.94570473e-01 -1.02901619e-01 -1.55187342e-02 3.68561904e+01] [ 1.02890723e-01 9.94691533e-01 -1.50106082e-03 9.17543339e-01] [ 1.55908151e-02 -1.03823010e-04 9.99878450e-01 3.89389382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.944340128 meters 0.014897803346463982 Centerline is valid? [True, True] Translation: X:36.91, Y:0.92, Z:0.39 [[ 9.94480723e-01 -1.03779739e-01 -1.54226138e-02 3.69133898e+01] [ 1.03769022e-01 9.94600298e-01 -1.49568245e-03 9.20121537e-01] [ 1.54945578e-02 -1.12962179e-04 9.99879946e-01 3.90211301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.004340127999996 meters 0.014574098916080195 Centerline is valid? [True, True] Translation: X:36.97, Y:0.92, Z:0.39 [[ 9.94507604e-01 -1.03495700e-01 -1.55969844e-02 3.69713018e+01] [ 1.03484642e-01 9.94629895e-01 -1.51657304e-03 9.24269368e-01] [ 1.56701857e-02 -1.05804926e-04 9.99877210e-01 3.91388789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.064340128 meters 0.014326577891089222 Centerline is valid? [True, True] Translation: X:37.03, Y:0.93, Z:0.39 [[ 9.94597111e-01 -1.02588485e-01 -1.58804985e-02 3.70289150e+01] [ 1.02576824e-01 9.94723879e-01 -1.54926904e-03 9.29928144e-01] [ 1.59556483e-02 -8.80725929e-05 9.99872697e-01 3.91872082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.124340128 meters 0.014060097010420934 Centerline is valid? [True, True] Translation: X:37.09, Y:0.93, Z:0.39 [[ 9.94592036e-01 -1.02598823e-01 -1.61295962e-02 3.70871464e+01] [ 1.02586710e-01 9.94722813e-01 -1.57875799e-03 9.34340143e-01] [ 1.62064560e-02 -8.44620762e-05 9.99868663e-01 3.91956438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.184340127999995 meters 0.01432495963337219 Centerline is valid? [True, True] Translation: X:37.15, Y:0.94, Z:0.39 [[ 9.94393023e-01 -1.04485678e-01 -1.62867609e-02 3.71459601e+01] [ 1.04473501e-01 9.94526385e-01 -1.59904344e-03 9.36331647e-01] [ 1.63646906e-02 -1.11457290e-04 9.99866083e-01 3.92942030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.244340128 meters 0.015297664376904543 Centerline is valid? [True, True] Translation: X:37.20, Y:0.94, Z:0.39 [[ 9.93939678e-01 -1.08603532e-01 -1.70055537e-02 3.72048661e+01] [ 1.08590777e-01 9.94085127e-01 -1.67438103e-03 9.35811844e-01] [ 1.70868117e-02 -1.82412553e-04 9.99853993e-01 3.93152215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.304340128 meters 0.017477131787585018 Centerline is valid? [True, True] Translation: X:37.26, Y:0.93, Z:0.39 [[ 9.93349642e-01 -1.13750380e-01 -1.78140270e-02 3.72632853e+01] [ 1.13737141e-01 9.93509322e-01 -1.75789454e-03 9.33423741e-01] [ 1.78983631e-02 -2.79912587e-04 9.99839772e-01 3.93138485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.364340127999995 meters 0.020404728206783827 Centerline is valid? [True, True] Translation: X:37.32, Y:0.93, Z:0.39 [[ 9.92703625e-01 -1.19129798e-01 -1.86441239e-02 3.73230703e+01] [ 1.19116207e-01 9.92878612e-01 -1.84175997e-03 9.30265825e-01] [ 1.87307603e-02 -3.92495514e-04 9.99824487e-01 3.93360777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.424340128 meters 0.02198950726927819 Centerline is valid? [True, True] Translation: X:37.38, Y:0.93, Z:0.39 [[ 9.92376261e-01 -1.21694106e-01 -1.94910643e-02 3.73819100e+01] [ 1.21679686e-01 9.92567547e-01 -1.92852974e-03 9.31017884e-01] [ 1.95808885e-02 -4.57839435e-04 9.99808171e-01 3.93937149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.484340128 meters 0.02312693085267475 Centerline is valid? [True, True] Translation: X:37.44, Y:0.93, Z:0.39 [[ 9.92229301e-01 -1.22815887e-01 -1.99316633e-02 3.74396348e+01] [ 1.22800963e-01 9.92429353e-01 -1.97563492e-03 9.32470175e-01] [ 2.00234070e-02 -4.87344586e-04 9.99799393e-01 3.94846967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.544340127999995 meters 0.02311635604554413 Centerline is valid? [True, True] Translation: X:37.50, Y:0.94, Z:0.40 [[ 9.92290141e-01 -1.22276398e-01 -2.02177672e-02 3.74984677e+01] [ 1.22260858e-01 9.92495971e-01 -2.00752751e-03 9.36875463e-01] [ 2.03115257e-02 -4.79791816e-04 9.99793585e-01 3.96046714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.604340128 meters 0.018723310157471026 Centerline is valid? [True, True] Translation: X:37.56, Y:0.95, Z:0.40 [[ 9.92612596e-01 -1.19585862e-01 -2.04806264e-02 3.75561773e+01] [ 1.19569230e-01 9.92823771e-01 -2.03910568e-03 9.47857203e-01] [ 2.05775010e-02 -4.24810753e-04 9.99788171e-01 4.00122828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.664340128 meters 0.017819278560247703 Centerline is valid? [True, True] Translation: X:37.61, Y:0.95, Z:0.40 [[ 9.93162979e-01 -1.14951865e-01 -2.03313820e-02 3.76140444e+01] [ 1.14934432e-01 9.93371010e-01 -2.02777135e-03 9.54454309e-01] [ 2.04297016e-02 -3.22868409e-04 9.99791240e-01 4.01391355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.724340127999994 meters 0.015989415109782298 Centerline is valid? [True, True] Translation: X:37.67, Y:0.96, Z:0.40 [[ 9.93504507e-01 -1.11922954e-01 -2.05437839e-02 3.76723195e+01] [ 1.11904431e-01 9.93716853e-01 -2.05268929e-03 9.63439915e-01] [ 2.06444474e-02 -2.59584385e-04 9.99786847e-01 4.03936152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.784340128 meters 0.014495486504574676 Centerline is valid? [True, True] Translation: X:37.73, Y:0.97, Z:0.41 [[ 9.94002108e-01 -1.07424651e-01 -2.04878715e-02 3.77306752e+01] [ 1.07405157e-01 9.94213216e-01 -2.05269941e-03 9.72385375e-01] [ 2.05898231e-02 -1.60115513e-04 9.99787994e-01 4.06470721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.844340128 meters 0.013546056847044755 Centerline is valid? [True, True] Translation: X:37.79, Y:0.98, Z:0.41 [[ 9.94458187e-01 -1.03130720e-01 -2.04198130e-02 3.77884377e+01] [ 1.03110335e-01 9.94667809e-01 -2.05143550e-03 9.81970163e-01] [ 2.05224967e-02 -6.54269331e-05 9.99789389e-01 4.08462989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.904340127999994 meters 0.013148005848261689 Centerline is valid? [True, True] Translation: X:37.85, Y:0.99, Z:0.41 [[ 9.94728738e-01 -1.00678947e-01 -1.94547778e-02 3.78468466e+01] [ 1.00659874e-01 9.94918966e-01 -1.95965920e-03 9.91160819e-01] [ 1.95532239e-02 -8.98615845e-06 9.99808817e-01 4.09869540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.964340127999996 meters 0.013211604981431575 Centerline is valid? [True, True] Translation: X:37.90, Y:1.00, Z:0.41 [[ 9.94944424e-01 -9.84581971e-02 -1.97882692e-02 3.79033128e+01] [ 9.84379293e-02 9.95141187e-01 -1.99806262e-03 1.00036487e+00] [ 1.98888473e-02 4.00450193e-05 9.99802197e-01 4.10752058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.024340128 meters 0.013241579776020996 Centerline is valid? [True, True] Translation: X:37.96, Y:1.01, Z:0.41 [[ 9.94884706e-01 -9.91224073e-02 -1.94722931e-02 3.79598301e+01] [ 9.91028444e-02 9.95075247e-01 -1.96945084e-03 1.00515308e+00] [ 1.95716136e-02 2.96168834e-05 9.99808457e-01 4.11642953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.084340127999994 meters 0.013205046107157588 Centerline is valid? [True, True] Translation: X:38.02, Y:1.01, Z:0.41 [[ 9.94700382e-01 -1.00924578e-01 -1.96311029e-02 3.80172666e+01] [ 1.00904962e-01 9.94894080e-01 -1.98976741e-03 1.00975504e+00] [ 1.97316845e-02 -1.65328312e-06 9.99805311e-01 4.13610765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.144340127999996 meters 0.013435312736370967 Centerline is valid? [True, True] Translation: X:38.07, Y:1.02, Z:0.41 [[ 9.94370583e-01 -1.04322778e-01 -1.85446009e-02 3.80745980e+01] [ 1.04305764e-01 9.94543490e-01 -1.88500334e-03 1.01540058e+00] [ 1.86400609e-02 -5.99169007e-05 9.99826257e-01 4.14689816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.204340128 meters 0.01412288404713546 Centerline is valid? [True, True] Translation: X:38.13, Y:1.02, Z:0.42 [[ 9.93961244e-01 -1.08257359e-01 -1.79273204e-02 3.81329263e+01] [ 1.08242008e-01 9.94122894e-01 -1.82724280e-03 1.02015463e+00] [ 1.80197721e-02 -1.24280634e-04 9.99837623e-01 4.16530262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.264340128 meters 0.014850145483478237 Centerline is valid? [True, True] Translation: X:38.19, Y:1.03, Z:0.42 [[ 9.93719029e-01 -1.10471566e-01 -1.78472490e-02 3.81914516e+01] [ 1.10456624e-01 9.93879272e-01 -1.82384742e-03 1.02640130e+00] [ 1.79394941e-02 -1.58954989e-04 9.99839062e-01 4.17028198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.324340127999996 meters 0.015195068825628953 Centerline is valid? [True, True] Translation: X:38.25, Y:1.03, Z:0.42 [[ 9.93552418e-01 -1.12052624e-01 -1.72569417e-02 3.82494074e+01] [ 1.12038808e-01 9.93702258e-01 -1.76838491e-03 1.03446556e+00] [ 1.73464141e-02 -1.76464071e-04 9.99849524e-01 4.18206766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.384340128 meters 0.01578465009777017 Centerline is valid? [True, True] Translation: X:38.31, Y:1.04, Z:0.42 [[ 9.93490771e-01 -1.12882522e-01 -1.52847986e-02 3.83062979e+01] [ 1.12871729e-01 9.93608328e-01 -1.56971940e-03 1.04226877e+00] [ 1.53642970e-02 -1.65719913e-04 9.99881948e-01 4.18915060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.444340128 meters 0.016035918307412314 Centerline is valid? [True, True] Translation: X:38.36, Y:1.05, Z:0.42 [[ 9.93406844e-01 -1.13940759e-01 -1.26627503e-02 3.83634282e+01] [ 1.13933412e-01 9.93487535e-01 -1.30239302e-03 1.05259554e+00] [ 1.27286802e-02 -1.48904214e-04 9.99918976e-01 4.21695316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.504340127999996 meters 0.01623121989055928 Centerline is valid? [True, True] Translation: X:38.42, Y:1.06, Z:0.42 [[ 9.93337867e-01 -1.14761600e-01 -1.04716924e-02 3.84209453e+01] [ 1.14756594e-01 9.93393053e-01 -1.07966064e-03 1.06490869e+00] [ 1.05264101e-02 -1.29227957e-04 9.99944587e-01 4.22505590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.564340128 meters 0.01600041733926383 Centerline is valid? [True, True] Translation: X:38.48, Y:1.08, Z:0.42 [[ 9.93429651e-01 -1.14098288e-01 -8.89434242e-03 3.84776921e+01] [ 1.14094630e-01 9.93469461e-01 -9.19266044e-04 1.07881212e+00] [ 8.94114426e-03 -1.01570560e-04 9.99960022e-01 4.22619859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.624340128 meters 0.016048368255523887 Centerline is valid? [True, True] Translation: X:38.53, Y:1.09, Z:0.42 [[ 9.93506594e-01 -1.13507752e-01 -7.78699910e-03 3.85337757e+01] [ 1.13504913e-01 9.93537107e-01 -8.06981199e-04 1.08895636e+00] [ 7.82827119e-03 -8.21215105e-05 9.99969355e-01 4.22649220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.684340127999995 meters 0.015599791239132741 Centerline is valid? [True, True] Translation: X:38.59, Y:1.10, Z:0.42 [[ 9.93518726e-01 -1.13412766e-01 -7.62141174e-03 3.85909822e+01] [ 1.13410034e-01 9.93547955e-01 -7.91085737e-04 1.10245921e+00] [ 7.66195727e-03 -7.83860689e-05 9.99970644e-01 4.21377130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.744340128 meters 0.015779546266945645 Centerline is valid? [True, True] Translation: X:38.65, Y:1.11, Z:0.42 [[ 9.93429395e-01 -1.14253673e-01 -6.64342444e-03 3.86484509e+01] [ 1.14251605e-01 9.93451606e-01 -6.91264849e-04 1.11473195e+00] [ 6.67890022e-03 -7.22990812e-05 9.99977693e-01 4.20741047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.804340128 meters 0.016230961370711734 Centerline is valid? [True, True] Translation: X:38.71, Y:1.12, Z:0.42 [[ 9.93365655e-01 -1.14870277e-01 -5.43099219e-03 3.87055553e+01] [ 1.14868892e-01 9.93380499e-01 -5.67206652e-04 1.12306192e+00] [ 5.46019692e-03 -6.04084508e-05 9.99985091e-01 4.21182966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.864340127999995 meters 0.01698798806901734 Centerline is valid? [True, True] Translation: X:38.76, Y:1.13, Z:0.42 [[ 9.93085171e-01 -1.17262171e-01 -5.60595235e-03 3.87641473e+01] [ 1.17260735e-01 9.93100991e-01 -5.85357105e-04 1.13188686e+00] [ 5.63591707e-03 -7.60486322e-05 9.99984115e-01 4.20092452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.924340128 meters 0.01787572228611297 Centerline is valid? [True, True] Translation: X:38.82, Y:1.14, Z:0.42 [[ 9.92719126e-01 -1.20295150e-01 -6.14928921e-03 3.88228302e+01] [ 1.20293468e-01 9.92738166e-01 -6.43957103e-04 1.13936369e+00] [ 6.18209901e-03 -1.00450795e-04 9.99980886e-01 4.18831801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.984340128 meters 0.01853085419536371 Centerline is valid? [True, True] Translation: X:38.88, Y:1.15, Z:0.42 [[ 9.92417834e-01 -1.22772672e-01 -5.80638830e-03 3.88815599e+01] [ 1.22771206e-01 9.92434814e-01 -6.09463033e-04 1.14705928e+00] [ 5.83728729e-03 -1.08015313e-04 9.99982957e-01 4.18236607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.044340127999995 meters 0.01917306586415225 Centerline is valid? [True, True] Translation: X:38.94, Y:1.15, Z:0.42 [[ 9.92291151e-01 -1.23775754e-01 -6.15098995e-03 3.89399640e+01] [ 1.23774117e-01 9.92310208e-01 -6.47515264e-04 1.15352032e+00] [ 6.18383680e-03 -1.18809683e-04 9.99980873e-01 4.17939327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.104340128 meters 0.020380337356246864 Centerline is valid? [True, True] Translation: X:39.00, Y:1.16, Z:0.42 [[ 9.92122100e-01 -1.25096801e-01 -6.67304609e-03 3.89977834e+01] [ 1.25094887e-01 9.92144532e-01 -7.05052712e-04 1.15912251e+00] [ 6.70882603e-03 -1.35265568e-04 9.99977486e-01 4.16696548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.164340128 meters 0.021259429169263388 Centerline is valid? [True, True] Translation: X:39.06, Y:1.16, Z:0.42 [[ 9.91854386e-01 -1.27192859e-01 -6.84491237e-03 3.90559682e+01] [ 1.27190891e-01 9.91877993e-01 -7.23896432e-04 1.16365070e+00] [ 6.88139240e-03 -1.52610651e-04 9.99976311e-01 4.15392821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.224340127999994 meters 0.022032444216081196 Centerline is valid? [True, True] Translation: X:39.11, Y:1.17, Z:0.42 [[ 9.91609831e-01 -1.29112254e-01 -6.32203867e-03 3.91146639e+01] [ 1.29110614e-01 9.91629972e-01 -6.68539452e-04 1.16773351e+00] [ 6.35543967e-03 -1.53312004e-04 9.99979792e-01 4.15499025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.284340128 meters 0.02323937549619351 Centerline is valid? [True, True] Translation: X:39.17, Y:1.17, Z:0.42 [[ 9.91448242e-01 -1.30422501e-01 -4.51167603e-03 3.91721762e+01] [ 1.30421675e-01 9.91458500e-01 -4.78228449e-04 1.17077155e+00] [ 4.53551130e-03 -1.14281589e-04 9.99989708e-01 4.16819363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.344340128 meters 0.023273959073148966 Centerline is valid? [True, True] Translation: X:39.23, Y:1.18, Z:0.42 [[ 9.91500355e-01 -1.30047156e-01 -3.84499238e-03 3.92313614e+01] [ 1.30046554e-01 9.91507805e-01 -4.07322883e-04 1.17578404e+00] [ 3.86531114e-03 -9.61672254e-05 9.99992525e-01 4.17605236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.404340127999994 meters 0.02232986922288828 Centerline is valid? [True, True] Translation: X:39.29, Y:1.18, Z:0.42 [[ 9.91783083e-01 -1.27891211e-01 -3.18666688e-03 3.92896122e+01] [ 1.27890786e-01 9.91788200e-01 -3.37848896e-04 1.18090558e+00] [ 3.20370651e-03 -7.24725120e-05 9.99994865e-01 4.18583895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.464340127999996 meters 0.02011177011991482 Centerline is valid? [True, True] Translation: X:39.35, Y:1.19, Z:0.42 [[ 9.92344037e-01 -1.23451658e-01 -3.60559871e-03 3.93477889e+01] [ 1.23451075e-01 9.92350585e-01 -3.84620086e-04 1.18886757e+00] [ 3.62549998e-03 -6.34395871e-05 9.99993426e-01 4.18212777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.524340128 meters 0.01845308561922942 Centerline is valid? [True, True] Translation: X:39.41, Y:1.20, Z:0.42 [[ 9.92772293e-01 -1.19967133e-01 -3.32587083e-03 3.94062746e+01] [ 1.19966621e-01 9.92777863e-01 -3.53838154e-04 1.19677616e+00] [ 3.34429989e-03 -4.77127709e-05 9.99994407e-01 4.19566001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.584340127999994 meters 0.01624405559766057 Centerline is valid? [True, True] Translation: X:39.46, Y:1.21, Z:0.42 [[ 9.93348901e-01 -1.15107235e-01 -2.87847369e-03 3.94642625e+01] [ 1.15106830e-01 9.93353071e-01 -3.06571643e-04 1.20519156e+00] [ 2.89462929e-03 -2.67993752e-05 9.99995810e-01 4.20776207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.644340127999996 meters 0.01542609879408712 Centerline is valid? [True, True] Translation: X:39.52, Y:1.21, Z:0.42 [[ 9.93766178e-01 -1.11457719e-01 -2.44121148e-03 3.95229921e+01] [ 1.11457416e-01 9.93769177e-01 -2.60118238e-04 1.21172409e+00] [ 2.45499291e-03 -1.35944170e-05 9.99996986e-01 4.22479142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.704340128 meters 0.015093396915763033 Centerline is valid? [True, True] Translation: X:39.58, Y:1.22, Z:0.42 [[ 9.94076498e-01 -1.08640915e-01 -3.01135445e-03 3.95805749e+01] [ 1.08640434e-01 9.94081059e-01 -3.23509045e-04 1.21697578e+00] [ 3.02867673e-03 -5.56211384e-06 9.99995414e-01 4.22719573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.764340128 meters 0.015123848825980965 Centerline is valid? [True, True] Translation: X:39.64, Y:1.22, Z:0.42 [[ 9.94207049e-01 -1.07437051e-01 -3.10205369e-03 3.96382200e+01] [ 1.07436538e-01 9.94211889e-01 -3.32202125e-04 1.22270787e+00] [ 3.11978948e-03 -2.99621468e-06 9.99995133e-01 4.24400709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.824340127999996 meters 0.01538195372211707 Centerline is valid? [True, True] Translation: X:39.70, Y:1.23, Z:0.43 [[ 9.94454809e-01 -1.05095783e-01 -3.80921936e-03 3.96956451e+01] [ 1.05094985e-01 9.94462104e-01 -4.09784714e-04 1.22804776e+00] [ 3.83119094e-03 7.18252866e-06 9.99992661e-01 4.25298716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.884340128 meters 0.015658464087705697 Centerline is valid? [True, True] Translation: X:39.75, Y:1.23, Z:0.43 [[ 9.94647618e-01 -1.03205090e-01 -4.98249727e-03 3.97528122e+01] [ 1.03203685e-01 9.94660097e-01 -5.38872596e-04 1.23343797e+00] [ 5.01150561e-03 2.17762659e-05 9.99987442e-01 4.25536348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.944340128 meters 0.015876126373854518 Centerline is valid? [True, True] Translation: X:39.81, Y:1.24, Z:0.43 [[ 9.94690516e-01 -1.02769662e-01 -5.40125061e-03 3.98112553e+01] [ 1.02768000e-01 9.94705180e-01 -5.85046896e-04 1.23732895e+00] [ 5.43277703e-03 2.68648751e-05 9.99985242e-01 4.25859203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.004340127999996 meters 0.015672587557585743 Centerline is valid? [True, True] Translation: X:39.87, Y:1.24, Z:0.43 [[ 9.94546282e-01 -1.04141885e-01 -5.67103153e-03 3.98693627e+01] [ 1.04140065e-01 9.94562450e-01 -6.16053284e-04 1.23960441e+00] [ 5.70435196e-03 2.21119135e-05 9.99983730e-01 4.26816656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.064340128 meters 0.01542119604590796 Centerline is valid? [True, True] Translation: X:39.93, Y:1.24, Z:0.43 [[ 9.94155557e-01 -1.07789605e-01 -6.01073148e-03 3.99276788e+01] [ 1.07787616e-01 9.94173728e-01 -6.54799310e-04 1.23772730e+00] [ 6.04629188e-03 3.08995355e-06 9.99981721e-01 4.27099365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.124340128 meters 0.01549596270040395 Centerline is valid? [True, True] Translation: X:39.98, Y:1.24, Z:0.43 [[ 9.93966484e-01 -1.09513243e-01 -6.12194912e-03 3.99845736e+01] [ 1.09511197e-01 9.93985337e-01 -6.69495639e-04 1.23859162e+00] [ 6.15844630e-03 -4.96574722e-06 9.99981037e-01 4.28810067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.184340127999995 meters 0.015443823055129504 Centerline is valid? [True, True] Translation: X:40.04, Y:1.24, Z:0.43 [[ 9.93946967e-01 -1.09671416e-01 -6.45030276e-03 4.00421815e+01] [ 1.09669146e-01 9.93967897e-01 -7.05781385e-04 1.24402607e+00] [ 6.48879791e-03 -5.88992502e-06 9.99978948e-01 4.29058660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.244340128 meters 0.015472925220213526 Centerline is valid? [True, True] Translation: X:40.10, Y:1.25, Z:0.43 [[ 9.94141647e-01 -1.07782600e-01 -8.08066000e-03 4.00997867e+01] [ 1.07778948e-01 9.94174487e-01 -8.87340612e-04 1.25028593e+00] [ 8.12922589e-03 1.12172252e-05 9.99966957e-01 4.28818300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.304340128 meters 0.015808030372660934 Centerline is valid? [True, True] Translation: X:40.16, Y:1.26, Z:0.43 [[ 9.94286020e-01 -1.06384816e-01 -8.80799878e-03 4.01569984e+01] [ 1.06380396e-01 9.94325033e-01 -9.70075798e-04 1.25705754e+00] [ 8.86121501e-03 2.75344047e-05 9.99960738e-01 4.29001564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.364340127999995 meters 0.01604766683579398 Centerline is valid? [True, True] Translation: X:40.21, Y:1.26, Z:0.43 [[ 9.94440811e-01 -1.04822054e-01 -9.99049526e-03 4.02143420e+01] [ 1.04816256e-01 9.94490993e-01 -1.10361885e-03 1.26316927e+00] [ 1.00511411e-02 5.03173201e-05 9.99949485e-01 4.28747180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.424340128 meters 0.016525754038429718 Centerline is valid? [True, True] Translation: X:40.27, Y:1.27, Z:0.43 [[ 9.94529701e-01 -1.03914690e-01 -1.06024466e-02 4.02719475e+01] [ 1.03908073e-01 9.94586212e-01 -1.17453813e-03 1.26904790e+00] [ 1.06670989e-02 6.64332649e-05 9.99943103e-01 4.29049338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.484340128 meters 0.017101311302744202 Centerline is valid? [True, True] Translation: X:40.33, Y:1.28, Z:0.43 [[ 9.94494110e-01 -1.04234692e-01 -1.07978570e-02 4.03281738e+01] [ 1.04227836e-01 9.94552726e-01 -1.19727996e-03 1.27537661e+00] [ 1.08638362e-02 6.52506036e-05 9.99940985e-01 4.29527763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.544340127999995 meters 0.017078588191505036 Centerline is valid? [True, True] Translation: X:40.39, Y:1.28, Z:0.43 [[ 9.94385971e-01 -1.05328315e-01 -1.01236215e-02 4.03857976e+01] [ 1.05322332e-01 9.94437501e-01 -1.12383437e-03 1.28016476e+00] [ 1.01856804e-02 5.12817113e-05 9.99948123e-01 4.30349681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.604340128 meters 0.016751949413294828 Centerline is valid? [True, True] Translation: X:40.44, Y:1.28, Z:0.43 [[ 9.93973739e-01 -1.09241618e-01 -9.08153309e-03 4.04449655e+01] [ 1.09236946e-01 9.94015226e-01 -1.01038495e-03 1.28080246e+00] [ 9.13755825e-03 1.22571683e-05 9.99958252e-01 4.32103458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.664340128 meters 0.01703773552346231 Centerline is valid? [True, True] Translation: X:40.50, Y:1.28, Z:0.43 [[ 9.93638756e-01 -1.12268776e-01 -8.81729401e-03 4.05026618e+01] [ 1.12264471e-01 9.93677876e-01 -9.83234824e-04 1.28324929e+00] [ 8.87193655e-03 -1.28886179e-05 9.99960644e-01 4.32292300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.724340127999994 meters 0.0172511170605271 Centerline is valid? [True, True] Translation: X:40.56, Y:1.29, Z:0.43 [[ 9.93349610e-01 -1.14823806e-01 -8.48795526e-03 4.05606500e+01] [ 1.14819887e-01 9.93385873e-01 -9.49211045e-04 1.28645712e+00] [ 8.54080687e-03 -3.16876414e-05 9.99963526e-01 4.32640795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.784340128 meters 0.017843228708382165 Centerline is valid? [True, True] Translation: X:40.62, Y:1.29, Z:0.43 [[ 9.92938232e-01 -1.18435273e-01 -6.83765121e-03 4.06196781e+01] [ 1.18432816e-01 9.92961773e-01 -7.64585945e-04 1.28878543e+00] [ 6.88008022e-03 -5.06156701e-05 9.99976331e-01 4.33074565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.844340128 meters 0.021463497348275205 Centerline is valid? [True, True] Translation: X:40.68, Y:1.29, Z:0.43 [[ 9.92612272e-01 -1.21188750e-01 -5.84498644e-03 4.06781514e+01] [ 1.21186992e-01 9.92629479e-01 -6.55317607e-04 1.28986916e+00] [ 5.88132297e-03 -5.78600273e-05 9.99982703e-01 4.34616775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.904340127999994 meters 0.01889597987288057 Centerline is valid? [True, True] Translation: X:40.74, Y:1.30, Z:0.43 [[ 9.92499082e-01 -1.22109053e-01 -5.91200357e-03 4.07358094e+01] [ 1.22107270e-01 9.92516688e-01 -6.63086236e-04 1.29712703e+00] [ 5.94873104e-03 -6.37861333e-05 9.99982304e-01 4.33648363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.964340127999996 meters 0.019568585936554625 Centerline is valid? [True, True] Translation: X:40.79, Y:1.30, Z:0.44 [[ 9.92504786e-01 -1.22107676e-01 -4.89552430e-03 4.07930417e+01] [ 1.22106446e-01 9.92516858e-01 -5.50550279e-04 1.30155576e+00] [ 4.92611681e-03 -5.13512848e-05 9.99987865e-01 4.35645820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.024340128 meters 0.018633974131229695 Centerline is valid? [True, True] Translation: X:40.85, Y:1.31, Z:0.43 [[ 9.92729466e-01 -1.20283731e-01 -4.47571283e-03 4.08510799e+01] [ 1.20282682e-01 9.92739554e-01 -5.03765286e-04 1.31289850e+00] [ 4.50381192e-03 -3.82480991e-05 9.99989857e-01 4.34923405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.084340127999994 meters 0.018507996224332576 Centerline is valid? [True, True] Translation: X:40.91, Y:1.32, Z:0.44 [[ 9.93077591e-01 -1.17380786e-01 -4.31844386e-03 4.09083940e+01] [ 1.17379774e-01 9.93086980e-01 -4.87816971e-04 1.32280922e+00] [ 4.34585072e-03 -2.24578636e-05 9.99990556e-01 4.37169641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.144340127999996 meters 0.018122233364629016 Centerline is valid? [True, True] Translation: X:40.97, Y:1.33, Z:0.44 [[ 9.93203739e-01 -1.16309183e-01 -4.30185260e-03 4.09656232e+01] [ 1.16308170e-01 9.93213056e-01 -4.85672579e-04 1.33268359e+00] [ 4.32914435e-03 -1.79687829e-05 9.99990629e-01 4.36558192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.204340128 meters 0.018271360363275743 Centerline is valid? [True, True] Translation: X:41.02, Y:1.34, Z:0.44 [[ 9.93127887e-01 -1.16955669e-01 -4.28621747e-03 4.10235193e+01] [ 1.16954664e-01 9.93137136e-01 -4.85206337e-04 1.34013928e+00] [ 4.31354937e-03 -1.94211789e-05 9.99990696e-01 4.37069213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26434012799999 meters 0.018390070088581564 Centerline is valid? [True, True] Translation: X:41.08, Y:1.35, Z:0.44 [[ 9.93067436e-01 -1.17448987e-01 -4.77518895e-03 4.10804217e+01] [ 1.17447733e-01 9.93078917e-01 -5.43152067e-04 1.34739433e+00] [ 4.80593213e-03 -2.14484842e-05 9.99988451e-01 4.36817569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.324340127999996 meters 0.018555111894483913 Centerline is valid? [True, True] Translation: X:41.14, Y:1.35, Z:0.44 [[ 9.92919196e-01 -1.18710179e-01 -4.40047495e-03 4.11382985e+01] [ 1.18709129e-01 9.92928946e-01 -5.00141596e-04 1.35494434e+00] [ 4.42873085e-03 -2.57763556e-05 9.99990193e-01 4.36870589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.384340128 meters 0.018604725022757087 Centerline is valid? [True, True] Translation: X:41.20, Y:1.36, Z:0.44 [[ 9.92764382e-01 -1.19977970e-01 -4.91622706e-03 4.11960079e+01] [ 1.19976666e-01 9.92776554e-01 -5.60439409e-04 1.36289105e+00] [ 4.94795534e-03 -3.34482471e-05 9.99987758e-01 4.36245294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.444340128 meters 0.01879742915681517 Centerline is valid? [True, True] Translation: X:41.25, Y:1.37, Z:0.44 [[ 9.92567527e-01 -1.21511236e-01 -6.68755912e-03 4.12540786e+01] [ 1.21508836e-01 9.92590055e-01 -7.65451419e-04 1.36932579e+00] [ 6.73101562e-03 -5.28353044e-05 9.99977345e-01 4.35138484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.504340127999996 meters 0.01896508145747398 Centerline is valid? [True, True] Translation: X:41.31, Y:1.38, Z:0.44 [[ 9.92369979e-01 -1.23072392e-01 -7.41697087e-03 4.13123881e+01] [ 1.23069464e-01 9.92397693e-01 -8.51591503e-04 1.37614550e+00] [ 7.46539219e-03 -6.77087902e-05 9.99972131e-01 4.35138729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.564340128 meters 0.01957611657837195 Centerline is valid? [True, True] Translation: X:41.37, Y:1.38, Z:0.43 [[ 9.92050958e-01 -1.25553983e-01 -8.43169615e-03 4.13707090e+01] [ 1.25550267e-01 9.92086785e-01 -9.70768592e-04 1.38238811e+00] [ 8.48685818e-03 -9.55497881e-05 9.99963981e-01 4.34749422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.624340128 meters 0.020248499008234964 Centerline is valid? [True, True] Translation: X:41.43, Y:1.39, Z:0.44 [[ 9.91649480e-01 -1.28672221e-01 -8.64690556e-03 4.14296057e+01] [ 1.28668410e-01 9.91687171e-01 -9.97954385e-04 1.38816652e+00] [ 8.70343432e-03 -1.22962640e-04 9.99962117e-01 4.36008213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.684340127999995 meters 0.020978493190950822 Centerline is valid? [True, True] Translation: X:41.49, Y:1.39, Z:0.44 [[ 9.91442038e-01 -1.30187119e-01 -9.69528846e-03 4.14868859e+01] [ 1.30182371e-01 9.91489431e-01 -1.12193190e-03 1.39360881e+00] [ 9.75883712e-03 -1.49825193e-04 9.99952370e-01 4.36450875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.744340128 meters 0.02154431547227838 Centerline is valid? [True, True] Translation: X:41.54, Y:1.40, Z:0.44 [[ 9.91335812e-01 -1.30943395e-01 -1.03506247e-02 4.15439128e+01] [ 1.30938013e-01 9.91389832e-01 -1.19883364e-03 1.39988952e+00] [ 1.04184834e-02 -1.66843507e-04 9.99945712e-01 4.36582886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.804340128 meters 0.022091691711245476 Centerline is valid? [True, True] Translation: X:41.60, Y:1.41, Z:0.44 [[ 9.91218531e-01 -1.31690025e-01 -1.19816735e-02 4.16021807e+01] [ 1.31682846e-01 9.91290925e-01 -1.38960300e-03 1.40571090e+00] [ 1.20603211e-02 -2.00380624e-04 9.99927252e-01 4.37424381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.864340127999995 meters 0.022038527035841204 Centerline is valid? [True, True] Translation: X:41.66, Y:1.41, Z:0.44 [[ 9.91191133e-01 -1.31842592e-01 -1.25566513e-02 4.16597123e+01] [ 1.31834675e-01 9.91270643e-01 -1.45978141e-03 1.41244679e+00] [ 1.26395012e-02 -2.08479653e-04 9.99920097e-01 4.38290867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.924340128 meters 0.021256516693582833 Centerline is valid? [True, True] Translation: X:41.72, Y:1.42, Z:0.44 [[ 9.91254832e-01 -1.31401444e-01 -1.21457357e-02 4.17182982e+01] [ 1.31393961e-01 9.91329221e-01 -1.41547859e-03 1.42180100e+00] [ 1.22264187e-02 -1.92776331e-04 9.99925236e-01 4.39895775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.984340128 meters 0.021470569697668584 Centerline is valid? [True, True] Translation: X:41.77, Y:1.43, Z:0.44 [[ 9.91229561e-01 -1.31578499e-01 -1.22904445e-02 4.17747376e+01] [ 1.31570811e-01 9.91305735e-01 -1.43556048e-03 1.42766388e+00] [ 1.23724770e-02 -1.94093770e-04 9.99923439e-01 4.41093171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.044340127999995 meters 0.02158655861213103 Centerline is valid? [True, True] Translation: X:41.83, Y:1.43, Z:0.44 [[ 9.91127360e-01 -1.32410755e-01 -1.15735925e-02 4.18320979e+01] [ 1.32403965e-01 9.91194913e-01 -1.35431753e-03 1.43376984e+00] [ 1.16510122e-02 -1.90088381e-04 9.99932107e-01 4.43545696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.104340128 meters 0.02185045688480298 Centerline is valid? [True, True] Translation: X:41.89, Y:1.44, Z:0.44 [[ 9.91112986e-01 -1.32517915e-01 -1.15780119e-02 4.18886255e+01] [ 1.32511090e-01 9.91180592e-01 -1.35804315e-03 1.44050613e+00] [ 1.16558657e-02 -1.88240763e-04 9.99932050e-01 4.44675483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.164340128 meters 0.021928710480782286 Centerline is valid? [True, True] Translation: X:41.95, Y:1.45, Z:0.44 [[ 9.91125682e-01 -1.32413548e-01 -1.16847863e-02 4.19465095e+01] [ 1.32406568e-01 9.91194541e-01 -1.37243542e-03 1.44896011e+00] [ 1.17636255e-02 -1.86886459e-04 9.99930789e-01 4.44868532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.224340127999994 meters 0.020657382426290574 Centerline is valid? [True, True] Translation: X:42.00, Y:1.46, Z:0.45 [[ 9.91452787e-01 -1.29982268e-01 -1.12240984e-02 4.20041026e+01] [ 1.29975635e-01 9.91516307e-01 -1.32147771e-03 1.46128879e+00] [ 1.13006453e-02 -1.48676567e-04 9.99936135e-01 4.45256063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.284340128 meters 0.02023461469445559 Centerline is valid? [True, True] Translation: X:42.06, Y:1.47, Z:0.44 [[ 9.91765834e-01 -1.27422912e-01 -1.28035786e-02 4.20608805e+01] [ 1.27414028e-01 9.91848468e-01 -1.51060754e-03 1.47214217e+00] [ 1.28916959e-02 -1.33186576e-04 9.99916890e-01 4.44891296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.344340128 meters 0.01921662914770499 Centerline is valid? [True, True] Translation: X:42.12, Y:1.48, Z:0.45 [[ 9.91985686e-01 -1.25670559e-01 -1.30884893e-02 4.21185414e+01] [ 1.25661098e-01 9.92072023e-01 -1.54600416e-03 1.48483293e+00] [ 1.31790113e-02 -1.11099940e-04 9.99913147e-01 4.46163362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.404340127999994 meters 0.019086327320998832 Centerline is valid? [True, True] Translation: X:42.18, Y:1.49, Z:0.45 [[ 9.92025145e-01 -1.25345284e-01 -1.32163384e-02 4.21751623e+01] [ 1.25335566e-01 9.92113173e-01 -1.56434041e-03 1.49404376e+00] [ 1.33081861e-02 -1.04612221e-04 9.99911437e-01 4.47111702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.464340127999996 meters 0.018516763134998122 Centerline is valid? [True, True] Translation: X:42.23, Y:1.50, Z:0.45 [[ 9.92040781e-01 -1.25170805e-01 -1.36879157e-02 4.22323558e+01] [ 1.25160318e-01 9.92135202e-01 -1.62343615e-03 1.50438129e+00] [ 1.37834698e-02 -1.02669020e-04 9.99904998e-01 4.49080397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.524340128 meters 0.018713075168808397 Centerline is valid? [True, True] Translation: X:42.29, Y:1.51, Z:0.45 [[ 9.91932648e-01 -1.25916893e-01 -1.46477981e-02 4.22893398e+01] [ 1.25904894e-01 9.92040787e-01 -1.74216705e-03 1.51448642e+00] [ 1.47505814e-02 -1.16117092e-04 9.99891198e-01 4.48527231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.584340127999994 meters 0.019277420853817128 Centerline is valid? [True, True] Translation: X:42.35, Y:1.52, Z:0.45 [[ 9.91690982e-01 -1.27802617e-01 -1.46794676e-02 4.23466249e+01] [ 1.27790720e-01 9.91799612e-01 -1.74949766e-03 1.52251167e+00] [ 1.47826807e-02 -1.40938684e-04 9.99890720e-01 4.48689255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.644340127999996 meters 0.020146434610555413 Centerline is valid? [True, True] Translation: X:42.40, Y:1.53, Z:0.45 [[ 9.91367108e-01 -1.30304065e-01 -1.45639315e-02 4.24039984e+01] [ 1.30292603e-01 9.91474064e-01 -1.73711676e-03 1.52754120e+00] [ 1.46661137e-02 -1.75452126e-04 9.99892431e-01 4.49900173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.704340128 meters 0.021670030886490953 Centerline is valid? [True, True] Translation: X:42.46, Y:1.53, Z:0.45 [[ 9.90684326e-01 -1.35262603e-01 -1.57668725e-02 4.24620801e+01] [ 1.35249773e-01 9.90809748e-01 -1.88216669e-03 1.53264239e+00] [ 1.58765577e-02 -2.67832875e-04 9.99873924e-01 4.50508084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76434012799999 meters 0.023810718741525166 Centerline is valid? [True, True] Translation: X:42.52, Y:1.54, Z:0.45 [[ 9.90032880e-01 -1.39898538e-01 -1.62264007e-02 4.25207819e+01] [ 1.39885527e-01 9.90165783e-01 -1.93973406e-03 1.53751465e+00] [ 1.63381927e-02 -3.49438111e-04 9.99866462e-01 4.50203379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.824340127999996 meters 0.0254850550550603 Centerline is valid? [True, True] Translation: X:42.58, Y:1.54, Z:0.45 [[ 9.89271164e-01 -1.45165915e-01 -1.64140335e-02 4.25799600e+01] [ 1.45153275e-01 9.89407229e-01 -1.96519130e-03 1.54311098e+00] [ 1.65254422e-02 -4.38443636e-04 9.99863349e-01 4.50200110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.884340128 meters 0.029209975036944048 Centerline is valid? [True, True] Translation: X:42.64, Y:1.55, Z:0.45 [[ 9.88669061e-01 -1.49188246e-01 -1.66239496e-02 4.26389523e+01] [ 1.49175829e-01 9.88808680e-01 -1.99149204e-03 1.54527274e+00] [ 1.67350129e-02 -5.10964901e-04 9.99859829e-01 4.50076218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.944340128 meters 0.03150873236504602 Centerline is valid? [True, True] Translation: X:42.70, Y:1.55, Z:0.45 [[ 9.87915031e-01 -1.54020614e-01 -1.73649548e-02 4.26977995e+01] [ 1.54007788e-01 9.88067441e-01 -2.08154559e-03 1.55080582e+00] [ 1.74783474e-02 -6.17948091e-04 9.99847051e-01 4.49973312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.004340127999996 meters 0.0303828164948914 Centerline is valid? [True, True] Translation: X:42.76, Y:1.56, Z:0.45 [[ 9.87718166e-01 -1.55322499e-01 -1.69631028e-02 4.27560110e+01] [ 1.55310407e-01 9.87863620e-01 -2.03590398e-03 1.56083936e+00] [ 1.70734539e-02 -6.23647061e-04 9.99854043e-01 4.52438739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.064340128 meters 0.030764173244550184 Centerline is valid? [True, True] Translation: X:42.81, Y:1.57, Z:0.45 [[ 9.88029997e-01 -1.53415234e-01 -1.61397201e-02 4.28128267e+01] [ 1.53403983e-01 9.88161654e-01 -1.94023580e-03 1.56981126e+00] [ 1.62463142e-02 -5.58886173e-04 9.99867864e-01 4.53176655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.124340128 meters 0.028819442220331823 Centerline is valid? [True, True] Translation: X:42.87, Y:1.58, Z:0.45 [[ 9.88720568e-01 -1.48979130e-01 -1.53901630e-02 4.28713640e+01] [ 1.48968345e-01 9.88840232e-01 -1.85122753e-03 1.58332091e+00] [ 1.54942067e-02 -4.62300385e-04 9.99879851e-01 4.53741247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.184340127999995 meters 0.025602835846582274 Centerline is valid? [True, True] Translation: X:42.93, Y:1.60, Z:0.45 [[ 9.89561495e-01 -1.43243982e-01 -1.57863718e-02 4.29295527e+01] [ 1.43231896e-01 9.89687332e-01 -1.89948547e-03 1.59831797e+00] [ 1.58956621e-02 -3.81454273e-04 9.99873583e-01 4.53608495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.244340128 meters 0.024052430099996195 Centerline is valid? [True, True] Translation: X:42.99, Y:1.61, Z:0.45 [[ 9.89939126e-01 -1.40572785e-01 -1.61189036e-02 4.29875468e+01] [ 1.40559796e-01 9.90070287e-01 -1.94158100e-03 1.61032346e+00] [ 1.62317810e-02 -3.43622807e-04 9.99868197e-01 4.53922683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.304340128 meters 0.022910929257030213 Centerline is valid? [True, True] Translation: X:43.05, Y:1.62, Z:0.46 [[ 9.90335524e-01 -1.37929527e-01 -1.45257031e-02 4.30457687e+01] [ 1.37918641e-01 9.90442010e-01 -1.75327933e-03 1.62196004e+00] [ 1.46286956e-02 -2.67030436e-04 9.99892959e-01 4.55977921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.364340127999995 meters 0.022142806683793544 Centerline is valid? [True, True] Translation: X:43.10, Y:1.63, Z:0.46 [[ 9.90490881e-01 -1.37045213e-01 -1.21005927e-02 4.31042808e+01] [ 1.37037559e-01 9.90564771e-01 -1.46332901e-03 1.63209957e+00] [ 1.21869631e-02 -2.08821652e-04 9.99925714e-01 4.58784684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.424340128 meters 0.021930990326216867 Centerline is valid? [True, True] Translation: X:43.16, Y:1.64, Z:0.46 [[ 9.90405990e-01 -1.37747225e-01 -1.10307589e-02 4.31619825e+01] [ 1.37740878e-01 9.90467397e-01 -1.33669893e-03 1.64270603e+00] [ 1.11097336e-02 -1.95511795e-04 9.99938266e-01 4.59410936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.484340128 meters 0.022380285837282434 Centerline is valid? [True, True] Translation: X:43.22, Y:1.65, Z:0.46 [[ 9.90258091e-01 -1.38879595e-01 -1.00682942e-02 4.32208186e+01] [ 1.38874337e-01 9.90309256e-01 -1.22289205e-03 1.65022358e+00] [ 1.01405597e-02 -1.87248947e-04 9.99948566e-01 4.60698938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.544340127999995 meters 0.023210489494272974 Centerline is valid? [True, True] Translation: X:43.28, Y:1.66, Z:0.46 [[ 9.89968024e-01 -1.41040770e-01 -8.41498192e-03 4.32792655e+01] [ 1.41037159e-01 9.90003773e-01 -1.02391343e-03 1.65722170e+00] [ 8.47527740e-03 -1.73183588e-04 9.99964069e-01 4.62146403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.604340128 meters 0.024610055989111996 Centerline is valid? [True, True] Translation: X:43.34, Y:1.66, Z:0.46 [[ 9.89738520e-01 -1.42733130e-01 -6.70191359e-03 4.33370610e+01] [ 1.42730868e-01 9.89761199e-01 -8.17109482e-04 1.66356578e+00] [ 6.74992262e-03 -1.47845212e-04 9.99977208e-01 4.63446866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.664340128 meters 0.024793558941318048 Centerline is valid? [True, True] Translation: X:43.40, Y:1.67, Z:0.46 [[ 9.89612718e-01 -1.43623712e-01 -6.23680025e-03 4.33950751e+01] [ 1.43621768e-01 9.89632361e-01 -7.60765955e-04 1.67099250e+00] [ 6.28140339e-03 -1.42876615e-04 9.99980262e-01 4.63845874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.724340127999994 meters 0.024584563554396227 Centerline is valid? [True, True] Translation: X:43.45, Y:1.68, Z:0.46 [[ 9.89464033e-01 -1.44689365e-01 -5.09073811e-03 4.34529143e+01] [ 1.44688080e-01 9.89477121e-01 -6.21791304e-04 1.68051181e+00] [ 5.12713548e-03 -1.21328990e-04 9.99986849e-01 4.63377324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.784340128 meters 0.02426100600537032 Centerline is valid? [True, True] Translation: X:43.51, Y:1.69, Z:0.46 [[ 9.89337926e-01 -1.45578748e-01 -4.15883377e-03 4.35116347e+01] [ 1.45577896e-01 9.89346662e-01 -5.08552606e-04 1.68929044e+00] [ 4.18856276e-03 -1.02303888e-04 9.99991223e-01 4.63896940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.844340128 meters 0.024925472059770627 Centerline is valid? [True, True] Translation: X:43.57, Y:1.70, Z:0.47 [[ 9.89153747e-01 -1.46837945e-01 -3.67199590e-03 4.35703681e+01] [ 1.46837287e-01 9.89160558e-01 -4.49747114e-04 1.69560630e+00] [ 3.69823345e-03 -9.43168706e-05 9.99993157e-01 4.65189362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.904340127999994 meters 0.025160944425731274 Centerline is valid? [True, True] Translation: X:43.63, Y:1.70, Z:0.47 [[ 9.88885232e-01 -1.48648113e-01 -3.12024931e-03 4.36289450e+01] [ 1.48647645e-01 9.88890151e-01 -3.82582681e-04 1.70316748e+00] [ 3.14245401e-03 -8.54873490e-05 9.99995059e-01 4.65153255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.964340127999996 meters 0.027884689549473828 Centerline is valid? [True, True] Translation: X:43.69, Y:1.71, Z:0.47 [[ 9.88709548e-01 -1.49836451e-01 -1.57074796e-03 4.36862155e+01] [ 1.49836333e-01 9.88710795e-01 -1.93000786e-04 1.70693091e+00] [ 1.58193402e-03 -4.45333950e-05 9.99998748e-01 4.66866115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.024340128 meters 0.026789289487098827 Centerline is valid? [True, True] Translation: X:43.74, Y:1.72, Z:0.47 [[ 9.88690686e-01 -1.49966733e-01 -8.40479661e-04 4.37440627e+01] [ 1.49966701e-01 9.88691043e-01 -1.01191029e-04 1.71636480e+00] [ 8.46150001e-04 -2.59973345e-05 9.99999642e-01 4.66806422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.084340127999994 meters 0.02683023234637516 Centerline is valid? [True, True] Translation: X:43.80, Y:1.72, Z:0.47 [[ 9.88647276e-01 -1.50253741e-01 -6.14301779e-04 4.38012938e+01] [ 1.50253724e-01 9.88647466e-01 -7.33593036e-05 1.72448314e+00] [ 6.18350407e-04 -1.97746543e-05 9.99999809e-01 4.66087971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.144340127999996 meters 0.027655355137065907 Centerline is valid? [True, True] Translation: X:43.86, Y:1.73, Z:0.47 [[ 9.88691790e-01 -1.49957374e-01 -1.15347155e-03 4.38584784e+01] [ 1.49957310e-01 9.88692462e-01 -1.42465819e-04 1.73042117e+00] [ 1.16179243e-03 -3.21167048e-05 9.99999325e-01 4.65937465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.204340128 meters 0.02723180171500931 Centerline is valid? [True, True] Translation: X:43.92, Y:1.74, Z:0.47 [[ 9.88727912e-01 -1.49714407e-01 -1.64719009e-03 4.39167264e+01] [ 1.49714277e-01 9.88729283e-01 -2.02664367e-04 1.73932762e+00] [ 1.65896685e-03 -4.62279567e-05 9.99998623e-01 4.65419202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26434012799999 meters 0.02781172743271637 Centerline is valid? [True, True] Translation: X:43.97, Y:1.75, Z:0.46 [[ 9.88708058e-01 -1.49836397e-01 -2.33006140e-03 4.39742561e+01] [ 1.49836134e-01 9.88710802e-01 -2.88070586e-04 1.74705115e+00] [ 2.34692034e-03 -6.43096835e-05 9.99997244e-01 4.64696471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.324340127999996 meters 0.026286177670721805 Centerline is valid? [True, True] Translation: X:44.03, Y:1.76, Z:0.46 [[ 9.88670111e-01 -1.50093086e-01 -1.86449065e-03 4.40312244e+01] [ 1.50092919e-01 9.88671868e-01 -2.30348505e-04 1.75699930e+00] [ 1.87794317e-03 -5.21081614e-05 9.99998235e-01 4.63066632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.384340128 meters 0.026786071240440135 Centerline is valid? [True, True] Translation: X:44.09, Y:1.76, Z:0.46 [[ 9.88580301e-01 -1.50682168e-01 -1.96773440e-03 4.40883635e+01] [ 1.50681977e-01 9.88582258e-01 -2.45526762e-04 1.76312613e+00] [ 1.98226382e-03 -5.37791901e-05 9.99998034e-01 4.61989213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.444340128 meters 0.026675320257797393 Centerline is valid? [True, True] Translation: X:44.15, Y:1.77, Z:0.46 [[ 9.88399973e-01 -1.51854271e-01 -2.40272929e-03 4.41472777e+01] [ 1.51853992e-01 9.88402891e-01 -2.98973368e-04 1.76991125e+00] [ 2.42026496e-03 -6.93587660e-05 9.99997069e-01 4.60351972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.504340127999996 meters 0.027081007002614073 Centerline is valid? [True, True] Translation: X:44.21, Y:1.78, Z:0.46 [[ 9.88150292e-01 -1.53474807e-01 -2.11769544e-03 4.42057201e+01] [ 1.53474594e-01 9.88152559e-01 -2.63828871e-04 1.77523588e+00] [ 2.13309725e-03 -6.43098717e-05 9.99997723e-01 4.60520532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.564340128 meters 0.02810156221507264 Centerline is valid? [True, True] Translation: X:44.27, Y:1.78, Z:0.46 [[ 9.87679931e-01 -1.56480470e-01 -1.48893288e-03 4.42651076e+01] [ 1.56480366e-01 9.87681052e-01 -1.86573377e-04 1.77881042e+00] [ 1.49978588e-03 -4.87139824e-05 9.99998874e-01 4.60127067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.624340128 meters 0.029407904387053103 Centerline is valid? [True, True] Translation: X:44.32, Y:1.78, Z:0.46 [[ 9.87252926e-01 -1.59149079e-01 -1.79752526e-03 4.43239416e+01] [ 1.59148934e-01 9.87254560e-01 -2.24072546e-04 1.78100238e+00] [ 1.81027595e-03 -6.48579529e-05 9.99998359e-01 4.59067072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.684340127999995 meters 0.030013440100773787 Centerline is valid? [True, True] Translation: X:44.38, Y:1.78, Z:0.46 [[ 9.87163096e-01 -1.59700406e-01 -2.19144197e-03 4.43817278e+01] [ 1.59700190e-01 9.87165525e-01 -2.74092954e-04 1.78393942e+00] [ 2.20708872e-03 -7.93992507e-05 9.99997561e-01 4.58335791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.744340128 meters 0.029744776024557034 Centerline is valid? [True, True] Translation: X:44.44, Y:1.79, Z:0.46 [[ 9.87313956e-01 -1.58761976e-01 -2.40547461e-03 4.44404263e+01] [ 1.58761710e-01 9.87316883e-01 -3.02186869e-04 1.79065700e+00] [ 2.42294148e-03 -8.35439500e-05 9.99997061e-01 4.58575591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.804340128 meters 0.02911309209371363 Centerline is valid? [True, True] Translation: X:44.50, Y:1.80, Z:0.46 [[ 9.87880042e-01 -1.55199637e-01 -2.46897151e-03 4.44977458e+01] [ 1.55199341e-01 9.87883124e-01 -3.12120778e-04 1.79711408e+00] [ 2.48749632e-03 -7.48448642e-05 9.99996903e-01 4.59291885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.864340127999995 meters 0.026491726610727573 Centerline is valid? [True, True] Translation: X:44.56, Y:1.81, Z:0.46 [[ 9.88483186e-01 -1.51305645e-01 -2.75559252e-03 4.45562479e+01] [ 1.51305261e-01 9.88487024e-01 -3.48534183e-04 1.80591251e+00] [ 2.77660264e-03 -7.24154661e-05 9.99996143e-01 4.59751550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.924340128 meters 0.0239747202307745 Centerline is valid? [True, True] Translation: X:44.61, Y:1.82, Z:0.46 [[ 9.88961766e-01 -1.48149085e-01 -2.54431169e-03 4.46141083e+01] [ 1.48148749e-01 9.88965037e-01 -3.21029473e-04 1.81603544e+00] [ 2.56379553e-03 -5.94507182e-05 9.99996712e-01 4.58458237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.984340128 meters 0.023261625422250697 Centerline is valid? [True, True] Translation: X:44.67, Y:1.82, Z:0.46 [[ 9.89251226e-01 -1.46202130e-01 -2.63602462e-03 4.46723916e+01] [ 1.46201760e-01 9.89254737e-01 -3.33331249e-04 1.82442648e+00] [ 2.65643358e-03 -5.56430932e-05 9.99996470e-01 4.58259475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.044340127999995 meters 0.021655882347234222 Centerline is valid? [True, True] Translation: X:44.73, Y:1.83, Z:0.46 [[ 9.89855485e-01 -1.42039629e-01 -3.29568362e-03 4.47301968e+01] [ 1.42039020e-01 9.89860970e-01 -4.19451555e-04 1.83327875e+00] [ 3.32184733e-03 -5.29192491e-05 9.99994481e-01 4.59187993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.104340128 meters 0.020127028602566 Centerline is valid? [True, True] Translation: X:44.79, Y:1.84, Z:0.46 [[ 9.90200016e-01 -1.39605451e-01 -3.77449552e-03 4.47878480e+01] [ 1.39604637e-01 9.90207208e-01 -4.79587691e-04 1.84381776e+00] [ 3.80448573e-03 -5.20493377e-05 9.99992762e-01 4.58925773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.164340128 meters 0.01887554567790614 Centerline is valid? [True, True] Translation: X:44.84, Y:1.85, Z:0.46 [[ 9.90883626e-01 -1.34652735e-01 -4.27552482e-03 4.48444155e+01] [ 1.34651635e-01 9.90892850e-01 -5.45489789e-04 1.85436990e+00] [ 4.31003867e-03 -3.51895077e-05 9.99990711e-01 4.59318866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.224340127999994 meters 0.018266008895183632 Centerline is valid? [True, True] Translation: X:44.90, Y:1.87, Z:0.46 [[ 9.91529082e-01 -1.29775455e-01 -5.33019763e-03 4.49026419e+01] [ 1.29773671e-01 9.91543409e-01 -6.80602108e-04 1.86678042e+00] [ 5.37344778e-03 -1.68825332e-05 9.99985563e-01 4.59115550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.284340128 meters 0.018342453250018327 Centerline is valid? [True, True] Translation: X:44.96, Y:1.88, Z:0.46 [[ 9.91885011e-01 -1.26968874e-01 -6.55966064e-03 4.49593208e+01] [ 1.26966092e-01 9.91906702e-01 -8.40459945e-04 1.87616879e+00] [ 6.61328360e-03 7.85144394e-07 9.99978132e-01 4.58783938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.344340128 meters 0.018269538985746424 Centerline is valid? [True, True] Translation: X:45.02, Y:1.89, Z:0.46 [[ 9.92155024e-01 -1.24782574e-01 -7.59717811e-03 4.50167254e+01] [ 1.24778775e-01 9.92184110e-01 -9.73809841e-04 1.88598291e+00] [ 7.65931390e-03 1.82037481e-05 9.99970667e-01 4.58005785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.404340127999994 meters 0.01812597774511711 Centerline is valid? [True, True] Translation: X:45.07, Y:1.89, Z:0.46 [[ 9.92150681e-01 -1.24763663e-01 -8.42938524e-03 4.50741000e+01] [ 1.24758962e-01 9.92186488e-01 -1.08331805e-03 1.89368822e+00] [ 8.49868087e-03 2.31733884e-05 9.99963885e-01 4.57712152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.464340127999996 meters 0.017837555119914323 Centerline is valid? [True, True] Translation: X:45.13, Y:1.90, Z:0.46 [[ 9.91819579e-01 -1.27368896e-01 -8.43135027e-03 4.51315667e+01] [ 1.27364265e-01 9.91855415e-01 -1.08609466e-03 1.89838383e+00] [ 8.50101510e-03 3.35721324e-06 9.99963866e-01 4.58485938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.524340128 meters 0.017745298221793437 Centerline is valid? [True, True] Translation: X:45.19, Y:1.90, Z:0.46 [[ 9.91534232e-01 -1.29576816e-01 -8.34961937e-03 4.51890596e+01] [ 1.29572333e-01 9.91569387e-01 -1.07801680e-03 1.90424971e+00] [ 8.41891294e-03 -1.29891050e-05 9.99964560e-01 4.59366100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.584340127999994 meters 0.017679221799300808 Centerline is valid? [True, True] Translation: X:45.25, Y:1.91, Z:0.46 [[ 9.91138844e-01 -1.32549010e-01 -8.63430508e-03 4.52466249e+01] [ 1.32544303e-01 9.91176452e-01 -1.11757745e-03 1.90896840e+00] [ 8.70625366e-03 -3.67535299e-05 9.99962099e-01 4.59197973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.644340127999996 meters 0.01787939704736376 Centerline is valid? [True, True] Translation: X:45.31, Y:1.91, Z:0.46 [[ 9.90767736e-01 -1.35224084e-01 -9.68198123e-03 4.53057024e+01] [ 1.35218261e-01 9.90815040e-01 -1.25653803e-03 1.91296354e+00] [ 9.76296682e-03 -6.42433336e-05 9.99952339e-01 4.59404350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.704340128 meters 0.018204790746592408 Centerline is valid? [True, True] Translation: X:45.36, Y:1.92, Z:0.46 [[ 9.90542780e-01 -1.36784399e-01 -1.07251778e-02 4.53638524e+01] [ 1.36777313e-01 9.90600838e-01 -1.39487662e-03 1.91838321e+00] [ 1.08151675e-02 -8.52760448e-05 9.99941511e-01 4.59958698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76434012799999 meters 0.018302464843383808 Centerline is valid? [True, True] Translation: X:45.42, Y:1.92, Z:0.46 [[ 9.90414446e-01 -1.37769361e-01 -9.94121715e-03 4.54210883e+01] [ 1.37763314e-01 9.90464333e-01 -1.29378103e-03 1.92483886e+00] [ 1.00246644e-02 -8.81555994e-05 9.99949748e-01 4.61463674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.824340127999996 meters 0.01838005195852965 Centerline is valid? [True, True] Translation: X:45.48, Y:1.93, Z:0.46 [[ 9.90342538e-01 -1.38269812e-01 -1.01545864e-02 4.54788504e+01] [ 1.38263519e-01 9.90394593e-01 -1.32259340e-03 1.93099262e+00] [ 1.02399222e-02 -9.41883406e-05 9.99947566e-01 4.62313187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.884340128 meters 0.01845564396245852 Centerline is valid? [True, True] Translation: X:45.54, Y:1.94, Z:0.46 [[ 9.90279634e-01 -1.38719687e-01 -1.01535457e-02 4.55361733e+01] [ 1.38713388e-01 9.90331681e-01 -1.32539212e-03 1.93823389e+00] [ 1.02392360e-02 -9.59239051e-05 9.99947573e-01 4.63273104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.944340128 meters 0.01893860290301236 Centerline is valid? [True, True] Translation: X:45.59, Y:1.94, Z:0.46 [[ 9.90067783e-01 -1.40142720e-01 -1.12162078e-02 4.55935370e+01] [ 1.40135089e-01 9.90131306e-01 -1.46731476e-03 1.94281446e+00] [ 1.13111520e-02 -1.19043216e-04 9.99936020e-01 4.62504061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.004340127999996 meters 0.01926153145664468 Centerline is valid? [True, True] Translation: X:45.65, Y:1.95, Z:0.46 [[ 9.90020716e-01 -1.40434752e-01 -1.17073621e-02 4.56504044e+01] [ 1.40426445e-01 9.90089927e-01 -1.53270451e-03 1.94913266e+00] [ 1.18065862e-02 -1.26614018e-04 9.99930292e-01 4.62171615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.064340128 meters 0.01916574012825131 Centerline is valid? [True, True] Translation: X:45.71, Y:1.96, Z:0.46 [[ 9.90135371e-01 -1.39622313e-01 -1.17284843e-02 4.57083643e+01] [ 1.39613899e-01 9.90204825e-01 -1.53713489e-03 1.95625921e+00] [ 1.18282200e-02 -1.15487792e-04 9.99930037e-01 4.62845758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.124340128 meters 0.0190525899468775 Centerline is valid? [True, True] Translation: X:45.77, Y:1.96, Z:0.46 [[ 9.90154732e-01 -1.39421514e-01 -1.24598602e-02 4.57661794e+01] [ 1.39411962e-01 9.90233118e-01 -1.63619393e-03 1.96412491e+00] [ 1.25662868e-02 -1.16968396e-04 9.99921034e-01 4.63177274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.184340127999995 meters 0.018180559054905756 Centerline is valid? [True, True] Translation: X:45.82, Y:1.97, Z:0.46 [[ 9.90240806e-01 -1.38616447e-01 -1.44438950e-02 4.58234111e+01] [ 1.38603461e-01 9.90346135e-01 -1.90114430e-03 1.97379688e+00] [ 1.45679855e-02 -1.19383179e-04 9.99893874e-01 4.63468715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.244340128 meters 0.017661902563760316 Centerline is valid? [True, True] Translation: X:45.88, Y:1.98, Z:0.46 [[ 9.90391247e-01 -1.37415020e-01 -1.55656723e-02 4.58805040e+01] [ 1.37399713e-01 9.90513554e-01 -2.05367346e-03 1.98310782e+00] [ 1.57002149e-02 -1.04778681e-04 9.99876739e-01 4.63560420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.304340128 meters 0.01735818060181986 Centerline is valid? [True, True] Translation: X:45.94, Y:1.99, Z:0.46 [[ 9.90641525e-01 -1.35484013e-01 -1.65363880e-02 4.59369497e+01] [ 1.35466400e-01 9.90779530e-01 -2.18584460e-03 1.99246284e+00] [ 1.66800617e-02 -7.47365273e-05 9.99860875e-01 4.63286757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.364340127999995 meters 0.017307028886183896 Centerline is valid? [True, True] Translation: X:45.99, Y:2.00, Z:0.46 [[ 9.90727028e-01 -1.34811207e-01 -1.69084203e-02 4.59946208e+01] [ 1.34792635e-01 9.90871301e-01 -2.23851777e-03 1.99970214e+00] [ 1.70558457e-02 -6.13704689e-05 9.99854537e-01 4.64420040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.424340128 meters 0.01770528661700219 Centerline is valid? [True, True] Translation: X:46.05, Y:2.01, Z:0.46 [[ 9.90658624e-01 -1.35175652e-01 -1.79731547e-02 4.60533991e+01] [ 1.35154631e-01 9.90821648e-01 -2.38474638e-03 2.00673118e+00] [ 1.81305504e-02 -6.66855230e-05 9.99835626e-01 4.64478090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.484340128 meters 0.017904854443294396 Centerline is valid? [True, True] Translation: X:46.11, Y:2.01, Z:0.47 [[ 9.90478006e-01 -1.36448412e-01 -1.83071058e-02 4.61109800e+01] [ 1.36426724e-01 9.90647174e-01 -2.43426103e-03 2.01324490e+00] [ 1.84680337e-02 -8.64964596e-05 9.99829448e-01 4.65315086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.544340127999995 meters 0.018159959406251033 Centerline is valid? [True, True] Translation: X:46.17, Y:2.02, Z:0.47 [[ 9.90197213e-01 -1.38546822e-01 -1.77273160e-02 4.61683734e+01] [ 1.38526727e-01 9.90355878e-01 -2.36245773e-03 2.01858449e+00] [ 1.78836626e-02 -1.16408009e-04 9.99840068e-01 4.66518220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.604340128 meters 0.018677782371565282 Centerline is valid? [True, True] Translation: X:46.23, Y:2.02, Z:0.47 [[ 9.89919325e-01 -1.40601648e-01 -1.70560004e-02 4.62258726e+01] [ 1.40583291e-01 9.90066238e-01 -2.27648341e-03 2.02332485e+00] [ 1.72066475e-02 -1.44253744e-04 9.99851944e-01 4.69500780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.664340128 meters 0.019045686600855417 Centerline is valid? [True, True] Translation: X:46.28, Y:2.03, Z:0.47 [[ 9.89698247e-01 -1.42089862e-01 -1.75456552e-02 4.62839214e+01] [ 1.42070635e-01 9.89853747e-01 -2.34383867e-03 2.02962652e+00] [ 1.77006682e-02 -1.73029354e-04 9.99843316e-01 4.71093786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.724340127999994 meters 0.019708220010160975 Centerline is valid? [True, True] Translation: X:46.34, Y:2.03, Z:0.47 [[ 9.89449378e-01 -1.43835957e-01 -1.73535741e-02 4.63416811e+01] [ 1.43817381e-01 9.89601525e-01 -2.32018394e-03 2.03400358e+00] [ 1.75068493e-02 -2.00041037e-04 9.99846723e-01 4.72990853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.784340128 meters 0.020293161634020757 Centerline is valid? [True, True] Translation: X:46.40, Y:2.04, Z:0.47 [[ 9.89249621e-01 -1.45167707e-01 -1.76500429e-02 4.64000078e+01] [ 1.45148653e-01 9.89407038e-01 -2.36267577e-03 2.04025283e+00] [ 1.78060609e-02 -2.24603839e-04 9.99841434e-01 4.74484781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.844340128 meters 0.019642524616305945 Centerline is valid? [True, True] Translation: X:46.46, Y:2.05, Z:0.48 [[ 9.89095933e-01 -1.46249185e-01 -1.73323863e-02 4.64575052e+01] [ 1.46230895e-01 9.89247755e-01 -2.32483548e-03 2.04928163e+00] [ 1.74860295e-02 -2.35045033e-04 9.99847080e-01 4.77175198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.904340127999994 meters 0.020125931828851112 Centerline is valid? [True, True] Translation: X:46.52, Y:2.06, Z:0.48 [[ 9.88846096e-01 -1.47852628e-01 -1.79721492e-02 4.65158845e+01] [ 1.47833130e-01 9.89009367e-01 -2.41594858e-03 2.05627023e+00] [ 1.81318283e-02 -2.67877758e-04 9.99835569e-01 4.77335940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.964340127999996 meters 0.021543534913877477 Centerline is valid? [True, True] Translation: X:46.57, Y:2.06, Z:0.48 [[ 9.88371638e-01 -1.50987726e-01 -1.80059091e-02 4.65741475e+01] [ 1.50968613e-01 9.88535585e-01 -2.42390043e-03 2.06095430e+00] [ 1.81654611e-02 -3.22612685e-04 9.99834942e-01 4.78720747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.024340128 meters 0.0228777934354519 Centerline is valid? [True, True] Translation: X:46.63, Y:2.07, Z:0.48 [[ 9.88015742e-01 -1.53452108e-01 -1.66536614e-02 4.66315605e+01] [ 1.53436082e-01 9.88156028e-01 -2.24337623e-03 2.06606156e+00] [ 1.68006667e-02 -3.38781528e-04 9.99858801e-01 4.81214647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.084340127999994 meters 0.02448206782989899 Centerline is valid? [True, True] Translation: X:46.69, Y:2.07, Z:0.48 [[ 9.87947434e-01 -1.53845963e-01 -1.70671456e-02 4.66889717e+01] [ 1.53829137e-01 9.88094781e-01 -2.30219681e-03 2.07375987e+00] [ 1.72181412e-02 -3.50974853e-04 9.99851695e-01 4.82715916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.144340127999996 meters 0.021934182359815292 Centerline is valid? [True, True] Translation: X:46.75, Y:2.09, Z:0.48 [[ 9.88493383e-01 -1.50126193e-01 -1.85191335e-02 4.67457020e+01] [ 1.50105649e-01 9.88666795e-01 -2.50235219e-03 2.08672178e+00] [ 1.86849210e-02 -3.06267970e-04 9.99825375e-01 4.79917062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.204340128 meters 0.01923684789325844 Centerline is valid? [True, True] Translation: X:46.80, Y:2.10, Z:0.48 [[ 9.89354415e-01 -1.44335381e-01 -1.85779448e-02 4.68031806e+01] [ 1.44313619e-01 9.89528807e-01 -2.51377967e-03 2.10367211e+00] [ 1.87462389e-02 -1.94031431e-04 9.99824255e-01 4.80312243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26434012799999 meters 0.018151947150462554 Centerline is valid? [True, True] Translation: X:46.86, Y:2.12, Z:0.48 [[ 9.89880078e-01 -1.40798448e-01 -1.76982684e-02 4.68606029e+01] [ 1.40778054e-01 9.90038274e-01 -2.39918378e-03 2.11579473e+00] [ 1.78597644e-02 -1.16623561e-04 9.99840495e-01 4.82153881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.324340127999996 meters 0.01764570082837686 Centerline is valid? [True, True] Translation: X:46.92, Y:2.13, Z:0.48 [[ 9.90458679e-01 -1.36877781e-01 -1.60024318e-02 4.69169212e+01] [ 1.36860548e-01 9.90587942e-01 -2.17226488e-03 2.12762086e+00] [ 1.61491508e-02 -3.85629875e-05 9.99869593e-01 4.84284432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.384340128 meters 0.017396801240307392 Centerline is valid? [True, True] Translation: X:46.97, Y:2.14, Z:0.49 [[ 9.90826692e-01 -1.34265996e-01 -1.53332786e-02 4.69737681e+01] [ 1.34249820e-01 9.90945328e-01 -2.08414130e-03 2.13954756e+00] [ 1.54742701e-02 6.53294453e-06 9.99880266e-01 4.87701594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.444340128 meters 0.017669570073785588 Centerline is valid? [True, True] Translation: X:47.03, Y:2.15, Z:0.49 [[ 9.91061411e-01 -1.32503527e-01 -1.54949702e-02 4.70293842e+01] [ 1.32486723e-01 9.91182533e-01 -2.11055826e-03 2.15054218e+00] [ 1.56380003e-02 3.88150229e-05 9.99877718e-01 4.88564049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.504340127999996 meters 0.017825491680917394 Centerline is valid? [True, True] Translation: X:47.09, Y:2.16, Z:0.49 [[ 9.91374910e-01 -1.30053811e-01 -1.61800761e-02 4.70870951e+01] [ 1.30035096e-01 9.91506933e-01 -2.20786801e-03 2.16308377e+00] [ 1.63297993e-02 8.48471981e-05 9.99866656e-01 4.90494681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.564340128 meters 0.01817184326564304 Centerline is valid? [True, True] Translation: X:47.14, Y:2.18, Z:0.49 [[ 9.91733220e-01 -1.27221757e-01 -1.67285358e-02 4.71444366e+01] [ 1.27201270e-01 9.91874289e-01 -2.28740075e-03 2.17518072e+00] [ 1.68836117e-02 1.40600309e-04 9.99857452e-01 4.91198582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.624340128 meters 0.018663562930627074 Centerline is valid? [True, True] Translation: X:47.20, Y:2.19, Z:0.49 [[ 9.91925226e-01 -1.25536263e-01 -1.80275291e-02 4.72008953e+01] [ 1.25512122e-01 9.92089014e-01 -2.46886434e-03 2.18559166e+00] [ 1.81948455e-02 1.86255390e-04 9.99834443e-01 4.91153564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.684340127999995 meters 0.019386229511559137 Centerline is valid? [True, True] Translation: X:47.26, Y:2.20, Z:0.49 [[ 9.92253505e-01 -1.22795531e-01 -1.88212202e-02 4.72587584e+01] [ 1.22768655e-01 9.92431960e-01 -2.58122585e-03 2.19674237e+00] [ 1.89957435e-02 2.50574509e-04 9.99819533e-01 4.91500734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.744340128 meters 0.02052072939961269 Centerline is valid? [True, True] Translation: X:47.32, Y:2.21, Z:0.49 [[ 9.92602707e-01 -1.20117556e-01 -1.76532660e-02 4.73153628e+01] [ 1.20093424e-01 9.92759634e-01 -2.42466674e-03 2.20710134e+00] [ 1.78166949e-02 2.86689610e-04 9.99841229e-01 4.93085709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.804340128 meters 0.02082790967334006 Centerline is valid? [True, True] Translation: X:47.37, Y:2.22, Z:0.49 [[ 9.92633948e-01 -1.19890682e-01 -1.74376135e-02 4.73729632e+01] [ 1.19867035e-01 9.92787057e-01 -2.39878201e-03 2.21534118e+00] [ 1.75994286e-02 2.90917428e-04 9.99845076e-01 4.94037115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.864340127999995 meters 0.02123926563788334 Centerline is valid? [True, True] Translation: X:47.43, Y:2.22, Z:0.49 [[ 9.92631423e-01 -1.19924607e-01 -1.73478154e-02 4.74292850e+01] [ 1.19901139e-01 9.92782959e-01 -2.39036976e-03 2.22091013e+00] [ 1.75092796e-02 2.92733312e-04 9.99846658e-01 4.94983071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.924340128 meters 0.02005015781675197 Centerline is valid? [True, True] Translation: X:47.49, Y:2.22, Z:0.50 [[ 9.92141004e-01 -1.23980166e-01 -1.68863002e-02 4.74872485e+01] [ 1.23958485e-01 9.92284672e-01 -2.32866807e-03 2.22247754e+00] [ 1.70447255e-02 2.17166887e-04 9.99854705e-01 4.95606498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.984340128 meters 0.01809810325035264 Centerline is valid? [True, True] Translation: X:47.55, Y:2.22, Z:0.50 [[ 9.91533018e-01 -1.28785649e-01 -1.66291888e-02 4.75462837e+01] [ 1.28765254e-01 9.91672445e-01 -2.29585912e-03 2.22420769e+00] [ 1.67863820e-02 1.35158410e-04 9.99859090e-01 4.96808176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.044340127999995 meters 0.016983322315569944 Centerline is valid? [True, True] Translation: X:47.61, Y:2.23, Z:0.50 [[ 9.90597573e-01 -1.35662581e-01 -1.76666889e-02 4.76050345e+01] [ 1.35640569e-01 9.90755098e-01 -2.44391064e-03 2.22924053e+00] [ 1.78349093e-02 2.46122129e-05 9.99840945e-01 4.95094877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.104340128 meters 0.017145200320994154 Centerline is valid? [True, True] Translation: X:47.66, Y:2.24, Z:0.49 [[ 9.90226653e-01 -1.38283519e-01 -1.81340696e-02 4.76614989e+01] [ 1.38260695e-01 9.90392684e-01 -2.51240784e-03 2.23986903e+00] [ 1.83072745e-02 -1.93758561e-05 9.99832408e-01 4.94627638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.164340128 meters 0.017065634478262932 Centerline is valid? [True, True] Translation: X:47.72, Y:2.25, Z:0.50 [[ 9.89935289e-01 -1.40601899e-01 -1.61005893e-02 4.77192237e+01] [ 1.40584163e-01 9.90066212e-01 -2.23380793e-03 2.24858597e+00] [ 1.62547271e-02 -5.21625712e-05 9.99867882e-01 4.98320758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.224340127999994 meters 0.017645222073428068 Centerline is valid? [True, True] Translation: X:47.78, Y:2.26, Z:0.50 [[ 9.89183259e-01 -1.46226275e-01 -1.15912299e-02 4.77767558e+01] [ 1.46217437e-01 9.89251164e-01 -1.61083493e-03 2.25863444e+00] [ 1.17021841e-02 -1.01428988e-04 9.99931522e-01 5.04829766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.284340128 meters 0.019174664380888596 Centerline is valid? [True, True] Translation: X:47.83, Y:2.27, Z:0.51 [[ 9.88770849e-01 -1.49221426e-01 -8.07306672e-03 4.78341200e+01] [ 1.49217225e-01 9.88803801e-01 -1.12355630e-03 2.26874146e+00] [ 8.15033773e-03 -9.37009004e-05 9.99966781e-01 5.08433001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.344340128 meters 0.01871581129371737 Centerline is valid? [True, True] Translation: X:47.89, Y:2.29, Z:0.51 [[ 9.88503326e-01 -1.51159353e-01 -3.46768498e-03 4.78902572e+01] [ 1.51158595e-01 9.88509407e-01 -4.81196413e-04 2.28867732e+00] [ 3.50057656e-03 -4.85061362e-05 9.99993872e-01 5.13323069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.404340127999994 meters 0.01846826544188986 Centerline is valid? [True, True] Translation: X:47.95, Y:2.31, Z:0.52 [[ 9.88705452e-01 -1.49870524e-01 -5.95855573e-04 4.79459756e+01] [ 1.49870503e-01 9.88705632e-01 -8.01410821e-05 2.31073694e+00] [ 6.01136547e-04 -1.00652498e-05 9.99999819e-01 5.16350283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.464340127999996 meters 0.020773546822590108 Centerline is valid? [True, True] Translation: X:48.00, Y:2.34, Z:0.52 [[ 9.89451426e-01 -1.44860576e-01 1.13498889e-03 4.80021070e+01] [ 1.44860487e-01 9.89452077e-01 1.60471866e-04 2.33789678e+00] [-1.14626316e-03 5.63592594e-06 9.99999343e-01 5.20100553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.524340128 meters 0.01718341603820752 Centerline is valid? [True, True] Translation: X:48.06, Y:2.37, Z:0.52 [[ 9.90431807e-01 -1.37972750e-01 2.89050952e-03 4.80556101e+01] [ 1.37972151e-01 9.90436025e-01 4.06620300e-04 2.36736426e+00] [-2.91896728e-03 -3.91986384e-06 9.99995740e-01 5.21103653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.584340127999994 meters 0.0210865571384811 Centerline is valid? [True, True] Translation: X:48.11, Y:2.39, Z:0.52 [[ 9.91142259e-01 -1.32760402e-01 3.42012242e-03 4.81121280e+01] [ 1.32759525e-01 9.91148160e-01 4.83056323e-04 2.38924776e+00] [-3.45397879e-03 -2.47237076e-05 9.99994035e-01 5.23136607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.644340127999996 meters 0.022644593747751032 Centerline is valid? [True, True] Translation: X:48.17, Y:2.42, Z:0.52 [[ 9.92180191e-01 -1.24666958e-01 6.05131466e-03 4.81663234e+01] [ 1.24664085e-01 9.92198640e-01 8.51243408e-04 2.42062459e+00] [-6.11022810e-03 -9.02052424e-05 9.99981328e-01 5.23891241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.704340128 meters 0.029367900254034886 Centerline is valid? [True, True] Translation: X:48.22, Y:2.44, Z:0.53 [[ 9.92792256e-01 -1.19670047e-01 6.52809836e-03 4.82235018e+01] [ 1.19666596e-01 9.92813710e-01 9.18114477e-04 2.44230275e+00] [-6.59105636e-03 -1.30301631e-04 9.99978270e-01 5.26211762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76434012799999 meters 0.033129703511996886 Centerline is valid? [True, True] Translation: X:48.28, Y:2.47, Z:0.52 [[ 9.93521678e-01 -1.13479953e-01 6.08070762e-03 4.82787795e+01] [ 1.13476838e-01 9.93540273e-01 8.55997000e-04 2.46589710e+00] [-6.13856641e-03 -1.60432104e-04 9.99981146e-01 5.24286074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.824340127999996 meters 0.033756144730134496 Centerline is valid? [True, True] Translation: X:48.34, Y:2.48, Z:0.52 [[ 9.93902127e-01 -1.10153867e-01 4.96865388e-03 4.83357496e+01] [ 1.10151729e-01 9.93914535e-01 7.02683285e-04 2.48165535e+00] [-5.01582059e-03 -1.51092594e-04 9.99987409e-01 5.20196801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.884340128 meters 0.031459007877711664 Centerline is valid? [True, True] Translation: X:48.39, Y:2.49, Z:0.52 [[ 9.94046459e-01 -1.08783424e-01 6.14849858e-03 4.83932885e+01] [ 1.08780134e-01 9.94065455e-01 8.67963233e-04 2.49169833e+00] [-6.20643005e-03 -1.93961280e-04 9.99980721e-01 5.17688668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.944340128 meters 0.03421834753530298 Centerline is valid? [True, True] Translation: X:48.45, Y:2.50, Z:0.52 [[ 9.94431022e-01 -1.05254038e-01 5.34134889e-03 4.84518196e+01] [ 1.05251506e-01 9.94445349e-01 7.53784571e-04 2.50332965e+00] [-5.39101843e-03 -1.87401747e-04 9.99985451e-01 5.15587104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.004340127999996 meters 0.03927541824491405 Centerline is valid? [True, True] Translation: X:48.51, Y:2.51, Z:0.51 [[ 9.94878167e-01 -1.00969875e-01 4.74528677e-03 4.85092376e+01] [ 1.00967824e-01 9.94889466e-01 6.70425171e-04 2.51332243e+00] [-4.78872856e-03 -1.87870087e-04 9.99988516e-01 5.14681596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.064340128 meters 0.03973244258823278 Centerline is valid? [True, True] Translation: X:48.57, Y:2.51, Z:0.51 [[ 9.95363465e-01 -9.60842210e-02 4.40407143e-03 4.85698378e+01] [ 9.60824084e-02 9.95373188e-01 6.21821850e-04 2.51320510e+00] [-4.44344189e-03 -1.95784961e-04 9.99990109e-01 5.10898112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.124340128 meters 0.046838846519157984 Centerline is valid? [True, True] Translation: X:48.63, Y:2.52, Z:0.51 [[ 9.95629540e-01 -9.32790498e-02 4.56480822e-03 4.86270186e+01] [ 9.32770679e-02 9.95639981e-01 6.45620919e-04 2.52352342e+00] [-4.60512847e-03 -2.17007332e-04 9.99989373e-01 5.12555460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.184340127999995 meters 0.04274214200861193 Centerline is valid? [True, True] Translation: X:48.69, Y:2.51, Z:0.51 [[ 9.95943534e-01 -8.98228916e-02 5.32219107e-03 4.86890371e+01] [ 8.98201522e-02 9.95957717e-01 7.51996545e-04 2.51350558e+00] [-5.36822378e-03 -2.70906084e-04 9.99985554e-01 5.08632188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.244340128 meters 0.0434635903502669 Centerline is valid? [True, True] Translation: X:48.75, Y:2.50, Z:0.51 [[ 9.96132125e-01 -8.75964956e-02 6.90248824e-03 4.87502892e+01] [ 8.75918295e-02 9.96155971e-01 9.76013533e-04 2.50274241e+00] [-6.96145024e-03 -3.67636861e-04 9.99975701e-01 5.08916496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.304340128 meters 0.0443723420214297 Centerline is valid? [True, True] Translation: X:48.81, Y:2.50, Z:0.51 [[ 9.96248886e-01 -8.60083016e-02 9.52517921e-03 4.88103478e+01] [ 8.59993402e-02 9.96294283e-01 1.34720016e-03 2.50109900e+00] [-9.60575199e-03 -5.22987531e-04 9.99953727e-01 5.10283873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.364340127999995 meters 0.047495804281222735 Centerline is valid? [True, True] Translation: X:48.87, Y:2.49, Z:0.52 [[ 9.96288895e-01 -8.46030151e-02 1.58356702e-02 4.88723207e+01] [ 8.45780828e-02 9.96414339e-01 2.23879004e-03 2.49459183e+00] [-1.59682973e-02 -8.91131026e-04 9.99872102e-01 5.17634993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.424340128 meters 0.05163826184757745 Centerline is valid? [True, True] Translation: X:48.93, Y:2.49, Z:0.53 [[ 9.96280343e-01 -8.29602936e-02 2.33038080e-02 4.89329175e+01] [ 8.29058306e-02 9.96551938e-01 3.29525736e-03 2.48851041e+00] [-2.34968305e-02 -1.35097858e-03 9.99722999e-01 5.28214563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.484340128 meters 0.05186576508404208 Centerline is valid? [True, True] Translation: X:48.99, Y:2.48, Z:0.54 [[ 9.95862276e-01 -8.58160704e-02 2.98986404e-02 4.89942991e+01] [ 8.57276109e-02 9.96309631e-01 4.23041691e-03 2.47507142e+00] [-3.01513412e-02 -1.64977360e-03 9.99543983e-01 5.37013662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.544340127999995 meters 0.045315592961105856 Centerline is valid? [True, True] Translation: X:49.06, Y:2.46, Z:0.54 [[ 9.94716074e-01 -9.73097037e-02 3.27223740e-02 4.90567214e+01] [ 9.72099284e-02 9.95253129e-01 4.63012797e-03 2.46122624e+00] [-3.30176015e-02 -1.42472308e-03 9.99453755e-01 5.38559882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.604340128 meters 0.030183251938437853 Centerline is valid? [True, True] Translation: X:49.12, Y:2.42, Z:0.54 [[ 9.91346312e-01 -1.25583457e-01 3.82267485e-02 4.91225702e+01] [ 1.25468161e-01 9.92082897e-01 5.40985715e-03 2.42096334e+00] [-3.86034919e-02 -5.66802092e-04 9.99254447e-01 5.44167645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.664340128 meters 0.030527375779406014 Centerline is valid? [True, True] Translation: X:49.19, Y:2.38, Z:0.55 [[ 9.86921134e-01 -1.54983146e-01 4.43497503e-02 4.91884553e+01] [ 1.54857460e-01 9.87916885e-01 6.27662133e-03 2.37636995e+00] [-4.47866376e-02 6.73359456e-04 9.98996348e-01 5.54649846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.724340127999994 meters 0.030203636774830185 Centerline is valid? [True, True] Translation: X:49.25, Y:2.37, Z:0.55 [[ 9.85499937e-01 -1.63333184e-01 4.59580742e-02 4.92502030e+01] [ 1.63207283e-01 9.86570363e-01 6.50402056e-03 2.37335431e+00] [-4.64031963e-02 1.09098054e-03 9.98922196e-01 5.49224472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.784340128 meters 0.03626978754373152 Centerline is valid? [True, True] Translation: X:49.31, Y:2.36, Z:0.55 [[ 9.83135560e-01 -1.76583607e-01 4.75678449e-02 4.93128045e+01] [ 1.76464115e-01 9.84284045e-01 6.73312381e-03 2.35997496e+00] [-4.80092300e-02 1.77444421e-03 9.98845316e-01 5.51256524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.844340128 meters 0.048375284942361214 Centerline is valid? [True, True] Translation: X:49.37, Y:2.35, Z:0.56 [[ 9.81658799e-01 -1.84164159e-01 4.92906219e-02 4.93736290e+01] [ 1.84045318e-01 9.82892989e-01 6.97808994e-03 2.35454304e+00] [-4.97325208e-02 2.22160482e-03 9.98760102e-01 5.63098845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.904340127999994 meters 0.04370517351525528 Centerline is valid? [True, True] Translation: X:49.43, Y:2.37, Z:0.55 [[ 9.81358558e-01 -1.86599336e-01 4.60007401e-02 4.94317399e+01] [ 1.86498195e-01 9.82433676e-01 6.51885397e-03 2.36918271e+00] [-4.64090900e-02 2.18172184e-03 9.98920135e-01 5.51439557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.964340127999996 meters 0.04471048889522284 Centerline is valid? [True, True] Translation: X:49.49, Y:2.38, Z:0.55 [[ 9.81367055e-01 -1.86959354e-01 4.43272329e-02 4.94900930e+01] [ 1.86865682e-01 9.82365371e-01 6.28441190e-03 2.37814881e+00] [-4.47204682e-02 2.11592383e-03 9.98997299e-01 5.50607372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.024340128 meters 0.034993162944579354 Centerline is valid? [True, True] Translation: X:49.55, Y:2.40, Z:0.54 [[ 9.82028805e-01 -1.83776907e-01 4.29589955e-02 4.95468226e+01] [ 1.83685829e-01 9.82966126e-01 6.09185888e-03 2.40398735e+00] [-4.33467804e-02 1.90857779e-03 9.99058264e-01 5.35720350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.084340127999994 meters 0.03379720611718909 Centerline is valid? [True, True] Translation: X:49.60, Y:2.43, Z:0.53 [[ 9.83411325e-01 -1.77069144e-01 3.93533266e-02 4.96032338e+01] [ 1.76987257e-01 9.84197309e-01 5.58279221e-03 2.42526907e+00] [-3.97199784e-02 1.47485627e-03 9.99209762e-01 5.31542863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.144340127999996 meters 0.02921007613738961 Centerline is valid? [True, True] Translation: X:49.66, Y:2.45, Z:0.52 [[ 9.84901634e-01 -1.70219241e-01 3.15306293e-02 4.96609978e+01] [ 1.70163157e-01 9.85405749e-01 4.47333667e-03 2.44967130e+00] [-3.18319113e-02 9.59554810e-04 9.99492776e-01 5.19752859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.204340128 meters 0.027007179204947763 Centerline is valid? [True, True] Translation: X:49.72, Y:2.47, Z:0.51 [[ 9.85625571e-01 -1.67056962e-01 2.51834400e-02 4.97185998e+01] [ 1.67020136e-01 9.85947009e-01 3.57357280e-03 2.46873577e+00] [-2.54265276e-02 6.83936851e-04 9.99676460e-01 5.11059762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26434012799999 meters 0.026057604279982542 Centerline is valid? [True, True] Translation: X:49.78, Y:2.50, Z:0.50 [[ 9.86362890e-01 -1.63780037e-01 1.62588080e-02 4.97752344e+01] [ 1.63764234e-01 9.86496807e-01 2.30770556e-03 2.49625305e+00] [-1.64172183e-02 3.86376110e-04 9.99865154e-01 4.97555973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.324340127999996 meters 0.023339744122250813 Centerline is valid? [True, True] Translation: X:49.83, Y:2.52, Z:0.49 [[ 9.86620011e-01 -1.62715324e-01 1.02312076e-02 4.98325655e+01] [ 1.62709003e-01 9.86673031e-01 1.45273448e-03 2.51641337e+00] [-1.03312387e-02 2.31412675e-04 9.99946605e-01 4.88778006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.384340128 meters 0.023663307753357767 Centerline is valid? [True, True] Translation: X:49.89, Y:2.54, Z:0.47 [[ 9.86622375e-01 -1.63021474e-01 -5.37260359e-04 4.98885594e+01] [ 1.63021457e-01 9.86622521e-01 -7.57735033e-05 2.54066879e+00] [ 5.42425878e-04 -1.28251329e-05 9.99999853e-01 4.74601974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44434012799999 meters 0.022895287534346217 Centerline is valid? [True, True] Translation: X:49.94, Y:2.57, Z:0.46 [[ 9.85811072e-01 -1.67446311e-01 -1.17585702e-02 4.99436060e+01] [ 1.67438289e-01 9.85881143e-01 -1.67040495e-03 2.57087592e+00] [ 1.18722558e-02 -3.22131182e-04 9.99929470e-01 4.57805353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.504340127999996 meters 0.03278323820289819 Centerline is valid? [True, True] Translation: X:50.00, Y:2.59, Z:0.45 [[ 9.83877782e-01 -1.77699588e-01 -2.01833281e-02 5.00015365e+01] [ 1.77678004e-01 9.84084487e-01 -2.87207683e-03 2.58833246e+00] [ 2.03724670e-02 -7.60360874e-04 9.99792171e-01 4.46677794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.564340128 meters 0.04232066570238338 Centerline is valid? [True, True] Translation: X:50.06, Y:2.59, Z:0.44 [[ 9.81953976e-01 -1.87828946e-01 -2.20607189e-02 5.00606088e+01] [ 1.87805690e-01 9.82201183e-01 -3.13994379e-03 2.59319819e+00] [ 2.22578365e-02 -1.05984824e-03 9.99751702e-01 4.43902060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.624340128 meters 0.049518006739767785 Centerline is valid? [True, True] Translation: X:50.12, Y:2.61, Z:0.45 [[ 9.79411887e-01 -2.00520940e-01 -2.33175671e-02 5.01195752e+01] [ 2.00498514e-01 9.79688382e-01 -3.31966789e-03 2.60711441e+00] [ 2.35096125e-02 -1.42381537e-03 9.99722597e-01 4.45581219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.684340127999995 meters 0.05760945355162895 Centerline is valid? [True, True] Translation: X:50.18, Y:2.62, Z:0.45 [[ 9.78458773e-01 -2.05441475e-01 -2.03034635e-02 5.01770219e+01] [ 2.05425510e-01 9.78668483e-01 -2.89132031e-03 2.62378282e+00] [ 2.04643569e-02 -1.34181162e-03 9.99789683e-01 4.51169762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.744340128 meters 0.05528217509276494 Centerline is valid? [True, True] Translation: X:50.23, Y:2.64, Z:0.46 [[ 9.78579978e-01 -2.05185527e-01 -1.67369687e-02 5.02339533e+01] [ 2.05174601e-01 9.78722479e-01 -2.38582817e-03 2.64382658e+00] [ 1.68703849e-02 -1.09927719e-03 9.99857081e-01 4.57725666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.804340128 meters 0.055359699367241166 Centerline is valid? [True, True] Translation: X:50.29, Y:2.66, Z:0.47 [[ 9.78901874e-01 -2.03923940e-01 -1.28898140e-02 5.02907885e+01] [ 2.03917319e-01 9.78986385e-01 -1.83985691e-03 2.66334126e+00] [ 1.29941433e-02 -8.27416945e-04 9.99915230e-01 4.66652905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.864340127999995 meters 0.05520512996899982 Centerline is valid? [True, True] Translation: X:50.35, Y:2.68, Z:0.47 [[ 9.79037057e-01 -2.03341039e-01 -1.17839908e-02 5.03476857e+01] [ 2.03335447e-01 9.79107687e-01 -1.68334375e-03 2.68141077e+00] [ 1.18800889e-02 -7.48047129e-04 9.99929149e-01 4.71856363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.924340128 meters 0.051748820910327065 Centerline is valid? [True, True] Translation: X:50.41, Y:2.70, Z:0.47 [[ 9.79719611e-01 -1.99865419e-01 -1.42582585e-02 5.04061681e+01] [ 1.99856816e-01 9.79822989e-01 -2.04023609e-03 2.69715794e+00] [ 1.43783421e-02 -8.50750835e-04 9.99896264e-01 4.71703655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.984340128 meters 0.044052190715607405 Centerline is valid? [True, True] Translation: X:50.46, Y:2.72, Z:0.47 [[ 9.81844011e-01 -1.88908190e-01 -1.72056309e-02 5.04632919e+01] [ 1.88893973e-01 9.81994401e-01 -2.46250928e-03 2.71903521e+00] [ 1.73610214e-02 -8.32239988e-04 9.99848940e-01 4.71089821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.044340127999995 meters 0.03656915435127331 Centerline is valid? [True, True] Translation: X:50.52, Y:2.74, Z:0.47 [[ 9.83676725e-01 -1.79010901e-01 -1.83084307e-02 5.05204163e+01] [ 1.78993076e-01 9.83846842e-01 -2.62102572e-03 2.74005380e+00] [ 1.84818839e-02 -6.98840336e-04 9.99828951e-01 4.71430917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.104340128 meters 0.024096743630182556 Centerline is valid? [True, True] Translation: X:50.58, Y:2.77, Z:0.47 [[ 9.86555972e-01 -1.62235552e-01 -1.96707719e-02 5.05766335e+01] [ 1.62211622e-01 9.86751973e-01 -2.81673051e-03 2.76932013e+00] [ 1.98671468e-02 -4.11965508e-04 9.99802544e-01 4.70916527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.164340128 meters 0.016007873745836187 Centerline is valid? [True, True] Translation: X:50.63, Y:2.79, Z:0.47 [[ 9.88662665e-01 -1.48840554e-01 -1.98147755e-02 5.06343452e+01] [ 1.48813565e-01 9.88861198e-01 -2.83789003e-03 2.79159861e+00] [ 2.00164558e-02 -1.42991463e-04 9.99799640e-01 4.74603531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.224340127999994 meters 0.015552433263374948 Centerline is valid? [True, True] Translation: X:50.69, Y:2.80, Z:0.48 [[ 9.89337354e-01 -1.44334012e-01 -1.94754205e-02 5.06915901e+01] [ 1.44307043e-01 9.89529025e-01 -2.79049726e-03 2.79944628e+00] [ 1.96742575e-02 -4.96971632e-05 9.99806442e-01 4.75866806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.284340128 meters 0.015474744572410984 Centerline is valid? [True, True] Translation: X:50.75, Y:2.80, Z:0.48 [[ 9.88999886e-01 -1.46494488e-01 -2.04594946e-02 5.07505901e+01] [ 1.46465098e-01 9.89211482e-01 -2.93573326e-03 2.80155942e+00] [ 2.06688357e-02 -9.31620321e-05 9.99786372e-01 4.79275554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.344340128 meters 0.020164074345770496 Centerline is valid? [True, True] Translation: X:50.81, Y:2.80, Z:0.48 [[ 9.88436097e-01 -1.50163110e-01 -2.10979152e-02 5.08096093e+01] [ 1.50132605e-01 9.88661222e-01 -3.03147429e-03 2.79509914e+00] [ 2.13139062e-02 -1.71066350e-04 9.99772818e-01 4.78165323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.404340127999994 meters 0.01801825981007694 Centerline is valid? [True, True] Translation: X:50.87, Y:2.79, Z:0.48 [[ 9.87975414e-01 -1.53213492e-01 -2.07414319e-02 5.08700583e+01] [ 1.53184596e-01 9.88193085e-01 -2.98429624e-03 2.79108142e+00] [ 2.09537740e-02 -2.28856555e-04 9.99780419e-01 4.81706390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.464340127999996 meters 0.019820982467482887 Centerline is valid? [True, True] Translation: X:50.93, Y:2.78, Z:0.49 [[ 9.87440635e-01 -1.56878784e-01 -1.87093210e-02 5.09301158e+01] [ 1.56855869e-01 9.87617827e-01 -2.69520030e-03 2.77813223e+00] [ 1.89004787e-02 -2.73316500e-04 9.99821333e-01 4.86984988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.524340128 meters 0.022822115852214678 Centerline is valid? [True, True] Translation: X:50.99, Y:2.77, Z:0.49 [[ 9.87061373e-01 -1.59007768e-01 -2.06488662e-02 5.09900528e+01] [ 1.58980237e-01 9.87277272e-01 -2.97856116e-03 2.77384227e+00] [ 2.08597706e-02 -3.42738973e-04 9.99782353e-01 4.86657854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.584340127999994 meters 0.02237972995842056 Centerline is valid? [True, True] Translation: X:51.05, Y:2.77, Z:0.49 [[ 9.86607247e-01 -1.61748247e-01 -2.10628621e-02 5.10504058e+01] [ 1.61720102e-01 9.86831973e-01 -3.04408533e-03 2.76508304e+00] [ 2.12778812e-02 -4.02971566e-04 9.99773519e-01 4.87883599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.644340127999996 meters 0.02259481753159205 Centerline is valid? [True, True] Translation: X:51.11, Y:2.77, Z:0.49 [[ 9.86394037e-01 -1.63006632e-01 -2.13457532e-02 5.11093662e+01] [ 1.62977888e-01 9.86624880e-01 -3.09108967e-03 2.76845453e+00] [ 2.15641193e-02 -4.29853361e-04 9.99767375e-01 4.89590779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.704340128 meters 0.023349233398602974 Centerline is valid? [True, True] Translation: X:51.17, Y:2.76, Z:0.49 [[ 9.85797091e-01 -1.66714867e-01 -2.02545854e-02 5.11698847e+01] [ 1.66689653e-01 9.86005032e-01 -2.93875306e-03 2.75883075e+00] [ 2.04610570e-02 -4.79215596e-04 9.99790536e-01 4.93364944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76434012799999 meters 0.024965148052061903 Centerline is valid? [True, True] Translation: X:51.23, Y:2.76, Z:0.49 [[ 9.85283059e-01 -1.69893532e-01 -1.88010815e-02 5.12300043e+01] [ 1.69872289e-01 9.85462296e-01 -2.73288260e-03 2.75521456e+00] [ 1.89920560e-02 -5.01119829e-04 9.99819509e-01 4.94951148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.824340127999996 meters 0.02720236988487057 Centerline is valid? [True, True] Translation: X:51.29, Y:2.74, Z:0.49 [[ 9.84487960e-01 -1.74495064e-01 -1.83010587e-02 5.12913797e+01] [ 1.74475674e-01 9.84657883e-01 -2.66322755e-03 2.74029881e+00] [ 1.84850017e-02 -5.71174077e-04 9.99828975e-01 4.94380198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.884340128 meters 0.029134133442062653 Centerline is valid? [True, True] Translation: X:51.35, Y:2.73, Z:0.49 [[ 9.84173456e-01 -1.75667754e-01 -2.33119713e-02 5.13523044e+01] [ 1.75636578e-01 9.84449223e-01 -3.39418239e-03 2.73215131e+00] [ 2.35457004e-02 -7.53970670e-04 9.99722477e-01 4.90527447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94434012799999 meters 0.027946377815861158 Centerline is valid? [True, True] Translation: X:51.41, Y:2.73, Z:0.49 [[ 9.84476027e-01 -1.73801857e-01 -2.44921922e-02 5.14113536e+01] [ 1.73766753e-01 9.84780364e-01 -3.57064321e-03 2.73192420e+00] [ 2.47400144e-02 -7.40716084e-04 9.99693645e-01 4.88851426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.004340127999996 meters 0.02632507460455423 Centerline is valid? [True, True] Translation: X:51.47, Y:2.73, Z:0.49 [[ 9.84957356e-01 -1.71236695e-01 -2.31733006e-02 5.14712618e+01] [ 1.71204483e-01 9.85229714e-01 -3.38171546e-03 2.72726714e+00] [ 2.34100981e-02 -6.36527429e-04 9.99725743e-01 4.91499543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.064340128 meters 0.027595634589565026 Centerline is valid? [True, True] Translation: X:51.53, Y:2.72, Z:0.50 [[ 9.85417828e-01 -1.68797693e-01 -2.14253043e-02 5.15307844e+01] [ 1.68769548e-01 9.85650574e-01 -3.12811612e-03 2.72310742e+00] [ 2.16458823e-02 -5.33437538e-04 9.99765558e-01 4.96128497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.124340128 meters 0.0191994948075641 Centerline is valid? [True, True] Translation: X:51.59, Y:2.74, Z:0.50 [[ 9.86778088e-01 -1.61119692e-01 -1.75911702e-02 5.15892687e+01] [ 1.61099486e-01 9.86934828e-01 -2.56904383e-03 2.73891265e+00] [ 1.77752621e-02 -2.98852318e-04 9.99841963e-01 5.00788230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.184340127999995 meters 0.016260193629195615 Centerline is valid? [True, True] Translation: X:51.65, Y:2.75, Z:0.51 [[ 9.88270843e-01 -1.51922559e-01 -1.55008783e-02 5.16475591e+01] [ 1.51905731e-01 9.88392393e-01 -2.26415266e-03 2.75104473e+00] [ 1.56649260e-02 -1.17076189e-04 9.99877291e-01 5.06285332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.244340128 meters 0.01485999810226276 Centerline is valid? [True, True] Translation: X:51.70, Y:2.77, Z:0.51 [[ 9.89393607e-01 -1.44377530e-01 -1.59818376e-02 5.17037689e+01] [ 1.44358642e-01 9.89522677e-01 -2.33536397e-03 2.76659301e+00] [ 1.61515648e-02 3.47782023e-06 9.99869555e-01 5.06277823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.304340128 meters 0.016036877618475175 Centerline is valid? [True, True] Translation: X:51.76, Y:2.79, Z:0.50 [[ 9.90357994e-01 -1.37358261e-01 -1.79931164e-02 5.17600970e+01] [ 1.37333127e-01 9.90521423e-01 -2.63103423e-03 2.78508041e+00] [ 1.81839615e-02 1.34614845e-04 9.99834649e-01 5.04197732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.364340127999995 meters 0.017070807837195695 Centerline is valid? [True, True] Translation: X:51.82, Y:2.80, Z:0.51 [[ 9.90828614e-01 -1.33918372e-01 -1.80146261e-02 5.18172253e+01] [ 1.33892571e-01 9.90992346e-01 -2.63622524e-03 2.79807313e+00] [ 1.82053956e-02 2.00022804e-04 9.99834248e-01 5.05063497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.424340128 meters 0.01748019708227328 Centerline is valid? [True, True] Translation: X:51.87, Y:2.81, Z:0.51 [[ 9.91036744e-01 -1.32409106e-01 -1.77200506e-02 5.18749630e+01] [ 1.32383839e-01 9.91195126e-01 -2.59661322e-03 2.80930382e+00] [ 1.79078431e-02 2.27490785e-04 9.99839616e-01 5.07310451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.484340128 meters 0.017301758985647016 Centerline is valid? [True, True] Translation: X:51.93, Y:2.82, Z:0.51 [[ 9.90903637e-01 -1.33423053e-01 -1.75576768e-02 5.19316577e+01] [ 1.33398316e-01 9.91059153e-01 -2.57782947e-03 2.82041427e+00] [ 1.77446382e-02 2.12216078e-04 9.99842529e-01 5.07660369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.544340127999995 meters 0.016540921280796886 Centerline is valid? [True, True] Translation: X:51.99, Y:2.83, Z:0.51 [[ 9.90558746e-01 -1.35991223e-01 -1.73135231e-02 5.19902350e+01] [ 1.35967475e-01 9.90710028e-01 -2.54695084e-03 2.82662581e+00] [ 1.74990440e-02 1.68828396e-04 9.99846866e-01 5.09846097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.604340128 meters 0.015517287131513978 Centerline is valid? [True, True] Translation: X:52.05, Y:2.83, Z:0.51 [[ 9.90124963e-01 -1.39362951e-01 -1.51830964e-02 5.20490626e+01] [ 1.39345026e-01 9.90241364e-01 -2.23734814e-03 2.83228311e+00] [ 1.53467335e-02 9.95652862e-05 9.99882227e-01 5.12994042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.664340128 meters 0.015310596679768888 Centerline is valid? [True, True] Translation: X:52.11, Y:2.84, Z:0.51 [[ 9.89942075e-01 -1.40799514e-01 -1.37907678e-02 5.21072839e+01] [ 1.40784816e-01 9.90038126e-01 -2.03576242e-03 2.84230264e+00] [ 1.39400203e-02 7.37561710e-05 9.99902830e-01 5.14001920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.724340127999994 meters 0.015178697315363768 Centerline is valid? [True, True] Translation: X:52.16, Y:2.85, Z:0.52 [[ 9.89726762e-01 -1.42335921e-01 -1.34692738e-02 5.21646233e+01] [ 1.42321990e-01 9.89818409e-01 -1.99208882e-03 2.85200294e+00] [ 1.36156809e-02 5.46497712e-05 9.99907301e-01 5.15188326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.784340128 meters 0.015064297591101365 Centerline is valid? [True, True] Translation: X:52.22, Y:2.86, Z:0.52 [[ 9.89281443e-01 -1.45403677e-01 -1.34162837e-02 5.22216856e+01] [ 1.45390082e-01 9.89372412e-01 -1.98839365e-03 2.85985001e+00] [ 1.35628207e-02 1.64863598e-05 9.99908021e-01 5.15960438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.844340128 meters 0.017468641144829985 Centerline is valid? [True, True] Translation: X:52.28, Y:2.87, Z:0.52 [[ 9.88755500e-01 -1.48945181e-01 -1.33376925e-02 5.22782153e+01] [ 1.48932020e-01 9.88845454e-01 -1.98017054e-03 2.86651854e+00] [ 1.34838534e-02 -2.85049741e-05 9.99909088e-01 5.17500806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.904340127999994 meters 0.01636257164096341 Centerline is valid? [True, True] Translation: X:52.34, Y:2.87, Z:0.52 [[ 9.88309426e-01 -1.51995431e-01 -1.19108478e-02 5.23362796e+01] [ 1.51985135e-01 9.88381194e-01 -1.77015926e-03 2.87392417e+00] [ 1.20415141e-02 -6.08067214e-05 9.99927496e-01 5.20225291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.964340127999996 meters 0.02049509688989155 Centerline is valid? [True, True] Translation: X:52.40, Y:2.88, Z:0.52 [[ 9.87928987e-01 -1.54371785e-01 -1.28712367e-02 5.23950305e+01] [ 1.54359910e-01 9.88012826e-01 -1.91695680e-03 2.88225473e+00] [ 1.30128710e-02 -9.29857429e-05 9.99915325e-01 5.19047544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.024340128 meters 0.0164840266556029 Centerline is valid? [True, True] Translation: X:52.45, Y:2.89, Z:0.52 [[ 9.87721469e-01 -1.55663223e-01 -1.32385841e-02 5.24532738e+01] [ 1.55650729e-01 9.87810179e-01 -1.97525194e-03 2.88870092e+00] [ 1.33846822e-02 -1.09596515e-04 9.99910415e-01 5.17676147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.084340127999994 meters 0.017996259779227922 Centerline is valid? [True, True] Translation: X:52.51, Y:2.89, Z:0.52 [[ 9.87336765e-01 -1.58052932e-01 -1.36155379e-02 5.25125278e+01] [ 1.58039892e-01 9.87430631e-01 -2.03520297e-03 2.89356988e+00] [ 1.37660689e-02 -1.42367422e-04 9.99905233e-01 5.20653850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.144340127999996 meters 0.019956437279102363 Centerline is valid? [True, True] Translation: X:52.57, Y:2.90, Z:0.52 [[ 9.86927842e-01 -1.60680964e-01 -1.24523716e-02 5.25695723e+01] [ 1.60670231e-01 9.87006384e-01 -1.86411399e-03 2.90016441e+00] [ 1.25900979e-02 -1.60979421e-04 9.99920729e-01 5.22992203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.204340128 meters 0.018947765024442852 Centerline is valid? [True, True] Translation: X:52.63, Y:2.91, Z:0.52 [[ 9.86770121e-01 -1.61697208e-01 -1.17788049e-02 5.26285352e+01] [ 1.61687658e-01 9.86840406e-01 -1.76490563e-03 2.90725507e+00] [ 1.19091810e-02 -1.62931243e-04 9.99929070e-01 5.23209429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26434012799999 meters 0.02096391000934741 Centerline is valid? [True, True] Translation: X:52.69, Y:2.92, Z:0.53 [[ 9.86836608e-01 -1.61331200e-01 -1.12139980e-02 5.26858881e+01] [ 1.61322487e-01 9.86900310e-01 -1.68319073e-03 2.91592774e+00] [ 1.13386493e-02 -1.48035812e-04 9.99935704e-01 5.26020459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.324340127999996 meters 0.021082978592424573 Centerline is valid? [True, True] Translation: X:52.74, Y:2.93, Z:0.53 [[ 9.87119624e-01 -1.59674655e-01 -9.94246413e-03 5.27425820e+01] [ 1.59667695e-01 9.87169688e-01 -1.49506219e-03 2.92828934e+00] [ 1.00536227e-02 -1.11685101e-04 9.99949455e-01 5.27047570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.384340128 meters 0.019312703769165114 Centerline is valid? [True, True] Translation: X:52.80, Y:2.94, Z:0.53 [[ 9.87115712e-01 -1.59721776e-01 -9.56693097e-03 5.27996934e+01] [ 1.59715325e-01 9.87162065e-01 -1.43946013e-03 2.93850002e+00] [ 9.67402446e-03 -1.07071773e-04 9.99953200e-01 5.28117495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44434012799999 meters 0.017130274385983878 Centerline is valid? [True, True] Translation: X:52.86, Y:2.95, Z:0.53 [[ 9.87248269e-01 -1.58960897e-01 -8.50230877e-03 5.28568705e+01] [ 1.58955752e-01 9.87284876e-01 -1.28185018e-03 2.94928524e+00] [ 8.59796491e-03 -8.59865149e-05 9.99963033e-01 5.28732120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.504340127999996 meters 0.017870974792851897 Centerline is valid? [True, True] Translation: X:52.91, Y:2.96, Z:0.53 [[ 9.87188926e-01 -1.59277847e-01 -9.41234353e-03 5.29138962e+01] [ 1.59271547e-01 9.87233791e-01 -1.41999678e-03 2.96037395e+00] [ 9.51835761e-03 -9.73134151e-05 9.99954695e-01 5.28842456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.564340128 meters 0.016919905958875523 Centerline is valid? [True, True] Translation: X:52.97, Y:2.97, Z:0.53 [[ 9.87014447e-01 -1.60263381e-01 -1.08687564e-02 5.29709542e+01] [ 1.60254997e-01 9.87074280e-01 -1.64366936e-03 2.97327364e+00] [ 1.09916899e-02 -1.19447118e-04 9.99939582e-01 5.26868675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.624340128 meters 0.01799945600019266 Centerline is valid? [True, True] Translation: X:53.03, Y:2.98, Z:0.53 [[ 9.86736409e-01 -1.61907844e-01 -1.17093966e-02 5.30286047e+01] [ 1.61898183e-01 9.86805872e-01 -1.77465163e-03 2.98319630e+00] [ 1.18422313e-02 -1.44616654e-04 9.99929868e-01 5.26297217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.684340127999995 meters 0.018496595666234766 Centerline is valid? [True, True] Translation: X:53.09, Y:2.99, Z:0.53 [[ 9.86187949e-01 -1.65306980e-01 -1.03407227e-02 5.30871223e+01] [ 1.65299606e-01 9.86242149e-01 -1.56974117e-03 2.99215749e+00] [ 1.04579458e-02 -1.61257558e-04 9.99945301e-01 5.28013460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.744340128 meters 0.01913530396546706 Centerline is valid? [True, True] Translation: X:53.15, Y:3.00, Z:0.53 [[ 9.85846309e-01 -1.67390001e-01 -9.36179152e-03 5.31454133e+01] [ 1.67384029e-01 9.85890745e-01 -1.42341804e-03 3.00157939e+00] [ 9.46796957e-03 -1.63742959e-04 9.99955164e-01 5.30082950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.804340128 meters 0.019702426631314916 Centerline is valid? [True, True] Translation: X:53.20, Y:3.01, Z:0.53 [[ 9.85793671e-01 -1.67677946e-01 -9.74393383e-03 5.32023178e+01] [ 1.67671463e-01 9.85841812e-01 -1.48423801e-03 3.00957144e+00] [ 9.85485135e-03 -1.70627210e-04 9.99951425e-01 5.31548255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.864340127999995 meters 0.018662962854087427 Centerline is valid? [True, True] Translation: X:53.26, Y:3.02, Z:0.53 [[ 9.85779809e-01 -1.67694376e-01 -1.08057748e-02 5.32589642e+01] [ 1.67686390e-01 9.85839014e-01 -1.64735315e-03 3.02389961e+00] [ 1.09290062e-02 -1.88053901e-04 9.99940259e-01 5.30464518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.924340128 meters 0.020640639178617283 Centerline is valid? [True, True] Translation: X:53.32, Y:3.04, Z:0.53 [[ 9.85758810e-01 -1.67725260e-01 -1.21575197e-02 5.33162157e+01] [ 1.67715102e-01 9.85833756e-01 -1.85761630e-03 3.03553217e+00] [ 1.22968625e-02 -2.07838025e-04 9.99924369e-01 5.29633758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.984340128 meters 0.018698077424425537 Centerline is valid? [True, True] Translation: X:53.37, Y:3.05, Z:0.53 [[ 9.85772978e-01 -1.67770127e-01 -1.02382126e-02 5.33730316e+01] [ 1.67762897e-01 9.85826128e-01 -1.56707779e-03 3.04591073e+00] [ 1.03560063e-02 -1.72809275e-04 9.99946360e-01 5.30989902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.044340127999995 meters 0.01844607192771492 Centerline is valid? [True, True] Translation: X:53.43, Y:3.06, Z:0.53 [[ 9.85648543e-01 -1.68568817e-01 -9.02790996e-03 5.34305178e+01] [ 1.68563207e-01 9.85689875e-01 -1.38427802e-03 3.05864863e+00] [ 9.13206555e-03 -1.57361839e-04 9.99958289e-01 5.32747740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.104340128 meters 0.021310608695877385 Centerline is valid? [True, True] Translation: X:53.49, Y:3.07, Z:0.53 [[ 9.85259432e-01 -1.70744523e-01 -1.04956811e-02 5.34880868e+01] [ 1.70737029e-01 9.85315313e-01 -1.61255080e-03 3.06764807e+00] [ 1.06168896e-02 -2.03220529e-04 9.99943619e-01 5.32505735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.164340128 meters 0.019403238688985313 Centerline is valid? [True, True] Translation: X:53.55, Y:3.08, Z:0.53 [[ 9.85060149e-01 -1.71879783e-01 -1.06697129e-02 5.35455741e+01] [ 1.71872091e-01 9.85117908e-01 -1.64053797e-03 3.08114154e+00] [ 1.07929006e-02 -2.17797303e-04 9.99941731e-01 5.32511156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.224340127999994 meters 0.021489192854366013 Centerline is valid? [True, True] Translation: X:53.60, Y:3.09, Z:0.53 [[ 9.84983734e-01 -1.72351366e-01 -1.01019633e-02 5.36027988e+01] [ 1.72344470e-01 9.85035514e-01 -1.55584164e-03 3.09003323e+00] [ 1.02189440e-02 -2.08538788e-04 9.99947763e-01 5.32820684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.284340128 meters 0.019822461679948188 Centerline is valid? [True, True] Translation: X:53.66, Y:3.11, Z:0.53 [[ 9.85025567e-01 -1.72096913e-01 -1.03578096e-02 5.36590567e+01] [ 1.72089636e-01 9.85080001e-01 -1.59642861e-03 3.10572020e+00] [ 1.04780115e-02 -2.09948682e-04 9.99945082e-01 5.33611069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.344340128 meters 0.02030163871006452 Centerline is valid? [True, True] Translation: X:53.72, Y:3.12, Z:0.53 [[ 9.84909793e-01 -1.72694410e-01 -1.13728051e-02 5.37161866e+01] [ 1.72685634e-01 9.84975424e-01 -1.75664493e-03 3.11901378e+00] [ 1.15052963e-02 -2.33783260e-04 9.99933785e-01 5.33472537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.404340127999994 meters 0.02338457172205932 Centerline is valid? [True, True] Translation: X:53.77, Y:3.13, Z:0.53 [[ 9.84660773e-01 -1.74056921e-01 -1.21388152e-02 5.37741425e+01] [ 1.74046980e-01 9.84735558e-01 -1.87873808e-03 3.12991333e+00] [ 1.22805303e-02 -2.62804426e-04 9.99924557e-01 5.34243947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.464340127999996 meters 0.021201355763944028 Centerline is valid? [True, True] Translation: X:53.83, Y:3.14, Z:0.54 [[ 9.84185906e-01 -1.76815532e-01 -1.06944347e-02 5.38322880e+01] [ 1.76807951e-01 9.84243974e-01 -1.65771908e-03 3.14153368e+00] [ 1.08190434e-02 -2.59357333e-04 9.99941439e-01 5.36232497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.524340128 meters 0.024273605380439177 Centerline is valid? [True, True] Translation: X:53.89, Y:3.15, Z:0.54 [[ 9.83682411e-01 -1.79618963e-01 -1.02928075e-02 5.38906941e+01] [ 1.79612066e-01 9.83736221e-01 -1.59818424e-03 3.14941337e+00] [ 1.04124718e-02 -2.76606695e-04 9.99945750e-01 5.36987423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.584340127999994 meters 0.02759539518153753 Centerline is valid? [True, True] Translation: X:53.95, Y:3.16, Z:0.54 [[ 9.83007499e-01 -1.83221921e-01 -1.12242432e-02 5.39488401e+01] [ 1.83213919e-01 9.83071519e-01 -1.74589321e-03 3.15805289e+00] [ 1.13541197e-02 -3.40211470e-04 9.99935482e-01 5.35892629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.644340127999996 meters 0.028763439499017322 Centerline is valid? [True, True] Translation: X:54.01, Y:3.17, Z:0.54 [[ 9.82344457e-01 -1.86797265e-01 -1.03028816e-02 5.40067312e+01] [ 1.86790712e-01 9.82398422e-01 -1.60316846e-03 3.17164214e+00] [ 1.04210021e-02 -3.49618946e-04 9.99945639e-01 5.39304186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.704340128 meters 0.025170618124242806 Centerline is valid? [True, True] Translation: X:54.06, Y:3.19, Z:0.54 [[ 9.82465852e-01 -1.86108739e-01 -1.11528754e-02 5.40632662e+01] [ 1.86101002e-01 9.82529084e-01 -1.73668354e-03 3.19072226e+00] [ 1.12812364e-02 -3.69329004e-04 9.99936297e-01 5.39501691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76434012799999 meters 0.029052289189639813 Centerline is valid? [True, True] Translation: X:54.12, Y:3.20, Z:0.54 [[ 9.82714177e-01 -1.84766553e-01 -1.15830471e-02 5.41206852e+01] [ 1.84758080e-01 9.82782370e-01 -1.80665047e-03 3.19894092e+00] [ 1.17174231e-02 -3.64640523e-04 9.99931282e-01 5.38989881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.824340127999996 meters 0.025069762874662956 Centerline is valid? [True, True] Translation: X:54.18, Y:3.22, Z:0.54 [[ 9.83472668e-01 -1.80568016e-01 -1.32929789e-02 5.41776226e+01] [ 1.80556451e-01 9.83562434e-01 -2.07498358e-03 3.21998227e+00] [ 1.34491503e-02 -3.59443459e-04 9.99909491e-01 5.38353559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.884340128 meters 0.023479822033417783 Centerline is valid? [True, True] Translation: X:54.23, Y:3.24, Z:0.54 [[ 9.84076949e-01 -1.77149799e-01 -1.45088336e-02 5.42334133e+01] [ 1.77135622e-01 9.84183841e-01 -2.26669460e-03 3.23543812e+00] [ 1.46809041e-02 -3.39429358e-04 9.99892172e-01 5.38220688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94434012799999 meters 0.02094508595387276 Centerline is valid? [True, True] Translation: X:54.29, Y:3.25, Z:0.54 [[ 9.84700730e-01 -1.73790474e-01 -1.27020916e-02 5.42901744e+01] [ 1.73779307e-01 9.84782620e-01 -1.98612253e-03 3.25378193e+00] [ 1.28539682e-02 -2.51624364e-04 9.99917353e-01 5.41327489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.004340127999996 meters 0.018750359077658103 Centerline is valid? [True, True] Translation: X:54.35, Y:3.27, Z:0.54 [[ 9.84975650e-01 -1.72297174e-01 -1.16898719e-02 5.43469567e+01] [ 1.72287575e-01 9.85044994e-01 -1.83086410e-03 3.27008129e+00] [ 1.18305025e-02 -2.10663113e-04 9.99929995e-01 5.42379894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.064340128 meters 0.018160914602676805 Centerline is valid? [True, True] Translation: X:54.40, Y:3.28, Z:0.54 [[ 9.85180143e-01 -1.71096804e-01 -1.20817422e-02 5.44044812e+01] [ 1.71086419e-01 9.85254203e-01 -1.89566021e-03 3.28316784e+00] [ 1.22279287e-02 -1.99455215e-04 9.99925216e-01 5.41851104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.124340128 meters 0.01718724963649563 Centerline is valid? [True, True] Translation: X:54.46, Y:3.30, Z:0.54 [[ 9.85274455e-01 -1.70511471e-01 -1.26525662e-02 5.44620670e+01] [ 1.70499989e-01 9.85355671e-01 -1.98865063e-03 3.29658797e+00] [ 1.28063656e-02 -1.97895739e-04 9.99917976e-01 5.41257161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.184340127999995 meters 0.017285201346828642 Centerline is valid? [True, True] Translation: X:54.52, Y:3.31, Z:0.54 [[ 9.85323349e-01 -1.70224083e-01 -1.27145066e-02 5.45189312e+01] [ 1.70212427e-01 9.85405360e-01 -2.00128801e-03 3.30655338e+00] [ 1.28696104e-02 -1.92251224e-04 9.99917165e-01 5.41470776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.244340128 meters 0.017002932887300728 Centerline is valid? [True, True] Translation: X:54.58, Y:3.32, Z:0.54 [[ 9.85071865e-01 -1.71719869e-01 -1.20709348e-02 5.45771059e+01] [ 1.71709457e-01 9.85145800e-01 -1.90152376e-03 3.31651580e+00] [ 1.22181601e-02 -1.99556100e-04 9.99925336e-01 5.42989985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.304340128 meters 0.01845784624547282 Centerline is valid? [True, True] Translation: X:54.63, Y:3.32, Z:0.54 [[ 9.84629188e-01 -1.74159393e-01 -1.31858937e-02 5.46347932e+01] [ 1.74147143e-01 9.84717444e-01 -2.08041828e-03 3.32496141e+00] [ 1.33467039e-02 -2.47845152e-04 9.99910898e-01 5.41589370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.364340127999995 meters 0.020085297910376415 Centerline is valid? [True, True] Translation: X:54.69, Y:3.33, Z:0.54 [[ 9.83869362e-01 -1.78526852e-01 -1.13684343e-02 5.46935467e+01] [ 1.78518023e-01 9.83935005e-01 -1.79492808e-03 3.32946613e+00] [ 1.15062433e-02 -2.63495667e-04 9.99933766e-01 5.43832407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.424340128 meters 0.020885725818546474 Centerline is valid? [True, True] Translation: X:54.75, Y:3.34, Z:0.54 [[ 9.83575224e-01 -1.80151106e-01 -1.11962981e-02 5.47519396e+01] [ 1.80142613e-01 9.83638909e-01 -1.77075240e-03 3.33660850e+00] [ 1.13321174e-02 -2.75262205e-04 9.99935752e-01 5.44694652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.484340128 meters 0.023116331037259658 Centerline is valid? [True, True] Translation: X:54.81, Y:3.34, Z:0.55 [[ 9.83015779e-01 -1.83228495e-01 -1.03584266e-02 5.48104714e+01] [ 1.83221370e-01 9.83070311e-01 -1.64085571e-03 3.34269678e+00] [ 1.04837132e-02 -2.84898054e-04 9.99945004e-01 5.45033833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.544340127999995 meters 0.02330808343930831 Centerline is valid? [True, True] Translation: X:54.87, Y:3.35, Z:0.55 [[ 9.83108472e-01 -1.82750327e-01 -1.00025032e-02 5.48681309e+01] [ 1.82743631e-01 9.83159319e-01 -1.58706891e-03 3.35194186e+00] [ 1.01240916e-02 -2.67632862e-04 9.99948714e-01 5.45572408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.604340128 meters 0.024319351257887006 Centerline is valid? [True, True] Translation: X:54.93, Y:3.36, Z:0.55 [[ 9.83335441e-01 -1.81517522e-01 -1.01389906e-02 5.49262176e+01] [ 1.81510549e-01 9.83387677e-01 -1.61145219e-03 3.36081507e+00] [ 1.02630652e-02 -2.55735700e-04 9.99947301e-01 5.45556298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.664340128 meters 0.01999752052601833 Centerline is valid? [True, True] Translation: X:54.98, Y:3.38, Z:0.55 [[ 9.84096798e-01 -1.77366694e-01 -9.72357629e-03 5.49829222e+01] [ 1.77360053e-01 9.84144814e-01 -1.54794780e-03 3.37836930e+00] [ 9.84396157e-03 -2.01243528e-04 9.99951527e-01 5.45987058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.724340127999994 meters 0.019334838195862195 Centerline is valid? [True, True] Translation: X:55.04, Y:3.39, Z:0.55 [[ 9.84610111e-01 -1.74521530e-01 -9.22848607e-03 5.50392652e+01] [ 1.74515417e-01 9.84653345e-01 -1.46983403e-03 3.39199559e+00] [ 9.34337736e-03 -1.63299647e-04 9.99956336e-01 5.45764437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.784340128 meters 0.017599413460210128 Centerline is valid? [True, True] Translation: X:55.10, Y:3.41, Z:0.55 [[ 9.84979963e-01 -1.72514599e-01 -7.29280279e-03 5.50972353e+01] [ 1.72510723e-01 9.85006954e-01 -1.16207173e-03 3.40505230e+00] [ 7.38393581e-03 -1.13469307e-04 9.99972732e-01 5.47163392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.844340128 meters 0.017975402746268677 Centerline is valid? [True, True] Translation: X:55.15, Y:3.41, Z:0.55 [[ 9.84986812e-01 -1.72519023e-01 -6.17799405e-03 5.51542156e+01] [ 1.72516231e-01 9.85006182e-01 -9.86090848e-04 3.41158688e+00] [ 6.25548176e-03 -9.45177668e-05 9.99980430e-01 5.47627052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.904340127999994 meters 0.015909686996336294 Centerline is valid? [True, True] Translation: X:55.21, Y:3.42, Z:0.55 [[ 9.85062432e-01 -1.72121200e-01 -5.12819545e-03 5.52112105e+01] [ 1.72119273e-01 9.85075777e-01 -8.18090720e-04 3.42281384e+00] [ 5.19247187e-03 -7.67908390e-05 9.99986516e-01 5.47516769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.964340127999996 meters 0.015799301402818492 Centerline is valid? [True, True] Translation: X:55.27, Y:3.43, Z:0.55 [[ 9.85673264e-01 -1.68603015e-01 -4.60875414e-03 5.52683609e+01] [ 1.68601413e-01 9.85684037e-01 -7.36746655e-04 3.43164443e+00] [ 4.66699310e-03 -5.08509797e-05 9.99989108e-01 5.46782641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.024340128 meters 0.01356708070547736 Centerline is valid? [True, True] Translation: X:55.33, Y:3.44, Z:0.54 [[ 9.86573294e-01 -1.63263748e-01 -4.25245029e-03 5.53265638e+01] [ 1.63262330e-01 9.86582459e-01 -6.80802449e-04 3.44075968e+00] [ 4.30654322e-03 -2.26034259e-05 9.99990727e-01 5.44661891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.084340127999994 meters 0.013243162212303365 Centerline is valid? [True, True] Translation: X:55.38, Y:3.45, Z:0.55 [[ 9.86909972e-01 -1.61258813e-01 -2.07405044e-03 5.53837729e+01] [ 1.61258474e-01 9.86912152e-01 -3.30917556e-04 3.44818879e+00] [ 2.10026896e-03 -7.87237270e-06 9.99997794e-01 5.45318492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.144340127999996 meters 0.013497297085343567 Centerline is valid? [True, True] Translation: X:55.44, Y:3.45, Z:0.54 [[ 9.86779270e-01 -1.62069715e-01 -2.80884031e-04 5.54421265e+01] [ 1.62069709e-01 9.86779310e-01 -4.43506272e-05 3.45145793e+00] [ 2.84358444e-04 -1.75851382e-06 9.99999960e-01 5.44630055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.204340128 meters 0.014032374302543268 Centerline is valid? [True, True] Translation: X:55.50, Y:3.45, Z:0.54 [[ 9.86307683e-01 -1.64915405e-01 2.51975385e-04 5.55020406e+01] [ 1.64915399e-01 9.86307715e-01 4.31803754e-05 3.45022341e+00] [-2.55646376e-04 -1.03451471e-06 9.99999967e-01 5.43998573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26434012799999 meters 0.015605013520242817 Centerline is valid? [True, True] Translation: X:55.56, Y:3.44, Z:0.54 [[ 9.85206562e-01 -1.71354066e-01 2.41140583e-03 5.55623524e+01] [ 1.71353624e-01 9.85209512e-01 3.90449441e-04 3.44271325e+00] [-2.44264506e-03 2.85297757e-05 9.99997016e-01 5.44943672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.324340127999996 meters 0.017446345390855295 Centerline is valid? [True, True] Translation: X:55.62, Y:3.44, Z:0.54 [[ 9.84348705e-01 -1.76180572e-01 4.24661728e-03 5.56226243e+01] [ 1.76179249e-01 9.84357862e-01 6.86748592e-04 3.43999877e+00] [-4.30118286e-03 7.21657531e-05 9.99990747e-01 5.43768185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.384340128 meters 0.01934517800865632 Centerline is valid? [True, True] Translation: X:55.68, Y:3.44, Z:0.55 [[ 9.83897261e-01 -1.78547596e-01 8.18142073e-03 5.56823745e+01] [ 1.78542762e-01 9.83931263e-01 1.32335107e-03 3.43788074e+00] [-8.28623678e-03 1.58691958e-04 9.99965656e-01 5.46525088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44434012799999 meters 0.020316479380624683 Centerline is valid? [True, True] Translation: X:55.74, Y:3.44, Z:0.55 [[ 9.83848206e-01 -1.78741566e-01 9.70365541e-03 5.57405665e+01] [ 1.78734766e-01 9.83896040e-01 1.57052231e-03 3.43876713e+00] [-9.82810575e-03 1.89225026e-04 9.99951685e-01 5.49802417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.504340127999996 meters 0.018007964208947187 Centerline is valid? [True, True] Translation: X:55.80, Y:3.44, Z:0.55 [[ 9.84065993e-01 -1.77498694e-01 1.04084075e-02 5.57996827e+01] [ 1.77490752e-01 9.84121019e-01 1.68926561e-03 3.44473444e+00] [-1.05429751e-02 1.85047239e-04 9.99944404e-01 5.47408838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.564340128 meters 0.017327371350244064 Centerline is valid? [True, True] Translation: X:55.86, Y:3.45, Z:0.55 [[ 9.84419797e-01 -1.75567106e-01 9.68781714e-03 5.58584974e+01] [ 1.75560104e-01 9.84467454e-01 1.57517600e-03 3.45061125e+00] [-9.81388977e-03 1.50159746e-04 9.99951831e-01 5.46243122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62434012799999 meters 0.01721372063665662 Centerline is valid? [True, True] Translation: X:55.92, Y:3.46, Z:0.55 [[ 9.84534818e-01 -1.74929686e-01 9.52879464e-03 5.59175845e+01] [ 1.74922856e-01 9.84580919e-01 1.55194956e-03 3.45593662e+00] [-9.65335144e-03 1.38855599e-04 9.99953396e-01 5.47875652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.684340127999995 meters 0.016735234880217498 Centerline is valid? [True, True] Translation: X:55.98, Y:3.46, Z:0.55 [[ 9.84745566e-01 -1.73867883e-01 6.79179985e-03 5.59758853e+01] [ 1.73864371e-01 9.84768984e-01 1.10874170e-03 3.46294670e+00] [-6.88112840e-03 8.90235353e-05 9.99976321e-01 5.45772683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.744340128 meters 0.016981791563336443 Centerline is valid? [True, True] Translation: X:56.03, Y:3.47, Z:0.55 [[ 9.84723382e-01 -1.74023285e-01 5.97971051e-03 5.60349482e+01] [ 1.74020554e-01 9.84741535e-01 9.78034880e-04 3.46861725e+00] [-6.05867015e-03 7.74987208e-05 9.99981643e-01 5.46364715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.804340128 meters 0.01705255230475566 Centerline is valid? [True, True] Translation: X:56.09, Y:3.48, Z:0.55 [[ 9.84705023e-01 -1.74155164e-01 5.09863753e-03 5.60933422e+01] [ 1.74153171e-01 9.84718221e-01 8.35636255e-04 3.47673323e+00] [-5.16625165e-03 6.50886752e-05 9.99986653e-01 5.46702427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.864340127999995 meters 0.01630384871034944 Centerline is valid? [True, True] Translation: X:56.15, Y:3.49, Z:0.54 [[ 9.84862809e-01 -1.73326939e-01 1.73794721e-03 5.61512569e+01] [ 1.73326702e-01 9.84864342e-01 2.87024999e-04 3.48538784e+00] [-1.76139140e-03 1.85524116e-05 9.99998449e-01 5.44356921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.924340128 meters 0.015894596677106927 Centerline is valid? [True, True] Translation: X:56.21, Y:3.50, Z:0.54 [[ 9.85042114e-01 -1.72310502e-01 1.06063593e-03 5.62094689e+01] [ 1.72310412e-01 9.85042685e-01 1.76488203e-04 3.49639622e+00] [-1.07518244e-03 8.91030268e-06 9.99999422e-01 5.43849926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.984340128 meters 0.015381995135694054 Centerline is valid? [True, True] Translation: X:56.27, Y:3.51, Z:0.54 [[ 9.85349114e-01 -1.70547498e-01 -8.21850447e-04 5.62672762e+01] [ 1.70547447e-01 9.85349456e-01 -1.32373344e-04 3.51003207e+00] [ 8.32385833e-04 -9.73053847e-06 9.99999654e-01 5.41464788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.044340127999995 meters 0.014834384842254696 Centerline is valid? [True, True] Translation: X:56.33, Y:3.52, Z:0.54 [[ 9.85576999e-01 -1.69176071e-01 -4.17566318e-03 5.63255294e+01] [ 1.69174690e-01 9.85585844e-01 -6.84184815e-04 3.52112605e+00] [ 4.23122222e-03 -3.20997067e-05 9.99991048e-01 5.38047756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.104340128 meters 0.014209408064069342 Centerline is valid? [True, True] Translation: X:56.38, Y:3.54, Z:0.53 [[ 9.86085575e-01 -1.66039541e-01 -8.13078636e-03 5.63815872e+01] [ 1.66034161e-01 9.86119095e-01 -1.33710080e-03 3.53589635e+00] [ 8.23993530e-03 -3.14924804e-05 9.99966051e-01 5.33302639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.164340128 meters 0.01401854480805451 Centerline is valid? [True, True] Translation: X:56.44, Y:3.55, Z:0.53 [[ 9.86358238e-01 -1.64302856e-01 -1.00994426e-02 5.64381512e+01] [ 1.64294450e-01 9.86409941e-01 -1.66210128e-03 3.54847157e+00] [ 1.02352786e-02 -1.98550777e-05 9.99947618e-01 5.31331718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.224340127999994 meters 0.014152915835183088 Centerline is valid? [True, True] Translation: X:56.49, Y:3.56, Z:0.53 [[ 9.86564634e-01 -1.62858944e-01 -1.29301064e-02 5.64947258e+01] [ 1.62844980e-01 9.86649362e-01 -2.13265198e-03 3.56301152e+00] [ 1.31048026e-02 -1.60389519e-06 9.99914128e-01 5.28157187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.284340128 meters 0.014230738088981407 Centerline is valid? [True, True] Translation: X:56.55, Y:3.58, Z:0.53 [[ 9.86687339e-01 -1.61952934e-01 -1.48102014e-02 5.65520368e+01] [ 1.61934439e-01 9.86798483e-01 -2.44754364e-03 3.57569358e+00] [ 1.50110712e-02 1.66786685e-05 9.99887327e-01 5.26186933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.344340128 meters 0.014622587620854477 Centerline is valid? [True, True] Translation: X:56.61, Y:3.59, Z:0.52 [[ 9.86681713e-01 -1.61793571e-01 -1.67939856e-02 5.66091279e+01] [ 1.61769705e-01 9.86824625e-01 -2.77896751e-03 3.58715479e+00] [ 1.70223376e-02 2.51983230e-05 9.99855109e-01 5.23727766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.404340127999994 meters 0.014690965733042977 Centerline is valid? [True, True] Translation: X:56.67, Y:3.60, Z:0.52 [[ 9.86573394e-01 -1.62290483e-01 -1.82958095e-02 5.66665771e+01] [ 1.62262182e-01 9.86743026e-01 -3.03073329e-03 3.59880162e+00] [ 1.85451216e-02 2.13228530e-05 9.99828024e-01 5.23000619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.464340127999996 meters 0.015046219003266196 Centerline is valid? [True, True] Translation: X:56.72, Y:3.61, Z:0.52 [[ 9.86068536e-01 -1.65090611e-01 -2.03453431e-02 5.67247061e+01] [ 1.65056095e-01 9.86278404e-01 -3.37582926e-03 3.60928181e+00] [ 2.06234903e-02 -2.93238716e-05 9.99787313e-01 5.20553953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.524340128 meters 0.015701547921124458 Centerline is valid? [True, True] Translation: X:56.78, Y:3.62, Z:0.52 [[ 9.85303011e-01 -1.69415813e-01 -2.18233425e-02 5.67826969e+01] [ 1.69377027e-01 9.85544655e-01 -3.62705918e-03 3.61779118e+00] [ 2.21223598e-02 -1.22620537e-04 9.99755263e-01 5.21036561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.584340127999994 meters 0.01780945563924344 Centerline is valid? [True, True] Translation: X:56.84, Y:3.62, Z:0.52 [[ 9.84301096e-01 -1.75066095e-01 -2.24324603e-02 5.68405629e+01] [ 1.75026490e-01 9.84556651e-01 -3.73220439e-03 3.62419648e+00] [ 2.27394105e-02 -2.52661928e-04 9.99741394e-01 5.19483439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.644340127999996 meters 0.019179312160973336 Centerline is valid? [True, True] Translation: X:56.90, Y:3.63, Z:0.52 [[ 9.83618783e-01 -1.78968000e-01 -2.15532885e-02 5.68987783e+01] [ 1.78932331e-01 9.83854841e-01 -3.58792669e-03 3.62976371e+00] [ 2.18474313e-02 -3.27428072e-04 9.99761263e-01 5.21799766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.704340128 meters 0.021988920311224607 Centerline is valid? [True, True] Translation: X:56.96, Y:3.63, Z:0.52 [[ 9.82611099e-01 -1.84578797e-01 -2.01518221e-02 5.69580956e+01] [ 1.84548765e-01 9.82817628e-01 -3.35605546e-03 3.63321753e+00] [ 2.04250226e-02 -4.21296528e-04 9.99791299e-01 5.24889507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76434012799999 meters 0.023258622806790488 Centerline is valid? [True, True] Translation: X:57.02, Y:3.64, Z:0.53 [[ 9.82242646e-01 -1.86577276e-01 -1.97054381e-02 5.70163583e+01] [ 1.86548900e-01 9.82440185e-01 -3.28481568e-03 3.64044408e+00] [ 1.99722862e-02 -4.49541752e-04 9.99800433e-01 5.25233097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.824340127999996 meters 0.023342297745054433 Centerline is valid? [True, True] Translation: X:57.08, Y:3.65, Z:0.53 [[ 9.82199662e-01 -1.87029626e-01 -1.74282388e-02 5.70751911e+01] [ 1.87007427e-01 9.82354192e-01 -2.90937297e-03 3.64592555e+00] [ 1.76648424e-02 -4.01624947e-04 9.99843884e-01 5.29615320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.884340128 meters 0.019173790040487918 Centerline is valid? [True, True] Translation: X:57.13, Y:3.66, Z:0.53 [[ 9.82781848e-01 -1.83841466e-01 -1.84973950e-02 5.71331070e+01] [ 1.83815822e-01 9.82955841e-01 -3.09174199e-03 3.65952644e+00] [ 1.87505129e-02 -3.61605976e-04 9.99824128e-01 5.30452223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94434012799999 meters 0.018433528860495717 Centerline is valid? [True, True] Translation: X:57.19, Y:3.67, Z:0.53 [[ 9.83995893e-01 -1.77258344e-01 -1.82088456e-02 5.71904974e+01] [ 1.77232325e-01 9.84164329e-01 -3.04575170e-03 3.66835815e+00] [ 1.84603813e-02 -2.30188879e-04 9.99829566e-01 5.29122247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.004340127999996 meters 0.015497116313058978 Centerline is valid? [True, True] Translation: X:57.25, Y:3.68, Z:0.53 [[ 9.84729525e-01 -1.73311380e-01 -1.64598812e-02 5.72480222e+01] [ 1.73289524e-01 9.84867070e-01 -2.75582146e-03 3.68407385e+00] [ 1.66884102e-02 -1.38586207e-04 9.99860729e-01 5.32547667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.064340128 meters 0.014595636038548318 Centerline is valid? [True, True] Translation: X:57.31, Y:3.69, Z:0.53 [[ 9.85389671e-01 -1.69598370e-01 -1.56073263e-02 5.73058878e+01] [ 1.69578191e-01 9.85513261e-01 -2.61706489e-03 3.69298858e+00] [ 1.58250770e-02 -6.78334512e-05 9.99874773e-01 5.34748364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12434012799999 meters 0.014409447117163873 Centerline is valid? [True, True] Translation: X:57.36, Y:3.70, Z:0.54 [[ 9.85692274e-01 -1.67836929e-01 -1.55404666e-02 5.73632113e+01] [ 1.67816632e-01 9.85814772e-01 -2.61032373e-03 3.70149717e+00] [ 1.57581302e-02 -3.49728387e-05 9.99875832e-01 5.35774730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.184340127999995 meters 0.01419855165042978 Centerline is valid? [True, True] Translation: X:57.42, Y:3.71, Z:0.54 [[ 9.85857031e-01 -1.66928443e-01 -1.48596690e-02 5.74206462e+01] [ 1.66909715e-01 9.85969013e-01 -2.50046227e-03 3.71283859e+00] [ 1.50685715e-02 -1.51248086e-05 9.99886463e-01 5.36505268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.244340128 meters 0.014254553262922666 Centerline is valid? [True, True] Translation: X:57.48, Y:3.73, Z:0.54 [[ 9.86197855e-01 -1.64727293e-01 -1.66946038e-02 5.74783833e+01] [ 1.64703247e-01 9.86339150e-01 -2.81458130e-03 3.72661220e+00] [ 1.69301796e-02 2.60785837e-05 9.99856674e-01 5.35595506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.304340128 meters 0.014335553240571177 Centerline is valid? [True, True] Translation: X:57.54, Y:3.73, Z:0.54 [[ 9.86042140e-01 -1.65426273e-01 -1.88426838e-02 5.75369611e+01] [ 1.65395661e-01 9.86222159e-01 -3.18237953e-03 3.73441974e+00] [ 1.91095215e-02 2.14621807e-05 9.99817396e-01 5.35535384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.364340127999995 meters 0.014527071992075492 Centerline is valid? [True, True] Translation: X:57.59, Y:3.74, Z:0.53 [[ 9.85659349e-01 -1.67543917e-01 -2.01167588e-02 5.75944216e+01] [ 1.67509375e-01 9.85864613e-01 -3.40202579e-03 3.74402194e+00] [ 2.04023894e-02 -1.65071672e-05 9.99791849e-01 5.33567566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.424340128 meters 0.014680988157259793 Centerline is valid? [True, True] Translation: X:57.65, Y:3.75, Z:0.54 [[ 9.85017254e-01 -1.71361109e-01 -1.94005114e-02 5.76519598e+01] [ 1.71329636e-01 9.85208284e-01 -3.28533463e-03 3.75226179e+00] [ 1.96765232e-02 -8.77712609e-05 9.99806395e-01 5.36881274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.484340128 meters 0.016361497502666113 Centerline is valid? [True, True] Translation: X:57.71, Y:3.76, Z:0.54 [[ 9.83738741e-01 -1.78503234e-01 -1.98666843e-02 5.77106985e+01] [ 1.78471565e-01 9.83939298e-01 -3.37019428e-03 3.75731765e+00] [ 2.01492020e-02 -2.30247552e-04 9.99796958e-01 5.38531305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.544340127999995 meters 0.019612597459486944 Centerline is valid? [True, True] Translation: X:57.77, Y:3.76, Z:0.54 [[ 9.82341306e-01 -1.85891208e-01 -2.12136244e-02 5.77706483e+01] [ 1.85856747e-01 9.82570250e-01 -3.60198746e-03 3.76030852e+00] [ 2.15134540e-02 -4.04314162e-04 9.99768477e-01 5.40114519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.604340128 meters 0.02110653685406541 Centerline is valid? [True, True] Translation: X:57.83, Y:3.77, Z:0.54 [[ 9.81742503e-01 -1.88783292e-01 -2.32921990e-02 5.78286641e+01] [ 1.88742461e-01 9.82018640e-01 -3.95908059e-03 3.76978330e+00] [ 2.36207818e-02 -5.09429265e-04 9.99720861e-01 5.39799768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.664340128 meters 0.02313120853868178 Centerline is valid? [True, True] Translation: X:57.89, Y:3.78, Z:0.54 [[ 9.81287247e-01 -1.90648861e-01 -2.69879838e-02 5.78870894e+01] [ 1.90594645e-01 9.81658089e-01 -4.59100009e-03 3.78100866e+00] [ 2.73682415e-02 -6.38675356e-04 9.99625215e-01 5.38718976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.724340127999994 meters 0.0244044216371794 Centerline is valid? [True, True] Translation: X:57.94, Y:3.79, Z:0.54 [[ 9.81047738e-01 -1.91787730e-01 -2.76188829e-02 5.79444930e+01] [ 1.91731342e-01 9.81436192e-01 -4.70040726e-03 3.79108755e+00] [ 2.80076517e-02 -6.84081561e-04 9.99607475e-01 5.40320543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.784340128 meters 0.02756159583777557 Centerline is valid? [True, True] Translation: X:58.00, Y:3.80, Z:0.54 [[ 9.80323754e-01 -1.95041169e-01 -3.04019628e-02 5.80028188e+01] [ 1.94974317e-01 9.80794686e-01 -5.17688371e-03 3.79583795e+00] [ 3.08277890e-02 -8.52579872e-04 9.99524347e-01 5.41165830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.844340128 meters 0.030193441161726307 Centerline is valid? [True, True] Translation: X:58.06, Y:3.80, Z:0.54 [[ 9.79682631e-01 -1.98195538e-01 -3.06670945e-02 5.80620595e+01] [ 1.98129007e-01 9.80162032e-01 -5.22365142e-03 3.80373732e+00] [ 3.10940261e-02 -9.58520418e-04 9.99516004e-01 5.44022282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.904340127999994 meters 0.03135261991132723 Centerline is valid? [True, True] Translation: X:58.12, Y:3.81, Z:0.55 [[ 9.79336580e-01 -1.99990013e-01 -3.00642305e-02 5.81208085e+01] [ 1.99926748e-01 9.79797435e-01 -5.12649635e-03 3.81046912e+00] [ 3.04821040e-02 -9.90078431e-04 9.99534822e-01 5.48412679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.964340127999996 meters 0.031101368869513018 Centerline is valid? [True, True] Translation: X:58.18, Y:3.82, Z:0.55 [[ 9.79522635e-01 -1.99076871e-01 -3.00633729e-02 5.81790044e+01] [ 1.99012948e-01 9.79983413e-01 -5.13392812e-03 3.82128579e+00] [ 3.04836531e-02 -9.54201668e-04 9.99534810e-01 5.50491137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 448.91 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%| | 0/2000 [00:00