+ python -m lidar_slam --no-model /working/fc071ed3-786a-4448-952c-097abdcf9849 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/fc071ed3-786a-4448-952c-097abdcf9849 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 0.00528557 Adjusted end_distance from 9.223372036854776e+18 to 42.00672557 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.00528557 meters 0.04875225440843387 Centerline is valid? [0, True] SLAMing on 0.06528557 meters 0.049621560025095206 Centerline is valid? [True, True] Translation: X:-0.06, Y:-0.02, Z:0.01 [[ 9.99986709e-01 -4.27480300e-03 -2.88224145e-03 -6.25314232e-02] [ 4.27559050e-03 9.99990824e-01 2.67120998e-04 -1.89866502e-02] [ 2.88107312e-03 -2.79440732e-04 9.99995811e-01 8.80626844e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12528556999999999 meters 0.051705092456082416 Centerline is valid? [True, True] Translation: X:-0.12, Y:-0.03, Z:0.01 [[ 9.99988561e-01 -3.10263367e-03 -3.64026720e-03 -1.23454158e-01] [ 3.10388443e-03 9.99995126e-01 3.37991666e-04 -2.74278512e-02] [ 3.63920079e-03 -3.49286768e-04 9.99993317e-01 7.93940417e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18528556999999998 meters 0.05417465036342986 Centerline is valid? [True, True] Translation: X:-0.19, Y:-0.05, Z:0.02 [[ 9.99992644e-01 -2.71354508e-03 2.71080753e-03 -1.86117810e-01] [ 2.71423568e-03 9.99996285e-01 -2.51112426e-04 -5.15728889e-02] [-2.71011605e-03 2.58468349e-04 9.99996294e-01 2.06757388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24528556999999998 meters 0.05184804750703956 Centerline is valid? [True, True] Translation: X:-0.25, Y:-0.05, Z:0.03 [[ 9.99973245e-01 -7.05920459e-03 1.91772342e-03 -2.45748186e-01] [ 7.05955740e-03 9.99975065e-01 -1.77266037e-04 -5.28205606e-02] [-1.91642424e-03 1.90799573e-04 9.99998145e-01 2.69205677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30528557 meters 0.05009334703306401 Centerline is valid? [True, True] Translation: X:-0.31, Y:-0.06, Z:0.03 [[ 9.99950528e-01 -8.27794896e-03 5.51508579e-03 -3.08303408e-01] [ 8.28091300e-03 9.99965580e-01 -5.14823361e-04 -6.38450073e-02] [-5.51063428e-03 5.60467838e-04 9.99984659e-01 3.30757434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36528557 meters 0.049607684112291 Centerline is valid? [True, True] Translation: X:-0.37, Y:-0.07, Z:0.04 [[ 9.99964501e-01 2.25712386e-03 8.11800776e-03 -3.69694696e-01] [-2.25110517e-03 9.99997185e-01 -7.50459966e-04 -7.37502782e-02] [-8.11967878e-03 7.32158836e-04 9.99966767e-01 3.75384092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42528557 meters 0.043123429631054824 Centerline is valid? [True, True] Translation: X:-0.43, Y:-0.07, Z:0.04 [[ 9.99895570e-01 1.19162917e-02 8.17619822e-03 -4.28823451e-01] [-1.19105068e-02 9.99928782e-01 -7.55862096e-04 -6.94133225e-02] [-8.18462300e-03 6.58400497e-04 9.99966289e-01 4.45405043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48528557 meters 0.048449933607085466 Centerline is valid? [True, True] Translation: X:-0.49, Y:-0.10, Z:0.04 [[ 9.99868567e-01 1.48469146e-02 6.51288615e-03 -4.92123327e-01] [-1.48433050e-02 9.99889651e-01 -6.02217083e-04 -9.58847808e-02] [-6.52110853e-03 5.05465176e-04 9.99978610e-01 4.13166698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.54528557 meters 0.045393867832080534 Centerline is valid? [True, True] Translation: X:-0.55, Y:-0.10, Z:0.05 [[ 9.99900196e-01 1.03745742e-02 9.58986979e-03 -5.52726497e-01] [-1.03665516e-02 9.99945873e-01 -8.85903715e-04 -1.04968817e-01] [-9.59854160e-03 7.86401419e-04 9.99953624e-01 5.10911817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6052855699999999 meters 0.04741302773320716 Centerline is valid? [True, True] Translation: X:-0.62, Y:-0.12, Z:0.05 [[ 9.99960361e-01 5.03661995e-03 7.34230864e-03 -6.15396007e-01] [-5.03177129e-03 9.99987110e-01 -6.78695846e-04 -1.23111000e-01] [-7.34563234e-03 6.41724125e-04 9.99972815e-01 5.30535218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6652855699999999 meters 0.04857208251068349 Centerline is valid? [True, True] Translation: X:-0.68, Y:-0.14, Z:0.06 [[ 9.99952414e-01 2.03879715e-04 9.75340553e-03 -6.78229204e-01] [-1.95095711e-04 9.99999575e-01 -9.01551938e-04 -1.40952685e-01] [-9.75358519e-03 8.99606189e-04 9.99952028e-01 5.88030752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7252855699999999 meters 0.0491348456301454 Centerline is valid? [True, True] Translation: X:-0.74, Y:-0.15, Z:0.07 [[ 9.99900379e-01 -3.83745862e-04 1.41097472e-02 -7.41471439e-01] [ 4.02211682e-04 9.99999066e-01 -1.30591349e-03 -1.49871118e-01] [-1.41092329e-02 1.31145850e-03 9.99899600e-01 6.57321261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.78528557 meters 0.045625593950845623 Centerline is valid? [True, True] Translation: X:-0.80, Y:-0.16, Z:0.06 [[ 9.99944200e-01 8.60726567e-04 1.05287922e-02 -8.03514335e-01] [-8.50526994e-04 9.99999165e-01 -9.73170786e-04 -1.56389681e-01] [-1.05296211e-02 9.64161461e-04 9.99944097e-01 6.36013383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8452855699999999 meters 0.046583692908796596 Centerline is valid? [True, True] Translation: X:-0.87, Y:-0.17, Z:0.07 [[ 9.99944467e-01 3.60104174e-03 9.90433724e-03 -8.65245694e-01] [-3.59219775e-03 9.99993133e-01 -9.10585724e-04 -1.70033608e-01] [-9.90754829e-03 8.74956818e-04 9.99950536e-01 6.57357035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9052855699999999 meters 0.051786059916132304 Centerline is valid? [True, True] Translation: X:-0.93, Y:-0.19, Z:0.07 [[ 0.99992069 0.00367 0.01204788 -0.929067 ] [-0.00365691 0.9999927 -0.00110827 -0.18648701] [-0.01205186 0.00106413 0.99992681 0.07151018] [ 0. 0. 0. 1. ]] SLAMing on 0.9652855699999999 meters 0.045945234989076454 Centerline is valid? [True, True] Translation: X:-0.99, Y:-0.18, Z:0.07 [[ 0.99990075 0.00461194 0.01331213 -0.98958026] [-0.00459606 0.99998869 -0.00122313 -0.18189551] [-0.01331762 0.00116183 0.99991064 0.07363332] [ 0. 0. 0. 1. ]] SLAMing on 1.02528557 meters 0.04994668527683619 Centerline is valid? [True, True] Translation: X:-1.05, Y:-0.19, Z:0.07 [[ 0.99990229 0.00140925 0.0139076 -1.05123449] [-0.00139162 0.99999822 -0.00127704 -0.19481262] [-0.01390938 0.00125756 0.99990247 0.07498699] [ 0. 0. 0. 1. ]] SLAMing on 1.0852855700000001 meters 0.05048682840530684 Centerline is valid? [True, True] Translation: X:-1.11, Y:-0.21, Z:0.08 [[ 0.99985477 -0.00232811 0.01688257 -1.11334805] [ 0.00235461 0.99999603 -0.00155018 -0.20909356] [-0.0168789 0.0015897 0.99985628 0.07977012] [ 0. 0. 0. 1. ]] SLAMing on 1.14528557 meters 0.05036900942924984 Centerline is valid? [True, True] Translation: X:-1.17, Y:-0.22, Z:0.08 [[ 0.99984192 -0.00657486 0.01651986 -1.1735147 ] [ 0.00660081 0.99997706 -0.00151676 -0.21681023] [-0.0165095 0.00162556 0.99986239 0.08172612] [ 0. 0. 0. 1. ]] SLAMing on 1.20528557 meters 0.056288183695326406 Centerline is valid? [True, True] Translation: X:-1.24, Y:-0.24, Z:0.08 [[ 0.99985469 -0.00625836 0.01585638 -1.23758581] [ 0.00628226 0.9999792 -0.00145806 -0.23897687] [-0.01584693 0.00155747 0.99987322 0.0807578 ] [ 0. 0. 0. 1. ]] SLAMing on 1.26528557 meters 0.04668241988518531 Centerline is valid? [True, True] Translation: X:-1.30, Y:-0.23, Z:0.09 [[ 0.99983369 -0.00599964 0.01722175 -1.29806406] [ 0.00602772 0.99998059 -0.00157879 -0.22965452] [-0.01721194 0.00168233 0.99985045 0.08801872] [ 0. 0. 0. 1. ]] SLAMing on 1.32528557 meters 0.048036539216643706 Centerline is valid? [True, True] Translation: X:-1.36, Y:-0.24, Z:0.09 [[ 9.99885699e-01 -2.97818600e-03 1.48229070e-02 -1.35928199e+00] [ 2.99858713e-03 9.99994587e-01 -1.35428932e-03 -2.40095191e-01] [-1.48187935e-02 1.39858230e-03 9.99889218e-01 9.32187595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.38528557 meters 0.04843848117069956 Centerline is valid? [True, True] Translation: X:-1.42, Y:-0.25, Z:0.10 [[ 0.99987281 -0.00252351 0.01574816 -1.42201149] [ 0.00254652 0.99999572 -0.00144093 -0.2458441 ] [-0.01574446 0.00148085 0.99987495 0.09637461] [ 0. 0. 0. 1. ]] SLAMing on 1.44528557 meters 0.04842557826388444 Centerline is valid? [True, True] Translation: X:-1.48, Y:-0.26, Z:0.10 [[ 9.99902857e-01 8.08642923e-04 1.39148603e-02 -1.48383595e+00] [-7.91070310e-04 9.99998883e-01 -1.26832439e-03 -2.56421979e-01] [-1.39158704e-02 1.25719355e-03 9.99902379e-01 1.01701865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.50528557 meters 0.05433336000967116 Centerline is valid? [True, True] Translation: X:-1.55, Y:-0.28, Z:0.11 [[ 9.99892717e-01 1.29738370e-03 1.45900914e-02 -1.54718239e+00] [-1.27808997e-03 9.99998297e-01 -1.33163233e-03 -2.75501285e-01] [-1.45917942e-02 1.31284202e-03 9.99892672e-01 1.11263214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5652855700000001 meters 0.04468274945910097 Centerline is valid? [True, True] Translation: X:-1.61, Y:-0.26, Z:0.11 [[ 9.99913823e-01 2.49813586e-03 1.28881926e-02 -1.60729871e+00] [-2.48320792e-03 9.99996228e-01 -1.17413789e-03 -2.60724441e-01] [-1.28910772e-02 1.14203264e-03 9.99916254e-01 1.13771731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.62528557 meters 0.047130672331252225 Centerline is valid? [True, True] Translation: X:-1.67, Y:-0.27, Z:0.13 [[ 9.99905774e-01 2.78960711e-03 1.34409934e-02 -1.66969069e+00] [-2.77343710e-03 9.99995408e-01 -1.22152650e-03 -2.66953773e-01] [-1.34443393e-02 1.18413365e-03 9.99908920e-01 1.27724307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.68528557 meters 0.04368337852688909 Centerline is valid? [True, True] Translation: X:-1.73, Y:-0.27, Z:0.13 [[ 9.99924033e-01 5.74678399e-03 1.09042632e-02 -1.73058407e+00] [-5.73636487e-03 9.99983060e-01 -9.86545219e-04 -2.69930512e-01] [-1.09097479e-02 9.23919442e-04 9.99940060e-01 1.27074553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.74528557 meters 0.03998173068911459 Centerline is valid? [True, True] Translation: X:-1.79, Y:-0.27, Z:0.14 [[ 9.99884910e-01 8.86920994e-03 1.23086769e-02 -1.79037605e+00] [-8.85616922e-03 9.99960163e-01 -1.11357657e-03 -2.67135133e-01] [-1.23180631e-02 1.00444068e-03 9.99923625e-01 1.36191698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.80528557 meters 0.04598602042730317 Centerline is valid? [True, True] Translation: X:-1.85, Y:-0.29, Z:0.14 [[ 9.99893178e-01 1.14130408e-02 9.13095475e-03 -1.85374464e+00] [-1.14059675e-02 9.99934608e-01 -8.26346374e-04 -2.88074402e-01] [-9.13978879e-03 7.22110729e-04 9.99957971e-01 1.39869523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.86528557 meters 0.042591777768274 Centerline is valid? [True, True] Translation: X:-1.91, Y:-0.28, Z:0.15 [[ 9.99916573e-01 1.04804060e-02 7.55038040e-03 -1.91371008e+00] [-1.04755464e-02 9.99944897e-01 -6.82887159e-04 -2.81762004e-01] [-7.55712128e-03 6.03735828e-04 9.99971262e-01 1.45388731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.92528557 meters 0.0473420965319786 Centerline is valid? [True, True] Translation: X:-1.98, Y:-0.30, Z:0.15 [[ 9.99907572e-01 9.71670923e-03 9.50965287e-03 -1.97713349e+00] [-9.70896161e-03 9.99952497e-01 -8.60538017e-04 -2.95039710e-01] [-9.51756272e-03 7.68129625e-04 9.99954412e-01 1.50640293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.98528557 meters 0.04220373910515372 Centerline is valid? [True, True] Translation: X:-2.04, Y:-0.29, Z:0.15 [[ 9.99903194e-01 1.07711234e-02 8.80821943e-03 -2.03784174e+00] [-1.07645237e-02 9.99941744e-01 -7.96335522e-04 -2.87711308e-01] [-8.81628372e-03 7.01442146e-04 9.99960890e-01 1.53136971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.04528557 meters 0.04195912000515178 Centerline is valid? [True, True] Translation: X:-2.10, Y:-0.28, Z:0.16 [[ 9.99845625e-01 1.60167124e-02 7.22433492e-03 -2.09818400e+00] [-1.60124148e-02 9.99871580e-01 -6.52332531e-04 -2.83770871e-01] [-7.23385540e-03 5.36552780e-04 9.99973691e-01 1.59677480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.10528557 meters 0.038989070242224456 Centerline is valid? [True, True] Translation: X:-2.16, Y:-0.28, Z:0.16 [[ 9.99708703e-01 2.32989332e-02 6.29825271e-03 -2.15843762e+00] [-2.32958126e-02 9.99728454e-01 -5.68379704e-04 -2.76424276e-01] [-6.30978508e-03 4.21491222e-04 9.99980004e-01 1.60149122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.16528557 meters 0.03913928056263183 Centerline is valid? [True, True] Translation: X:-2.22, Y:-0.28, Z:0.16 [[ 9.99449718e-01 3.27247574e-02 5.41766770e-03 -2.21868265e+00] [-3.27225856e-02 9.99464353e-01 -4.89050756e-04 -2.75238942e-01] [-5.43076981e-03 3.11501545e-04 9.99985205e-01 1.63301576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2252855699999996 meters 0.03759103631782139 Centerline is valid? [True, True] Translation: X:-2.28, Y:-0.26, Z:0.17 [[ 9.99192842e-01 3.95315090e-02 7.13608089e-03 -2.27658839e+00] [-3.95279135e-02 9.99218259e-01 -6.44239255e-04 -2.60819477e-01] [-7.15597007e-03 3.61644864e-04 9.99974330e-01 1.69452838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2852855699999997 meters 0.03724507012604709 Centerline is valid? [True, True] Translation: X:-2.34, Y:-0.26, Z:0.17 [[ 9.98942158e-01 4.53846416e-02 7.40271912e-03 -2.33721524e+00] [-4.53809336e-02 9.98969531e-01 -6.68184464e-04 -2.55831246e-01] [-7.42541616e-03 3.31535325e-04 9.99972376e-01 1.74429403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3452855699999997 meters 0.031881600218616836 Centerline is valid? [True, True] Translation: X:-2.40, Y:-0.25, Z:0.18 [[ 9.98664698e-01 5.14328585e-02 4.84589288e-03 -2.39707294e+00] [-5.14313421e-02 9.98676437e-01 -4.37100541e-04 -2.50018759e-01] [-4.86196037e-03 1.87286105e-04 9.99988163e-01 1.75220194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4052855699999998 meters 0.03292839419681937 Centerline is valid? [True, True] Translation: X:-2.46, Y:-0.25, Z:0.18 [[ 9.98493713e-01 5.46547832e-02 4.81240458e-03 -2.45628432e+00] [-5.46533276e-02 9.98505296e-01 -4.33552920e-04 -2.49007328e-01] [-4.82890720e-03 1.69885940e-04 9.99988326e-01 1.80986334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.46528557 meters 0.03127668454309313 Centerline is valid? [True, True] Translation: X:-2.52, Y:-0.25, Z:0.18 [[ 9.98379251e-01 5.66884295e-02 5.02917709e-03 -2.51545799e+00] [-5.66868806e-02 9.98391904e-01 -4.50125015e-04 -2.47377351e-01] [-5.04660657e-03 1.64307115e-04 9.99987252e-01 1.82515699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.52528557 meters 0.030665823066311715 Centerline is valid? [True, True] Translation: X:-2.57, Y:-0.25, Z:0.18 [[ 9.98479595e-01 5.49915139e-02 3.79895261e-03 -2.57335296e+00] [-5.49906087e-02 9.98486813e-01 -3.42385443e-04 -2.45179184e-01] [-3.81203237e-03 1.32958162e-04 9.99992725e-01 1.84847570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.58528557 meters 0.031932584437696726 Centerline is valid? [True, True] Translation: X:-2.63, Y:-0.25, Z:0.19 [[ 9.98698610e-01 5.08188694e-02 4.30440804e-03 -2.63328531e+00] [-5.08176618e-02 9.98707872e-01 -3.89520094e-04 -2.49053684e-01] [-4.31864117e-03 1.70273225e-04 9.99990660e-01 1.93312467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6452855699999995 meters 0.03325842191431581 Centerline is valid? [True, True] Translation: X:-2.69, Y:-0.26, Z:0.20 [[ 9.99040408e-01 4.35519563e-02 4.63574949e-03 -2.69441140e+00] [-4.35504748e-02 9.99051140e-01 -4.20088295e-04 -2.59460104e-01] [-4.64964647e-03 2.17796090e-04 9.99989167e-01 1.95418965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7052855699999996 meters 0.036454395110938745 Centerline is valid? [True, True] Translation: X:-2.76, Y:-0.27, Z:0.20 [[ 9.99348306e-01 3.60297868e-02 2.19501711e-03 -2.75616340e+00] [-3.60294372e-02 9.99350709e-01 -1.98585499e-04 -2.73677435e-01] [-2.20074690e-03 1.19370851e-04 9.99997571e-01 1.96216999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7652855699999996 meters 0.04004909825559861 Centerline is valid? [True, True] Translation: X:-2.82, Y:-0.29, Z:0.20 [[ 9.99666146e-01 2.57037655e-02 2.62917334e-03 -2.81782636e+00] [-2.57032274e-02 9.99669589e-01 -2.38249317e-04 -2.89107028e-01] [-2.63442854e-03 1.70591536e-04 9.99996515e-01 2.03653753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8252855699999997 meters 0.03902816569498233 Centerline is valid? [True, True] Translation: X:-2.88, Y:-0.29, Z:0.21 [[ 9.99762330e-01 2.17251288e-02 1.81733303e-03 -2.87709587e+00] [-2.17248656e-02 9.99763974e-01 -1.64445784e-04 -2.91111711e-01] [-1.82047670e-03 1.24925384e-04 9.99998335e-01 2.10618414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8852855699999997 meters 0.04268962189784557 Centerline is valid? [True, True] Translation: X:-2.94, Y:-0.30, Z:0.21 [[ 9.99792780e-01 2.03056750e-02 1.44117926e-03 -2.93750495e+00] [-2.03055146e-02 9.99793814e-01 -1.25863944e-04 -2.99576412e-01] [-1.44343786e-03 9.65739764e-05 9.99998954e-01 2.11930713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.94528557 meters 0.04010395042736204 Centerline is valid? [True, True] Translation: X:-3.00, Y:-0.30, Z:0.22 [[ 9.99812561e-01 1.93369056e-02 9.62526891e-04 -2.99512236e+00] [-1.93368329e-02 9.99813022e-01 -8.48477909e-05 -2.98179884e-01] [-9.63987614e-04 6.62196656e-05 9.99999533e-01 2.20394307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.00528557 meters 0.040456077491835475 Centerline is valid? [True, True] Translation: X:-3.06, Y:-0.31, Z:0.22 [[ 9.99791027e-01 2.02933102e-02 2.46645866e-03 -3.05534524e+00] [-2.02928201e-02 9.99794055e-01 -2.23602823e-04 -3.06870111e-01] [-2.47048835e-03 1.73504695e-04 9.99996933e-01 2.24345989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.06528557 meters 0.03920094315146161 Centerline is valid? [True, True] Translation: X:-3.11, Y:-0.31, Z:0.23 [[ 9.99711762e-01 2.39813118e-02 1.13518546e-03 -3.11489706e+00] [-2.39812101e-02 9.99712404e-01 -1.03053300e-04 -3.06160267e-01] [-1.13733034e-03 7.58004752e-05 9.99999350e-01 2.28283863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.12528557 meters 0.03805473648385201 Centerline is valid? [True, True] Translation: X:-3.17, Y:-0.30, Z:0.23 [[ 9.99527989e-01 3.07141920e-02 6.61918368e-04 -3.17492914e+00] [-3.07141587e-02 9.99528207e-01 -6.03883492e-05 -2.99172170e-01] [-6.63460859e-04 4.00295794e-05 9.99999779e-01 2.30211039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1852855699999996 meters 0.03452237822677489 Centerline is valid? [True, True] Translation: X:-3.23, Y:-0.30, Z:0.23 [[ 9.99170010e-01 4.07332655e-02 3.03535512e-04 -3.23401254e+00] [-4.07332593e-02 9.99170056e-01 -2.68575952e-05 -2.96911732e-01] [-3.04377592e-04 1.44713130e-05 9.99999954e-01 2.30335954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2452855699999996 meters 0.036042354416914835 Centerline is valid? [True, True] Translation: X:-3.29, Y:-0.30, Z:0.23 [[ 9.98982110e-01 4.50813139e-02 1.55506330e-03 -3.29479164e+00] [-4.50811480e-02 9.98983318e-01 -1.41565530e-04 -3.03451353e-01] [-1.55986426e-03 7.13173930e-05 9.99998781e-01 2.28931239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3052855699999997 meters 0.03277747979186079 Centerline is valid? [True, True] Translation: X:-3.35, Y:-0.29, Z:0.24 [[ 9.98766103e-01 4.95486287e-02 3.34729076e-03 -3.35338368e+00] [-4.95478852e-02 9.98771703e-01 -3.04753996e-04 -2.93529776e-01] [-3.35827944e-03 1.38526782e-04 9.99994351e-01 2.41074003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3652855699999997 meters 0.03261160992587958 Centerline is valid? [True, True] Translation: X:-3.41, Y:-0.29, Z:0.23 [[ 9.98761363e-01 4.97566609e-02 1.20668226e-04 -3.41273724e+00] [-4.97566606e-02 9.98761370e-01 -5.58949053e-06 -2.92504187e-01] [-1.20796877e-04 -4.21480780e-07 9.99999993e-01 2.34326556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.42528557 meters 0.03398557677461291 Centerline is valid? [True, True] Translation: X:-3.47, Y:-0.30, Z:0.24 [[ 9.99037114e-01 4.38698764e-02 -5.27278061e-04 -3.47361838e+00] [-4.38698569e-02 9.99037253e-01 4.86023989e-05 -3.01244053e-01] [ 5.28902606e-04 -2.54239873e-05 9.99999860e-01 2.36667160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.48528557 meters 0.03590002595818062 Centerline is valid? [True, True] Translation: X:-3.53, Y:-0.31, Z:0.25 [[ 9.99420323e-01 3.37998126e-02 4.07320322e-03 -3.53430380e+00] [-3.37985756e-02 9.99428596e-01 -3.72170329e-04 -3.08928918e-01] [-4.08345506e-03 2.34286124e-04 9.99991635e-01 2.46389363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.54528557 meters 0.042408838903099114 Centerline is valid? [True, True] Translation: X:-3.60, Y:-0.33, Z:0.24 [[ 9.99739434e-01 2.27958640e-02 1.18893742e-03 -3.59637815e+00] [-2.27957512e-02 9.99740137e-01 -1.08330285e-04 -3.28979483e-01] [-1.19109794e-03 8.11993358e-05 9.99999287e-01 2.42976703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6052855699999995 meters 0.04342941312396044 Centerline is valid? [True, True] Translation: X:-3.66, Y:-0.33, Z:0.25 [[ 9.99874278e-01 1.56739365e-02 2.39898492e-03 -3.65543530e+00] [-1.56734563e-02 9.99877140e-01 -2.18853411e-04 -3.28354798e-01] [-2.40212047e-03 1.81225511e-04 9.99997098e-01 2.46204039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6652855699999995 meters 0.04433770609684453 Centerline is valid? [True, True] Translation: X:-3.72, Y:-0.33, Z:0.25 [[ 9.99948028e-01 1.01852151e-02 -4.50097488e-04 -3.71564401e+00] [-1.01851974e-02 9.99948129e-01 4.16933376e-05 -3.34978483e-01] [ 4.50498797e-04 -3.71068389e-05 9.99999898e-01 2.46442433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7252855699999996 meters 0.05121995082759632 Centerline is valid? [True, True] Translation: X:-3.78, Y:-0.35, Z:0.25 [[ 9.99990150e-01 3.45780122e-03 2.78257317e-03 -3.77805669e+00] [-3.45710565e-03 9.99993992e-01 -2.54744827e-04 -3.50703762e-01] [-2.78343731e-03 2.45122669e-04 9.99996096e-01 2.54316569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7852855699999997 meters 0.046529588969163795 Centerline is valid? [True, True] Translation: X:-3.84, Y:-0.35, Z:0.26 [[ 9.99996227e-01 1.79629545e-03 2.07822971e-03 -3.83821099e+00] [-1.79590364e-03 9.99998369e-01 -1.90381166e-04 -3.50343694e-01] [-2.07856830e-03 1.86648147e-04 9.99997822e-01 2.58401212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8452855699999997 meters 0.04656814033052952 Centerline is valid? [True, True] Translation: X:-3.90, Y:-0.35, Z:0.26 [[ 9.99997445e-01 -2.25887945e-03 -9.06733903e-05 -3.89811757e+00] [ 2.25888025e-03 9.99997449e-01 8.74384146e-06 -3.52596740e-01] [ 9.06534076e-05 -8.94863945e-06 9.99999996e-01 2.60835894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9052855699999998 meters 0.052980090250157666 Centerline is valid? [True, True] Translation: X:-3.96, Y:-0.37, Z:0.27 [[ 9.99975485e-01 -5.69035268e-03 4.08025955e-03 -3.96086851e+00] [ 5.69192603e-03 9.99983731e-01 -3.74091368e-04 -3.71170147e-01] [-4.07806445e-03 3.97306733e-04 9.99991606e-01 2.69530698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.96528557 meters 0.0484551721900209 Centerline is valid? [True, True] Translation: X:-4.02, Y:-0.37, Z:0.27 [[ 9.99967963e-01 -8.00397516e-03 9.90848893e-05 -4.02026340e+00] [ 8.00397606e-03 9.99967968e-01 -8.67449449e-06 -3.70484268e-01] [-9.90122849e-05 9.46728966e-06 9.99999995e-01 2.68535667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.025285569999999 meters 0.051323931870445635 Centerline is valid? [True, True] Translation: X:-4.08, Y:-0.38, Z:0.28 [[ 9.99892942e-01 -1.43567191e-02 2.82664927e-03 -4.08221928e+00] [ 1.43575090e-02 9.99896892e-01 -2.59343629e-04 -3.80452377e-01] [-2.82263449e-03 2.99899506e-04 9.99995971e-01 2.79449501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.08528557 meters 0.0490647579553243 Centerline is valid? [True, True] Translation: X:-4.14, Y:-0.38, Z:0.28 [[ 9.99818185e-01 -1.90621979e-02 -4.79814275e-04 -4.14190405e+00] [ 1.90622212e-02 9.99818298e-01 4.39847770e-05 -3.83051827e-01] [ 4.78888645e-04 -5.31231057e-05 9.99999884e-01 2.78236774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1452855699999995 meters 0.0622145522449685 Centerline is valid? [True, True] Translation: X:-4.21, Y:-0.42, Z:0.29 [[ 9.99269676e-01 -3.80491422e-02 3.51825299e-03 -4.20537883e+00] [ 3.80505094e-02 9.99275765e-01 -3.22458854e-04 -4.15829311e-01] [-3.50343567e-03 4.56094673e-04 9.99993759e-01 2.86681932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.20528557 meters 0.058208310068702106 Centerline is valid? [True, True] Translation: X:-4.26, Y:-0.41, Z:0.29 [[ 9.98638579e-01 -5.21562454e-02 8.45588556e-04 -4.26461458e+00] [ 5.21563294e-02 9.98638929e-01 -7.75657522e-05 -4.12657919e-01] [-8.40392112e-04 1.21562948e-04 9.99999639e-01 2.88468145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.26528557 meters 0.06963879105274844 Centerline is valid? [True, True] Translation: X:-4.33, Y:-0.44, Z:0.29 [[ 9.97542039e-01 -7.00474432e-02 1.79872965e-03 -4.32783667e+00] [ 7.00478519e-02 9.97543619e-01 -1.65206959e-04 -4.35752321e-01] [-1.78273896e-03 2.90798034e-04 9.99998369e-01 2.89699379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.32528557 meters 0.06750830771685765 Centerline is valid? [True, True] Translation: X:-4.39, Y:-0.43, Z:0.29 [[ 9.96608221e-01 -8.22443547e-02 2.81422033e-03 -4.38723477e+00] [ 8.22454015e-02 9.96612075e-01 -2.58064846e-04 -4.33026703e-01] [-2.78346159e-03 4.88646228e-04 9.99996007e-01 2.93929972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.38528557 meters 0.07624290002332594 Centerline is valid? [True, True] Translation: X:-4.45, Y:-0.45, Z:0.30 [[ 9.95912826e-01 -9.02909636e-02 2.27699212e-03 -4.44983921e+00] [ 9.02916701e-02 9.95915343e-01 -2.09213352e-04 -4.47152141e-01] [-2.24880131e-03 4.13951681e-04 9.99997386e-01 2.97479495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.445285569999999 meters 0.06828449878154803 Centerline is valid? [True, True] Translation: X:-4.51, Y:-0.43, Z:0.30 [[ 9.96072877e-01 -8.84152856e-02 4.64345392e-03 -4.50828548e+00] [ 8.84182007e-02 9.96083350e-01 -4.25904699e-04 -4.26287747e-01] [-4.58761065e-03 8.34797959e-04 9.99989128e-01 2.99672429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.50528557 meters 0.06652167956992773 Centerline is valid? [True, True] Translation: X:-4.57, Y:-0.42, Z:0.30 [[ 9.96934276e-01 -7.82111129e-02 2.25201355e-03 -4.56845842e+00] [ 7.82117739e-02 9.96936746e-01 -2.06801853e-04 -4.15453452e-01] [-2.22894085e-03 3.82301830e-04 9.99997443e-01 2.98051881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5652855699999995 meters 0.060214417661909436 Centerline is valid? [True, True] Translation: X:-4.63, Y:-0.40, Z:0.30 [[ 9.97703001e-01 -6.77169834e-02 1.76996194e-03 -4.62714770e+00] [ 6.77173759e-02 9.97704531e-01 -1.62693582e-04 -4.01862150e-01] [-1.75488193e-03 2.82177053e-04 9.99998420e-01 2.99723282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.62528557 meters 0.06427094224340803 Centerline is valid? [True, True] Translation: X:-4.69, Y:-0.41, Z:0.30 [[ 9.98463573e-01 -5.53960717e-02 -1.33011589e-03 -4.68851750e+00] [ 5.53962807e-02 9.98464440e-01 1.20789328e-04 -4.06129156e-01] [ 1.32138216e-03 -1.94287217e-04 9.99999108e-01 3.01239744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.68528557 meters 0.05962703105872245 Centerline is valid? [True, True] Translation: X:-4.75, Y:-0.39, Z:0.30 [[ 9.99009666e-01 -4.43084925e-02 4.05529238e-03 -4.74787535e+00] [ 4.43103570e-02 9.99017745e-01 -3.71040082e-04 -3.88750016e-01] [-4.03486882e-03 5.50364081e-04 9.99991708e-01 3.01684099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.74528557 meters 0.059267726912807364 Centerline is valid? [True, True] Translation: X:-4.81, Y:-0.40, Z:0.29 [[ 9.99276872e-01 -3.79939536e-02 -1.48106100e-03 -4.80947270e+00] [ 3.79941948e-02 9.99277951e-01 1.35086743e-04 -3.95434917e-01] [ 1.47485912e-03 -1.91260778e-04 9.99998894e-01 2.93066000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.80528557 meters 0.05597802060978971 Centerline is valid? [True, True] Translation: X:-4.87, Y:-0.38, Z:0.30 [[ 9.99252243e-01 -3.86607476e-02 5.49627456e-04 -4.86974947e+00] [ 3.86607843e-02 9.99252391e-01 -5.62412416e-05 -3.80196313e-01] [-5.47042221e-04 7.74482153e-05 9.99999847e-01 3.03035317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.865285569999999 meters 0.05614681853374853 Centerline is valid? [True, True] Translation: X:-4.93, Y:-0.39, Z:0.30 [[ 9.99247271e-01 -3.87413422e-02 1.99975404e-03 -4.93303885e+00] [ 3.87417936e-02 9.99249237e-01 -1.87471666e-04 -3.90774184e-01] [-1.99098980e-03 2.64804609e-04 9.99997983e-01 3.02104232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.92528557 meters 0.05832629268743173 Centerline is valid? [True, True] Translation: X:-5.00, Y:-0.40, Z:0.30 [[ 9.99130164e-01 -4.16206866e-02 2.57553796e-03 -4.99515708e+00] [ 4.16214261e-02 9.99133426e-01 -2.34166828e-04 -4.03104412e-01] [-2.56355988e-03 3.41160704e-04 9.99996656e-01 3.03414222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.985285569999999 meters 0.053729495530633775 Centerline is valid? [True, True] Translation: X:-5.06, Y:-0.40, Z:0.31 [[ 9.99136825e-01 -4.15402708e-02 1.01872668e-04 -5.05614132e+00] [ 4.15402725e-02 9.99136830e-01 -1.47133747e-05 -4.01396428e-01] [-1.01173537e-04 1.89324928e-05 9.99999995e-01 3.06561678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.04528557 meters 0.05303233740561121 Centerline is valid? [True, True] Translation: X:-5.12, Y:-0.40, Z:0.31 [[ 9.99184165e-01 -4.02467569e-02 3.34703557e-03 -5.11720580e+00] [ 4.02479954e-02 9.99189675e-01 -3.03451388e-04 -4.04066253e-01] [-3.33211045e-03 4.37915294e-04 9.99994353e-01 3.09536865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1052855699999995 meters 0.056535382285471454 Centerline is valid? [True, True] Translation: X:-5.18, Y:-0.42, Z:0.31 [[ 9.99166689e-01 -4.06602346e-02 3.55992044e-03 -5.18067153e+00] [ 4.06616547e-02 9.99172919e-01 -3.27424567e-04 -4.17717703e-01] [-3.54366294e-03 4.71903976e-04 9.99993610e-01 3.08559042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.16528557 meters 0.054292473971404395 Centerline is valid? [True, True] Translation: X:-5.24, Y:-0.42, Z:0.31 [[ 9.99086356e-01 -4.26991045e-02 1.79969379e-03 -5.24163261e+00] [ 4.26994656e-02 9.99087949e-01 -1.62696336e-04 -4.24211471e-01] [-1.79110539e-03 2.39393653e-04 9.99998367e-01 3.10983949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.22528557 meters 0.05819862266465374 Centerline is valid? [True, True] Translation: X:-5.30, Y:-0.44, Z:0.31 [[ 9.99230598e-01 -3.91855156e-02 1.64528527e-03 -5.30454466e+00] [ 3.91858135e-02 9.99231930e-01 -1.49220131e-04 -4.38609140e-01] [-1.63817430e-03 2.13577162e-04 9.99998635e-01 3.07514820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.285285569999999 meters 0.04995585753451832 Centerline is valid? [True, True] Translation: X:-5.36, Y:-0.42, Z:0.31 [[ 9.99451111e-01 -3.29243025e-02 3.66973737e-03 -5.36303007e+00] [ 3.29257395e-02 9.99457746e-01 -3.31844292e-04 -4.24563723e-01] [-3.65682170e-03 4.52490963e-04 9.99993211e-01 3.13547063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.34528557 meters 0.050468376232333925 Centerline is valid? [True, True] Translation: X:-5.42, Y:-0.43, Z:0.31 [[ 9.99643217e-01 -2.66989428e-02 7.77287746e-04 -5.42456569e+00] [ 2.66990054e-02 9.99643516e-01 -7.02712156e-05 -4.33259737e-01] [-7.75134488e-04 9.09989538e-05 9.99999695e-01 3.07786126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.405285569999999 meters 0.04450263452458071 Centerline is valid? [True, True] Translation: X:-5.48, Y:-0.42, Z:0.32 [[ 9.99800057e-01 -1.95815494e-02 4.05074583e-03 -5.48386278e+00] [ 1.95831908e-02 9.99808164e-01 -3.65922362e-04 -4.24900232e-01] [-4.04280343e-03 4.45175726e-04 9.99991729e-01 3.17900320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.46528557 meters 0.04794984018031729 Centerline is valid? [True, True] Translation: X:-5.55, Y:-0.44, Z:0.31 [[ 9.99866011e-01 -1.61233038e-02 2.82819370e-03 -5.54637367e+00] [ 1.61240917e-02 9.99869966e-01 -2.56014122e-04 -4.41563052e-01] [-2.82369815e-03 3.01581874e-04 9.99995968e-01 3.12685771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.525285569999999 meters 0.04790022520505769 Centerline is valid? [True, True] Translation: X:-5.61, Y:-0.45, Z:0.31 [[ 9.99921640e-01 -1.22472780e-02 2.59187303e-03 -5.60847598e+00] [ 1.22479262e-02 9.99924964e-01 -2.34392197e-04 -4.46700238e-01] [-2.58880788e-03 2.66118899e-04 9.99996614e-01 3.13511473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.58528557 meters 0.04394625370457799 Centerline is valid? [True, True] Translation: X:-5.67, Y:-0.44, Z:0.32 [[ 9.99932368e-01 -1.08241395e-02 4.25419061e-03 -5.66808822e+00] [ 1.08258682e-02 9.99941325e-01 -3.83531606e-04 -4.43454883e-01] [-4.24978960e-03 4.29560974e-04 9.99990877e-01 3.16275705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6452855699999995 meters 0.04273930616365629 Centerline is valid? [True, True] Translation: X:-5.73, Y:-0.45, Z:0.32 [[ 9.99902195e-01 -1.36587398e-02 3.00652908e-03 -5.72857024e+00] [ 1.36596148e-02 9.99906666e-01 -2.70691975e-04 -4.47996703e-01] [-3.00255116e-03 3.11733529e-04 9.99995444e-01 3.19827112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.70528557 meters 0.04419423461852621 Centerline is valid? [True, True] Translation: X:-5.79, Y:-0.45, Z:0.32 [[ 9.99852752e-01 -1.67292060e-02 3.82196947e-03 -5.78962602e+00] [ 1.67306443e-02 9.99859974e-01 -3.44647156e-04 -4.53467567e-01] [-3.81566862e-03 4.08540419e-04 9.99992637e-01 3.21074034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.76528557 meters 0.043924478333006924 Centerline is valid? [True, True] Translation: X:-5.85, Y:-0.46, Z:0.32 [[ 9.99725057e-01 -2.29102358e-02 4.99307645e-03 -5.85107816e+00] [ 2.29127664e-02 9.99737367e-01 -4.50193111e-04 -4.60205468e-01] [-4.98145107e-03 5.64474528e-04 9.99987433e-01 3.22402034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.825285569999999 meters 0.0472711733002699 Centerline is valid? [True, True] Translation: X:-5.91, Y:-0.46, Z:0.33 [[ 9.99662496e-01 -2.57998320e-02 3.04343093e-03 -5.91266167e+00] [ 2.58007860e-02 9.99667067e-01 -2.74588793e-04 -4.64697797e-01] [-3.03533333e-03 3.53019028e-04 9.99995331e-01 3.29565872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.88528557 meters 0.04943952424868252 Centerline is valid? [True, True] Translation: X:-5.97, Y:-0.46, Z:0.31 [[ 9.99701960e-01 -2.43633963e-02 1.55431577e-03 -5.97478335e+00] [ 2.43636445e-02 9.99703152e-01 -1.40921628e-04 -4.64337833e-01] [-1.55042105e-03 1.78748425e-04 9.99998782e-01 3.14180333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.945285569999999 meters 0.05319667643980286 Centerline is valid? [True, True] Translation: X:-6.04, Y:-0.47, Z:0.32 [[ 9.99677195e-01 -2.47141354e-02 5.89218199e-03 -6.03766555e+00] [ 2.47177143e-02 9.99694327e-01 -5.35352557e-04 -4.71085754e-01] [-5.87715013e-03 6.80821013e-04 9.99982498e-01 3.23025195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.00528557 meters 0.04443237809868143 Centerline is valid? [True, True] Translation: X:-6.10, Y:-0.44, Z:0.33 [[ 9.99549156e-01 -2.99969897e-02 1.29074477e-03 -6.09502592e+00] [ 2.99971636e-02 9.99549977e-01 -1.15556670e-04 -4.44727958e-01] [-1.28669755e-03 1.54223254e-04 9.99999160e-01 3.28220069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0652855699999995 meters 0.04939725104378074 Centerline is valid? [True, True] Translation: X:-6.16, Y:-0.46, Z:0.33 [[ 9.99254199e-01 -3.83300574e-02 4.67461224e-03 -6.15673723e+00] [ 3.83324360e-02 9.99264954e-01 -4.20268421e-04 -4.56124810e-01] [-4.65506727e-03 5.99144259e-04 9.99988986e-01 3.32090428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.12528557 meters 0.05373182689608848 Centerline is valid? [True, True] Translation: X:-6.22, Y:-0.46, Z:0.33 [[ 9.98884843e-01 -4.70629909e-02 3.76089972e-03 -6.21787599e+00] [ 4.70645917e-02 9.98891791e-01 -3.38246218e-04 -4.62734771e-01] [-3.74081298e-03 5.14874231e-04 9.99992871e-01 3.31853036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.18528557 meters 0.05266735166509518 Centerline is valid? [True, True] Translation: X:-6.28, Y:-0.45, Z:0.33 [[ 9.98582370e-01 -5.31136652e-02 3.49117088e-03 -6.27728731e+00] [ 5.31150800e-02 9.98588349e-01 -3.13712355e-04 -4.53516363e-01] [-3.46958015e-03 4.98701448e-04 9.99993857e-01 3.31608021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.24528557 meters 0.0572145798230307 Centerline is valid? [True, True] Translation: X:-6.34, Y:-0.46, Z:0.33 [[ 9.98454605e-01 -5.53990398e-02 4.39871590e-03 -6.33880653e+00] [ 5.54013095e-02 9.98464090e-01 -3.95723263e-04 -4.60728774e-01] [-4.37003718e-03 6.38806335e-04 9.99990247e-01 3.31280566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.30528557 meters 0.05465792556340386 Centerline is valid? [True, True] Translation: X:-6.40, Y:-0.45, Z:0.34 [[ 9.98597637e-01 -5.27312856e-02 4.70870384e-03 -6.39871289e+00] [ 5.27338582e-02 9.98608512e-01 -4.23808261e-04 -4.46438133e-01] [-4.67980378e-03 6.71522048e-04 9.99988824e-01 3.36486872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.365285569999999 meters 0.05629554251855101 Centerline is valid? [True, True] Translation: X:-6.46, Y:-0.44, Z:0.33 [[ 9.98636611e-01 -5.20665981e-02 3.74002639e-03 -6.46094745e+00] [ 5.20682198e-02 9.98643473e-01 -3.37492427e-04 -4.44692156e-01] [-3.71738086e-03 5.31768810e-04 9.99992949e-01 3.26462311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.42528557 meters 0.05658236873472839 Centerline is valid? [True, True] Translation: X:-6.52, Y:-0.44, Z:0.33 [[ 9.98896372e-01 -4.68348158e-02 3.54098482e-03 -6.52189879e+00] [ 4.68362337e-02 9.98902531e-01 -3.18525524e-04 -4.42967749e-01] [-3.52218061e-03 4.84020383e-04 9.99993680e-01 3.33257171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.485285569999999 meters 0.05211847975647065 Centerline is valid? [True, True] Translation: X:-6.58, Y:-0.44, Z:0.33 [[ 9.99064163e-01 -4.31860880e-02 2.40015882e-03 -6.58113458e+00] [ 4.31867307e-02 9.99066994e-01 -2.16549071e-04 -4.36357724e-01] [-2.38856755e-03 3.20001429e-04 9.99997096e-01 3.33205908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.54528557 meters 0.04931961492506794 Centerline is valid? [True, True] Translation: X:-6.64, Y:-0.43, Z:0.34 [[ 9.99109399e-01 -4.21235112e-02 2.45338373e-03 -6.64063752e+00] [ 4.21241764e-02 9.99112359e-01 -2.20068917e-04 -4.33342048e-01] [-2.44193593e-03 3.23219692e-04 9.99996966e-01 3.39427824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6052855699999995 meters 0.051459031266844917 Centerline is valid? [True, True] Translation: X:-6.70, Y:-0.44, Z:0.34 [[ 9.99070740e-01 -4.28810586e-02 4.34410995e-03 -6.70365354e+00] [ 4.28831724e-02 9.99080016e-01 -3.94576787e-04 -4.41255109e-01] [-4.32319357e-03 5.80499339e-04 9.99990486e-01 3.37353876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.66528557 meters 0.05037771060260997 Centerline is valid? [True, True] Translation: X:-6.76, Y:-0.45, Z:0.34 [[ 9.98720924e-01 -5.05261774e-02 1.90297230e-03 -6.76416788e+00] [ 5.05265923e-02 9.98722701e-01 -1.70529388e-04 -4.47686224e-01] [-1.89192543e-03 2.66461973e-04 9.99998175e-01 3.42908428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.72528557 meters 0.05639227577117466 Centerline is valid? [True, True] Translation: X:-6.83, Y:-0.46, Z:0.34 [[ 9.98641509e-01 -5.19866819e-02 3.53847575e-03 -6.82691567e+00] [ 5.19881255e-02 9.98647653e-01 -3.17160110e-04 -4.59067446e-01] [-3.51720240e-03 5.00687973e-04 9.99993689e-01 3.40456479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.785285569999999 meters 0.052526729828365246 Centerline is valid? [True, True] Translation: X:-6.89, Y:-0.45, Z:0.34 [[ 9.98508785e-01 -5.45384012e-02 2.40177366e-03 -6.88625408e+00] [ 5.45390715e-02 9.98511614e-01 -2.14445909e-04 -4.54269701e-01] [-2.38650336e-03 3.45116629e-04 9.99997093e-01 3.40865068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.84528557 meters 0.05452286479124442 Centerline is valid? [True, True] Translation: X:-6.95, Y:-0.46, Z:0.34 [[ 9.98662239e-01 -5.15476754e-02 4.07060703e-03 -6.94729522e+00] [ 5.15495811e-02 9.98670370e-01 -3.64581968e-04 -4.57535354e-01] [-4.04640127e-03 5.73932332e-04 9.99991649e-01 3.38645959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.905285569999999 meters 0.05200499507893859 Centerline is valid? [True, True] Translation: X:-7.01, Y:-0.45, Z:0.34 [[ 9.98815228e-01 -4.84793988e-02 4.22937548e-03 -7.00729772e+00] [ 4.84814267e-02 9.98824013e-01 -3.78210967e-04 -4.54022150e-01] [-4.20606635e-03 5.82809031e-04 9.99990985e-01 3.42413507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.96528557 meters 0.05314441359370919 Centerline is valid? [True, True] Translation: X:-7.07, Y:-0.46, Z:0.34 [[ 9.99005037e-01 -4.42819917e-02 5.29537049e-03 -7.06866585e+00] [ 4.42851125e-02 9.99018821e-01 -4.73490276e-04 -4.56057698e-01] [-5.26920769e-03 7.07525249e-04 9.99985867e-01 3.38128186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.025285569999999 meters 0.04835715915959994 Centerline is valid? [True, True] Translation: X:-7.13, Y:-0.44, Z:0.34 [[ 9.99098833e-01 -4.23018688e-02 3.47465806e-03 -7.12779377e+00] [ 4.23031997e-02 9.99104771e-01 -3.10387207e-04 -4.44189299e-01] [-3.45841748e-03 4.57096650e-04 9.99993915e-01 3.41519831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.08528557 meters 0.04699660664993506 Centerline is valid? [True, True] Translation: X:-7.19, Y:-0.45, Z:0.34 [[ 9.99109437e-01 -4.16751168e-02 6.59672728e-03 -7.18931209e+00] [ 4.16799046e-02 9.99130841e-01 -5.89917907e-04 -4.45575222e-01] [-6.56640878e-03 8.64343512e-04 9.99978067e-01 3.43190030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1452855699999995 meters 0.04728712556739308 Centerline is valid? [True, True] Translation: X:-7.25, Y:-0.44, Z:0.34 [[ 9.99102202e-01 -4.19174144e-02 6.14169410e-03 -7.25200337e+00] [ 4.19215786e-02 9.99120752e-01 -5.50801775e-04 -4.43347126e-01] [-6.11320585e-03 8.07776778e-04 9.99980988e-01 3.37090159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.205285569999999 meters 0.05410121599388229 Centerline is valid? [True, True] Translation: X:-7.32, Y:-0.46, Z:0.33 [[ 9.99059558e-01 -4.30726960e-02 4.97410776e-03 -7.31613607e+00] [ 4.30754335e-02 9.99071724e-01 -4.44502327e-04 -4.64230701e-01] [-4.95034450e-03 6.58346146e-04 9.99987530e-01 3.28525818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.26528557 meters 0.045918414916415594 Centerline is valid? [True, True] Translation: X:-7.38, Y:-0.45, Z:0.34 [[ 9.98985237e-01 -4.43393943e-02 7.90662330e-03 -7.37557919e+00] [ 4.43463655e-02 9.99015965e-01 -7.08475687e-04 -4.45080604e-01] [-7.86742952e-03 1.05838676e-03 9.99968491e-01 3.42206924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.325285569999999 meters 0.049066387231787065 Centerline is valid? [True, True] Translation: X:-7.44, Y:-0.46, Z:0.33 [[ 9.99112214e-01 -4.13390098e-02 8.11598518e-03 -7.43788823e+00] [ 4.13462126e-02 9.99144619e-01 -7.21641599e-04 -4.57097749e-01] [-8.07921098e-03 1.05656619e-03 9.99966804e-01 3.34147553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.38528557 meters 0.0517035209343951 Centerline is valid? [True, True] Translation: X:-7.50, Y:-0.46, Z:0.33 [[ 9.99305601e-01 -3.70037468e-02 4.36341217e-03 -7.50005717e+00] [ 3.70057884e-02 9.99314976e-01 -3.88049827e-04 -4.64433876e-01] [-4.34606383e-03 5.49251873e-04 9.99990405e-01 3.30281401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.445285569999999 meters 0.04921508499984417 Centerline is valid? [True, True] Translation: X:-7.56, Y:-0.46, Z:0.34 [[ 9.99386167e-01 -3.46003421e-02 5.48680205e-03 -7.56053234e+00] [ 3.46035324e-02 9.99401000e-01 -4.87559542e-04 -4.57777031e-01] [-5.46664572e-03 6.77122995e-04 9.99984829e-01 3.40327273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.50528557 meters 0.045491960337871735 Centerline is valid? [True, True] Translation: X:-7.62, Y:-0.45, Z:0.34 [[ 9.99485085e-01 -3.13690758e-02 6.74874051e-03 -7.61980060e+00] [ 3.13738237e-02 9.99507541e-01 -5.98777029e-04 -4.49372420e-01] [-6.72663395e-03 8.10202505e-04 9.99977048e-01 3.35540994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5652855699999995 meters 0.047275615823947646 Centerline is valid? [True, True] Translation: X:-7.68, Y:-0.45, Z:0.34 [[ 9.99645182e-01 -2.61192328e-02 5.22449767e-03 -7.68087730e+00] [ 2.61220098e-02 9.99658654e-01 -4.63997905e-04 -4.50062550e-01] [-5.21059504e-03 6.00307649e-04 9.99986245e-01 3.37387592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.62528557 meters 0.04837764574050137 Centerline is valid? [True, True] Translation: X:-7.74, Y:-0.45, Z:0.33 [[ 9.99663243e-01 -2.51746116e-02 6.29597128e-03 -7.74232350e+00] [ 2.51786278e-02 9.99682812e-01 -5.59442970e-04 -4.51581144e-01] [-6.27989051e-03 7.17778492e-04 9.99980024e-01 3.33706878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.68528557 meters 0.04573893231067452 Centerline is valid? [True, True] Translation: X:-7.80, Y:-0.44, Z:0.33 [[ 9.99658882e-01 -2.52569941e-02 6.64857959e-03 -7.80214950e+00] [ 2.52614919e-02 9.99680701e-01 -5.93378007e-04 -4.39130984e-01] [-6.63146976e-03 7.61128635e-04 9.99977722e-01 3.30927181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.745285569999999 meters 0.04612959410083445 Centerline is valid? [True, True] Translation: X:-7.86, Y:-0.44, Z:0.33 [[ 9.99614267e-01 -2.71370740e-02 5.90725182e-03 -7.86307980e+00] [ 2.71406309e-02 9.99631489e-01 -5.22783939e-04 -4.40626335e-01] [-5.89088810e-03 6.82908826e-04 9.99982415e-01 3.31580138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.80528557 meters 0.04658934368051999 Centerline is valid? [True, True] Translation: X:-7.92, Y:-0.45, Z:0.33 [[ 9.99410380e-01 -3.39032109e-02 5.42817929e-03 -7.92394197e+00] [ 3.39063115e-02 9.99424900e-01 -4.80179787e-04 -4.45100485e-01] [-5.40877791e-03 6.63946201e-04 9.99985152e-01 3.33416529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.865285569999999 meters 0.051022011391243995 Centerline is valid? [True, True] Translation: X:-7.99, Y:-0.45, Z:0.33 [[ 9.99116608e-01 -4.13240793e-02 7.63699674e-03 -7.98538790e+00] [ 4.13304283e-02 9.99145305e-01 -6.75330136e-04 -4.47638564e-01] [-7.60256203e-03 9.90373900e-04 9.99970610e-01 3.32991484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.92528557 meters 0.050369089932989206 Centerline is valid? [True, True] Translation: X:-8.05, Y:-0.45, Z:0.34 [[ 9.98525722e-01 -5.39494490e-02 5.98653010e-03 -8.04585669e+00] [ 5.39535744e-02 9.98543305e-01 -5.29641308e-04 -4.50330497e-01] [-5.94923570e-03 8.51855167e-04 9.99981940e-01 3.35006482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.985285569999999 meters 0.05349421298131318 Centerline is valid? [True, True] Translation: X:-8.11, Y:-0.46, Z:0.35 [[ 9.97641569e-01 -6.83099540e-02 6.71188446e-03 -8.10684628e+00] [ 6.83154565e-02 9.97663594e-01 -5.93724684e-04 -4.55329553e-01] [-6.65564547e-03 1.05084988e-03 9.99977299e-01 3.47046974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.045285569999999 meters 0.06235960392281096 Centerline is valid? [True, True] Translation: X:-8.17, Y:-0.47, Z:0.34 [[ 9.96417487e-01 -8.43302823e-02 6.37141304e-03 -8.17012875e+00] [ 8.43355591e-02 9.96437251e-01 -5.63631267e-04 -4.74805476e-01] [-6.30118211e-03 1.09894873e-03 9.99979543e-01 3.40844596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.10528557 meters 0.06353739240398555 Centerline is valid? [True, True] Translation: X:-8.23, Y:-0.47, Z:0.35 [[ 9.95139997e-01 -9.82585303e-02 6.45348188e-03 -8.22936487e+00] [ 9.82642254e-02 9.95160196e-01 -5.70656732e-04 -4.67121925e-01] [-6.36617640e-03 1.20202974e-03 9.99979013e-01 3.45762712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.16528557 meters 0.06534304207898371 Centerline is valid? [True, True] Translation: X:-8.29, Y:-0.47, Z:0.34 [[ 9.94445891e-01 -1.04988146e-01 7.40672431e-03 -8.29050309e+00] [ 1.04995826e-01 9.94472447e-01 -6.54712614e-04 -4.67443490e-01] [-7.29704618e-03 1.42875140e-03 9.99972356e-01 3.44656578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.225285569999999 meters 0.06436874215459838 Centerline is valid? [True, True] Translation: X:-8.35, Y:-0.45, Z:0.35 [[ 9.93856325e-01 -1.10547469e-01 5.37234919e-03 -8.35070494e+00] [ 1.10551589e-01 9.93870274e-01 -4.75060362e-04 -4.53422660e-01] [-5.28690144e-03 1.06606348e-03 9.99985456e-01 3.50408478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.28528557 meters 0.06730333948121618 Centerline is valid? [True, True] Translation: X:-8.41, Y:-0.44, Z:0.35 [[ 9.93858684e-01 -1.10549105e-01 4.87963585e-03 -8.41177437e+00] [ 1.10552521e-01 9.93870188e-01 -4.35236006e-04 -4.43974492e-01] [-4.80160965e-03 9.72019129e-04 9.99988000e-01 3.48312591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.34528557 meters 0.06456818647134406 Centerline is valid? [True, True] Translation: X:-8.47, Y:-0.42, Z:0.35 [[ 9.94381867e-01 -1.05668963e-01 6.22679153e-03 -8.47189887e+00] [ 1.05674392e-01 9.94400635e-01 -5.48360179e-04 -4.24821041e-01] [-6.13398079e-03 1.20329182e-03 9.99980463e-01 3.53205950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.40528557 meters 0.06321019637305529 Centerline is valid? [True, True] Translation: X:-8.53, Y:-0.41, Z:0.35 [[ 9.94956313e-01 -1.00244148e-01 3.61207420e-03 -8.53262918e+00] [ 1.00245940e-01 9.94962638e-01 -3.18213804e-04 -4.10385602e-01] [-3.56197981e-03 6.78704606e-04 9.99993426e-01 3.49919019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.465285569999999 meters 0.05931748690607733 Centerline is valid? [True, True] Translation: X:-8.59, Y:-0.39, Z:0.35 [[ 9.95595131e-01 -9.36539789e-02 4.38941644e-03 -8.59171635e+00] [ 9.36565637e-02 9.95604489e-01 -3.86623143e-04 -3.87359363e-01] [-4.33391391e-03 7.96017779e-04 9.99990292e-01 3.50686339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.52528557 meters 0.05733577858276575 Centerline is valid? [True, True] Translation: X:-8.65, Y:-0.37, Z:0.35 [[ 9.95801502e-01 -9.14720278e-02 3.49821316e-03 -8.65088465e+00] [ 9.14736568e-02 9.95807449e-01 -3.08186739e-04 -3.68334015e-01] [-3.45535626e-03 6.26887167e-04 9.99993834e-01 3.48408121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.58528557 meters 0.061090980428715115 Centerline is valid? [True, True] Translation: X:-8.71, Y:-0.37, Z:0.35 [[ 9.95938660e-01 -9.00164044e-02 1.79784662e-03 -8.71207181e+00] [ 9.00168321e-02 9.95940232e-01 -1.58245513e-04 -3.66096483e-01] [-1.77630309e-03 3.19439282e-04 9.99998371e-01 3.48520750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.64528557 meters 0.05616459741531037 Centerline is valid? [True, True] Translation: X:-8.77, Y:-0.34, Z:0.36 [[ 9.96090836e-01 -8.82830410e-02 3.02509043e-03 -8.77044194e+00] [ 8.82842418e-02 9.96095288e-01 -2.65484068e-04 -3.44724693e-01] [-2.98984058e-03 5.31514062e-04 9.99995389e-01 3.56311560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.70528557 meters 0.056912496099931875 Centerline is valid? [True, True] Translation: X:-8.83, Y:-0.33, Z:0.35 [[ 9.96091245e-01 -8.82752852e-02 3.11529936e-03 -8.83121907e+00] [ 8.82765746e-02 9.96095964e-01 -2.78571508e-04 -3.31874333e-01] [-3.07854614e-03 5.52490597e-04 9.99995109e-01 3.54943879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.76528557 meters 0.05602620679753914 Centerline is valid? [True, True] Translation: X:-8.89, Y:-0.32, Z:0.35 [[ 9.96069917e-01 -8.85593792e-02 1.39869040e-03 -8.89183821e+00] [ 8.85596438e-02 9.96070867e-01 -1.28206217e-04 -3.16976015e-01] [-1.38184089e-03 2.51569879e-04 9.99999014e-01 3.54373010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.82528557 meters 0.05680435786485111 Centerline is valid? [True, True] Translation: X:-8.95, Y:-0.32, Z:0.36 [[ 9.96171445e-01 -8.73531703e-02 3.44618528e-03 -8.95270223e+00] [ 8.73547171e-02 9.96177225e-01 -3.00633842e-04 -3.15235919e-01] [-3.40674997e-03 6.00523389e-04 9.99994017e-01 3.55175211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.885285569999999 meters 0.057501976856476275 Centerline is valid? [True, True] Translation: X:-9.01, Y:-0.31, Z:0.35 [[ 9.95990822e-01 -8.94154272e-02 2.67643058e-03 -9.01365707e+00] [ 8.94163679e-02 9.95994306e-01 -2.33678133e-04 -3.14052859e-01] [-2.64481519e-03 4.72057977e-04 9.99996391e-01 3.53421984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.94528557 meters 0.06800384118262488 Centerline is valid? [True, True] Translation: X:-9.08, Y:-0.33, Z:0.36 [[ 9.95340374e-01 -9.63989944e-02 2.18502601e-03 -9.07664890e+00] [ 9.63996386e-02 9.95342691e-01 -1.91200129e-04 -3.31515561e-01] [-2.15641817e-03 4.00944925e-04 9.99997595e-01 3.55114895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.00528557 meters 0.05717597621477068 Centerline is valid? [True, True] Translation: X:-9.13, Y:-0.30, Z:0.37 [[ 9.94292235e-01 -1.06674960e-01 1.84511787e-03 -9.13399602e+00] [ 1.06675436e-01 9.94293883e-01 -1.61228215e-04 -3.02437545e-01] [-1.81739039e-03 3.57136715e-04 9.99998285e-01 3.66120462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.06528557 meters 0.06543800594323283 Centerline is valid? [True, True] Translation: X:-9.20, Y:-0.32, Z:0.37 [[ 9.92643854e-01 -1.21046666e-01 2.42572168e-03 -9.19646957e+00] [ 1.21047531e-01 9.92646690e-01 -2.12154201e-04 -3.15079128e-01] [-2.38220403e-03 5.04221183e-04 9.99997035e-01 3.66113014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.125285569999999 meters 0.0681574283306134 Centerline is valid? [True, True] Translation: X:-9.26, Y:-0.32, Z:0.36 [[ 9.91266034e-01 -1.31872982e-01 1.07976850e-03 -9.25809658e+00] [ 1.31873161e-01 9.91266594e-01 -9.52512592e-05 -3.19154069e-01] [-1.05777738e-03 2.36811823e-04 9.99999413e-01 3.62153748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.18528557 meters 0.07269742698956855 Centerline is valid? [True, True] Translation: X:-9.32, Y:-0.32, Z:0.37 [[ 9.90188181e-01 -1.39730926e-01 1.62313573e-03 -9.31969766e+00] [ 1.39731338e-01 9.90189443e-01 -1.42508669e-04 -3.19955076e-01] [-1.58729899e-03 3.67913325e-04 9.99998673e-01 3.65555629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.24528557 meters 0.0763583606434788 Centerline is valid? [True, True] Translation: X:-9.38, Y:-0.32, Z:0.37 [[ 9.90357492e-01 -1.38474386e-01 4.10878526e-03 -9.38074744e+00] [ 1.38477005e-01 9.90365584e-01 -3.58397153e-04 -3.20046575e-01] [-4.01957069e-03 9.23913582e-04 9.99991495e-01 3.70016349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.305285569999999 meters 0.07087880772064702 Centerline is valid? [True, True] Translation: X:-9.44, Y:-0.30, Z:0.37 [[ 9.90596884e-01 -1.36810904e-01 7.68584009e-04 -9.44033291e+00] [ 1.36810997e-01 9.90597167e-01 -6.87098583e-05 -3.03919069e-01] [-7.51956884e-04 1.73214516e-04 9.99999702e-01 3.65471198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.36528557 meters 0.06990694454946152 Centerline is valid? [True, True] Translation: X:-9.50, Y:-0.29, Z:0.37 [[ 9.90777572e-01 -1.35439791e-01 3.98317740e-03 -9.49996229e+00] [ 1.35442235e-01 9.90785183e-01 -3.48941018e-04 -2.91356263e-01] [-3.89921265e-03 8.85213382e-04 9.99992006e-01 3.72979447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.42528557 meters 0.07187275279478714 Centerline is valid? [True, True] Translation: X:-9.56, Y:-0.29, Z:0.37 [[ 9.91208211e-01 -1.32287369e-01 2.51675007e-03 -9.56196324e+00] [ 1.32288330e-01 9.91211254e-01 -2.18500076e-04 -2.90989460e-01] [-2.46572619e-03 5.49515732e-04 9.99996809e-01 3.70679261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.48528557 meters 0.06967970662093265 Centerline is valid? [True, True] Translation: X:-9.62, Y:-0.28, Z:0.37 [[ 9.91706939e-01 -1.28519325e-01 -3.62399596e-04 -9.62171949e+00] [ 1.28519342e-01 9.91707002e-01 2.58234472e-05 -2.78529408e-01] [ 3.56075405e-04 -7.21846495e-05 9.99999934e-01 3.72768757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.545285569999999 meters 0.06390372148387513 Centerline is valid? [True, True] Translation: X:-9.68, Y:-0.26, Z:0.37 [[ 9.93192742e-01 -1.16433550e-01 3.37733350e-03 -9.68128678e+00] [ 1.16435189e-01 9.93198249e-01 -2.92181853e-04 -2.61436986e-01] [-3.32034195e-03 6.83433359e-04 9.99994254e-01 3.74031999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.60528557 meters 0.06117253366853111 Centerline is valid? [True, True] Translation: X:-9.74, Y:-0.25, Z:0.37 [[ 9.95079644e-01 -9.90559696e-02 -2.10184521e-03 -9.74228629e+00] [ 9.90565621e-02 9.95081788e-01 1.79466941e-04 -2.50340536e-01] [ 2.07373062e-03 -3.86785460e-04 9.99997775e-01 3.68386078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.66528557 meters 0.05745449431681434 Centerline is valid? [True, True] Translation: X:-9.80, Y:-0.23, Z:0.38 [[ 9.97096188e-01 -7.60920107e-02 3.03285776e-03 -9.80180002e+00] [ 7.60931500e-02 9.97100679e-01 -2.61879022e-04 -2.27387949e-01] [-3.00413763e-03 4.91898275e-04 9.99995367e-01 3.78571861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.725285569999999 meters 0.05176758721267789 Centerline is valid? [True, True] Translation: X:-9.86, Y:-0.21, Z:0.37 [[ 9.99038451e-01 -4.38117788e-02 -1.64354409e-03 -9.86139054e+00] [ 4.38120679e-02 9.99039780e-01 1.40334338e-04 -2.05066656e-01] [ 1.63581763e-03 -2.12206465e-04 9.99998640e-01 3.74509840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.78528557 meters 0.041875579346389614 Centerline is valid? [True, True] Translation: X:-9.92, Y:-0.17, Z:0.38 [[ 9.99899233e-01 -1.41750099e-02 -7.69785605e-04 -9.91748310e+00] [ 1.41750647e-02 9.99899527e-01 6.56699177e-05 -1.66125729e-01] [ 7.68777390e-04 -7.65750610e-05 9.99999702e-01 3.80535556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.84528557 meters 0.03936020273571353 Centerline is valid? [True, True] Translation: X:-9.98, Y:-0.16, Z:0.37 [[ 9.99986724e-01 4.03775675e-03 3.20139689e-03 -9.97772096e+00] [-4.03689611e-03 9.99991814e-01 -2.75250071e-04 -1.60049611e-01] [-3.20248207e-03 2.62322710e-04 9.99994838e-01 3.71641516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.90528557 meters 0.038969658196213675 Centerline is valid? [True, True] Translation: X:-10.04, Y:-0.16, Z:0.37 [[ 9.99921185e-01 1.23706710e-02 -2.14268456e-03 -1.00381898e+01] [-1.23703045e-02 9.99923468e-01 1.84219007e-04 -1.57101726e-01] [ 2.14479949e-03 -1.57698827e-04 9.99997687e-01 3.70841248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.965285569999999 meters 0.03523240932214919 Centerline is valid? [True, True] Translation: X:-10.10, Y:-0.15, Z:0.38 [[ 9.99931205e-01 1.17272846e-02 -2.35099001e-04 -1.00953350e+01] [-1.17272797e-02 9.99931233e-01 2.22541245e-05 -1.47156368e-01] [ 2.35343814e-04 -1.94955218e-05 9.99999972e-01 3.77174753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.02528557 meters 0.03538811690109486 Centerline is valid? [True, True] Translation: X:-10.16, Y:-0.15, Z:0.38 [[ 9.99963961e-01 8.30996283e-03 1.73788998e-03 -1.01553171e+01] [-8.30971621e-03 9.99965463e-01 -1.49081579e-04 -1.48904935e-01] [-1.73906882e-03 1.34634834e-04 9.99998479e-01 3.84655963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.08528557 meters 0.040124131221523585 Centerline is valid? [True, True] Translation: X:-10.22, Y:-0.17, Z:0.38 [[ 9.99998060e-01 1.58251875e-03 -1.17285985e-03 -1.02178806e+01] [-1.58240129e-03 9.99998743e-01 1.01070012e-04 -1.65082311e-01] [ 1.17301832e-03 -9.92138812e-05 9.99999307e-01 3.83676822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.145285569999999 meters 0.04069346256519953 Centerline is valid? [True, True] Translation: X:-10.28, Y:-0.18, Z:0.39 [[ 9.99962284e-01 -8.41397385e-03 2.15287900e-03 -1.02780268e+01] [ 8.41439093e-03 9.99964581e-01 -1.84745940e-04 -1.76255474e-01] [-2.15124830e-03 2.02854138e-04 9.99997665e-01 3.85006873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.20528557 meters 0.042417945922705605 Centerline is valid? [True, True] Translation: X:-10.34, Y:-0.19, Z:0.38 [[ 9.99931659e-01 -1.14676051e-02 2.27413139e-03 -1.03397716e+01] [ 1.14680798e-02 9.99934220e-01 -1.95803483e-04 -1.89673060e-01] [-2.27173640e-03 2.21870022e-04 9.99997395e-01 3.84825892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.26528557 meters 0.04228044598732931 Centerline is valid? [True, True] Translation: X:-10.40, Y:-0.20, Z:0.38 [[ 9.99888790e-01 -1.49120662e-02 1.92543452e-04 -1.04015161e+01] [ 1.49120697e-02 9.99888809e-01 -1.69462878e-05 -1.96198666e-01] [-1.92269339e-04 1.98156246e-05 9.99999981e-01 3.80874936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.32528557 meters 0.042908312696286977 Centerline is valid? [True, True] Translation: X:-10.46, Y:-0.20, Z:0.39 [[ 9.99787848e-01 -2.05844238e-02 7.34711741e-04 -1.04621485e+01] [ 2.05844758e-02 9.99788115e-01 -6.32298699e-05 -1.96246268e-01] [-7.33254516e-04 7.83401116e-05 9.99999728e-01 3.94699935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.385285569999999 meters 0.04616674124744759 Centerline is valid? [True, True] Translation: X:-10.52, Y:-0.20, Z:0.40 [[ 9.99764801e-01 -2.14803222e-02 2.98978236e-03 -1.05247883e+01] [ 2.14812017e-02 9.99769218e-01 -2.62352522e-04 -1.98752548e-01] [-2.98345696e-03 3.26514935e-04 9.99995496e-01 3.96029570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.44528557 meters 0.04593190860458743 Centerline is valid? [True, True] Translation: X:-10.59, Y:-0.21, Z:0.39 [[ 9.99761651e-01 -2.13825902e-02 4.40743654e-03 -1.05877830e+01] [ 2.13844826e-02 9.99771253e-01 -3.82701869e-04 -2.06814084e-01] [-4.39824520e-03 4.76861403e-04 9.99990214e-01 3.94538313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.50528557 meters 0.04253112402397078 Centerline is valid? [True, True] Translation: X:-10.65, Y:-0.21, Z:0.40 [[ 9.99735662e-01 -2.23723012e-02 5.29962741e-03 -1.06482421e+01] [ 2.23750163e-02 9.99749545e-01 -4.53581292e-04 -2.05628624e-01] [-5.28815244e-03 5.72040643e-04 9.99985854e-01 3.98021529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.565285569999999 meters 0.04528028159416665 Centerline is valid? [True, True] Translation: X:-10.71, Y:-0.21, Z:0.40 [[ 9.99736259e-01 -2.28149831e-02 2.62481059e-03 -1.07112494e+01] [ 2.28156639e-02 9.99739662e-01 -2.29720083e-04 -2.14780138e-01] [-2.61888620e-03 2.89546292e-04 9.99996529e-01 3.96978457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.625285569999999 meters 0.04393234394986494 Centerline is valid? [True, True] Translation: X:-10.77, Y:-0.21, Z:0.41 [[ 9.99833280e-01 -1.82426656e-02 7.86258606e-04 -1.07714770e+01] [ 1.82427243e-02 9.99833585e-01 -6.75790275e-05 -2.06778018e-01] [-7.84894940e-04 8.19112596e-05 9.99999689e-01 4.05730464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.68528557 meters 0.04069544231187832 Centerline is valid? [True, True] Translation: X:-10.83, Y:-0.20, Z:0.41 [[ 9.99897048e-01 -1.41353512e-02 2.46685590e-03 -1.08305126e+01] [ 1.41359119e-02 9.99900061e-01 -2.10008991e-04 -1.98064313e-01] [-2.46364082e-03 2.44858628e-04 9.99996935e-01 4.10165027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.74528557 meters 0.042146050918631814 Centerline is valid? [True, True] Translation: X:-10.89, Y:-0.20, Z:0.41 [[ 9.99962610e-01 -7.48484541e-03 4.33081186e-03 -1.08917225e+01] [ 7.48651513e-03 9.99971907e-01 -3.69461692e-04 -2.00208173e-01] [-4.32792483e-03 4.01870566e-04 9.99990554e-01 4.08704722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.805285569999999 meters 0.03745024780046893 Centerline is valid? [True, True] Translation: X:-10.95, Y:-0.19, Z:0.40 [[ 9.99999005e-01 -6.80964347e-04 -1.23574805e-03 -1.09506734e+01] [ 6.81095442e-04 9.99999762e-01 1.05668035e-04 -1.91869590e-01] [ 1.23567580e-03 -1.06509592e-04 9.99999231e-01 4.03747990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.86528557 meters 0.03721002651144925 Centerline is valid? [True, True] Translation: X:-11.01, Y:-0.20, Z:0.42 [[ 9.99995689e-01 -1.99846226e-03 2.15147727e-03 -1.10112496e+01] [ 1.99885977e-03 9.99997986e-01 -1.82631000e-04 -1.97971794e-01] [-2.15110796e-03 1.86930714e-04 9.99997669e-01 4.15449186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.92528557 meters 0.04077259537529139 Centerline is valid? [True, True] Translation: X:-11.07, Y:-0.21, Z:0.42 [[ 9.99993872e-01 9.77005962e-05 3.49955047e-03 -1.10734071e+01] [-9.66556131e-05 9.99999951e-01 -2.98772873e-04 -2.07587838e-01] [-3.49957949e-03 2.98432791e-04 9.99993832e-01 4.16673515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.98528557 meters 0.04126345349048348 Centerline is valid? [True, True] Translation: X:-11.13, Y:-0.21, Z:0.42 [[ 9.99999549e-01 -4.84897289e-04 8.17010793e-04 -1.11341085e+01] [ 4.84954973e-04 9.99999880e-01 -7.04071557e-05 -2.06670495e-01] [-8.16976555e-04 7.08033373e-05 9.99999664e-01 4.19196400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.045285569999999 meters 0.03855662920521699 Centerline is valid? [True, True] Translation: X:-11.20, Y:-0.20, Z:0.43 [[ 9.99998945e-01 -5.10442494e-04 1.36007280e-03 -1.11950666e+01] [ 5.10604490e-04 9.99999863e-01 -1.18764175e-04 -2.02677045e-01] [-1.36001199e-03 1.19458509e-04 9.99999068e-01 4.28930922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.10528557 meters 0.038461419048418106 Centerline is valid? [True, True] Translation: X:-11.26, Y:-0.21, Z:0.43 [[ 9.99987316e-01 5.91659867e-04 5.00182464e-03 -1.12563027e+01] [-5.89536757e-04 9.99999736e-01 -4.25930800e-04 -2.06571409e-01] [-5.00207532e-03 4.22976638e-04 9.99987400e-01 4.27813838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.16528557 meters 0.038946299994426364 Centerline is valid? [True, True] Translation: X:-11.32, Y:-0.21, Z:0.42 [[ 9.99999427e-01 -4.92268795e-04 9.50610808e-04 -1.13175175e+01] [ 4.92345895e-04 9.99999876e-01 -8.08728425e-05 -2.13576282e-01] [-9.50570878e-04 8.13408255e-05 9.99999545e-01 4.23766020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.225285569999999 meters 0.03696739683443997 Centerline is valid? [True, True] Translation: X:-11.38, Y:-0.21, Z:0.43 [[ 9.99996630e-01 -1.71810702e-04 2.59043702e-03 -1.13778697e+01] [ 1.72394337e-04 9.99999960e-01 -2.25082207e-04 -2.07487424e-01] [-2.59039824e-03 2.25528025e-04 9.99996619e-01 4.29492658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.28528557 meters 0.03589020995001089 Centerline is valid? [True, True] Translation: X:-11.44, Y:-0.20, Z:0.44 [[ 9.99985181e-01 4.39528018e-03 3.21236532e-03 -1.14382379e+01] [-4.39442472e-03 9.99990307e-01 -2.73312361e-04 -2.03228629e-01] [-3.21353547e-03 2.59191813e-04 9.99994803e-01 4.35008664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.34528557 meters 0.037239734908665036 Centerline is valid? [True, True] Translation: X:-11.50, Y:-0.20, Z:0.44 [[ 9.99988065e-01 3.35497026e-03 3.55149987e-03 -1.14976767e+01] [-3.35392657e-03 9.99994331e-01 -2.99788848e-04 -2.03933581e-01] [-3.55248551e-03 2.87873801e-04 9.99993648e-01 4.36203328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.40528557 meters 0.038401207635193876 Centerline is valid? [True, True] Translation: X:-11.56, Y:-0.21, Z:0.44 [[ 9.99981849e-01 2.89145076e-03 5.28589543e-03 -1.15594476e+01] [-2.88911920e-03 9.99995726e-01 -4.48672472e-04 -2.12241802e-01] [-5.28717015e-03 4.33392746e-04 9.99985929e-01 4.42797605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.465285569999999 meters 0.03576153961883415 Centerline is valid? [True, True] Translation: X:-11.62, Y:-0.21, Z:0.44 [[ 9.99994897e-01 3.19430723e-03 -4.23327117e-05 -1.16202055e+01] [-3.19430710e-03 9.99994898e-01 3.18121245e-06 -2.09571722e-01] [ 4.23426574e-05 -3.04597253e-06 9.99999999e-01 4.35275583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.52528557 meters 0.03839353654598578 Centerline is valid? [True, True] Translation: X:-11.68, Y:-0.21, Z:0.44 [[ 9.99985049e-01 1.96684650e-03 5.10231869e-03 -1.16797106e+01] [-1.96468587e-03 9.99997978e-01 -4.28438876e-04 -2.14286337e-01] [-5.10315105e-03 4.18408017e-04 9.99986891e-01 4.42544561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.58528557 meters 0.03957225263848448 Centerline is valid? [True, True] Translation: X:-11.74, Y:-0.22, Z:0.44 [[ 9.99995904e-01 1.47196797e-03 2.45477924e-03 -1.17413912e+01] [-1.47145768e-03 9.99998895e-01 -2.09666660e-04 -2.19022048e-01] [-2.45508515e-03 2.06053698e-04 9.99996965e-01 4.41478549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.645285569999999 meters 0.03878953663540981 Centerline is valid? [True, True] Translation: X:-11.80, Y:-0.20, Z:0.45 [[ 9.99999614e-01 2.33671441e-04 8.46481732e-04 -1.18006353e+01] [-2.33610226e-04 9.99999970e-01 -7.24156370e-05 -2.04471935e-01] [-8.46498628e-04 7.22178623e-05 9.99999639e-01 4.45543860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.70528557 meters 0.04039225530541745 Centerline is valid? [True, True] Translation: X:-11.86, Y:-0.22, Z:0.44 [[ 9.99992435e-01 -1.94785826e-03 3.36691978e-03 -1.18633725e+01] [ 1.94883471e-03 9.99998060e-01 -2.86755243e-04 -2.24438115e-01] [-3.36635469e-03 2.93314643e-04 9.99994291e-01 4.43569204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.76528557 meters 0.04125662056420235 Centerline is valid? [True, True] Translation: X:-11.92, Y:-0.22, Z:0.45 [[ 9.99970589e-01 -7.23740316e-03 2.53805026e-03 -1.19233613e+01] [ 7.23797358e-03 9.99973782e-01 -2.15634100e-04 -2.22373883e-01] [-2.53642309e-03 2.33998099e-04 9.99996756e-01 4.52320803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.82528557 meters 0.04428935440433261 Centerline is valid? [True, True] Translation: X:-11.98, Y:-0.23, Z:0.45 [[ 9.99938550e-01 -1.02775550e-02 4.15557790e-03 -1.19845280e+01] [ 1.02791122e-02 9.99947106e-01 -3.53542107e-04 -2.28525670e-01] [-4.15172454e-03 3.96236033e-04 9.99991303e-01 4.52329171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.885285569999999 meters 0.04434419323664269 Centerline is valid? [True, True] Translation: X:-12.04, Y:-0.23, Z:0.45 [[ 9.99913562e-01 -1.29311358e-02 2.37782028e-03 -1.20446624e+01] [ 1.29316521e-02 9.99916362e-01 -2.01885008e-04 -2.28111347e-01] [-2.37501080e-03 2.32616702e-04 9.99997153e-01 4.50637022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.94528557 meters 0.04683957120183694 Centerline is valid? [True, True] Translation: X:-12.11, Y:-0.24, Z:0.45 [[ 9.99907252e-01 -1.36134221e-02 -4.03143512e-04 -1.21073762e+01] [ 1.36134365e-02 9.99907332e-01 3.30704117e-05 -2.38142504e-01] [ 4.02655952e-04 -3.85555130e-05 9.99999918e-01 4.46428876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.00528557 meters 0.0425057676381756 Centerline is valid? [True, True] Translation: X:-12.17, Y:-0.22, Z:0.46 [[ 9.99912763e-01 -1.26883487e-02 3.67046505e-03 -1.21663407e+01] [ 1.26895800e-02 9.99919435e-01 -3.12378340e-04 -2.24544554e-01] [-3.66620577e-03 3.58927749e-04 9.99993215e-01 4.60707641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.065285569999999 meters 0.041440579628087094 Centerline is valid? [True, True] Translation: X:-12.23, Y:-0.22, Z:0.46 [[ 9.99934232e-01 -1.13222321e-02 1.82718268e-03 -1.22270574e+01] [ 1.13225392e-02 9.99935886e-01 -1.57798542e-04 -2.17502518e-01] [-1.82527890e-03 1.78476511e-04 9.99998318e-01 4.60743036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.125285569999999 meters 0.04152651380745096 Centerline is valid? [True, True] Translation: X:-12.29, Y:-0.22, Z:0.46 [[ 9.99928660e-01 -1.19433644e-02 1.74765075e-04 -1.22888977e+01] [ 1.19433673e-02 9.99928675e-01 -1.56607443e-05 -2.21876250e-01] [-1.74565568e-04 1.77469106e-05 9.99999985e-01 4.59563837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.18528557 meters 0.04321037118810548 Centerline is valid? [True, True] Translation: X:-12.35, Y:-0.24, Z:0.45 [[ 9.99934860e-01 -1.13477579e-02 1.22634036e-03 -1.23517404e+01] [ 1.13479002e-02 9.99935605e-01 -1.09151811e-04 -2.36384733e-01] [-1.22502276e-03 1.23061089e-04 9.99999242e-01 4.54072888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.24528557 meters 0.045668590220110224 Centerline is valid? [True, True] Translation: X:-12.41, Y:-0.24, Z:0.46 [[ 9.99882984e-01 -1.52465473e-02 1.24948072e-03 -1.24129088e+01] [ 1.52466916e-02 9.99883757e-01 -1.06071110e-04 -2.38807730e-01] [-1.24771826e-03 1.25109145e-04 9.99999214e-01 4.57601507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.305285569999999 meters 0.051309423861290525 Centerline is valid? [True, True] Translation: X:-12.47, Y:-0.26, Z:0.46 [[ 9.99814843e-01 -1.89223053e-02 3.49652197e-03 -1.24747157e+01] [ 1.89234542e-02 9.99820892e-01 -2.95787478e-04 -2.56895647e-01] [-3.49029873e-03 3.61898985e-04 9.99993843e-01 4.63614010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.36528557 meters 0.04783919033753548 Centerline is valid? [True, True] Translation: X:-12.53, Y:-0.24, Z:0.46 [[ 9.99801569e-01 -1.96268334e-02 3.40743110e-03 -1.25345166e+01] [ 1.96279375e-02 9.99807311e-01 -2.90896458e-04 -2.44031640e-01] [-3.40106515e-03 3.57719580e-04 9.99994152e-01 4.63851477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.42528557 meters 0.047391512782276976 Centerline is valid? [True, True] Translation: X:-12.60, Y:-0.24, Z:0.46 [[ 9.99787721e-01 -2.06008556e-02 -3.43463096e-04 -1.25952137e+01] [ 2.06008668e-02 9.99787779e-01 2.90104848e-05 -2.44044442e-01] [ 3.42792565e-04 -3.60799639e-05 9.99999941e-01 4.58873046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.48528557 meters 0.048781113080947056 Centerline is valid? [True, True] Translation: X:-12.66, Y:-0.26, Z:0.46 [[ 9.99649940e-01 -2.63646462e-02 2.21423143e-03 -1.26569419e+01] [ 2.63651244e-02 9.99652362e-01 -1.87073453e-04 -2.55878145e-01] [-2.20852956e-03 2.45386454e-04 9.99997531e-01 4.61589352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.545285569999999 meters 0.05065631127510327 Centerline is valid? [True, True] Translation: X:-12.72, Y:-0.26, Z:0.47 [[ 9.99557583e-01 -2.94685810e-02 4.03008078e-03 -1.27180579e+01] [ 2.94701902e-02 9.99565602e-01 -3.40475650e-04 -2.60657528e-01] [-4.01829678e-03 4.59092265e-04 9.99991821e-01 4.65863581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.60528557 meters 0.05249392863430983 Centerline is valid? [True, True] Translation: X:-12.78, Y:-0.27, Z:0.46 [[ 9.99440420e-01 -3.34445478e-02 -5.56497096e-04 -1.27793366e+01] [ 3.34445790e-02 9.99440572e-01 4.68333880e-05 -2.65556942e-01] [ 5.54619455e-04 -6.54189920e-05 9.99999844e-01 4.62289149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.66528557 meters 0.04836898648924095 Centerline is valid? [True, True] Translation: X:-12.84, Y:-0.26, Z:0.47 [[ 9.99357823e-01 -3.55461874e-02 4.51776413e-03 -1.28401801e+01] [ 3.55482730e-02 9.99367887e-01 -3.82181192e-04 -2.63509539e-01] [-4.50132331e-03 5.42534477e-04 9.99989722e-01 4.70910804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.725285569999999 meters 0.0527420813327501 Centerline is valid? [True, True] Translation: X:-12.90, Y:-0.28, Z:0.47 [[ 9.99400744e-01 -3.45830231e-02 1.47247725e-03 -1.29029192e+01] [ 3.45832505e-02 9.99401812e-01 -1.29309712e-04 -2.75069940e-01] [-1.46712451e-03 1.80155272e-04 9.99998908e-01 4.65823614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.78528557 meters 0.050032196970975655 Centerline is valid? [True, True] Translation: X:-12.96, Y:-0.27, Z:0.47 [[ 9.99460181e-01 -3.27261477e-02 2.88900534e-03 -1.29619244e+01] [ 3.27269853e-02 9.99464299e-01 -2.43115779e-04 -2.65288300e-01] [-2.87950146e-03 3.37532976e-04 9.99995797e-01 4.70679653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.84528557 meters 0.051130637937496226 Centerline is valid? [True, True] Translation: X:-13.02, Y:-0.27, Z:0.46 [[ 9.99568339e-01 -2.93791407e-02 -4.10175563e-05 -1.30241499e+01] [ 2.93791409e-02 9.99568340e-01 2.91155767e-06 -2.70676857e-01] [ 4.09143115e-05 -4.11536143e-06 9.99999999e-01 4.61679998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.90528557 meters 0.04774158711889016 Centerline is valid? [True, True] Translation: X:-13.09, Y:-0.27, Z:0.46 [[ 9.99745754e-01 -2.24838224e-02 1.70436652e-03 -1.30852473e+01] [ 2.24840998e-02 9.99747190e-01 -1.43791647e-04 -2.72514307e-01] [-1.70070265e-03 1.82076235e-04 9.99998537e-01 4.59887797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.965285569999999 meters 0.051270785279167175 Centerline is valid? [True, True] Translation: X:-13.15, Y:-0.28, Z:0.47 [[ 9.99814426e-01 -1.87021331e-02 4.61988273e-03 -1.31459164e+01] [ 1.87041288e-02 9.99824987e-01 -3.89146680e-04 -2.76678256e-01] [-4.61179631e-03 4.75485346e-04 9.99989253e-01 4.69114886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.02528557 meters 0.04666612125003218 Centerline is valid? [True, True] Translation: X:-13.21, Y:-0.26, Z:0.47 [[ 9.99893586e-01 -1.44780520e-02 1.78988311e-03 -1.32050064e+01] [ 1.44783450e-02 9.99895172e-01 -1.50814247e-04 -2.58572480e-01] [-1.78751199e-03 1.76712743e-04 9.99998387e-01 4.68276159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.08528557 meters 0.04811732564874573 Centerline is valid? [True, True] Translation: X:-13.27, Y:-0.26, Z:0.46 [[ 9.99945253e-01 -1.01689665e-02 2.46649012e-03 -1.32670520e+01] [ 1.01695101e-02 9.99948268e-01 -2.07967336e-04 -2.64136349e-01] [-2.46424771e-03 2.33038946e-04 9.99996937e-01 4.63949046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.145285569999999 meters 0.05046444154450912 Centerline is valid? [True, True] Translation: X:-13.33, Y:-0.28, Z:0.45 [[ 9.99986893e-01 -5.07313065e-03 -6.90127934e-04 -1.33293832e+01] [ 5.07317181e-03 9.99987130e-01 5.79053775e-05 -2.77348809e-01] [ 6.89825290e-04 -6.14057562e-05 9.99999760e-01 4.53687391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.20528557 meters 0.04445112892812585 Centerline is valid? [True, True] Translation: X:-13.39, Y:-0.26, Z:0.47 [[ 9.99986759e-01 -1.04287218e-03 5.03935477e-03 -1.33879777e+01] [ 1.04502250e-03 9.99999364e-01 -4.24091703e-04 -2.61698959e-01] [-5.03890929e-03 4.29352327e-04 9.99987212e-01 4.66154253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.26528557 meters 0.042246323604546714 Centerline is valid? [True, True] Translation: X:-13.45, Y:-0.26, Z:0.45 [[ 9.99970536e-01 7.66855061e-03 -3.45876625e-04 -1.34483120e+01] [-7.66854091e-03 9.99970596e-01 2.93530672e-05 -2.58228556e-01] [ 3.46091551e-04 -2.66998333e-05 9.99999940e-01 4.52720541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.32528557 meters 0.041876184364639066 Centerline is valid? [True, True] Translation: X:-13.51, Y:-0.26, Z:0.46 [[ 9.99950366e-01 7.98602796e-03 5.95727832e-03 -1.35090305e+01] [-7.98318457e-03 9.99968008e-01 -5.00923536e-04 -2.61499752e-01] [-5.96108813e-03 4.53340621e-04 9.99982130e-01 4.62162535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.385285569999999 meters 0.04223878363255372 Centerline is valid? [True, True] Translation: X:-13.57, Y:-0.26, Z:0.46 [[ 9.99947702e-01 1.00933077e-02 1.64848427e-03 -1.35684813e+01] [-1.00931007e-02 9.99949054e-01 -1.33849694e-04 -2.60386308e-01] [-1.64975128e-03 1.17204376e-04 9.99998632e-01 4.55154047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.44528557 meters 0.04648030037127695 Centerline is valid? [True, True] Translation: X:-13.63, Y:-0.27, Z:0.44 [[ 9.99949428e-01 1.00442920e-02 -5.03189459e-04 -1.36294274e+01] [-1.00442695e-02 9.99949554e-01 4.72472021e-05 -2.70302712e-01] [ 5.03638640e-04 -4.21906422e-05 9.99999872e-01 4.43369289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.50528557 meters 0.04458680320617331 Centerline is valid? [True, True] Translation: X:-13.69, Y:-0.27, Z:0.45 [[ 9.99970363e-01 6.52167142e-03 4.09145770e-03 -1.36892846e+01] [-6.52031214e-03 9.99978683e-01 -3.45474398e-04 -2.69115801e-01] [-4.09362355e-03 3.18786578e-04 9.99991570e-01 4.53863538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.565285569999999 meters 0.04493906718599216 Centerline is valid? [True, True] Translation: X:-13.75, Y:-0.27, Z:0.45 [[ 9.99987110e-01 1.19613119e-03 4.93447855e-03 -1.37508347e+01] [-1.19408800e-03 9.99999200e-01 -4.16989274e-04 -2.74556886e-01] [-4.93497338e-03 4.11091697e-04 9.99987738e-01 4.51665179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.625285569999999 meters 0.0455819014853532 Centerline is valid? [True, True] Translation: X:-13.81, Y:-0.28, Z:0.45 [[ 9.99994348e-01 2.86878374e-04 3.34992385e-03 -1.38120832e+01] [-2.85929268e-04 9.99999919e-01 -2.83797101e-04 -2.77254488e-01] [-3.35000500e-03 2.82837656e-04 9.99994349e-01 4.51638792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.68528557 meters 0.04869757522047492 Centerline is valid? [True, True] Translation: X:-13.87, Y:-0.28, Z:0.45 [[ 9.99992208e-01 -3.32996027e-03 2.12016303e-03 -1.38736890e+01] [ 3.33034748e-03 9.99994438e-01 -1.79128001e-04 -2.84437285e-01] [-2.11955475e-03 1.86187485e-04 9.99997736e-01 4.48000825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.74528557 meters 0.05086671313687606 Centerline is valid? [True, True] Translation: X:-13.93, Y:-0.29, Z:0.45 [[ 9.99984114e-01 -5.15918576e-03 2.27052237e-03 -1.39347048e+01] [ 5.15963544e-03 9.99986671e-01 -1.92238736e-04 -2.87587324e-01] [-2.26950031e-03 2.03950750e-04 9.99997404e-01 4.54115438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.805285569999999 meters 0.04630675679243409 Centerline is valid? [True, True] Translation: X:-13.99, Y:-0.28, Z:0.46 [[ 9.99986595e-01 -3.16021086e-03 4.10162665e-03 -1.39937722e+01] [ 3.16166053e-03 9.99994942e-01 -3.47002910e-04 -2.76432457e-01] [-4.10050930e-03 3.59966209e-04 9.99991528e-01 4.58285493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.86528557 meters 0.05543224977861077 Centerline is valid? [True, True] Translation: X:-14.06, Y:-0.30, Z:0.44 [[ 9.99988693e-01 -2.97649468e-03 3.70874842e-03 -1.40584226e+01] [ 2.97769298e-03 9.99995516e-01 -3.17621364e-04 -3.01700896e-01] [-3.70778639e-03 3.28661287e-04 9.99993072e-01 4.42380060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.92528557 meters 0.05041658926856281 Centerline is valid? [True, True] Translation: X:-14.12, Y:-0.28, Z:0.45 [[ 9.99998169e-01 -1.69359731e-03 8.90512223e-04 -1.41173206e+01] [ 1.69366687e-03 9.99998563e-01 -7.73691669e-05 -2.84260578e-01] [-8.90379911e-04 7.88772563e-05 9.99999601e-01 4.54460142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.985285569999999 meters 0.0478997266119008 Centerline is valid? [True, True] Translation: X:-14.18, Y:-0.28, Z:0.45 [[ 9.99990030e-01 -2.26680782e-03 3.84735226e-03 -1.41782210e+01] [ 2.26808467e-03 9.99997374e-01 -3.27547806e-04 -2.82352432e-01] [-3.84659967e-03 3.36270661e-04 9.99992545e-01 4.54069178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.045285569999999 meters 0.0468887378249822 Centerline is valid? [True, True] Translation: X:-14.24, Y:-0.29, Z:0.46 [[ 9.99961616e-01 -4.14887979e-03 7.71707490e-03 -1.42401534e+01] [ 4.15400435e-03 9.99991162e-01 -6.48144789e-04 -2.86313481e-01] [-7.71431763e-03 6.80176673e-04 9.99970013e-01 4.59336684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.10528557 meters 0.042767428284538854 Centerline is valid? [True, True] Translation: X:-14.30, Y:-0.27, Z:0.46 [[ 9.99980961e-01 -5.83728310e-03 2.00112768e-03 -1.42985967e+01] [ 5.83763004e-03 9.99982947e-01 -1.67577639e-04 -2.72734229e-01] [-2.00011536e-03 1.79256292e-04 9.99997984e-01 4.58721880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.16528557 meters 0.052437035105800334 Centerline is valid? [True, True] Translation: X:-14.36, Y:-0.29, Z:0.46 [[ 9.99958983e-01 -7.74729742e-03 4.69156470e-03 -1.43621849e+01] [ 7.74923516e-03 9.99969896e-01 -3.94990046e-04 -2.91784214e-01] [-4.68836336e-03 4.31329883e-04 9.99988917e-01 4.63556293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.225285569999999 meters 0.05054218168674475 Centerline is valid? [True, True] Translation: X:-14.42, Y:-0.30, Z:0.46 [[ 9.99928472e-01 -1.05108344e-02 5.70727513e-03 -1.44236889e+01] [ 1.05137354e-02 9.99944615e-01 -4.78529258e-04 -2.99270662e-01] [-5.70192929e-03 5.38499811e-04 9.99983599e-01 4.57384290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.28528557 meters 0.049308454780349564 Centerline is valid? [True, True] Translation: X:-14.48, Y:-0.29, Z:0.46 [[ 9.99901173e-01 -1.27563755e-02 5.90919549e-03 -1.44834583e+01] [ 1.27595236e-02 9.99918471e-01 -4.95356561e-04 -2.93462680e-01] [-5.90239477e-03 5.70706126e-04 9.99982418e-01 4.61401206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.34528557 meters 0.04942593419874051 Centerline is valid? [True, True] Translation: X:-14.54, Y:-0.29, Z:0.47 [[ 9.99885875e-01 -1.45600042e-02 4.03033773e-03 -1.45447253e+01] [ 1.45614845e-02 9.99893919e-01 -3.38193889e-04 -2.91210328e-01] [-4.02498608e-03 3.96842993e-04 9.99991821e-01 4.66038750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.405285569999998 meters 0.05557915461381221 Centerline is valid? [True, True] Translation: X:-14.61, Y:-0.30, Z:0.46 [[ 9.99793308e-01 -1.91136062e-02 6.92902112e-03 -1.46068478e+01] [ 1.91180872e-02 9.99817064e-01 -5.81033687e-04 -3.01358111e-01] [-6.91664790e-03 7.13383222e-04 9.99975825e-01 4.60292129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.465285569999999 meters 0.051788663239891126 Centerline is valid? [True, True] Translation: X:-14.67, Y:-0.29, Z:0.46 [[ 9.99708853e-01 -2.33028629e-02 6.25986536e-03 -1.46661133e+01] [ 2.33065991e-02 9.99728227e-01 -5.24546419e-04 -2.93378733e-01] [-6.24594067e-03 6.70289871e-04 9.99980269e-01 4.63548480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.52528557 meters 0.05658888447980185 Centerline is valid? [True, True] Translation: X:-14.73, Y:-0.29, Z:0.47 [[ 9.99264892e-01 -3.81337684e-02 3.93580588e-03 -1.47271613e+01] [ 3.81353602e-02 9.99272528e-01 -3.30158991e-04 -2.92470792e-01] [-3.92035248e-03 4.80009663e-04 9.99992200e-01 4.67746771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.58528557 meters 0.07356207369947787 Centerline is valid? [True, True] Translation: X:-14.79, Y:-0.33, Z:0.47 [[ 9.98023218e-01 -6.22782995e-02 8.43032225e-03 -1.47914589e+01] [ 6.22864441e-02 9.98058064e-01 -7.06778736e-04 -3.25837247e-01] [-8.36993412e-03 1.23047638e-03 9.99964214e-01 4.68694129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.645285569999999 meters 0.0851187460898259 Centerline is valid? [True, True] Translation: X:-14.85, Y:-0.34, Z:0.46 [[ 9.95849743e-01 -9.10112703e-02 4.87905943e-04 -1.48542537e+01] [ 9.10113013e-02 9.95849859e-01 -4.17376196e-05 -3.43684347e-01] [-4.82082471e-04 8.59693525e-05 9.99999880e-01 4.62026072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.70528557 meters 0.08370617532306096 Centerline is valid? [True, True] Translation: X:-14.91, Y:-0.31, Z:0.48 [[ 9.94019151e-01 -1.08997319e-01 6.74631916e-03 -1.49115745e+01] [ 1.09003575e-01 9.94041197e-01 -5.65672686e-04 -3.10468827e-01] [-6.64446236e-03 1.29766239e-03 9.99977083e-01 4.84822646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.76528557 meters 0.07293975847824824 Centerline is valid? [True, True] Translation: X:-14.97, Y:-0.22, Z:0.50 [[ 9.97009700e-01 -7.71096173e-02 5.07598903e-03 -1.49651662e+01] [ 7.71127591e-02 9.97022287e-01 -4.25891798e-04 -2.20414366e-01] [-5.02803384e-03 8.16041774e-04 9.99987026e-01 4.96011248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.82528557 meters 0.05511802674020641 Centerline is valid? [True, True] Translation: X:-15.02, Y:-0.14, Z:0.49 [[ 9.99388208e-01 -3.48159449e-02 3.32562683e-03 -1.50194634e+01] [ 3.48170633e-02 9.99393663e-01 -2.78972960e-04 -1.42645566e-01] [-3.31389767e-03 3.94590846e-04 9.99994431e-01 4.90421149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.885285569999999 meters 0.04554344747644096 Centerline is valid? [True, True] Translation: X:-15.07, Y:-0.06, Z:0.50 [[ 9.99994756e-01 1.35488671e-03 2.94161913e-03 -1.50734065e+01] [-1.35416802e-03 9.99999053e-01 -2.46295891e-04 -6.12538980e-02] [-2.94195005e-03 2.42311153e-04 9.99995643e-01 4.95430174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.94528557 meters 0.049187880968321274 Centerline is valid? [True, True] Translation: X:-15.13, Y:-0.04, Z:0.50 [[ 9.99891406e-01 -1.36306523e-02 5.60198097e-03 -1.51306757e+01] [ 1.36334851e-02 9.99906950e-01 -4.67799781e-04 -3.57552835e-02] [-5.59508329e-03 5.44123504e-04 9.99984199e-01 5.02314951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.00528557 meters 0.05265571730641365 Centerline is valid? [True, True] Translation: X:-15.19, Y:-0.02, Z:0.50 [[ 9.99110992e-01 -4.21544462e-02 -4.76870620e-04 -1.51885125e+01] [ 4.21544699e-02 9.99111104e-01 3.97523286e-05 -1.61504357e-02] [ 4.74770994e-04 -5.98192166e-05 9.99999886e-01 5.01619392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.065285569999999 meters 0.04897004809598941 Centerline is valid? [True, True] Translation: X:-15.24, Y:0.02, Z:0.51 [[ 9.98749156e-01 -5.00011562e-02 8.25685479e-05 -1.52449498e+01] [ 5.00011570e-02 9.98749160e-01 -6.90640408e-06 2.39508536e-02] [-8.21199396e-05 1.10262882e-05 9.99999997e-01 5.06007280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.125285569999999 meters 0.04510689537611586 Centerline is valid? [True, True] Translation: X:-15.30, Y:0.08, Z:0.51 [[ 9.99397817e-01 -3.46187057e-02 -2.35554343e-03 -1.53010796e+01] [ 3.46192629e-02 9.99400554e-01 1.96154043e-04 8.11309104e-02] [ 2.34734081e-03 -2.77583100e-04 9.99997206e-01 5.12099818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.18528557 meters 0.041044078064144014 Centerline is valid? [True, True] Translation: X:-15.36, Y:0.14, Z:0.51 [[ 9.99631695e-01 -2.68023194e-02 -4.25556873e-03 -1.53554465e+01] [ 2.68040693e-02 9.99640643e-01 3.54672692e-04 1.43819911e-01] [ 4.24453341e-03 -4.68608623e-04 9.99990882e-01 5.09922910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.24528557 meters 0.05022358722628435 Centerline is valid? [True, True] Translation: X:-15.41, Y:0.17, Z:0.51 [[ 9.99299339e-01 -3.73698098e-02 -2.08029168e-03 -1.54144642e+01] [ 3.73702507e-02 9.99301473e-01 1.73451003e-04 1.65267914e-01] [ 2.07235671e-03 -2.51070495e-04 9.99997821e-01 5.10110689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.305285569999999 meters 0.0519020007180141 Centerline is valid? [True, True] Translation: X:-15.47, Y:0.20, Z:0.50 [[ 9.98949956e-01 -4.57655430e-02 -2.12127934e-03 -1.54718923e+01] [ 4.57660200e-02 9.98952171e-01 1.76842845e-04 1.96709002e-01] [ 2.11096329e-03 -2.73739665e-04 9.99997734e-01 5.01779580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.36528557 meters 0.056555320585907 Centerline is valid? [True, True] Translation: X:-15.53, Y:0.23, Z:0.50 [[ 9.99173979e-01 -4.04699077e-02 -3.68058553e-03 -1.55297823e+01] [ 4.04713078e-02 9.99180654e-01 3.06689377e-04 2.33468797e-01] [ 3.66515817e-03 -4.55394155e-04 9.99993180e-01 5.03570947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.42528557 meters 0.045603275407105945 Centerline is valid? [True, True] Translation: X:-15.59, Y:0.29, Z:0.51 [[ 9.99320106e-01 -3.67218224e-02 -3.29146589e-03 -1.55852338e+01] [ 3.67229212e-02 9.99325448e-01 2.74004280e-04 2.90523712e-01] [ 3.27918369e-03 -3.94690228e-04 9.99994546e-01 5.08235120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.485285569999999 meters 0.054795602696568406 Centerline is valid? [True, True] Translation: X:-15.65, Y:0.30, Z:0.50 [[ 9.98980691e-01 -4.48342248e-02 -5.24138411e-03 -1.56455613e+01] [ 4.48371247e-02 9.98994215e-01 4.37010975e-04 2.96024088e-01] [ 5.21651935e-03 -6.71574119e-04 9.99986168e-01 5.02736493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.545285569999999 meters 0.06662775136730076 Centerline is valid? [True, True] Translation: X:-15.71, Y:0.30, Z:0.50 [[ 9.98172686e-01 -6.04000947e-02 -1.76536380e-03 -1.57065748e+01] [ 6.04004470e-02 9.98174215e-01 1.46865063e-04 2.96888209e-01] [ 1.75326996e-03 -2.53225457e-04 9.99998431e-01 4.98955895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.60528557 meters 0.0606257714760757 Centerline is valid? [True, True] Translation: X:-15.76, Y:0.34, Z:0.51 [[ 9.97932432e-01 -6.40537793e-02 -5.28901548e-03 -1.57630706e+01] [ 6.40569962e-02 9.97946144e-01 4.40903870e-04 3.43059803e-01] [ 5.24991105e-03 -7.78790716e-04 9.99985916e-01 5.05008837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.66528557 meters 0.05709932973716873 Centerline is valid? [True, True] Translation: X:-15.82, Y:0.39, Z:0.51 [[ 9.98207151e-01 -5.98445596e-02 -1.05479550e-03 -1.58198820e+01] [ 5.98446845e-02 9.98207697e-01 8.72245371e-05 3.86480094e-01] [ 1.04768507e-03 -1.50192060e-04 9.99999440e-01 5.13645231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.725285569999999 meters 0.05890358583999218 Centerline is valid? [True, True] Translation: X:-15.88, Y:0.41, Z:0.51 [[ 9.98381670e-01 -5.68416820e-02 1.75066925e-03 -1.58792999e+01] [ 5.68420249e-02 9.98383174e-01 -1.46656998e-04 4.10862369e-01] [-1.73950249e-03 2.45931243e-04 9.99998457e-01 5.13532287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.78528557 meters 0.05608892329420091 Centerline is valid? [True, True] Translation: X:-15.94, Y:0.44, Z:0.51 [[ 9.98331808e-01 -5.76038065e-02 -3.92471363e-03 -1.59370654e+01] [ 5.76055307e-02 9.98339369e-01 3.27616949e-04 4.35523765e-01] [ 3.89932414e-03 -5.53155632e-04 9.99992245e-01 5.06468220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.84528557 meters 0.06170923537824452 Centerline is valid? [True, True] Translation: X:-16.00, Y:0.44, Z:0.51 [[ 9.98099115e-01 -6.15678654e-02 2.74854199e-03 -1.59972486e+01] [ 6.15687251e-02 9.98102820e-01 -2.29177954e-04 4.38099354e-01] [-2.72921752e-03 3.97966539e-04 9.99996196e-01 5.11194191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.905285569999998 meters 0.058713859801128726 Centerline is valid? [True, True] Translation: X:-16.06, Y:0.46, Z:0.51 [[ 9.97993763e-01 -6.33098477e-02 -5.59361834e-04 -1.60557711e+01] [ 6.33098836e-02 9.97993916e-01 4.66903568e-05 4.61839059e-01] [ 5.55283748e-04 -8.20098175e-05 9.99999842e-01 5.07496580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.965285569999999 meters 0.06843792223285469 Centerline is valid? [True, True] Translation: X:-16.12, Y:0.45, Z:0.50 [[ 9.97748743e-01 -6.70619780e-02 -3.68903736e-04 -1.61177759e+01] [ 6.70619937e-02 9.97748810e-01 3.03448202e-05 4.51668815e-01] [ 3.66038280e-04 -5.50159262e-05 9.99999931e-01 5.02775146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.02528557 meters 0.0584065916632819 Centerline is valid? [True, True] Translation: X:-16.17, Y:0.49, Z:0.51 [[ 9.98072577e-01 -6.20563870e-02 3.67779877e-04 -1.61739847e+01] [ 6.20564029e-02 9.98072644e-01 -3.18662412e-05 4.92796841e-01] [-3.65093530e-04 5.46279177e-05 9.99999932e-01 5.11738352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.08528557 meters 0.06038876917352523 Centerline is valid? [True, True] Translation: X:-16.23, Y:0.50, Z:0.50 [[ 9.98602063e-01 -5.28461467e-02 -1.09727280e-03 -1.62342865e+01] [ 5.28462776e-02 9.98602655e-01 9.06448407e-05 4.98720995e-01] [ 1.09094930e-03 -1.48504908e-04 9.99999394e-01 5.03423229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.145285570000002 meters 0.057584074313115206 Centerline is valid? [True, True] Translation: X:-16.29, Y:0.53, Z:0.51 [[ 9.99160585e-01 -4.09052625e-02 -2.21007587e-03 -1.62934081e+01] [ 4.09057668e-02 9.99162992e-01 1.83437279e-04 5.25262564e-01] [ 2.20072247e-03 -2.73688148e-04 9.99997541e-01 5.08804098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.20528557 meters 0.05854654963265341 Centerline is valid? [True, True] Translation: X:-16.35, Y:0.53, Z:0.51 [[ 9.99232870e-01 -3.90728038e-02 -2.64354489e-03 -1.63546497e+01] [ 3.90735185e-02 9.99236314e-01 2.19213297e-04 5.27542965e-01] [ 2.63296078e-03 -3.22337732e-04 9.99996482e-01 5.06335799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.26528557 meters 0.0587645479608661 Centerline is valid? [True, True] Translation: X:-16.42, Y:0.51, Z:0.51 [[ 9.98851649e-01 -4.70512908e-02 9.03106191e-03 -1.64162048e+01] [ 4.70599764e-02 9.98891783e-01 -7.51547766e-04 5.12659608e-01] [-8.98569224e-03 1.17568629e-03 9.99958937e-01 5.13827422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.325285570000002 meters 0.06000599543011852 Centerline is valid? [True, True] Translation: X:-16.48, Y:0.50, Z:0.50 [[ 9.98556965e-01 -5.36285797e-02 -2.82205883e-03 -1.64776120e+01] [ 5.36294540e-02 9.98560878e-01 2.35027464e-04 5.03191121e-01] [ 2.80539335e-03 -3.86033785e-04 9.99995990e-01 4.96163116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.38528557 meters 0.05606015716301298 Centerline is valid? [True, True] Translation: X:-16.54, Y:0.50, Z:0.51 [[ 9.98758852e-01 -4.97140749e-02 3.04402894e-03 -1.65391409e+01] [ 4.97150752e-02 9.98763409e-01 -2.53807261e-04 4.97352957e-01] [-3.02764693e-03 4.04826377e-04 9.99995335e-01 5.05908678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.44528557 meters 0.05322691177119612 Centerline is valid? [True, True] Translation: X:-16.60, Y:0.49, Z:0.50 [[ 9.98896221e-01 -4.69716722e-02 -3.41266486e-05 -1.65995800e+01] [ 4.69716724e-02 9.98896222e-01 2.83665563e-06 4.91150764e-01] [ 3.39557378e-05 -4.43651034e-06 9.99999999e-01 5.03836657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.50528557 meters 0.05352893718377635 Centerline is valid? [True, True] Translation: X:-16.66, Y:0.48, Z:0.50 [[ 9.99154206e-01 -4.10378961e-02 2.60061625e-03 -1.66612985e+01] [ 4.10385966e-02 9.99157538e-01 -2.16581083e-04 4.77950834e-01] [-2.58953730e-03 3.23123542e-04 9.99996595e-01 5.03234520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.56528557 meters 0.04803003381350539 Centerline is valid? [True, True] Translation: X:-16.72, Y:0.47, Z:0.50 [[ 9.99114405e-01 -4.17297648e-02 5.38810167e-03 -1.67244698e+01] [ 4.17328049e-02 9.99128704e-01 -4.52975678e-04 4.67588496e-01] [-5.36450447e-03 6.77435121e-04 9.99985381e-01 4.98526338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.625285570000003 meters 0.0519483930459513 Centerline is valid? [True, True] Translation: X:-16.79, Y:0.45, Z:0.50 [[ 9.98892099e-01 -4.68161471e-02 4.77732530e-03 -1.67873326e+01] [ 4.68185680e-02 9.98903331e-01 -3.96103632e-04 4.45924910e-01] [-4.75354211e-03 6.19332318e-04 9.99988510e-01 5.00382144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.68528557 meters 0.05036488030012521 Centerline is valid? [True, True] Translation: X:-16.85, Y:0.43, Z:0.51 [[ 9.98720393e-01 -5.00015751e-02 7.57752493e-03 -1.68488185e+01] [ 5.00077553e-02 9.98748632e-01 -6.28203171e-04 4.33278643e-01] [-7.53663151e-03 1.00633433e-03 9.99971093e-01 5.10922104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.74528557 meters 0.051492210843200034 Centerline is valid? [True, True] Translation: X:-16.91, Y:0.41, Z:0.50 [[ 9.98559417e-01 -5.34699887e-02 4.47790492e-03 -1.69117758e+01] [ 5.34721821e-02 9.98569270e-01 -3.71475419e-04 4.12723291e-01] [-4.45163546e-03 6.10383625e-04 9.99989905e-01 5.00308235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.805285570000002 meters 0.05113379257875501 Centerline is valid? [True, True] Translation: X:-16.97, Y:0.41, Z:0.51 [[ 9.98725683e-01 -5.00894697e-02 6.16890355e-03 -1.69724982e+01] [ 5.00935674e-02 9.98744398e-01 -5.11447506e-04 4.13688318e-01] [-6.13553973e-03 8.19818146e-04 9.99980841e-01 5.12574790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.86528557 meters 0.05320861990378828 Centerline is valid? [True, True] Translation: X:-17.04, Y:0.38, Z:0.50 [[ 9.98729244e-01 -5.01549896e-02 4.93701316e-03 -1.70384116e+01] [ 5.01576398e-02 9.98741227e-01 -4.14381608e-04 3.78489892e-01] [-4.91001528e-03 6.61483958e-04 9.99987727e-01 4.97054504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.92528557 meters 0.05334989981053262 Centerline is valid? [True, True] Translation: X:-17.10, Y:0.38, Z:0.51 [[ 9.98649449e-01 -5.15285664e-02 6.63971430e-03 -1.70993133e+01] [ 5.15333335e-02 9.98671124e-01 -5.48770506e-04 3.80442319e-01] [-6.60261359e-03 8.90195974e-04 9.99977806e-01 5.12940954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.985285570000002 meters 0.05251804289486101 Centerline is valid? [True, True] Translation: X:-17.16, Y:0.36, Z:0.50 [[ 9.98484138e-01 -5.48852374e-02 4.12760269e-03 -1.71623595e+01] [ 5.48871057e-02 9.98492509e-01 -3.40631773e-04 3.56656011e-01] [-4.10268471e-03 5.66667588e-04 9.99991423e-01 4.97888805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.04528557 meters 0.0557879057806121 Centerline is valid? [True, True] Translation: X:-17.22, Y:0.35, Z:0.51 [[ 9.98450280e-01 -5.54767856e-02 4.40047644e-03 -1.72246588e+01] [ 5.54789357e-02 9.98459790e-01 -3.67941997e-04 3.49807867e-01] [-4.37328654e-03 6.11505539e-04 9.99990250e-01 5.12650348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.10528557 meters 0.053100079768515177 Centerline is valid? [True, True] Translation: X:-17.29, Y:0.35, Z:0.51 [[ 9.98502530e-01 -5.42154219e-02 7.30654331e-03 -1.72851844e+01] [ 5.42212469e-02 9.98528765e-01 -6.01364942e-04 3.49575859e-01] [-7.26319042e-03 9.96634304e-04 9.99973126e-01 5.13084365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.16528557 meters 0.047752468640757814 Centerline is valid? [True, True] Translation: X:-17.35, Y:0.35, Z:0.52 [[ 9.98609586e-01 -5.19610315e-02 8.88515143e-03 -1.73451235e+01] [ 5.19695599e-02 9.98648401e-01 -7.31517444e-04 3.53859061e-01] [-8.83513187e-03 1.19225774e-03 9.99960259e-01 5.16013537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.22528557 meters 0.055765972211129104 Centerline is valid? [True, True] Translation: X:-17.41, Y:0.33, Z:0.51 [[ 9.98497839e-01 -5.47407826e-02 2.34769554e-03 -1.74077890e+01] [ 5.47413849e-02 9.98500548e-01 -1.93042864e-04 3.30525171e-01] [-2.33360797e-03 3.21268988e-04 9.99997226e-01 5.09165002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.285285570000003 meters 0.05228857201372542 Centerline is valid? [True, True] Translation: X:-17.47, Y:0.33, Z:0.51 [[ 9.98052364e-01 -6.21051513e-02 5.86764933e-03 -1.74678425e+01] [ 6.21090368e-02 9.98069254e-01 -4.82128858e-04 3.26530780e-01] [-5.82637770e-03 8.45623894e-04 9.99982669e-01 5.11963515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.34528557 meters 0.058646295025180394 Centerline is valid? [True, True] Translation: X:-17.53, Y:0.32, Z:0.51 [[ 9.97677369e-01 -6.75998568e-02 8.37422547e-03 -1.75294893e+01] [ 6.76079681e-02 9.97711726e-01 -6.89007690e-04 3.18783613e-01] [-8.30848612e-03 1.25357175e-03 9.99964698e-01 5.08539445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.40528557 meters 0.052003194226366435 Centerline is valid? [True, True] Translation: X:-17.59, Y:0.34, Z:0.52 [[ 9.98180476e-01 -5.99222293e-02 6.71301463e-03 -1.75870058e+01] [ 5.99272761e-02 9.98202593e-01 -5.52991793e-04 3.42827447e-01] [-6.66781210e-03 9.54278291e-04 9.99977315e-01 5.15317368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.465285570000002 meters 0.05022125824461249 Centerline is valid? [True, True] Translation: X:-17.65, Y:0.35, Z:0.51 [[ 9.98424624e-01 -5.58195980e-02 5.69585775e-03 -1.76477563e+01] [ 5.58231592e-02 9.98440562e-01 -4.68044751e-04 3.48658802e-01] [-5.66084934e-03 7.85268178e-04 9.99983669e-01 5.13148393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.52528557 meters 0.05172750661588672 Centerline is valid? [True, True] Translation: X:-17.71, Y:0.36, Z:0.51 [[ 9.98398015e-01 -5.60622050e-02 7.64412031e-03 -1.77091568e+01] [ 5.60686515e-02 9.98426716e-01 -6.31479946e-04 3.55773419e-01] [-7.59669178e-03 1.05906384e-03 9.99970584e-01 5.11057941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.58528557 meters 0.053103810924941305 Centerline is valid? [True, True] Translation: X:-17.77, Y:0.35, Z:0.51 [[ 9.97957908e-01 -6.35107137e-02 6.81197525e-03 -1.77703579e+01] [ 6.35159703e-02 9.97980666e-01 -5.57910906e-04 3.54095699e-01] [-6.76278628e-03 9.89440819e-04 9.99976643e-01 5.11636347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.645285570000002 meters 0.05126791271402618 Centerline is valid? [True, True] Translation: X:-17.83, Y:0.38, Z:0.52 [[ 9.97228352e-01 -7.41709704e-02 5.85496795e-03 -1.78283604e+01] [ 7.41750325e-02 9.97245123e-01 -4.79404525e-04 3.76736133e-01] [-5.80328034e-03 9.12368223e-04 9.99982745e-01 5.21577085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.70528557 meters 0.05512457893330881 Centerline is valid? [True, True] Translation: X:-17.89, Y:0.38, Z:0.52 [[ 9.96878582e-01 -7.86108397e-02 7.30947753e-03 -1.78891707e+01] [ 7.86172835e-02 9.96904692e-01 -5.98016059e-04 3.78138611e-01] [-7.23984190e-03 1.17080067e-03 9.99973107e-01 5.18745896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.76528557 meters 0.05651026349191074 Centerline is valid? [True, True] Translation: X:-17.95, Y:0.41, Z:0.52 [[ 9.96941523e-01 -7.81230225e-02 2.09611456e-03 -1.79484391e+01] [ 7.81235626e-02 9.96943668e-01 -1.76925966e-04 4.07612276e-01] [-2.07588615e-03 3.40140779e-04 9.99997787e-01 5.19075716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.825285570000002 meters 0.05679124712677128 Centerline is valid? [True, True] Translation: X:-18.01, Y:0.44, Z:0.52 [[ 9.97315981e-01 -7.31483389e-02 3.18676967e-03 -1.80071105e+01] [ 7.31495345e-02 9.97320950e-01 -2.60096850e-04 4.41743481e-01] [-3.15920650e-03 4.92509462e-04 9.99994888e-01 5.24946627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.88528557 meters 0.054458372748801956 Centerline is valid? [True, True] Translation: X:-18.06, Y:0.49, Z:0.52 [[ 9.97235568e-01 -7.42496402e-02 2.86580187e-03 -1.80642875e+01] [ 7.42506118e-02 9.97239586e-01 -2.33999457e-04 4.87627489e-01] [-2.84051670e-03 4.46140124e-04 9.99995866e-01 5.20532432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.94528557 meters 0.05453423165842196 Centerline is valid? [True, True] Translation: X:-18.12, Y:0.52, Z:0.52 [[ 9.96611874e-01 -8.22007656e-02 2.79405130e-03 -1.81223190e+01] [ 8.22017199e-02 9.96615686e-01 -2.28240894e-04 5.19526917e-01] [-2.76583377e-03 4.57143407e-04 9.99996071e-01 5.23003905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.00528557 meters 0.06663960805777898 Centerline is valid? [True, True] Translation: X:-18.18, Y:0.53, Z:0.52 [[ 9.96179954e-01 -8.73186474e-02 9.76365016e-04 -1.81829261e+01] [ 8.73187666e-02 9.96180419e-01 -8.00363750e-05 5.29623654e-01] [-9.65647043e-04 1.64985621e-04 9.99999520e-01 5.20640090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.06528557 meters 0.0638633430392614 Centerline is valid? [True, True] Translation: X:-18.24, Y:0.58, Z:0.52 [[ 9.95666558e-01 -9.29572890e-02 -2.65467119e-03 -1.82390524e+01] [ 9.29581832e-02 9.95669990e-01 2.15180936e-04 5.82089448e-01] [ 2.62317380e-03 -4.61021873e-04 9.99996453e-01 5.20771478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.125285570000003 meters 0.06416154235911488 Centerline is valid? [True, True] Translation: X:-18.30, Y:0.62, Z:0.54 [[ 9.95343915e-01 -9.63798160e-02 1.19231828e-03 -1.82965069e+01] [ 9.63800002e-02 9.95344607e-01 -9.78951905e-05 6.20731453e-01] [-1.17733245e-03 2.12355018e-04 9.99999284e-01 5.35700655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.18528557 meters 0.06989234159290598 Centerline is valid? [True, True] Translation: X:-18.36, Y:0.64, Z:0.54 [[ 9.95385865e-01 -9.58815876e-02 3.70140383e-03 -1.83558791e+01] [ 9.58833503e-02 9.95392532e-01 -3.01320981e-04 6.43522782e-01] [-3.65545860e-03 6.54833645e-04 9.99993104e-01 5.37872548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.24528557 meters 0.07228609891846341 Centerline is valid? [True, True] Translation: X:-18.42, Y:0.67, Z:0.52 [[ 9.95279652e-01 -9.70365814e-02 -1.52209446e-03 -1.84150860e+01] [ 9.70368788e-02 9.95280779e-01 1.22637182e-04 6.70469275e-01] [ 1.50301107e-03 -2.69757587e-04 9.99998834e-01 5.23595882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.305285570000002 meters 0.06939499817041055 Centerline is valid? [True, True] Translation: X:-18.47, Y:0.71, Z:0.54 [[ 9.94835962e-01 -1.01485635e-01 1.44056613e-03 -1.84719713e+01] [ 1.01485907e-01 9.94836970e-01 -1.17307093e-04 7.06060686e-01] [-1.42122346e-03 2.62898475e-04 9.99998956e-01 5.38869417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.36528557 meters 0.07439450272393691 Centerline is valid? [True, True] Translation: X:-18.53, Y:0.71, Z:0.54 [[ 9.94512915e-01 -1.04587695e-01 2.34005702e-03 -1.85332185e+01] [ 1.04588424e-01 9.94515573e-01 -1.90997672e-04 7.10460904e-01] [-2.30724714e-03 4.34692526e-04 9.99997244e-01 5.39879415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.42528557 meters 0.07357731470735651 Centerline is valid? [True, True] Translation: X:-18.59, Y:0.74, Z:0.54 [[ 9.94187492e-01 -1.07655406e-01 -1.24263081e-03 -1.85911844e+01] [ 1.07655613e-01 9.94188241e-01 1.00796416e-04 7.36383429e-01] [ 1.22455766e-03 -2.33986717e-04 9.99999223e-01 5.42844270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.485285570000002 meters 0.0818375611204254 Centerline is valid? [True, True] Translation: X:-18.65, Y:0.73, Z:0.55 [[ 9.93994316e-01 -1.09372072e-01 3.61248984e-03 -1.86527290e+01] [ 1.09373835e-01 9.94000643e-01 -2.93545511e-04 7.27182433e-01] [-3.55871154e-03 6.86894439e-04 9.99993432e-01 5.48282116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.54528557 meters 0.07913093450544298 Centerline is valid? [True, True] Translation: X:-18.71, Y:0.75, Z:0.55 [[ 9.93864539e-01 -1.10585979e-01 2.00477836e-03 -1.87111793e+01] [ 1.10586525e-01 9.93866487e-01 -1.62925018e-04 7.50622051e-01] [-1.97446480e-03 3.83626870e-04 9.99997977e-01 5.51164151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.60528557 meters 0.07933216233046383 Centerline is valid? [True, True] Translation: X:-18.77, Y:0.76, Z:0.55 [[ 9.93854616e-01 -1.10665210e-01 -2.49285653e-03 -1.87724491e+01] [ 1.10666037e-01 9.93857631e-01 1.95787684e-04 7.61204577e-01] [ 2.45587760e-03 -4.70459046e-04 9.99996874e-01 5.51770721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.66528557 meters 0.07725608621128646 Centerline is valid? [True, True] Translation: X:-18.83, Y:0.77, Z:0.56 [[ 9.93925926e-01 -1.10042725e-01 1.36080337e-03 -1.88328795e+01] [ 1.10042976e-01 9.93926824e-01 -1.10640049e-04 7.70648874e-01] [-1.34036384e-03 2.59714866e-04 9.99999068e-01 5.59504309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.72528557 meters 0.07565535378433257 Centerline is valid? [True, True] Translation: X:-18.89, Y:0.77, Z:0.56 [[ 9.93782263e-01 -1.11192193e-01 5.75408086e-03 -1.88946318e+01] [ 1.11196709e-01 9.93798305e-01 -4.69895652e-04 7.72657259e-01] [-5.66614707e-03 1.10680882e-03 9.99983335e-01 5.58765515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.78528557 meters 0.0824505259403337 Centerline is valid? [True, True] Translation: X:-18.96, Y:0.75, Z:0.56 [[ 9.93756115e-01 -1.11541915e-01 2.68068379e-03 -1.89587363e+01] [ 1.11542903e-01 9.93759595e-01 -2.21483347e-04 7.48672922e-01] [-2.63925056e-03 5.19111683e-04 9.99996382e-01 5.62453340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.84528557 meters 0.08029995843879552 Centerline is valid? [True, True] Translation: X:-19.02, Y:0.74, Z:0.56 [[ 9.93056620e-01 -1.17635989e-01 5.68758850e-04 -1.90204492e+01] [ 1.17636034e-01 9.93056776e-01 -4.66640466e-05 7.35138714e-01] [-5.59320459e-04 1.13246576e-04 9.99999837e-01 5.60314226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.90528557 meters 0.07443839009439145 Centerline is valid? [True, True] Translation: X:-19.08, Y:0.74, Z:0.57 [[ 9.92507921e-01 -1.22174329e-01 1.20820592e-03 -1.90803508e+01] [ 1.22174534e-01 9.92508627e-01 -9.72277942e-05 7.37421806e-01] [-1.18727606e-03 2.44111351e-04 9.99999265e-01 5.65863832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.965285570000002 meters 0.07485956302566278 Centerline is valid? [True, True] Translation: X:-19.14, Y:0.75, Z:0.58 [[ 9.93038278e-01 -1.17769599e-01 2.30222531e-03 -1.91409036e+01] [ 1.17770334e-01 9.93040842e-01 -1.85934692e-04 7.46972765e-01] [-2.26430631e-03 4.55774110e-04 9.99997333e-01 5.75993911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.02528557 meters 0.07807735098684493 Centerline is valid? [True, True] Translation: X:-19.20, Y:0.74, Z:0.57 [[ 9.92831620e-01 -1.19477178e-01 -3.25229820e-03 -1.92031491e+01] [ 1.19478645e-01 9.92836737e-01 2.60015190e-04 7.42245913e-01] [ 3.19793525e-03 -6.46731485e-04 9.99994677e-01 5.65704468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.08528557 meters 0.07853301531675837 Centerline is valid? [True, True] Translation: X:-19.26, Y:0.74, Z:0.58 [[ 9.92582665e-01 -1.21241379e-01 8.95435711e-03 -1.92648183e+01] [ 1.21252601e-01 9.92621423e-01 -7.19167729e-04 7.41498239e-01] [-8.80109381e-03 1.79957251e-03 9.99959650e-01 5.82631268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.145285570000002 meters 0.07615144231490552 Centerline is valid? [True, True] Translation: X:-19.33, Y:0.73, Z:0.58 [[ 9.92564995e-01 -1.21676913e-01 3.07576563e-03 -1.93263581e+01] [ 1.21678239e-01 9.92569567e-01 -2.47159589e-04 7.34005093e-01] [-3.02283775e-03 6.19575702e-04 9.99995239e-01 5.78859705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.20528557 meters 0.08830100310577257 Centerline is valid? [True, True] Translation: X:-19.39, Y:0.69, Z:0.58 [[ 9.92406039e-01 -1.22926057e-01 4.40879475e-03 -1.93912665e+01] [ 1.22928793e-01 9.92415430e-01 -3.54059320e-04 6.93191462e-01] [-4.33183282e-03 8.93338424e-04 9.99990219e-01 5.80922268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.26528557 meters 0.08151565937270999 Centerline is valid? [True, True] Translation: X:-19.45, Y:0.70, Z:0.58 [[ 9.92132503e-01 -1.25192049e-01 -2.16221664e-04 -1.94517839e+01] [ 1.25192056e-01 9.92132526e-01 1.70009070e-05 6.96129338e-01] [ 2.12392168e-04 -4.39363871e-05 9.99999976e-01 5.82639584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.325285570000002 meters 0.07400377879255568 Centerline is valid? [True, True] Translation: X:-19.51, Y:0.72, Z:0.59 [[ 9.92116522e-01 -1.25318759e-01 1.19891586e-04 -1.95110534e+01] [ 1.25318762e-01 9.92116529e-01 -1.29773282e-05 7.17732195e-01] [-1.17320122e-04 2.78996868e-05 9.99999993e-01 5.90819848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.38528557 meters 0.07369939960573295 Centerline is valid? [True, True] Translation: X:-19.57, Y:0.73, Z:0.60 [[ 9.92488709e-01 -1.21984733e-01 9.26756807e-03 -1.95715436e+01] [ 1.21996761e-01 9.92530221e-01 -7.41636233e-04 7.27044309e-01] [-9.10787309e-03 1.86667887e-03 9.99956780e-01 6.04714021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.44528557 meters 0.07352584656099931 Centerline is valid? [True, True] Translation: X:-19.63, Y:0.72, Z:0.60 [[ 9.91307470e-01 -1.31490352e-01 4.44828188e-03 -1.96319963e+01] [ 1.31493215e-01 9.91317007e-01 -3.56135612e-04 7.22896384e-01] [-4.36282908e-03 9.37958779e-04 9.99990043e-01 5.96145323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.50528557 meters 0.07288803061405598 Centerline is valid? [True, True] Translation: X:-19.69, Y:0.73, Z:0.61 [[ 9.90036499e-01 -1.40681354e-01 6.04047888e-03 -1.96929855e+01] [ 1.40686795e-01 9.90054035e-01 -4.83372770e-04 7.29046851e-01] [-5.91239896e-03 1.32837230e-03 9.99981639e-01 6.08181859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.56528557 meters 0.07621407352185404 Centerline is valid? [True, True] Translation: X:-19.75, Y:0.74, Z:0.62 [[ 9.90607102e-01 -1.36672510e-01 4.26544288e-03 -1.97541238e+01] [ 1.36675189e-01 9.90615857e-01 -3.41554137e-04 7.35467150e-01] [-4.17873430e-03 9.21326166e-04 9.99990845e-01 6.15837390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.625285570000003 meters 0.07876646775755555 Centerline is valid? [True, True] Translation: X:-19.82, Y:0.73, Z:0.62 [[ 9.90823623e-01 -1.34995117e-01 6.69831862e-03 -1.98159149e+01] [ 1.35001675e-01 9.90845226e-01 -5.34730403e-04 7.34001034e-01] [-6.56481104e-03 1.43410775e-03 9.99977423e-01 6.19666724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.68528557 meters 0.07576807577893031 Centerline is valid? [True, True] Translation: X:-19.87, Y:0.76, Z:0.62 [[ 9.90164912e-01 -1.39788651e-01 5.70796762e-03 -1.98741969e+01] [ 1.39793488e-01 9.90180576e-01 -4.55478645e-04 7.56024740e-01] [-5.58824792e-03 1.24893568e-03 9.99983606e-01 6.23848266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.74528557 meters 0.07518449267337243 Centerline is valid? [True, True] Translation: X:-19.93, Y:0.77, Z:0.63 [[ 9.90932624e-01 -1.34197383e-01 6.60273006e-03 -1.99344130e+01] [ 1.34203739e-01 9.90953621e-01 -5.27045938e-04 7.65809989e-01] [-6.47227107e-03 1.40837807e-03 9.99978063e-01 6.27293131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.805285570000002 meters 0.07690089129977673 Centerline is valid? [True, True] Translation: X:-20.00, Y:0.76, Z:0.63 [[ 9.91465540e-01 -1.30294141e-01 4.41817074e-03 -1.99955483e+01] [ 1.30296963e-01 9.91474949e-01 -3.55834214e-04 7.64508924e-01] [-4.33414250e-03 9.28471592e-04 9.99990177e-01 6.33601187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.86528557 meters 0.08310926289271503 Centerline is valid? [True, True] Translation: X:-20.06, Y:0.76, Z:0.63 [[ 9.90510938e-01 -1.37421178e-01 1.87149950e-03 -2.00580377e+01] [ 1.37421694e-01 9.90512623e-01 -1.49776463e-04 7.56851153e-01] [-1.83316142e-03 4.05539858e-04 9.99998238e-01 6.31393637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.92528557 meters 0.06855463219549046 Centerline is valid? [True, True] Translation: X:-20.12, Y:0.78, Z:0.65 [[ 9.92488773e-01 -1.21725031e-01 1.22087224e-02 -2.01167086e+01] [ 1.21745785e-01 9.92560842e-01 -9.68642029e-04 7.79716289e-01] [-1.19999918e-02 2.44772683e-03 9.99925002e-01 6.49653649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.985285570000002 meters 0.06274792579418796 Centerline is valid? [True, True] Translation: X:-20.18, Y:0.78, Z:0.64 [[ 9.93887175e-01 -1.10145405e-01 7.50154703e-03 -2.01772956e+01] [ 1.10152923e-01 9.93914473e-01 -5.95204178e-04 7.84444729e-01] [-7.39033715e-03 1.41788313e-03 9.99971686e-01 6.38951199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.04528557 meters 0.06601142255194135 Centerline is valid? [True, True] Translation: X:-20.24, Y:0.77, Z:0.64 [[ 9.94009150e-01 -1.09175325e-01 5.15338295e-03 -2.02402325e+01] [ 1.09178859e-01 9.94022037e-01 -4.08620257e-04 7.70684621e-01] [-5.07796497e-03 9.68812747e-04 9.99986638e-01 6.36999567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.10528557 meters 0.06520455857123564 Centerline is valid? [True, True] Translation: X:-20.30, Y:0.75, Z:0.65 [[ 9.92645137e-01 -1.20954784e-01 5.05695993e-03 -2.03024005e+01] [ 1.20958333e-01 9.92657504e-01 -4.00837579e-04 7.45595841e-01] [-4.97134600e-03 1.00957091e-03 9.99987133e-01 6.47311416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.16528557 meters 0.06841538682227705 Centerline is valid? [True, True] Translation: X:-20.37, Y:0.70, Z:0.65 [[ 9.90935209e-01 -1.34186355e-01 6.43697165e-03 -2.03671729e+01] [ 1.34192371e-01 9.90955169e-01 -5.09982067e-04 7.01131129e-01] [-6.31031769e-03 1.36915167e-03 9.99979152e-01 6.51529051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.22528557 meters 0.06806471111068492 Centerline is valid? [True, True] Translation: X:-20.43, Y:0.69, Z:0.66 [[ 9.91730028e-01 -1.28023130e-01 9.03491738e-03 -2.04297402e+01] [ 1.28034729e-01 9.91769427e-01 -7.14928453e-04 6.87881045e-01] [-8.86902746e-03 1.86579921e-03 9.99958929e-01 6.55626996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.28528557 meters 0.059699433659442774 Centerline is valid? [True, True] Translation: X:-20.49, Y:0.68, Z:0.65 [[ 9.93476442e-01 -1.13451783e-01 1.15434912e-02 -2.04906494e+01] [ 1.13469757e-01 9.93541032e-01 -9.12080483e-04 6.82402499e-01] [-1.13654550e-02 2.21596761e-03 9.99932956e-01 6.53643436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.34528557 meters 0.05977016363701715 Centerline is valid? [True, True] Translation: X:-20.55, Y:0.67, Z:0.66 [[ 9.94696612e-01 -1.02740178e-01 4.80692312e-03 -2.05525418e+01] [ 1.02743176e-01 9.94707844e-01 -3.80379349e-04 6.71926920e-01] [-4.74240389e-03 8.72240599e-04 9.99988374e-01 6.61525636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.40528557 meters 0.060531069022462504 Centerline is valid? [True, True] Translation: X:-20.62, Y:0.64, Z:0.66 [[ 9.94406904e-01 -1.05386059e-01 6.97766555e-03 -2.06165872e+01] [ 1.05392431e-01 9.94430557e-01 -5.50812412e-04 6.39487213e-01] [-6.88075589e-03 1.28312480e-03 9.99975504e-01 6.58042843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.465285570000002 meters 0.056083612344530936 Centerline is valid? [True, True] Translation: X:-20.68, Y:0.62, Z:0.66 [[ 9.93310155e-01 -1.14948726e-01 1.10329338e-02 -2.06786969e+01] [ 1.14965209e-01 9.93369138e-01 -8.69457344e-04 6.15401905e-01] [-1.08598330e-02 2.13204436e-03 9.99938757e-01 6.61590439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.52528557 meters 0.05939695744802465 Centerline is valid? [True, True] Translation: X:-20.74, Y:0.57, Z:0.67 [[ 9.93888840e-01 -1.09552635e-01 1.35348918e-02 -2.07434473e+01] [ 1.09576951e-01 9.93977744e-01 -1.06600632e-03 5.71123377e-01] [-1.33365974e-02 2.54260396e-03 9.99907831e-01 6.68774907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.58528557 meters 0.05280305516750096 Centerline is valid? [True, True] Translation: X:-20.80, Y:0.56, Z:0.67 [[ 9.96018202e-01 -8.87888896e-02 8.01709680e-03 -2.08049092e+01] [ 8.87967686e-02 9.96049565e-01 -6.31523808e-04 5.59680608e-01] [-7.92935347e-03 1.34090150e-03 9.99967663e-01 6.70181746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.645285570000002 meters 0.05016885181422055 Centerline is valid? [True, True] Translation: X:-20.87, Y:0.54, Z:0.67 [[ 9.95807422e-01 -9.12451394e-02 6.47330315e-03 -2.08662030e+01] [ 9.12503186e-02 9.95827857e-01 -5.08691924e-04 5.40826279e-01] [-6.39987994e-03 1.09725017e-03 9.99978919e-01 6.74916353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.70528557 meters 0.06486040438281097 Centerline is valid? [True, True] Translation: X:-20.93, Y:0.47, Z:0.67 [[ 9.92590900e-01 -1.21175099e-01 8.93869429e-03 -2.09332305e+01] [ 1.21186149e-01 9.92629550e-01 -7.03063677e-04 4.71396136e-01] [-8.78761827e-03 1.78110055e-03 9.99959802e-01 6.73178221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.76528557 meters 0.06443067636456547 Centerline is valid? [True, True] Translation: X:-21.00, Y:0.46, Z:0.69 [[ 9.92117361e-01 -1.24784388e-01 1.14890985e-02 -2.09953449e+01] [ 1.24802864e-01 9.92181148e-01 -9.02639796e-04 4.62242554e-01] [-1.12866316e-02 2.32939701e-03 9.99933591e-01 6.87654655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.825285570000002 meters 0.05918337230318979 Centerline is valid? [True, True] Translation: X:-21.05, Y:0.49, Z:0.68 [[ 9.94012993e-01 -1.09226685e-01 2.77513593e-03 -2.10537789e+01] [ 1.09227708e-01 9.94016730e-01 -2.19368740e-04 4.88284465e-01] [-2.73457062e-03 5.21177116e-04 9.99996125e-01 6.78522679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.88528557 meters 0.056823368541728494 Centerline is valid? [True, True] Translation: X:-21.11, Y:0.51, Z:0.70 [[ 9.92424405e-01 -1.22171469e-01 1.29588814e-02 -2.11124945e+01] [ 1.22194738e-01 9.92505624e-01 -1.01634363e-03 5.12843527e-01] [-1.27375945e-02 2.59215135e-03 9.99915514e-01 7.00671225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.94528557 meters 0.0561915744753737 Centerline is valid? [True, True] Translation: X:-21.17, Y:0.53, Z:0.70 [[ 9.93268544e-01 -1.14928221e-01 1.44604473e-02 -2.11722693e+01] [ 1.14956444e-01 9.93369887e-01 -1.13320259e-03 5.30311949e-01] [-1.42343359e-02 2.78789609e-03 9.99894800e-01 6.96461643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.00528557 meters 0.057293197770949274 Centerline is valid? [True, True] Translation: X:-21.23, Y:0.54, Z:0.69 [[ 9.92696176e-01 -1.20336465e-01 8.56953134e-03 -2.12333461e+01] [ 1.20346571e-01 9.92731712e-01 -6.71604122e-04 5.39783741e-01] [-8.42642705e-03 1.69801255e-03 9.99963055e-01 6.90315975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.06528557 meters 0.05554216144947977 Centerline is valid? [True, True] Translation: X:-21.29, Y:0.55, Z:0.70 [[ 9.91693897e-01 -1.28102858e-01 1.15269948e-02 -2.12932636e+01] [ 1.28121629e-01 9.91758052e-01 -9.01970020e-04 5.50695369e-01] [-1.13164449e-02 2.37133551e-03 9.99933155e-01 7.04897562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.12528557 meters 0.06220392063046663 Centerline is valid? [True, True] Translation: X:-21.35, Y:0.56, Z:0.72 [[ 9.90379522e-01 -1.37841499e-01 1.21705792e-02 -2.13531005e+01] [ 1.37863117e-01 9.90450835e-01 -9.51477959e-04 5.61353712e-01] [-1.19232072e-02 2.62019827e-03 9.99925483e-01 7.23343239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.18528557 meters 0.05825209687998771 Centerline is valid? [True, True] Translation: X:-21.41, Y:0.59, Z:0.72 [[ 9.90390876e-01 -1.37431250e-01 1.54455010e-02 -2.14120797e+01] [ 1.37466020e-01 9.90505747e-01 -1.20740115e-03 5.87302345e-01] [-1.51329229e-02 3.31903063e-03 9.99879982e-01 7.16646059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.24528557 meters 0.057409153739071406 Centerline is valid? [True, True] Translation: X:-21.47, Y:0.60, Z:0.72 [[ 9.90005109e-01 -1.40424125e-01 1.30747380e-02 -2.14718521e+01] [ 1.40449259e-01 9.90087353e-01 -1.01978686e-03 6.03154084e-01] [-1.28019301e-02 2.84593147e-03 9.99914002e-01 7.22158710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.305285570000002 meters 0.06464680696727285 Centerline is valid? [True, True] Translation: X:-21.53, Y:0.61, Z:0.73 [[ 9.89192351e-01 -1.45519135e-01 1.79631543e-02 -2.15322688e+01] [ 1.45567261e-01 9.89347375e-01 -1.39433407e-03 6.08541665e-01] [-1.75688972e-02 3.99411176e-03 9.99837677e-01 7.33271164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.36528557 meters 0.061737551045908196 Centerline is valid? [True, True] Translation: X:-21.59, Y:0.64, Z:0.74 [[ 9.88360224e-01 -1.51401006e-01 1.48930246e-02 -2.15902024e+01] [ 1.51434659e-01 9.88466599e-01 -1.15195025e-03 6.38191354e-01] [-1.45468509e-02 3.39386191e-03 9.99888429e-01 7.43072691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.42528557 meters 0.05582384974571489 Centerline is valid? [True, True] Translation: X:-21.65, Y:0.66, Z:0.76 [[ 9.87958304e-01 -1.53283325e-01 2.10383324e-02 -2.16479413e+01] [ 1.53350860e-01 9.88170467e-01 -1.62565977e-03 6.63557387e-01] [-2.05402722e-02 4.83233044e-03 9.99777348e-01 7.59535870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.485285570000002 meters 0.05829925064168219 Centerline is valid? [True, True] Translation: X:-21.71, Y:0.66, Z:0.76 [[ 9.86755680e-01 -1.60869346e-01 2.08394422e-02 -2.17096887e+01] [ 1.60937137e-01 9.86963351e-01 -1.60680185e-03 6.60430215e-01] [-2.03092805e-02 4.93936101e-03 9.99781544e-01 7.58475984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.54528557 meters 0.05949231136759924 Centerline is valid? [True, True] Translation: X:-21.77, Y:0.66, Z:0.77 [[ 9.86537580e-01 -1.62903039e-01 1.43597681e-02 -2.17704741e+01] [ 1.62935436e-01 9.86636111e-01 -1.10797948e-03 6.61427843e-01] [-1.39873725e-02 3.43277847e-03 9.99896279e-01 7.74516451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.60528557 meters 0.0753244262317389 Centerline is valid? [True, True] Translation: X:-21.83, Y:0.65, Z:0.78 [[ 9.87587302e-01 -1.56581119e-01 1.23965386e-02 -2.18329782e+01] [ 1.56604742e-01 9.87660897e-01 -9.52400514e-04 6.46973055e-01] [-1.20944485e-02 2.88193538e-03 9.99922706e-01 7.79457949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.66528557 meters 0.060669633377543775 Centerline is valid? [True, True] Translation: X:-21.89, Y:0.70, Z:0.79 [[ 9.88239109e-01 -1.51399224e-01 2.14881152e-02 -2.18888623e+01] [ 1.51468981e-01 9.88460639e-01 -1.64727134e-03 6.99462869e-01] [-2.09907604e-02 4.88268086e-03 9.99767747e-01 7.86700115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.72528557 meters 0.06331546813220122 Centerline is valid? [True, True] Translation: X:-21.95, Y:0.69, Z:0.78 [[ 9.87679699e-01 -1.55319067e-01 1.90997515e-02 -2.19515056e+01] [ 1.55374831e-01 9.87854505e-01 -1.46214811e-03 6.88209031e-01] [-1.86406761e-02 4.41175468e-03 9.99816514e-01 7.80586700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.78528557 meters 0.06706457811286831 Centerline is valid? [True, True] Translation: X:-22.01, Y:0.68, Z:0.79 [[ 9.86661934e-01 -1.61877415e-01 1.71443873e-02 -2.20135982e+01] [ 1.61923257e-01 9.86802483e-01 -1.31116827e-03 6.80443099e-01] [-1.67058755e-02 4.06975486e-03 9.99852164e-01 7.94625740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.84528557 meters 0.06771719590344857 Centerline is valid? [True, True] Translation: X:-22.07, Y:0.68, Z:0.81 [[ 9.85549709e-01 -1.68590466e-01 1.64020026e-02 -2.20747555e+01] [ 1.68633279e-01 9.85678065e-01 -1.25315060e-03 6.82880877e-01] [-1.59558249e-02 4.00096568e-03 9.99864693e-01 8.10522894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.90528557 meters 0.07265670865899643 Centerline is valid? [True, True] Translation: X:-22.14, Y:0.67, Z:0.80 [[ 9.82908725e-01 -1.83348709e-01 1.65435602e-02 -2.21373225e+01] [ 1.83394190e-01 9.83038645e-01 -1.26234170e-03 6.69431643e-01] [-1.60315102e-02 4.27475949e-03 9.99862349e-01 8.01925591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.965285570000002 meters 0.07388979055864184 Centerline is valid? [True, True] Translation: X:-22.20, Y:0.67, Z:0.80 [[ 9.82025731e-01 -1.87944140e-01 1.73914875e-02 -2.21980535e+01] [ 1.87995064e-01 9.82169078e-01 -1.32631787e-03 6.74560844e-01] [-1.68321075e-02 4.57199207e-03 9.99847877e-01 8.03027041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.02528557 meters 0.07093353988409908 Centerline is valid? [True, True] Translation: X:-22.26, Y:0.71, Z:0.81 [[ 9.82551160e-01 -1.85584685e-01 1.23102598e-02 -2.22561181e+01] [ 1.85609993e-01 9.82623048e-01 -9.36228460e-04 7.09579936e-01] [-1.19225953e-02 3.20479960e-03 9.99923788e-01 8.06608157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.08528557 meters 0.06927505595524139 Centerline is valid? [True, True] Translation: X:-22.31, Y:0.76, Z:0.82 [[ 9.84766445e-01 -1.73215744e-01 1.52103625e-02 -2.23141492e+01] [ 1.73252958e-01 9.84876683e-01 -1.15393836e-03 7.55102576e-01] [-1.47804510e-02 3.77160006e-03 9.99883650e-01 8.22203540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.145285570000002 meters 0.0738571258587805 Centerline is valid? [True, True] Translation: X:-22.37, Y:0.77, Z:0.82 [[ 9.84234384e-01 -1.76264007e-01 1.46176767e-02 -2.23746084e+01] [ 1.76298669e-01 9.84336098e-01 -1.10736085e-03 7.74654337e-01] [-1.41935190e-02 3.66697956e-03 9.99892543e-01 8.20962970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.20528557 meters 0.0810300484758004 Centerline is valid? [True, True] Translation: X:-22.44, Y:0.78, Z:0.82 [[ 9.82214811e-01 -1.87504709e-01 9.80046389e-03 -2.24355888e+01] [ 1.87520812e-01 9.82260349e-01 -7.42655426e-04 7.78489643e-01] [-9.48735570e-03 2.56723811e-03 9.99951699e-01 8.20504179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.26528557 meters 0.07887162994622071 Centerline is valid? [True, True] Translation: X:-22.49, Y:0.82, Z:0.83 [[ 9.81153791e-01 -1.92851445e-01 1.20647916e-02 -2.24943884e+01] [ 1.92876207e-01 9.81222674e-01 -9.12689019e-04 8.16987713e-01] [-1.16622337e-02 3.22249953e-03 9.99926801e-01 8.34430601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.325285570000002 meters 0.07593797691719972 Centerline is valid? [True, True] Translation: X:-22.55, Y:0.88, Z:0.84 [[ 9.81105031e-01 -1.93206418e-01 1.02077772e-02 -2.25505948e+01] [ 1.93224176e-01 9.81154330e-01 -7.73652583e-04 8.79472280e-01] [-9.86593016e-03 2.73142378e-03 9.99947600e-01 8.36829122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.38528557 meters 0.07219159964003177 Centerline is valid? [True, True] Translation: X:-22.61, Y:0.94, Z:0.84 [[ 9.80245526e-01 -1.97453210e-01 1.14428000e-02 -2.26071913e+01] [ 1.97475750e-01 9.80307392e-01 -8.63391658e-04 9.36636453e-01] [-1.10469820e-02 3.10601133e-03 9.99934156e-01 8.43051981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.44528557 meters 0.0708178851451428 Centerline is valid? [True, True] Translation: X:-22.67, Y:0.97, Z:0.84 [[ 9.79628485e-01 -2.00536669e-01 1.06337392e-02 -2.26664240e+01] [ 2.00556268e-01 9.79681859e-01 -7.98923624e-04 9.71595431e-01] [-1.02574679e-02 2.91531138e-03 9.99943141e-01 8.38274722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.50528557 meters 0.06734680119703966 Centerline is valid? [True, True] Translation: X:-22.72, Y:1.02, Z:0.85 [[ 9.79545367e-01 -2.01037530e-01 8.64783956e-03 -2.27234215e+01] [ 2.01050521e-01 9.79580657e-01 -6.51145323e-04 1.01760029e+00] [-8.34035171e-03 2.37647904e-03 9.99962395e-01 8.52861645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.56528557 meters 0.07868174715215284 Centerline is valid? [True, True] Translation: X:-22.79, Y:1.01, Z:0.85 [[ 9.78217113e-01 -2.07344921e-01 9.96811079e-03 -2.27855664e+01] [ 2.07362440e-01 9.78263902e-01 -7.46066261e-04 1.01015051e+00] [-9.59674991e-03 2.79682656e-03 9.99950039e-01 8.54630650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.62528557 meters 0.07569095618855773 Centerline is valid? [True, True] Translation: X:-22.85, Y:1.04, Z:0.85 [[ 9.78042738e-01 -2.08084225e-01 1.15481134e-02 -2.28457308e+01] [ 2.08107773e-01 9.78105521e-01 -8.63058807e-04 1.03539989e+00] [-1.11156845e-02 3.24736055e-03 9.99932946e-01 8.47232783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.68528557 meters 0.07492404048766033 Centerline is valid? [True, True] Translation: X:-22.91, Y:1.07, Z:0.86 [[ 9.78367859e-01 -2.06584693e-01 1.09131553e-02 -2.29051557e+01] [ 2.06605649e-01 9.78423957e-01 -8.16748561e-04 1.06618847e+00] [-1.05089649e-02 3.05380008e-03 9.99940116e-01 8.55299290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.74528557 meters 0.08130755210556309 Centerline is valid? [True, True] Translation: X:-22.97, Y:1.08, Z:0.86 [[ 9.79606073e-01 -2.00816041e-01 6.69777884e-03 -2.29660983e+01] [ 2.00823797e-01 9.79627252e-01 -4.99363248e-04 1.08074763e+00] [-6.46104653e-03 1.83425265e-03 9.99977445e-01 8.55734760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.805285570000002 meters 0.07760424256938227 Centerline is valid? [True, True] Translation: X:-23.03, Y:1.11, Z:0.86 [[ 9.80406940e-01 -1.96573167e-01 1.26973000e-02 -2.30255114e+01] [ 1.96600678e-01 9.80483188e-01 -9.43783120e-04 1.11334472e+00] [-1.22639667e-02 3.42158930e-03 9.99918941e-01 8.63514942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.86528557 meters 0.08504319600858405 Centerline is valid? [True, True] Translation: X:-23.09, Y:1.11, Z:0.85 [[ 9.79916872e-01 -1.99114291e-01 1.07899282e-02 -2.30878465e+01] [ 1.99134294e-01 9.79971883e-01 -8.01464353e-04 1.11210517e+00] [-1.04142433e-02 2.93401318e-03 9.99941466e-01 8.52662950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.92528557 meters 0.0852580309480989 Centerline is valid? [True, True] Translation: X:-23.15, Y:1.14, Z:0.86 [[ 9.78365424e-01 -2.06410594e-01 1.39915802e-02 -2.31479311e+01] [ 2.06444895e-01 9.78457679e-01 -1.03752801e-03 1.13708212e+00] [-1.34760123e-02 3.90357184e-03 9.99901575e-01 8.55444352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.985285570000002 meters 0.07895905601735083 Centerline is valid? [True, True] Translation: X:-23.21, Y:1.16, Z:0.85 [[ 9.77150269e-01 -2.12389608e-01 8.24660454e-03 -2.32069025e+01] [ 2.12401718e-01 9.77182243e-01 -6.11406512e-04 1.15617585e+00] [-7.92857913e-03 2.34902901e-03 9.99965809e-01 8.51676487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.04528557 meters 0.06715289583817821 Centerline is valid? [True, True] Translation: X:-23.26, Y:1.19, Z:0.86 [[ 9.77255536e-01 -2.11692332e-01 1.25687380e-02 -2.32647924e+01] [ 2.11720411e-01 9.77329831e-01 -9.31832896e-04 1.19456973e+00] [-1.20865407e-02 3.57169723e-03 9.99920576e-01 8.60686236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.10528557 meters 0.07692774846074507 Centerline is valid? [True, True] Translation: X:-23.33, Y:1.18, Z:0.85 [[ 9.77536840e-01 -2.10431449e-01 1.18462098e-02 -2.33274027e+01] [ 2.10456268e-01 9.77602881e-01 -8.74939672e-04 1.18374611e+00] [-1.13967740e-02 3.34839487e-03 9.99929448e-01 8.52002861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.16528557 meters 0.08530516243352708 Centerline is valid? [True, True] Translation: X:-23.39, Y:1.17, Z:0.84 [[ 9.77651285e-01 -2.10004834e-01 9.79465781e-03 -2.33906187e+01] [ 2.10021772e-01 9.77696442e-01 -7.22429235e-04 1.17260792e+00] [-9.42448847e-03 2.76337526e-03 9.99951770e-01 8.42762187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.22528557 meters 0.07077758149158224 Centerline is valid? [True, True] Translation: X:-23.45, Y:1.20, Z:0.84 [[ 9.77533679e-01 -2.10370772e-01 1.31165996e-02 -2.34501551e+01] [ 2.10401171e-01 9.77614654e-01 -9.66818804e-04 1.19843724e+00] [-1.26195896e-02 3.70484586e-03 9.99913506e-01 8.44419327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.28528557 meters 0.07062401170842636 Centerline is valid? [True, True] Translation: X:-23.51, Y:1.19, Z:0.84 [[ 9.77738495e-01 -2.09543764e-01 1.09016665e-02 -2.35122946e+01] [ 2.09564716e-01 9.77794449e-01 -8.03662700e-04 1.19370743e+00] [-1.04911865e-02 3.07037662e-03 9.99940252e-01 8.35816782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.34528557 meters 0.07125156631492482 Centerline is valid? [True, True] Translation: X:-23.57, Y:1.20, Z:0.84 [[ 9.76965638e-01 -2.12808490e-01 1.58331747e-02 -2.35728835e+01] [ 2.12852971e-01 9.77083552e-01 -1.15982404e-03 1.20165387e+00] [-1.52235142e-02 4.50324652e-03 9.99873975e-01 8.39365135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.40528557 meters 0.07836700998200284 Centerline is valid? [True, True] Translation: X:-23.64, Y:1.18, Z:0.82 [[ 9.76577559e-01 -2.14830295e-01 1.20090091e-02 -2.36370934e+01] [ 2.14856019e-01 9.76645339e-01 -8.79434538e-04 1.17866462e+00] [-1.15396136e-02 3.43904394e-03 9.99927503e-01 8.24455182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.465285570000002 meters 0.09782893310531471 Centerline is valid? [True, True] Translation: X:-23.70, Y:1.13, Z:0.82 [[ 9.76652073e-01 -2.14503969e-01 1.17803244e-02 -2.37023666e+01] [ 2.14528708e-01 9.76717302e-01 -8.63211357e-04 1.13006750e+00] [-1.13208844e-02 3.37027493e-03 9.99930237e-01 8.21855796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.52528557 meters 0.06388937602551341 Centerline is valid? [True, True] Translation: X:-23.76, Y:1.21, Z:0.83 [[ 9.77188769e-01 -2.11827025e-01 1.52125585e-02 -2.37571809e+01] [ 2.11867895e-01 9.77297685e-01 -1.10868612e-03 1.21076939e+00] [-1.46323486e-02 4.30644838e-03 9.99883668e-01 8.26350547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.58528557 meters 0.07725092802603296 Centerline is valid? [True, True] Translation: X:-23.82, Y:1.17, Z:0.82 [[ 9.79042611e-01 -2.03087633e-01 1.51979995e-02 -2.38219964e+01] [ 2.03127425e-01 9.79151687e-01 -1.10579164e-03 1.17493894e+00] [-1.46565742e-02 4.16974764e-03 9.99883892e-01 8.20433803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.645285570000002 meters 0.08238337196911268 Centerline is valid? [True, True] Translation: X:-23.88, Y:1.16, Z:0.81 [[ 9.80710875e-01 -1.94891609e-01 1.49479473e-02 -2.38844342e+01] [ 1.94929199e-01 9.80816714e-01 -1.08631764e-03 1.16379860e+00] [-1.44494823e-02 3.97915492e-03 9.99887683e-01 8.05737176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.70528557 meters 0.0836201597975746 Centerline is valid? [True, True] Translation: X:-23.95, Y:1.17, Z:0.82 [[ 9.81331504e-01 -1.91356687e-01 1.92639048e-02 -2.39458333e+01] [ 1.91418460e-01 9.81507523e-01 -1.39829306e-03 1.16698560e+00] [-1.86400947e-02 5.05965601e-03 9.99813456e-01 8.21603882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.76528557 meters 0.09067292654545639 Centerline is valid? [True, True] Translation: X:-24.01, Y:1.16, Z:0.82 [[ 9.82873821e-01 -1.83659908e-01 1.51026814e-02 -2.40074121e+01] [ 1.83696973e-01 9.82982313e-01 -1.09281654e-03 1.16343309e+00] [-1.46449621e-02 3.84841763e-03 9.99885351e-01 8.18797745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.825285570000002 meters 0.08206699714205663 Centerline is valid? [True, True] Translation: X:-24.07, Y:1.18, Z:0.82 [[ 9.82514726e-01 -1.85847508e-01 1.12033956e-02 -2.40667866e+01] [ 1.85868041e-01 9.82574381e-01 -8.11127904e-04 1.18152777e+00] [-1.08574234e-02 2.87929831e-03 9.99936911e-01 8.16900619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.88528557 meters 0.07718905719705557 Centerline is valid? [True, True] Translation: X:-24.13, Y:1.20, Z:0.82 [[ 9.82558996e-01 -1.85029862e-01 1.84870331e-02 -2.41272308e+01] [ 1.85085544e-01 9.82721509e-01 -1.33286968e-03 1.19896704e+00] [-1.79209844e-02 4.73130566e-03 9.99828212e-01 8.19794802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.94528557 meters 0.07065596005456704 Centerline is valid? [True, True] Translation: X:-24.19, Y:1.22, Z:0.82 [[ 9.82116860e-01 -1.87494440e-01 1.70970301e-02 -2.41865192e+01] [ 1.87542396e-01 9.82255737e-01 -1.23175755e-03 1.22209269e+00] [-1.65627082e-02 4.41614784e-03 9.99853076e-01 8.24240233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.00528557 meters 0.09275306640900681 Centerline is valid? [True, True] Translation: X:-24.25, Y:1.18, Z:0.82 [[ 9.83500022e-01 -1.80199858e-01 1.59911964e-02 -2.42506977e+01] [ 1.80240893e-01 9.83621825e-01 -1.15119709e-03 1.18208144e+00] [-1.55218442e-02 4.01446988e-03 9.99871470e-01 8.24834981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.06528557 meters 0.0878859504756373 Centerline is valid? [True, True] Translation: X:-24.31, Y:1.19, Z:0.82 [[ 9.85484236e-01 -1.68749598e-01 1.85578592e-02 -2.43115785e+01] [ 1.68802921e-01 9.85648920e-01 -1.33414728e-03 1.19082727e+00] [-1.80663971e-02 4.44740196e-03 9.99826898e-01 8.20597493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.12528557 meters 0.09069681281589735 Centerline is valid? [True, True] Translation: X:-24.37, Y:1.19, Z:0.82 [[ 9.87429836e-01 -1.57461251e-01 1.37213064e-02 -2.43733450e+01] [ 1.57489359e-01 9.87520192e-01 -9.85802861e-04 1.19286051e+00] [-1.33948413e-02 3.13437090e-03 9.99905372e-01 8.22484244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.18528557 meters 0.08031589515378863 Centerline is valid? [True, True] Translation: X:-24.43, Y:1.22, Z:0.83 [[ 9.89333694e-01 -1.44939961e-01 1.45343977e-02 -2.44312112e+01] [ 1.44970198e-01 9.89435472e-01 -1.04319535e-03 1.22341170e+00] [-1.42296479e-02 3.13912282e-03 9.99893826e-01 8.30465437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.24528557 meters 0.08179484053761081 Centerline is valid? [True, True] Translation: X:-24.50, Y:1.20, Z:0.82 [[ 9.91506042e-01 -1.29702253e-01 9.64854078e-03 -2.44952463e+01] [ 1.29714882e-01 9.91551093e-01 -6.92226505e-04 1.19657467e+00] [-9.47723782e-03 1.93790609e-03 9.99953212e-01 8.19668786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.305285570000002 meters 0.08146939006248985 Centerline is valid? [True, True] Translation: X:-24.56, Y:1.21, Z:0.83 [[ 9.92604661e-01 -1.21039357e-01 9.24447461e-03 -2.45555743e+01] [ 1.21050584e-01 9.92646119e-01 -6.62652229e-04 1.20878753e+00] [-9.09628484e-03 1.77680074e-03 9.99957049e-01 8.26272958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.36528557 meters 0.07657645548207201 Centerline is valid? [True, True] Translation: X:-24.62, Y:1.22, Z:0.83 [[ 9.93900232e-01 -1.09886527e-01 9.34238958e-03 -2.46159996e+01] [ 1.09897511e-01 9.93942699e-01 -6.69038200e-04 1.22166271e+00] [-9.21228163e-03 1.69166258e-03 9.99956135e-01 8.26875728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.42528557 meters 0.0758452698229309 Centerline is valid? [True, True] Translation: X:-24.68, Y:1.22, Z:0.81 [[ 9.95538812e-01 -9.41562415e-02 6.08906022e-03 -2.46770987e+01] [ 9.41606218e-02 9.95556923e-01 -4.36100482e-04 1.22409985e+00] [-6.02094447e-03 1.00750465e-03 9.99981366e-01 8.12131898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.485285570000002 meters 0.06712961741216535 Centerline is valid? [True, True] Translation: X:-24.73, Y:1.26, Z:0.84 [[ 9.96443622e-01 -8.34188406e-02 1.18913541e-02 -2.47347120e+01] [ 8.34347818e-02 9.96512877e-01 -8.49977819e-04 1.25828300e+00] [-1.17789833e-02 1.83910751e-03 9.99928934e-01 8.36867177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.54528557 meters 0.061954971265897094 Centerline is valid? [True, True] Translation: X:-24.79, Y:1.27, Z:0.82 [[ 9.97739910e-01 -6.71479533e-02 2.49472660e-03 -2.47944880e+01] [ 6.71486066e-02 9.97742969e-01 -1.78963504e-04 1.27363453e+00] [-2.47707889e-03 3.46076446e-04 9.99996872e-01 8.18555552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.60528557 meters 0.05854122475764704 Centerline is valid? [True, True] Translation: X:-24.86, Y:1.28, Z:0.83 [[ 9.98339432e-01 -5.71472542e-02 7.25054430e-03 -2.48553632e+01] [ 5.71524974e-02 9.98365326e-01 -5.17849568e-04 1.27641181e+00] [-7.20909835e-03 9.31376357e-04 9.99973580e-01 8.26082193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.66528557 meters 0.05485853620848183 Centerline is valid? [True, True] Translation: X:-24.92, Y:1.28, Z:0.82 [[ 9.98987954e-01 -4.44243689e-02 7.03866206e-03 -2.49158478e+01] [ 4.44289975e-02 9.99012418e-01 -5.02522419e-04 1.28482118e+00] [-7.00938656e-03 8.14734542e-04 9.99975102e-01 8.20671629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.72528557 meters 0.05399343472658646 Centerline is valid? [True, True] Translation: X:-24.98, Y:1.28, Z:0.80 [[ 9.99448088e-01 -3.32132054e-02 6.34402799e-04 -2.49774897e+01] [ 3.32132411e-02 9.99448287e-01 -4.57093466e-05 1.27923753e+00] [-6.32534637e-04 6.67546922e-05 9.99999798e-01 7.97776682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.78528557 meters 0.05043242366364269 Centerline is valid? [True, True] Translation: X:-25.04, Y:1.30, Z:0.81 [[ 9.99756778e-01 -2.16800137e-02 4.04498889e-03 -2.50365142e+01] [ 2.16813576e-02 9.99764890e-01 -2.88684538e-04 1.29653585e+00] [-4.03777919e-03 3.76315174e-04 9.99991777e-01 8.14791715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.84528557 meters 0.049437160007111174 Centerline is valid? [True, True] Translation: X:-25.10, Y:1.29, Z:0.79 [[ 9.99895331e-01 -1.38812014e-02 -4.07902543e-03 -2.50990032e+01] [ 1.38825014e-02 9.99903591e-01 2.90548690e-04 1.28540328e+00] [ 4.07459901e-03 -3.47145355e-04 9.99991639e-01 7.89129204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.90528557 meters 0.04353903244796353 Centerline is valid? [True, True] Translation: X:-25.16, Y:1.30, Z:0.80 [[ 9.99964985e-01 -5.90736992e-03 5.92717297e-03 -2.51567103e+01] [ 5.90998108e-03 9.99982446e-01 -4.23122244e-04 1.30485753e+00] [-5.92456939e-03 4.58136909e-04 9.99982345e-01 8.02117252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.965285570000002 meters 0.0407986613655629 Centerline is valid? [True, True] Translation: X:-25.22, Y:1.31, Z:0.77 [[ 9.99918255e-01 1.23481949e-02 -3.31734739e-03 -2.52177814e+01] [-1.23474790e-02 9.99923739e-01 2.36197346e-04 1.30944589e+00] [ 3.32001101e-03 -1.95217160e-04 9.99994470e-01 7.66727286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.02528557 meters 0.03465514901175853 Centerline is valid? [True, True] Translation: X:-25.28, Y:1.32, Z:0.77 [[ 9.99773078e-01 2.12172615e-02 -1.90275888e-03 -2.52767476e+01] [-2.12170420e-02 9.99774884e-01 1.35458743e-04 1.32231089e+00] [ 1.90520460e-03 -9.50570891e-05 9.99998181e-01 7.67063554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.08528557 meters 0.03449173977433665 Centerline is valid? [True, True] Translation: X:-25.34, Y:1.33, Z:0.77 [[ 9.99659810e-01 2.59887953e-02 -2.20175347e-03 -2.53362147e+01] [-2.59885119e-02 9.99662229e-01 1.57240979e-04 1.32782960e+00] [ 2.20509628e-03 -9.99671907e-05 9.99997564e-01 7.71229263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.145285570000002 meters 0.03596475481356472 Centerline is valid? [True, True] Translation: X:-25.40, Y:1.34, Z:0.75 [[ 9.99527268e-01 3.03853392e-02 -4.68742010e-03 -2.53959894e+01] [-3.03841025e-02 9.99538240e-01 3.34823008e-04 1.33814072e+00] [ 4.69542935e-03 -1.92241674e-04 9.99988958e-01 7.54043730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.20528557 meters 0.03233318477860698 Centerline is valid? [True, True] Translation: X:-25.45, Y:1.36, Z:0.77 [[ 9.99456578e-01 3.26943117e-02 -4.19892961e-03 -2.54528210e+01] [-3.26933346e-02 9.99465385e-01 3.01146750e-04 1.35632982e+00] [ 4.20653058e-03 -1.63706090e-04 9.99991139e-01 7.69596284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.26528557 meters 0.0301131549750412 Centerline is valid? [True, True] Translation: X:-25.51, Y:1.37, Z:0.77 [[ 9.99345778e-01 3.61305331e-02 1.61271539e-03 -2.55127236e+01] [-3.61303947e-02 9.99347078e-01 -1.14872974e-04 1.36517070e+00] [-1.61581283e-03 5.65297777e-05 9.99998693e-01 7.74858612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.325285570000002 meters 0.02880275320583184 Centerline is valid? [True, True] Translation: X:-25.57, Y:1.38, Z:0.77 [[ 9.98906375e-01 4.66396902e-02 -3.28533306e-03 -2.55719132e+01] [-4.66391699e-02 9.98911774e-01 2.34840909e-04 1.38097409e+00] [ 3.29271079e-03 -8.13588741e-05 9.99994576e-01 7.67500624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.38528557 meters 0.025969054615084274 Centerline is valid? [True, True] Translation: X:-25.63, Y:1.39, Z:0.75 [[ 9.98220317e-01 5.96101246e-02 -1.68261292e-03 -2.56312341e+01] [-5.96100063e-02 9.98221735e-01 1.20431640e-04 1.39426402e+00] [ 1.68679974e-03 -1.99167429e-05 9.99998577e-01 7.54453302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.44528557 meters 0.027151823734263676 Centerline is valid? [True, True] Translation: X:-25.69, Y:1.41, Z:0.74 [[ 9.97541520e-01 7.00632536e-02 1.43414991e-03 -2.56908490e+01] [-7.00631799e-02 9.97542551e-01 -1.01646682e-04 1.40544101e+00] [-1.43774726e-03 9.15682645e-07 9.99998966e-01 7.38905375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.50528557 meters 0.02500661132114578 Centerline is valid? [True, True] Translation: X:-25.75, Y:1.43, Z:0.73 [[ 9.97201059e-01 7.46387095e-02 -4.37163591e-03 -2.57495384e+01] [-7.46380542e-02 9.97210641e-01 3.13062157e-04 1.42505317e+00] [ 4.38280840e-03 1.41044836e-05 9.99990395e-01 7.34939789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.56528557 meters 0.02642164067661926 Centerline is valid? [True, True] Translation: X:-25.81, Y:1.43, Z:0.73 [[ 9.96926843e-01 7.83076268e-02 2.18730445e-03 -2.58079321e+01] [-7.83074748e-02 9.96929243e-01 -1.55185840e-04 1.43185034e+00] [-2.19274000e-03 -1.65733581e-05 9.99997596e-01 7.33840751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.62528557 meters 0.024852203099878616 Centerline is valid? [True, True] Translation: X:-25.87, Y:1.43, Z:0.74 [[ 9.96937011e-01 7.80542542e-02 4.91223761e-03 -2.58668988e+01] [-7.80534931e-02 9.96949112e-01 -3.46757780e-04 1.43465534e+00] [-4.92431685e-03 -3.77216395e-05 9.99987875e-01 7.35568020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.68528557 meters 0.024977027350957942 Centerline is valid? [True, True] Translation: X:-25.93, Y:1.45, Z:0.73 [[ 9.96981311e-01 7.76023246e-02 2.47905351e-03 -2.59251599e+01] [-7.76021349e-02 9.96984392e-01 -1.72769654e-04 1.44742594e+00] [-2.48498499e-03 -2.01317286e-05 9.99996912e-01 7.33985176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.74528557 meters 0.024563920653855775 Centerline is valid? [True, True] Translation: X:-25.98, Y:1.45, Z:0.73 [[ 9.97009047e-01 7.72349937e-02 2.77765002e-03 -2.59835050e+01] [-7.72347413e-02 9.97012916e-01 -1.98176578e-04 1.45153186e+00] [-2.78465911e-03 -1.69472398e-05 9.99996123e-01 7.31770040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.805285570000002 meters 0.027114251617692008 Centerline is valid? [True, True] Translation: X:-26.04, Y:1.46, Z:0.74 [[ 9.97164105e-01 7.49809299e-02 6.45046654e-03 -2.60420132e+01] [-7.49795181e-02 9.97184968e-01 -4.60749853e-04 1.45845698e+00] [-6.46685572e-03 -2.42096575e-05 9.99979089e-01 7.36307366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.86528557 meters 0.02475771764009029 Centerline is valid? [True, True] Translation: X:-26.10, Y:1.47, Z:0.74 [[ 9.97303654e-01 7.31929643e-02 5.31144820e-03 -2.60999844e+01] [-7.31919792e-02 9.97317798e-01 -3.79868894e-04 1.46806357e+00] [-5.32500555e-03 -9.91077063e-06 9.99985822e-01 7.39930300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.92528557 meters 0.025636512731884588 Centerline is valid? [True, True] Translation: X:-26.16, Y:1.46, Z:0.74 [[ 9.98023371e-01 6.25530671e-02 6.03853520e-03 -2.61585540e+01] [-6.25515743e-02 9.98041638e-01 -4.35953566e-04 1.45783636e+00] [-6.05397979e-03 5.73719644e-05 9.99981673e-01 7.35783304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.985285570000002 meters 0.02610738633929452 Centerline is valid? [True, True] Translation: X:-26.22, Y:1.46, Z:0.74 [[ 9.98325709e-01 5.75313698e-02 5.99333538e-03 -2.62178294e+01] [-5.75298156e-02 9.98343695e-01 -4.31536018e-04 1.45961759e+00] [-6.00823545e-03 8.60180213e-05 9.99981947e-01 7.40326017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.04528557 meters 0.02733214366692752 Centerline is valid? [True, True] Translation: X:-26.28, Y:1.47, Z:0.75 [[ 9.98546385e-01 5.33067319e-02 7.96932208e-03 -2.62756453e+01] [-5.33038037e-02 9.98578174e-01 -5.79536034e-04 1.46621222e+00] [-7.98888426e-03 1.53898431e-04 9.99968077e-01 7.48151972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.10528557 meters 0.026332143720335672 Centerline is valid? [True, True] Translation: X:-26.33, Y:1.46, Z:0.74 [[ 9.98365316e-01 5.67623887e-02 6.68775768e-03 -2.63349780e+01] [-5.67604196e-02 9.98387711e-01 -4.84012887e-04 1.46302812e+00] [-6.70444880e-03 1.03621747e-04 9.99977520e-01 7.40198342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.16528557 meters 0.025405740387264234 Centerline is valid? [True, True] Translation: X:-26.39, Y:1.48, Z:0.75 [[ 9.98184548e-01 5.95997540e-02 8.68781923e-03 -2.63911073e+01] [-5.95964857e-02 9.98222348e-01 -6.34836216e-04 1.48381726e+00] [-8.71021139e-03 1.15920207e-04 9.99962059e-01 7.50549845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.22528557 meters 0.025851536164515673 Centerline is valid? [True, True] Translation: X:-26.45, Y:1.50, Z:0.74 [[ 9.97695447e-01 6.76362146e-02 5.39796021e-03 -2.64496253e+01] [-6.76350862e-02 9.97710049e-01 -3.91517816e-04 1.49691555e+00] [-5.41207992e-03 2.55240380e-05 9.99985354e-01 7.42823418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.28528557 meters 0.024891362027648325 Centerline is valid? [True, True] Translation: X:-26.51, Y:1.51, Z:0.75 [[ 9.97371488e-01 7.21701499e-02 6.44865779e-03 -2.65064628e+01] [-7.21686021e-02 9.97392335e-01 -4.72702149e-04 1.51091487e+00] [-6.46595683e-03 6.06902753e-06 9.99979095e-01 7.52396919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.34528557 meters 0.02524608960909775 Centerline is valid? [True, True] Translation: X:-26.56, Y:1.52, Z:0.75 [[ 9.97130858e-01 7.55647523e-02 4.47444231e-03 -2.65646411e+01] [-7.55640552e-02 9.97140897e-01 -3.24894100e-04 1.52492550e+00] [-4.48619996e-03 -1.41450732e-05 9.99989937e-01 7.49368898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.40528557 meters 0.026739100192728394 Centerline is valid? [True, True] Translation: X:-26.62, Y:1.53, Z:0.75 [[ 9.97272179e-01 7.34909960e-02 6.87558518e-03 -2.66236030e+01] [-7.34892678e-02 9.97295881e-01 -5.04011164e-04 1.52823846e+00] [-6.89403306e-03 -2.64540804e-06 9.99976236e-01 7.46756572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.46528557 meters 0.025251248256320486 Centerline is valid? [True, True] Translation: X:-26.68, Y:1.54, Z:0.74 [[ 9.97497904e-01 7.05839474e-02 -3.97973939e-03 -2.66820383e+01] [-7.05833299e-02 9.97505843e-01 2.95575808e-04 1.53859884e+00] [ 3.99067620e-03 -1.39329904e-05 9.99992037e-01 7.44605256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.52528557 meters 0.0260072056367385 Centerline is valid? [True, True] Translation: X:-26.74, Y:1.56, Z:0.75 [[ 9.97298912e-01 7.34488772e-02 -3.77371277e-04 -2.67401101e+01] [-7.34488715e-02 9.97298983e-01 2.87862682e-05 1.55806053e+00] [ 3.78466310e-04 -9.91019455e-07 9.99999928e-01 7.50971094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.58528557 meters 0.027679998428820476 Centerline is valid? [True, True] Translation: X:-26.80, Y:1.57, Z:0.75 [[ 9.96775550e-01 8.02401434e-02 -1.50397391e-04 -2.67987853e+01] [-8.02401418e-02 9.96775561e-01 1.66816001e-05 1.57339535e+00] [ 1.51250978e-04 -4.55990309e-06 9.99999989e-01 7.45377745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.645285570000002 meters 0.02578823294226155 Centerline is valid? [True, True] Translation: X:-26.86, Y:1.59, Z:0.76 [[ 9.96937571e-01 7.79508904e-02 6.25609475e-03 -2.68559800e+01] [-7.79495109e-02 9.96957200e-01 -4.64404693e-04 1.59238630e+00] [-6.27325946e-03 -2.46770395e-05 9.99980323e-01 7.59177936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.70528557 meters 0.03000611602510009 Centerline is valid? [True, True] Translation: X:-26.92, Y:1.60, Z:0.75 [[ 9.97682083e-01 6.80378976e-02 -1.14270833e-03 -2.69157927e+01] [-6.80378439e-02 9.97682737e-01 8.58337192e-05 1.59764876e+00] [ 1.14590032e-03 -7.88735309e-06 9.99999343e-01 7.45382889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.76528557 meters 0.025137587647666326 Centerline is valid? [True, True] Translation: X:-26.97, Y:1.61, Z:0.77 [[ 9.97728487e-01 6.66639839e-02 9.68401318e-03 -2.69743614e+01] [-6.66601286e-02 9.97775480e-01 -7.20705602e-04 1.61280202e+00] [-9.71051600e-03 7.35309458e-05 9.99952849e-01 7.67398802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.825285570000002 meters 0.02888588357571807 Centerline is valid? [True, True] Translation: X:-27.03, Y:1.63, Z:0.76 [[ 9.98191913e-01 6.01009264e-02 8.84862905e-04 -2.70324669e+01] [-6.01008922e-02 9.98192305e-01 -6.52692181e-05 1.62733178e+00] [-8.87186084e-04 1.19701557e-05 9.99999606e-01 7.59241333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.88528557 meters 0.027448504863451552 Centerline is valid? [True, True] Translation: X:-27.09, Y:1.66, Z:0.77 [[ 9.98028244e-01 6.26385885e-02 4.00387235e-03 -2.70884916e+01] [-6.26378999e-02 9.98036274e-01 -2.97263445e-04 1.66227460e+00] [-4.01463001e-03 4.58831580e-05 9.99991940e-01 7.70157990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.94528557 meters 0.0249797192760745 Centerline is valid? [True, True] Translation: X:-27.15, Y:1.69, Z:0.77 [[ 9.97535259e-01 7.00607086e-02 3.86068037e-03 -2.71460069e+01] [-7.00601375e-02 9.97542729e-01 -2.83144231e-04 1.68522240e+00] [-3.87103092e-03 1.19665561e-05 9.99992507e-01 7.71375123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.00528557 meters 0.025574174619392633 Centerline is valid? [True, True] Translation: X:-27.20, Y:1.71, Z:0.78 [[ 9.97733949e-01 6.72540688e-02 -1.96409505e-03 -2.72037100e+01] [-6.72539083e-02 9.97735882e-01 1.47721493e-04 1.71125729e+00] [ 1.96958298e-03 -1.52936802e-05 9.99998060e-01 7.76198805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.06528557 meters 0.029105849452932844 Centerline is valid? [True, True] Translation: X:-27.26, Y:1.74, Z:0.78 [[ 9.97899832e-01 6.45494416e-02 5.41242021e-03 -2.72602147e+01] [-6.45482014e-02 9.97914509e-01 -4.03700330e-04 1.73582256e+00] [-5.42719129e-03 5.34905023e-05 9.99985271e-01 7.83197521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.12528557 meters 0.025940327374718384 Centerline is valid? [True, True] Translation: X:-27.32, Y:1.76, Z:0.78 [[ 9.97881229e-01 6.50617155e-02 1.62215855e-04 -2.73174992e+01] [-6.50617146e-02 9.97881242e-01 -1.05567699e-05 1.75547760e+00] [-1.62559001e-04 -1.96391110e-08 9.99999987e-01 7.82866325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.18528557 meters 0.025475547092902524 Centerline is valid? [True, True] Translation: X:-27.37, Y:1.78, Z:0.79 [[ 9.97776141e-01 6.66540706e-02 8.60304870e-05 -2.73731866e+01] [-6.66540705e-02 9.97776145e-01 -4.44522135e-06 1.78225535e+00] [-8.61354598e-05 -1.29894634e-06 9.99999996e-01 7.92274146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.24528557 meters 0.02589675044847598 Centerline is valid? [True, True] Translation: X:-27.43, Y:1.80, Z:0.80 [[ 9.97791310e-01 6.62955973e-02 4.17086756e-03 -2.74312648e+01] [-6.62948725e-02 9.97800026e-01 -3.11947922e-04 1.79696786e+00] [-4.18237253e-03 3.47517931e-05 9.99991253e-01 7.97156656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.305285570000002 meters 0.025710667136145792 Centerline is valid? [True, True] Translation: X:-27.49, Y:1.82, Z:0.80 [[ 9.97751085e-01 6.69722089e-02 2.73778661e-03 -2.74886650e+01] [-6.69719102e-02 9.97754841e-01 -2.00715023e-04 1.82080206e+00] [-2.74508217e-03 1.69088329e-05 9.99996232e-01 8.00112436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.36528557 meters 0.02561636553697331 Centerline is valid? [True, True] Translation: X:-27.55, Y:1.84, Z:0.81 [[ 9.97561173e-01 6.96557461e-02 4.44781471e-03 -2.75453823e+01] [-6.96549553e-02 9.97571088e-01 -3.32651230e-04 1.84452992e+00] [-4.46018243e-03 2.20276171e-05 9.99990053e-01 8.07201736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.42528557 meters 0.0277898113143659 Centerline is valid? [True, True] Translation: X:-27.60, Y:1.85, Z:0.80 [[ 9.97562198e-01 6.97801901e-02 6.22187404e-04 -2.76038870e+01] [-6.97801753e-02 9.97562392e-01 -4.54263906e-05 1.85100927e+00] [-6.23840617e-04 1.89930388e-06 9.99999805e-01 7.98090481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.485285570000002 meters 0.026902792199098993 Centerline is valid? [True, True] Translation: X:-27.66, Y:1.88, Z:0.82 [[ 9.97582087e-01 6.90127642e-02 8.19867965e-03 -2.76604119e+01] [-6.90100127e-02 9.97615776e-01 -6.18377110e-04 1.88456793e+00] [-8.22180807e-03 5.10909416e-05 9.99966199e-01 8.22330097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.54528557 meters 0.029305078754361478 Centerline is valid? [True, True] Translation: X:-27.72, Y:1.90, Z:0.81 [[ 9.97883069e-01 6.50330551e-02 -2.87485792e-04 -2.77199550e+01] [-6.50330515e-02 9.97883110e-01 2.21266324e-05 1.89954603e+00] [ 2.88316179e-04 -3.38371349e-06 9.99999958e-01 8.13770376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.60528557 meters 0.0263758846367171 Centerline is valid? [True, True] Translation: X:-27.78, Y:1.91, Z:0.83 [[ 9.98327186e-01 5.75689560e-02 5.35216878e-03 -2.77769584e+01] [-5.75676404e-02 9.98341528e-01 -3.99664665e-04 1.91248542e+00] [-5.36630064e-03 9.08843727e-05 9.99985597e-01 8.29054940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.66528557 meters 0.026703394270143288 Centerline is valid? [True, True] Translation: X:-27.84, Y:1.93, Z:0.84 [[ 9.98462127e-01 5.53059009e-02 3.82590538e-03 -2.78351860e+01] [-5.53052109e-02 9.98469455e-01 -2.85985439e-04 1.92830944e+00] [-3.83586634e-03 7.39531263e-05 9.99992640e-01 8.35859949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.72528557 meters 0.026158350925464986 Centerline is valid? [True, True] Translation: X:-27.89, Y:1.94, Z:0.83 [[ 9.98495030e-01 5.46618923e-02 4.44430077e-03 -2.78917282e+01] [-5.46609386e-02 9.98504917e-01 -3.35867410e-04 1.94202706e+00] [-4.45601532e-03 9.24322884e-05 9.99990068e-01 8.33168617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.78528557 meters 0.028019970451281684 Centerline is valid? [True, True] Translation: X:-27.95, Y:1.96, Z:0.84 [[ 9.98493693e-01 5.48124624e-02 2.43703789e-03 -2.79495738e+01] [-5.48121846e-02 9.98496666e-01 -1.80697150e-04 1.96211830e+00] [-2.44327866e-03 4.68455937e-05 9.99997014e-01 8.37498118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.84528557 meters 0.02616948675941212 Centerline is valid? [True, True] Translation: X:-28.01, Y:1.98, Z:0.84 [[ 9.98244498e-01 5.91355009e-02 3.30369102e-03 -2.80081752e+01] [-5.91349912e-02 9.98249963e-01 -2.51825392e-04 1.97833370e+00] [-3.31280126e-03 5.60195726e-05 9.99994511e-01 8.37822065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.90528557 meters 0.02541799272728393 Centerline is valid? [True, True] Translation: X:-28.06, Y:2.02, Z:0.86 [[ 9.97942393e-01 6.39767572e-02 4.23738106e-03 -2.80635608e+01] [-6.39759621e-02 9.97951388e-01 -3.23047124e-04 2.01638473e+00] [-4.24936782e-03 5.12918897e-05 9.99990970e-01 8.56809480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.96528557 meters 0.025510166572933313 Centerline is valid? [True, True] Translation: X:-28.12, Y:2.02, Z:0.85 [[ 9.97836290e-01 6.55671891e-02 4.86650346e-03 -2.81228449e+01] [-6.55661742e-02 9.97848155e-01 -3.67982973e-04 2.02000476e+00] [-4.88015911e-03 4.81087510e-05 9.99988091e-01 8.50376631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.02528557 meters 0.025416277372467228 Centerline is valid? [True, True] Translation: X:-28.18, Y:2.04, Z:0.87 [[ 9.98018993e-01 6.28404792e-02 3.02701182e-03 -2.81792816e+01] [-6.28400689e-02 9.98023583e-01 -2.30560844e-04 2.04055783e+00] [-3.03551773e-03 3.98864707e-05 9.99995392e-01 8.65073177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.08528557 meters 0.029643730544135456 Centerline is valid? [True, True] Translation: X:-28.24, Y:2.05, Z:0.87 [[ 9.98117316e-01 6.08539326e-02 7.65652469e-03 -2.82374850e+01] [-6.08512391e-02 9.98146675e-01 -5.84473883e-04 2.05499693e+00] [-7.67790219e-03 1.17464489e-04 9.99970518e-01 8.68967268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.145285570000002 meters 0.0265480596868805 Centerline is valid? [True, True] Translation: X:-28.30, Y:2.06, Z:0.87 [[ 9.98352149e-01 5.73030856e-02 3.05667207e-03 -2.82962787e+01] [-5.73026346e-02 9.98356826e-01 -2.34973245e-04 2.06349711e+00] [-3.06511412e-03 5.94306818e-05 9.99995301e-01 8.73938959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.20528557 meters 0.027237068758186798 Centerline is valid? [True, True] Translation: X:-28.35, Y:2.09, Z:0.89 [[ 9.98512584e-01 5.43833573e-02 3.88192822e-03 -2.83535750e+01] [-5.43826218e-02 9.98520127e-01 -2.94834515e-04 2.08839108e+00] [-3.89221755e-03 8.32865393e-05 9.99992422e-01 8.85648619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.26528557 meters 0.027919494044661968 Centerline is valid? [True, True] Translation: X:-28.41, Y:2.10, Z:0.89 [[ 9.98686308e-01 5.08662754e-02 6.18710446e-03 -2.84126921e+01] [-5.08643093e-02 9.98705460e-01 -4.74813146e-04 2.09536034e+00] [-6.20324698e-03 1.59486593e-04 9.99980747e-01 8.87806348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.325285570000002 meters 0.028060067905601744 Centerline is valid? [True, True] Translation: X:-28.47, Y:2.13, Z:0.89 [[ 9.98738402e-01 5.00715009e-02 3.80124964e-03 -2.84693151e+01] [-5.00707578e-02 9.98745631e-01 -2.90476600e-04 2.12531036e+00] [-3.81102607e-03 9.97786851e-05 9.99992733e-01 8.93831249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.38528557 meters 0.02773767886087146 Centerline is valid? [True, True] Translation: X:-28.53, Y:2.13, Z:0.89 [[ 9.98663607e-01 5.14003358e-02 5.38561791e-03 -2.85276212e+01] [-5.13988311e-02 9.98678119e-01 -4.17514635e-04 2.12804205e+00] [-5.39995915e-03 1.40142207e-04 9.99985410e-01 8.94839831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.44528557 meters 0.02695579019590282 Centerline is valid? [True, True] Translation: X:-28.58, Y:2.15, Z:0.90 [[ 9.98439509e-01 5.54052679e-02 6.98597474e-03 -2.85847876e+01] [-5.54028219e-02 9.98463936e-01 -5.43326272e-04 2.15472975e+00] [-7.00534698e-03 1.55435701e-04 9.99975450e-01 9.01278392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.50528557 meters 0.026386259744934148 Centerline is valid? [True, True] Translation: X:-28.64, Y:2.18, Z:0.90 [[ 9.98179393e-01 6.01510287e-02 4.44434232e-03 -2.86426390e+01] [-6.01501019e-02 9.98189285e-01 -3.42032532e-04 2.17531334e+00] [-4.45686849e-03 7.40821818e-05 9.99990065e-01 9.01674762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.56528557 meters 0.027033560179119304 Centerline is valid? [True, True] Translation: X:-28.70, Y:2.19, Z:0.91 [[ 9.98020694e-01 6.24735109e-02 7.19409229e-03 -2.87002127e+01] [-6.24711066e-02 9.98046617e-01 -5.58652224e-04 2.19067156e+00] [-7.21494044e-03 1.08123574e-04 9.99973966e-01 9.07241993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.62528557 meters 0.02588428167139793 Centerline is valid? [True, True] Translation: X:-28.76, Y:2.21, Z:0.91 [[ 9.98200556e-01 5.96081022e-02 6.52111973e-03 -2.87582404e+01] [-5.96060572e-02 9.98221849e-01 -5.07673512e-04 2.20979806e+00] [-6.53978565e-03 1.18061747e-04 9.99978608e-01 9.11996986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.68528557 meters 0.026397291190391144 Centerline is valid? [True, True] Translation: X:-28.82, Y:2.21, Z:0.92 [[ 9.98157292e-01 6.00662626e-02 8.60603031e-03 -2.88170592e+01] [-6.00626896e-02 9.98194380e-01 -6.73262501e-04 2.21394067e+00] [-8.63093145e-03 1.55120548e-04 9.99962741e-01 9.16542040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.74528557 meters 0.02610330294765254 Centerline is valid? [True, True] Translation: X:-28.87, Y:2.24, Z:0.92 [[ 9.98159119e-01 6.01298981e-02 7.92268350e-03 -2.88735083e+01] [-6.01268420e-02 9.98190550e-01 -6.23580137e-04 2.23857613e+00] [-7.94584361e-03 1.46066262e-04 9.99968421e-01 9.22032094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.80528557 meters 0.029271826977129208 Centerline is valid? [True, True] Translation: X:-28.93, Y:2.25, Z:0.92 [[ 9.98280840e-01 5.76582214e-02 1.05306165e-02 -2.89317508e+01] [-5.76526893e-02 9.98336357e-01 -8.28402349e-04 2.24793326e+00] [-1.05608615e-02 2.19859833e-04 9.99944208e-01 9.23436335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.86528557 meters 0.026439875083645002 Centerline is valid? [True, True] Translation: X:-28.99, Y:2.27, Z:0.93 [[ 9.98175787e-01 5.99371021e-02 7.25548071e-03 -2.89888644e+01] [-5.99345393e-02 9.98202147e-01 -5.70333323e-04 2.26545191e+00] [-7.27662054e-03 1.34439020e-04 9.99973516e-01 9.31344101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.92528557 meters 0.02711685663506025 Centerline is valid? [True, True] Translation: X:-29.05, Y:2.27, Z:0.92 [[ 9.98630251e-01 5.22273354e-02 3.15066768e-03 -2.90480158e+01] [-5.22268065e-02 9.98635218e-01 -2.49969042e-04 2.27029410e+00] [-3.15942292e-03 8.50773362e-05 9.99995005e-01 9.24935901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.985285570000002 meters 0.02757713869946853 Centerline is valid? [True, True] Translation: X:-29.11, Y:2.29, Z:0.94 [[ 9.98704498e-01 4.99449214e-02 9.73812867e-03 -2.91053379e+01] [-4.99397771e-02 9.98751933e-01 -7.70864007e-04 2.29224895e+00] [-9.76447558e-03 2.83545376e-04 9.99952286e-01 9.37978429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.04528557 meters 0.026797793706170282 Centerline is valid? [True, True] Translation: X:-29.16, Y:2.31, Z:0.94 [[ 9.98553895e-01 5.28745439e-02 9.71605136e-03 -2.91632477e+01] [-5.28695388e-02 9.98601130e-01 -7.71448958e-04 2.30963842e+00] [-9.74324988e-03 2.56650207e-04 9.99952500e-01 9.40516795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.10528557 meters 0.026320622222457103 Centerline is valid? [True, True] Translation: X:-29.22, Y:2.33, Z:0.94 [[ 9.98248067e-01 5.82482221e-02 1.03894377e-02 -2.92211776e+01] [-5.82427372e-02 9.98302106e-01 -8.29971380e-04 2.33070573e+00] [-1.04201419e-02 2.23408037e-04 9.99945684e-01 9.40031329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.16528557 meters 0.024717367203899394 Centerline is valid? [True, True] Translation: X:-29.28, Y:2.35, Z:0.95 [[ 9.97948662e-01 6.30447621e-02 1.11277316e-02 -2.92781411e+01] [-6.30387610e-02 9.98010683e-01 -8.89578078e-04 2.35394269e+00] [-1.11616782e-02 1.86274842e-04 9.99937689e-01 9.49752148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.22528557 meters 0.027825789518220918 Centerline is valid? [True, True] Translation: X:-29.34, Y:2.37, Z:0.95 [[ 9.97866851e-01 6.45944458e-02 9.45017828e-03 -2.93350286e+01] [-6.45902139e-02 9.97911588e-01 -7.52648343e-04 2.37275789e+00] [-9.47905932e-03 1.40653795e-04 9.99955063e-01 9.49025784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.28528557 meters 0.025059567932508815 Centerline is valid? [True, True] Translation: X:-29.39, Y:2.38, Z:0.96 [[ 9.98106848e-01 6.08837387e-02 8.71155661e-03 -2.93929167e+01] [-6.08799581e-02 9.98144850e-01 -6.98754773e-04 2.38297870e+00] [-8.73793817e-03 1.67072723e-04 9.99961810e-01 9.60545405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.34528557 meters 0.025288608026184968 Centerline is valid? [True, True] Translation: X:-29.45, Y:2.40, Z:0.97 [[ 9.98225308e-01 5.90746773e-02 7.51108234e-03 -2.94505095e+01] [-5.90718335e-02 9.98253554e-01 -6.00085130e-04 2.39890641e+00] [-7.53341448e-03 1.55326759e-04 9.99971611e-01 9.65748773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.40528557 meters 0.027010821637262657 Centerline is valid? [True, True] Translation: X:-29.51, Y:2.40, Z:0.97 [[ 9.98341419e-01 5.68585647e-02 9.02849791e-03 -2.95089971e+01] [-5.68543359e-02 9.98382221e-01 -7.24554229e-04 2.40493588e+00] [-9.05508891e-03 2.10043245e-04 9.99958980e-01 9.67572605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.46528557 meters 0.027097779501198488 Centerline is valid? [True, True] Translation: X:-29.57, Y:2.43, Z:0.97 [[ 9.98698454e-01 5.06522193e-02 5.97917599e-03 -2.95667572e+01] [-5.06502345e-02 9.98716336e-01 -4.82998295e-04 2.42959749e+00] [-5.99596568e-03 1.79522984e-04 9.99982008e-01 9.70778871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.52528557 meters 0.02609760186272294 Centerline is valid? [True, True] Translation: X:-29.62, Y:2.45, Z:0.98 [[ 9.98503396e-01 5.40349604e-02 8.43749325e-03 -2.96248126e+01] [-5.40311257e-02 9.98539019e-01 -6.81932984e-04 2.44605404e+00] [-8.46201446e-03 2.25025142e-04 9.99964171e-01 9.77967802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.58528557 meters 0.026243934281813975 Centerline is valid? [True, True] Translation: X:-29.68, Y:2.46, Z:0.98 [[ 9.98348638e-01 5.61508244e-02 1.21277437e-02 -2.96832146e+01] [-5.61430470e-02 9.98422253e-01 -9.81067968e-04 2.45788328e+00] [-1.21636969e-02 2.98559386e-04 9.99925975e-01 9.81853524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.645285570000002 meters 0.030679042312517713 Centerline is valid? [True, True] Translation: X:-29.74, Y:2.49, Z:0.98 [[ 9.98067783e-01 6.11059875e-02 1.12586807e-02 -2.97424126e+01] [-6.10995741e-02 9.98131258e-01 -9.13050808e-04 2.48559960e+00] [-1.12934340e-02 2.23385999e-04 9.99936202e-01 9.81542544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.70528557 meters 0.02519408975929398 Centerline is valid? [True, True] Translation: X:-29.80, Y:2.51, Z:0.99 [[ 9.97979801e-01 6.30267268e-02 7.99681706e-03 -2.98010642e+01] [-6.30235576e-02 9.98011829e-01 -6.47948828e-04 2.50597385e+00] [-8.02175612e-03 1.42651982e-04 9.99967815e-01 9.88034099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.76528557 meters 0.03113845151496499 Centerline is valid? [True, True] Translation: X:-29.86, Y:2.52, Z:0.99 [[ 9.97882188e-01 6.35689870e-02 1.37885169e-02 -2.98590460e+01] [-6.35596327e-02 9.97977418e-01 -1.11602119e-03 2.52219454e+00] [-1.38315728e-02 2.37264594e-04 9.99904311e-01 9.94237346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.825285570000002 meters 0.026090673737988793 Centerline is valid? [True, True] Translation: X:-29.92, Y:2.53, Z:0.99 [[ 9.98183130e-01 6.00702371e-02 4.69106085e-03 -2.99198719e+01] [-6.00691123e-02 9.98194148e-01 -3.80438280e-04 2.53094040e+00] [-4.70544251e-03 9.79592117e-05 9.99988925e-01 9.89731323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.88528557 meters 0.025645191934899787 Centerline is valid? [True, True] Translation: X:-29.98, Y:2.54, Z:1.00 [[ 9.98423238e-01 5.54473679e-02 8.75373807e-03 -2.99779834e+01] [-5.54433099e-02 9.98461587e-01 -7.05746857e-04 2.53679359e+00] [-8.77940302e-03 2.19297849e-04 9.99961436e-01 9.99875264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.94528557 meters 0.025943560024563852 Centerline is valid? [True, True] Translation: X:-30.04, Y:2.55, Z:1.00 [[ 9.98526418e-01 5.33567728e-02 9.90191626e-03 -3.00381791e+01] [-5.33514120e-02 9.98575475e-01 -8.04942099e-04 2.55305385e+00] [-9.93075984e-03 2.75474738e-04 9.99950651e-01 1.00187254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.00528557 meters 0.026334014587916434 Centerline is valid? [True, True] Translation: X:-30.10, Y:2.57, Z:1.01 [[ 9.98514770e-01 5.39895873e-02 7.30605323e-03 -3.00994958e+01] [-5.39866821e-02 9.98541479e-01 -5.94422090e-04 2.56689760e+00] [-7.32748980e-03 1.99109664e-04 9.99973134e-01 1.00521274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.06528557 meters 0.028589273969061746 Centerline is valid? [True, True] Translation: X:-30.16, Y:2.59, Z:1.01 [[ 9.98183831e-01 5.95926373e-02 8.81796318e-03 -3.01581752e+01] [-5.95886406e-02 9.98222762e-01 -7.15510978e-04 2.58639197e+00] [-8.84493075e-03 1.88761050e-04 9.99960865e-01 1.00852978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.12528557 meters 0.023828954666628897 Centerline is valid? [True, True] Translation: X:-30.22, Y:2.62, Z:1.01 [[ 9.97512955e-01 6.98748187e-02 9.24202489e-03 -3.02164576e+01] [-6.98708670e-02 9.97555762e-01 -7.50168052e-04 2.61621491e+00] [-9.27185304e-03 1.02554058e-04 9.99957010e-01 1.01212757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.18528557 meters 0.023309415390214094 Centerline is valid? [True, True] Translation: X:-30.28, Y:2.63, Z:1.01 [[ 9.97079077e-01 7.60712978e-02 6.81708799e-03 -3.02776602e+01] [-7.60692869e-02 9.97102380e-01 -5.54157966e-04 2.63165517e+00] [-6.83949018e-03 3.39682902e-05 9.99976610e-01 1.01215699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.24528557 meters 0.025103541771666023 Centerline is valid? [True, True] Translation: X:-30.34, Y:2.66, Z:1.02 [[ 9.96665678e-01 8.10531763e-02 9.37598113e-03 -3.03374005e+01] [-8.10496090e-02 9.96709779e-01 -7.60446257e-04 2.65621197e+00] [-9.40676866e-03 -2.00892054e-06 9.99955755e-01 1.01770671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.30528557 meters 0.02336346813481575 Centerline is valid? [True, True] Translation: X:-30.40, Y:2.67, Z:1.02 [[ 9.96560477e-01 8.24773966e-02 8.04324503e-03 -3.03977171e+01] [-8.24748166e-02 9.96592935e-01 -6.52494143e-04 2.66570784e+00] [-8.06965719e-03 -1.31152845e-05 9.99967440e-01 1.01884970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.36528557 meters 0.023107534624970817 Centerline is valid? [True, True] Translation: X:-30.46, Y:2.67, Z:1.01 [[ 9.96934982e-01 7.81128656e-02 4.36137781e-03 -3.04589396e+01] [-7.81120652e-02 9.96944522e-01 -3.53819858e-04 2.66786234e+00] [-4.37568960e-03 1.20591666e-05 9.99990427e-01 1.01370494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.42528557 meters 0.02380964482643894 Centerline is valid? [True, True] Translation: X:-30.52, Y:2.67, Z:1.03 [[ 9.97472704e-01 7.01969199e-02 1.09816765e-02 -3.05166330e+01] [-7.01914002e-02 9.97533147e-01 -8.87720812e-04 2.67306201e+00] [-1.10169015e-02 1.14658032e-04 9.99939306e-01 1.02860324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.485285570000002 meters 0.023590252139068603 Centerline is valid? [True, True] Translation: X:-30.58, Y:2.68, Z:1.02 [[ 9.97591353e-01 6.84329596e-02 1.13323834e-02 -3.05784463e+01] [-6.84269345e-02 9.97655707e-01 -9.19010462e-04 2.68105893e+00] [-1.13687076e-02 1.41356634e-04 9.99935364e-01 1.02394037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.54528557 meters 0.026850052464648295 Centerline is valid? [True, True] Translation: X:-30.64, Y:2.68, Z:1.02 [[ 9.97450282e-01 7.05159265e-02 1.09744309e-02 -3.06407581e+01] [-7.05104105e-02 9.97510647e-01 -8.89206402e-04 2.68201932e+00] [-1.10098149e-02 1.13127550e-04 9.99939384e-01 1.02450496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.60528557 meters 0.025336820476161797 Centerline is valid? [True, True] Translation: X:-30.70, Y:2.71, Z:1.03 [[ 9.97177706e-01 7.42275784e-02 1.12644956e-02 -3.06996061e+01] [-7.42220071e-02 9.97241325e-01 -9.12410153e-04 2.70630782e+00] [-1.13011465e-02 7.37615938e-05 9.99936137e-01 1.03162803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.66528557 meters 0.022547284573825946 Centerline is valid? [True, True] Translation: X:-30.76, Y:2.72, Z:1.03 [[ 9.96723832e-01 8.01584786e-02 1.07806079e-02 -3.07612688e+01] [-8.01537389e-02 9.96782132e-01 -8.71701766e-04 2.71913477e+00] [-1.08157916e-02 4.73989723e-06 9.99941508e-01 1.03381379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.72528557 meters 0.029804699848050342 Centerline is valid? [True, True] Translation: X:-30.82, Y:2.73, Z:1.03 [[ 9.96230632e-01 8.64820871e-02 6.73618432e-03 -3.08216884e+01] [-8.64803822e-02 9.96253405e-01 -5.44511360e-04 2.73454811e+00] [-6.75803704e-03 -4.00888980e-05 9.99977163e-01 1.02830076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.78528557 meters 0.025958320339058018 Centerline is valid? [True, True] Translation: X:-30.88, Y:2.74, Z:1.04 [[ 9.96204578e-01 8.68017716e-02 6.47233593e-03 -3.08826602e+01] [-8.68002042e-02 9.96225602e-01 -5.23210221e-04 2.74433034e+00] [-6.49332234e-03 -4.05756631e-05 9.99978917e-01 1.03700738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.84528557 meters 0.027082269051833335 Centerline is valid? [True, True] Translation: X:-30.94, Y:2.75, Z:1.04 [[ 9.96338746e-01 8.46709587e-02 1.18292659e-02 -3.09436811e+01] [-8.46656036e-02 9.96408965e-01 -9.53653110e-04 2.74956454e+00] [-1.18675333e-02 -5.13703942e-05 9.99929577e-01 1.04384150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.90528557 meters 0.025478740505188478 Centerline is valid? [True, True] Translation: X:-31.01, Y:2.75, Z:1.04 [[ 9.96759511e-01 7.96579028e-02 1.11846460e-02 -3.10065658e+01] [-7.96527989e-02 9.96822260e-01 -9.01759008e-04 2.74999290e+00] [-1.12209364e-02 7.94850739e-06 9.99937043e-01 1.04083203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.96528557 meters 0.022785474800245776 Centerline is valid? [True, True] Translation: X:-31.07, Y:2.75, Z:1.05 [[ 9.97219912e-01 7.38259126e-02 1.01085294e-02 -3.10686403e+01] [-7.38214494e-02 9.97271142e-01 -8.14447916e-04 2.75495909e+00] [-1.01410720e-02 6.59573889e-05 9.99948576e-01 1.04594335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.02528557 meters 0.022674816169193125 Centerline is valid? [True, True] Translation: X:-31.13, Y:2.75, Z:1.05 [[ 9.97310924e-01 7.25110418e-02 1.06334326e-02 -3.11314361e+01] [-7.25060331e-02 9.97367606e-01 -8.56292203e-04 2.75433206e+00] [-1.06675318e-02 8.30015548e-05 9.99943097e-01 1.05197717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.08528557 meters 0.026888032121352726 Centerline is valid? [True, True] Translation: X:-31.19, Y:2.77, Z:1.05 [[ 9.97270957e-01 7.31511149e-02 9.97763620e-03 -3.11924536e+01] [-7.31467504e-02 9.97320866e-01 -8.02144574e-04 2.76667429e+00] [-1.00095825e-02 7.01238225e-05 9.99949900e-01 1.05230246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.145285570000002 meters 0.02223479012729967 Centerline is valid? [True, True] Translation: X:-31.25, Y:2.78, Z:1.06 [[ 9.96802426e-01 7.93385043e-02 9.50393053e-03 -3.12532354e+01] [-7.93348313e-02 9.96847732e-01 -7.63448379e-04 2.78383119e+00] [-9.53454245e-03 7.01447082e-06 9.99954545e-01 1.05669609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.20528557 meters 0.02413046432217877 Centerline is valid? [True, True] Translation: X:-31.32, Y:2.79, Z:1.06 [[ 9.96170374e-01 8.68984959e-02 9.65592380e-03 -3.13150501e+01] [-8.68950660e-02 9.96217169e-01 -7.74979468e-04 2.78570197e+00] [-9.68674162e-03 -6.70405495e-05 9.99953080e-01 1.05955331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.26528557 meters 0.022858099013417732 Centerline is valid? [True, True] Translation: X:-31.37, Y:2.81, Z:1.07 [[ 9.95718048e-01 9.18722685e-02 1.02496277e-02 -3.13749464e+01] [-9.18686753e-02 9.95770792e-01 -8.21839693e-04 2.80814297e+00] [-1.02817842e-02 -1.23299105e-04 9.99947133e-01 1.06672054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.325285570000002 meters 0.026394022339724963 Centerline is valid? [True, True] Translation: X:-31.44, Y:2.81, Z:1.06 [[ 9.95574473e-01 9.37296522e-02 6.79854564e-03 -3.14368841e+01] [-9.37281140e-02 9.95597681e-01 -5.45217748e-04 2.81438245e+00] [-6.81971935e-03 -9.44099888e-05 9.99976741e-01 1.06452668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.38528557 meters 0.02266858427900844 Centerline is valid? [True, True] Translation: X:-31.50, Y:2.82, Z:1.07 [[ 9.95773380e-01 9.11504299e-02 1.12682761e-02 -3.14982615e+01] [-9.11460609e-02 9.95837126e-01 -9.01732004e-04 2.82299264e+00] [-1.13035609e-02 -1.29138253e-04 9.99936104e-01 1.07166445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.44528557 meters 0.022564724245595972 Centerline is valid? [True, True] Translation: X:-31.56, Y:2.83, Z:1.07 [[ 9.95944355e-01 8.91310513e-02 1.22677693e-02 -3.15603754e+01] [-8.91257322e-02 9.96019900e-01 -9.80695056e-04 2.83010994e+00] [-1.23063528e-02 -1.16656220e-04 9.99924267e-01 1.07465077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.50528557 meters 0.023764379144217637 Centerline is valid? [True, True] Translation: X:-31.62, Y:2.83, Z:1.07 [[ 9.96351350e-01 8.50400047e-02 7.22395580e-03 -3.16223782e+01] [-8.50380515e-02 9.96377537e-01 -5.77669677e-04 2.82947456e+00] [-7.24691232e-03 -3.87491630e-05 9.99973740e-01 1.07018819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.56528557 meters 0.02203650792758448 Centerline is valid? [True, True] Translation: X:-31.68, Y:2.83, Z:1.07 [[ 9.97081587e-01 7.60612010e-02 6.55758108e-03 -3.16849684e+01] [-7.60593990e-02 9.97103151e-01 -5.24102694e-04 2.82694034e+00] [-6.57844863e-03 2.38074706e-05 9.99978361e-01 1.07327246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.62528557 meters 0.023339306749863953 Centerline is valid? [True, True] Translation: X:-31.75, Y:2.82, Z:1.08 [[ 9.98053441e-01 6.17442782e-02 8.77340502e-03 -3.17464729e+01] [-6.17405137e-02 9.98091990e-01 -6.99544929e-04 2.82472319e+00] [-8.79985817e-03 1.56508691e-04 9.99961268e-01 1.07786170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.68528557 meters 0.025073706060594055 Centerline is valid? [True, True] Translation: X:-31.81, Y:2.82, Z:1.08 [[ 9.98656950e-01 5.10938512e-02 8.58569526e-03 -3.18078788e+01] [-5.10898575e-02 9.98693826e-01 -6.83987717e-04 2.81825894e+00] [-8.60942841e-03 2.44427141e-04 9.99962908e-01 1.07805661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.74528557 meters 0.027750934913901577 Centerline is valid? [True, True] Translation: X:-31.87, Y:2.82, Z:1.08 [[ 9.98872667e-01 4.63792719e-02 1.01172715e-02 -3.18691560e+01] [-4.63734816e-02 9.98923846e-01 -8.06285887e-04 2.82474376e+00] [-1.01437787e-02 3.36203830e-04 9.99948494e-01 1.08173198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.80528557 meters 0.03133680969239242 Centerline is valid? [True, True] Translation: X:-31.93, Y:2.85, Z:1.08 [[ 9.98559465e-01 5.22238360e-02 1.23152453e-02 -3.19282180e+01] [-5.22157167e-02 9.98635348e-01 -9.80124343e-04 2.85293431e+00] [-1.23496251e-02 3.35663081e-04 9.99923684e-01 1.08441205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.86528557 meters 0.025376985533080574 Centerline is valid? [True, True] Translation: X:-31.99, Y:2.89, Z:1.09 [[ 9.97731229e-01 6.64132505e-02 1.10306523e-02 -3.19859817e+01] [-6.64076063e-02 9.97792193e-01 -8.77576726e-04 2.88585881e+00] [-1.10645815e-02 1.43066490e-04 9.99938775e-01 1.08890046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.92528557 meters 0.02269811050509886 Centerline is valid? [True, True] Translation: X:-32.05, Y:2.91, Z:1.09 [[ 9.97324929e-01 7.26828285e-02 7.75835658e-03 -3.20458405e+01] [-7.26802182e-02 9.97355104e-01 -6.18242613e-04 2.91385132e+00] [-7.78277216e-03 5.27097208e-05 9.99969712e-01 1.08819753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.985285570000002 meters 0.0229472483648063 Centerline is valid? [True, True] Translation: X:-32.11, Y:2.94, Z:1.09 [[ 9.97481833e-01 7.06792067e-02 5.86878028e-03 -3.21058646e+01] [-7.06776784e-02 9.97499096e-01 -4.67676605e-04 2.93671635e+00] [-5.88715803e-03 5.17071523e-05 9.99982669e-01 1.09195992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04528557 meters 0.02441082980349488 Centerline is valid? [True, True] Translation: X:-32.17, Y:2.94, Z:1.10 [[ 9.97995681e-01 6.25045119e-02 9.88974039e-03 -3.21679025e+01] [-6.24997877e-02 9.98044667e-01 -7.86333962e-04 2.94254580e+00] [-9.91955208e-03 1.66651223e-04 9.99950786e-01 1.09541966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.10528557 meters 0.02703867342049519 Centerline is valid? [True, True] Translation: X:-32.23, Y:2.96, Z:1.10 [[ 9.98442089e-01 5.49718777e-02 9.56490321e-03 -3.22278675e+01] [-5.49671235e-02 9.98487876e-01 -7.59414065e-04 2.95611996e+00] [-9.59218631e-03 2.32475749e-04 9.99953967e-01 1.10235062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.165285569999995 meters 0.025575444985699445 Centerline is valid? [True, True] Translation: X:-32.29, Y:2.97, Z:1.11 [[ 9.98561936e-01 5.26137895e-02 1.02883107e-02 -3.22886686e+01] [-5.26081633e-02 9.98614898e-01 -8.16905209e-04 2.97446421e+00] [-1.03170408e-02 2.74481318e-04 9.99946740e-01 1.10975173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22528557 meters 0.0307635014302054 Centerline is valid? [True, True] Translation: X:-32.35, Y:2.99, Z:1.11 [[ 9.98419854e-01 5.55583434e-02 8.43000818e-03 -3.23502156e+01] [-5.55546740e-02 9.98455422e-01 -6.69003461e-04 2.99105049e+00] [-8.45415610e-03 1.99619983e-04 9.99964243e-01 1.10618682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.28528557 meters 0.02544486889591583 Centerline is valid? [True, True] Translation: X:-32.41, Y:3.01, Z:1.11 [[ 9.98569964e-01 5.33344603e-02 3.66911041e-03 -3.24096493e+01] [-5.33337503e-02 9.98576700e-01 -2.91156070e-04 3.00921227e+00] [-3.67941682e-03 9.50522880e-05 9.99993226e-01 1.10734606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.345285569999994 meters 0.026809049174166273 Centerline is valid? [True, True] Translation: X:-32.47, Y:3.01, Z:1.12 [[ 9.98627123e-01 5.15828316e-02 9.11489350e-03 -3.24710255e+01] [-5.15783860e-02 9.98668688e-01 -7.22294020e-04 3.01361937e+00] [-9.14001671e-03 2.51170904e-04 9.99958198e-01 1.11978572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.40528557 meters 0.02583517693545355 Centerline is valid? [True, True] Translation: X:-32.53, Y:3.04, Z:1.12 [[ 9.98659255e-01 5.12878988e-02 7.01742093e-03 -3.25306106e+01] [-5.12852398e-02 9.98683890e-01 -5.58455039e-04 3.03991657e+00] [-7.03682722e-03 1.97816177e-04 9.99975222e-01 1.12004175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.46528557 meters 0.02568572608018787 Centerline is valid? [True, True] Translation: X:-32.59, Y:3.06, Z:1.13 [[ 9.98560731e-01 5.29010609e-02 8.82860976e-03 -3.25917423e+01] [-5.28969644e-02 9.98599732e-01 -6.97020862e-04 3.05828346e+00] [-8.85312049e-03 2.29011005e-04 9.99960784e-01 1.12773162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.525285569999994 meters 0.030365464580840763 Centerline is valid? [True, True] Translation: X:-32.65, Y:3.07, Z:1.13 [[ 9.98364710e-01 5.66665681e-02 7.53696447e-03 -3.26522590e+01] [-5.66636857e-02 9.98393145e-01 -5.95598156e-04 3.07183222e+00] [-7.55860417e-03 1.67551994e-04 9.99971419e-01 1.12861453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.585285569999996 meters 0.027426283363768546 Centerline is valid? [True, True] Translation: X:-32.71, Y:3.09, Z:1.14 [[ 9.98145819e-01 6.05634781e-02 6.08186307e-03 -3.27130176e+01] [-6.05616801e-02 9.98164342e-01 -4.79520073e-04 3.09318209e+00] [-6.09974025e-03 1.10303110e-04 9.99981390e-01 1.13781410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64528557 meters 0.02502333986961062 Centerline is valid? [True, True] Translation: X:-32.77, Y:3.11, Z:1.14 [[ 9.98041195e-01 6.23638775e-02 4.95165343e-03 -3.27737589e+01] [-6.23627081e-02 9.98053476e-01 -3.90355137e-04 3.11095014e+00] [-4.96635897e-03 8.07919900e-05 9.99987664e-01 1.13921126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.705285569999994 meters 0.024615580086615234 Centerline is valid? [True, True] Translation: X:-32.83, Y:3.12, Z:1.14 [[ 9.98100837e-01 6.13870732e-02 5.13292480e-03 -3.28349327e+01] [-6.13858059e-02 9.98114031e-01 -4.04227786e-04 3.12361267e+00] [-5.14805863e-03 8.83713660e-05 9.99986745e-01 1.14055918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.765285569999996 meters 0.024971391150146887 Centerline is valid? [True, True] Translation: X:-32.90, Y:3.13, Z:1.14 [[ 9.98036081e-01 6.23189803e-02 6.35031604e-03 -3.28964774e+01] [-6.23170647e-02 9.98056278e-01 -4.99265207e-04 3.13424206e+00] [-6.36908649e-03 1.02551635e-04 9.99979712e-01 1.14203858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82528557 meters 0.025217051958187707 Centerline is valid? [True, True] Translation: X:-32.96, Y:3.15, Z:1.15 [[ 9.97998814e-01 6.28732789e-02 6.73184996e-03 -3.29568541e+01] [-6.28711430e-02 9.98021513e-01 -5.28644133e-04 3.15306706e+00] [-6.75176867e-03 1.04347117e-04 9.99977201e-01 1.14775686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88528556999999 meters 0.02518361741200156 Centerline is valid? [True, True] Translation: X:-33.02, Y:3.17, Z:1.15 [[ 9.97843816e-01 6.53655111e-02 5.92184241e-03 -3.30162523e+01] [-6.53638870e-02 9.97861385e-01 -4.67574006e-04 3.17166101e+00] [-5.93974108e-03 7.94911919e-05 9.99982356e-01 1.15374018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.945285569999996 meters 0.026519681785514695 Centerline is valid? [True, True] Translation: X:-33.08, Y:3.20, Z:1.15 [[ 9.97513159e-01 7.02543887e-02 5.64080198e-03 -3.30766673e+01] [-7.02529968e-02 9.97529107e-01 -4.44759423e-04 3.19733210e+00] [-5.65811046e-03 4.73701337e-05 9.99983992e-01 1.15289166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00528557 meters 0.024942999776478108 Centerline is valid? [True, True] Translation: X:-33.14, Y:3.21, Z:1.16 [[ 9.97143253e-01 7.52356523e-02 6.70302269e-03 -3.31382192e+01] [-7.52338378e-02 9.97165782e-01 -5.22791518e-04 3.20941371e+00] [-6.72335742e-03 1.70039131e-05 9.99977398e-01 1.15730668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.06528557 meters 0.02689431636916305 Centerline is valid? [True, True] Translation: X:-33.20, Y:3.23, Z:1.16 [[ 9.97155915e-01 7.51737971e-02 5.38339200e-03 -3.31973651e+01] [-7.51726197e-02 9.97170447e-01 -4.21014500e-04 3.23379300e+00] [-5.39980867e-03 1.51334195e-05 9.99985421e-01 1.16298655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.125285569999996 meters 0.025631614729370696 Centerline is valid? [True, True] Translation: X:-33.26, Y:3.25, Z:1.16 [[ 9.97321024e-01 7.29599096e-02 5.25610231e-03 -3.32593597e+01] [-7.29587646e-02 9.97334874e-01 -4.09509070e-04 3.24587227e+00] [-5.27197188e-03 2.49332744e-05 9.99986103e-01 1.16080705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18528557 meters 0.030506189076212848 Centerline is valid? [True, True] Translation: X:-33.32, Y:3.25, Z:1.17 [[ 9.97582585e-01 6.92630235e-02 5.62313175e-03 -3.33207262e+01] [-6.92616440e-02 9.97598432e-01 -4.39921020e-04 3.24910650e+00] [-5.64009768e-03 4.93901989e-05 9.99984093e-01 1.16628395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.24528557 meters 0.026008575046760775 Centerline is valid? [True, True] Translation: X:-33.38, Y:3.26, Z:1.17 [[ 9.97876281e-01 6.49400416e-02 5.07136177e-03 -3.33811764e+01] [-6.49388667e-02 9.97889166e-01 -3.96168788e-04 3.26217718e+00] [-5.08638418e-03 6.59989503e-05 9.99987062e-01 1.16985776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.305285569999995 meters 0.026927048081035417 Centerline is valid? [True, True] Translation: X:-33.44, Y:3.28, Z:1.17 [[ 9.97964668e-01 6.37633045e-02 8.72666090e-04 -3.34420489e+01] [-6.37632691e-02 9.97965050e-01 -6.84518214e-05 3.27593990e+00] [-8.75254972e-04 1.26684565e-05 9.99999617e-01 1.16768469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36528557 meters 0.02683237855277614 Centerline is valid? [True, True] Translation: X:-33.50, Y:3.29, Z:1.18 [[ 9.97951471e-01 6.38947369e-02 3.21300549e-03 -3.35023138e+01] [-6.38942678e-02 9.97956643e-01 -2.48547158e-04 3.28833743e+00] [-3.22232103e-03 4.27453684e-05 9.99994807e-01 1.17620253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.42528557 meters 0.0261827386912792 Centerline is valid? [True, True] Translation: X:-33.56, Y:3.30, Z:1.18 [[ 9.97829773e-01 6.55314373e-02 6.43232857e-03 -3.35636030e+01] [-6.55295992e-02 9.97850502e-01 -4.96330105e-04 3.30094429e+00] [-6.45102752e-03 7.37450428e-05 9.99979189e-01 1.17610362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.485285569999995 meters 0.026950478931195645 Centerline is valid? [True, True] Translation: X:-33.63, Y:3.31, Z:1.17 [[ 9.97867179e-01 6.51695887e-02 3.74414291e-03 -3.36255697e+01] [-6.51689499e-02 9.97874202e-01 -2.92494471e-04 3.31237634e+00] [-3.75524536e-03 4.78687702e-05 9.99992948e-01 1.17269815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54528557 meters 0.026969307310851533 Centerline is valid? [True, True] Translation: X:-33.68, Y:3.34, Z:1.18 [[ 9.97716938e-01 6.74005328e-02 4.25192133e-03 -3.36848364e+01] [-6.73997373e-02 9.97725998e-01 -3.30253961e-04 3.33809526e+00] [-4.26451175e-03 4.29215900e-05 9.99990906e-01 1.18318341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.60528557 meters 0.027176798049963986 Centerline is valid? [True, True] Translation: X:-33.75, Y:3.36, Z:1.19 [[ 9.97621431e-01 6.87047901e-02 5.57971081e-03 -3.37457518e+01] [-6.87034546e-02 9.97637033e-01 -4.30907515e-04 3.35544682e+00] [-5.59613155e-03 4.65371639e-05 9.99984340e-01 1.18659651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.665285569999995 meters 0.026632769984039805 Centerline is valid? [True, True] Translation: X:-33.81, Y:3.37, Z:1.18 [[ 9.97477287e-01 7.09717146e-02 1.44147372e-03 -3.38064451e+01] [-7.09716230e-02 9.97478328e-01 -1.14611693e-04 3.36926473e+00] [-1.44597298e-03 1.20188312e-05 9.99998955e-01 1.17883309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72528557 meters 0.02652713703918658 Centerline is valid? [True, True] Translation: X:-33.87, Y:3.38, Z:1.18 [[ 9.97441810e-01 7.14526474e-02 2.08699937e-03 -3.38674019e+01] [-7.14524614e-02 9.97443993e-01 -1.63636615e-04 3.38181930e+00] [-2.09335725e-03 1.40967597e-05 9.99997809e-01 1.18244256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78528557 meters 0.029085984443633098 Centerline is valid? [True, True] Translation: X:-33.93, Y:3.40, Z:1.18 [[ 9.97350486e-01 7.24730115e-02 6.29847173e-03 -3.39285391e+01] [-7.24714366e-02 9.97370374e-01 -4.78227499e-04 3.40131738e+00] [-6.31656769e-03 2.05011347e-05 9.99980050e-01 1.18413955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.845285569999994 meters 0.02798528481642387 Centerline is valid? [True, True] Translation: X:-33.99, Y:3.41, Z:1.18 [[ 9.97450283e-01 7.13154182e-02 2.65403974e-03 -3.39899066e+01] [-7.13151234e-02 9.97453814e-01 -2.05639073e-04 3.41048761e+00] [-2.66194730e-03 1.58415803e-05 9.99996457e-01 1.18161920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90528557 meters 0.02807675278791625 Centerline is valid? [True, True] Translation: X:-34.05, Y:3.42, Z:1.18 [[ 9.97626197e-01 6.87591323e-02 3.76193909e-03 -3.40505060e+01] [-6.87585347e-02 9.97633290e-01 -2.88101211e-04 3.41639960e+00] [-3.77284526e-03 2.87518954e-05 9.99992882e-01 1.18494879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96528557 meters 0.029838502596117707 Centerline is valid? [True, True] Translation: X:-34.11, Y:3.43, Z:1.18 [[ 9.97866780e-01 6.52215679e-02 2.83469290e-03 -3.41113888e+01] [-6.52212123e-02 9.97870806e-01 -2.17812380e-04 3.42924760e+00] [-2.84286336e-03 3.24656306e-05 9.99995959e-01 1.18403881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.025285569999994 meters 0.02650467546377723 Centerline is valid? [True, True] Translation: X:-34.17, Y:3.44, Z:1.18 [[ 9.97970167e-01 6.36454236e-02 2.19212102e-03 -3.41731609e+01] [-6.36452047e-02 9.97972574e-01 -1.69521367e-04 3.44201134e+00] [-2.19846591e-03 2.96592756e-05 9.99997583e-01 1.18437255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.085285569999996 meters 0.02642256926858526 Centerline is valid? [True, True] Translation: X:-34.23, Y:3.45, Z:1.19 [[ 9.97922097e-01 6.43605098e-02 3.03543123e-03 -3.42341592e+01] [-6.43601032e-02 9.97926712e-01 -2.31554902e-04 3.45369987e+00] [-3.04404090e-03 3.57130856e-05 9.99995366e-01 1.18701152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14528557 meters 0.027459857216702598 Centerline is valid? [True, True] Translation: X:-34.30, Y:3.47, Z:1.19 [[ 9.97835691e-01 6.57231571e-02 2.09777557e-03 -3.42964690e+01] [-6.57229612e-02 9.97837896e-01 -1.62255318e-04 3.47232403e+00] [-2.10390389e-03 2.40321250e-05 9.99997787e-01 1.19064676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.205285569999994 meters 0.02669063324870171 Centerline is valid? [True, True] Translation: X:-34.36, Y:3.48, Z:1.20 [[ 9.97595724e-01 6.92186108e-02 3.39924813e-03 -3.43585188e+01] [-6.92181359e-02 9.97601515e-01 -2.57294747e-04 3.48185699e+00] [-3.40890467e-03 2.13865208e-05 9.99994189e-01 1.19523867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.265285569999996 meters 0.026943033063712107 Centerline is valid? [True, True] Translation: X:-34.42, Y:3.50, Z:1.19 [[ 9.97640355e-01 6.86422751e-02 -1.40024260e-03 -3.44185385e+01] [-6.86421985e-02 9.97641337e-01 1.02785113e-04 3.50034743e+00] [ 1.40399530e-03 -6.42684583e-06 9.99999014e-01 1.18810975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32528557 meters 0.02849836821386686 Centerline is valid? [True, True] Translation: X:-34.48, Y:3.51, Z:1.20 [[ 9.97798118e-01 6.62830686e-02 2.33909634e-03 -3.44793508e+01] [-6.62828343e-02 9.97800859e-01 -1.77641379e-04 3.50655502e+00] [-2.34572695e-03 2.22082985e-05 9.99997249e-01 1.19737450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38528556999999 meters 0.027587277475321068 Centerline is valid? [True, True] Translation: X:-34.54, Y:3.52, Z:1.20 [[ 9.97988426e-01 6.33708585e-02 1.79874094e-03 -3.45410768e+01] [-6.33707130e-02 9.97990047e-01 -1.37819785e-04 3.51618419e+00] [-1.80385931e-03 2.35550544e-05 9.99998373e-01 1.19755399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.445285569999996 meters 0.027437861739546054 Centerline is valid? [True, True] Translation: X:-34.60, Y:3.53, Z:1.20 [[ 9.98078181e-01 6.19661189e-02 -3.80713594e-04 -3.46016164e+01] [-6.19661147e-02 9.98078253e-01 2.27130997e-05 3.52680524e+00] [ 3.81389402e-04 9.21893087e-07 9.99999927e-01 1.19991137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50528557 meters 0.03098953997237732 Centerline is valid? [True, True] Translation: X:-34.66, Y:3.54, Z:1.20 [[ 9.98002889e-01 6.29979982e-02 4.63516771e-03 -3.46624397e+01] [-6.29970966e-02 9.98013652e-01 -3.40401822e-04 3.53501446e+00] [-4.64740529e-03 4.77198938e-05 9.99989200e-01 1.20410086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.56528557 meters 0.027472289397631945 Centerline is valid? [True, True] Translation: X:-34.72, Y:3.55, Z:1.20 [[ 9.98025389e-01 6.27993347e-02 1.25188374e-03 -3.47239665e+01] [-6.27992623e-02 9.98026174e-01 -9.70787229e-05 3.54892615e+00] [-1.25550922e-03 1.82696549e-05 9.99999212e-01 1.20197654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.625285569999996 meters 0.028010250830240748 Centerline is valid? [True, True] Translation: X:-34.79, Y:3.56, Z:1.20 [[ 9.97940230e-01 6.41258242e-02 1.78214080e-03 -3.47858603e+01] [-6.41256849e-02 9.97941821e-01 -1.35288746e-04 3.56070900e+00] [-1.78714833e-03 2.07290835e-05 9.99998403e-01 1.20042123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68528557 meters 0.027803485406865905 Centerline is valid? [True, True] Translation: X:-34.85, Y:3.57, Z:1.21 [[ 9.97938093e-01 6.41720878e-02 1.22672369e-03 -3.48460460e+01] [-6.41720204e-02 9.97938847e-01 -9.42338541e-05 3.57452044e+00] [-1.23024241e-03 1.53182148e-05 9.99999243e-01 1.20792103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.74528557 meters 0.02972629194009715 Centerline is valid? [True, True] Translation: X:-34.91, Y:3.59, Z:1.21 [[ 9.97947130e-01 6.40319024e-02 1.20081931e-03 -3.49078257e+01] [-6.40318365e-02 9.97947852e-01 -9.33071160e-05 3.59071219e+00] [-1.20432968e-03 1.62249029e-05 9.99999275e-01 1.20848568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.805285569999995 meters 0.027956211429641952 Centerline is valid? [True, True] Translation: X:-34.97, Y:3.61, Z:1.21 [[ 9.97937766e-01 6.41866091e-02 -5.42816906e-04 -3.49679841e+01] [-6.41866002e-02 9.97937914e-01 3.38572922e-05 3.60931527e+00] [ 5.43870756e-04 1.05410124e-06 9.99999852e-01 1.20674362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86528557 meters 0.0309681833263012 Centerline is valid? [True, True] Translation: X:-35.03, Y:3.61, Z:1.21 [[ 9.97821873e-01 6.59087868e-02 2.74627164e-03 -3.50295645e+01] [-6.59084790e-02 9.97825652e-01 -2.02533205e-04 3.61493458e+00] [-2.75364901e-03 2.10894752e-05 9.99996208e-01 1.20969277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92528557 meters 0.028707381466449612 Centerline is valid? [True, True] Translation: X:-35.09, Y:3.63, Z:1.21 [[ 9.97884567e-01 6.50075471e-02 -6.39939963e-04 -3.50907897e+01] [-6.50075346e-02 9.97884772e-01 4.03913870e-05 3.63198069e+00] [ 6.41212090e-04 1.29497753e-06 9.99999794e-01 1.20908958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.985285569999995 meters 0.028231805552305228 Centerline is valid? [True, True] Translation: X:-35.15, Y:3.64, Z:1.20 [[ 9.97805063e-01 6.62135797e-02 -9.04496798e-04 -3.51536489e+01] [-6.62135540e-02 9.97805473e-01 5.84476378e-05 3.64224086e+00] [ 9.06381883e-04 1.57059861e-06 9.99999589e-01 1.20392028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04528557 meters 0.02815758209616641 Centerline is valid? [True, True] Translation: X:-35.22, Y:3.65, Z:1.21 [[ 9.97775610e-01 6.65904298e-02 3.08982306e-03 -3.52154394e+01] [-6.65900626e-02 9.97780394e-01 -2.21710186e-04 3.64865213e+00] [-3.09772865e-03 1.54655049e-05 9.99995202e-01 1.21381875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.10528557 meters 0.028405747706549373 Centerline is valid? [True, True] Translation: X:-35.28, Y:3.65, Z:1.21 [[ 9.97737182e-01 6.72278255e-02 -9.67139323e-04 -3.52755595e+01] [-6.72277906e-02 9.97737651e-01 6.85176854e-05 3.65400149e+00] [ 9.69557611e-04 -3.34400239e-06 9.99999530e-01 1.21298264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.165285569999995 meters 0.028227384734537883 Centerline is valid? [True, True] Translation: X:-35.34, Y:3.68, Z:1.22 [[ 9.97455304e-01 7.12576654e-02 2.29400295e-03 -3.53353063e+01] [-7.12574673e-02 9.97457942e-01 -1.68093026e-04 3.67568375e+00] [-2.30014938e-03 4.20043997e-06 9.99997355e-01 1.21719213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22528557 meters 0.02867693954888161 Centerline is valid? [True, True] Translation: X:-35.40, Y:3.68, Z:1.21 [[ 9.97195628e-01 7.47777821e-02 -3.02688442e-03 -3.53963142e+01] [-7.47774768e-02 9.97200222e-01 2.14078413e-04 3.68270003e+00] [ 3.03441812e-03 1.28647214e-05 9.99995396e-01 1.21381991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.28528557 meters 0.028637893257965962 Centerline is valid? [True, True] Translation: X:-35.46, Y:3.69, Z:1.22 [[ 9.97139023e-01 7.55764424e-02 1.40378295e-03 -3.54568889e+01] [-7.55763733e-02 9.97140011e-01 -1.02299413e-04 3.68721422e+00] [-1.40749957e-03 -4.08608767e-06 9.99999009e-01 1.22273463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.345285569999994 meters 0.028729260434449067 Centerline is valid? [True, True] Translation: X:-35.52, Y:3.70, Z:1.22 [[ 9.97088439e-01 7.62415487e-02 1.36767244e-03 -3.55196315e+01] [-7.62414789e-02 9.97089377e-01 -1.03134590e-04 3.70340755e+00] [-1.37155481e-03 -1.43906280e-06 9.99999059e-01 1.21930019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.40528557 meters 0.028499540885183826 Centerline is valid? [True, True] Translation: X:-35.58, Y:3.70, Z:1.22 [[ 9.97310741e-01 7.32873662e-02 -4.98228975e-04 -3.55822359e+01] [-7.32873605e-02 9.97310865e-01 2.95891868e-05 3.70477660e+00] [ 4.99057683e-04 7.00427267e-06 9.99999875e-01 1.21734963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46528557 meters 0.02859503300285686 Centerline is valid? [True, True] Translation: X:-35.64, Y:3.71, Z:1.23 [[ 9.97402554e-01 7.19296567e-02 3.77754954e-03 -3.56434606e+01] [-7.19291501e-02 9.97409707e-01 -2.69988569e-04 3.71249674e+00] [-3.78718477e-03 -2.42864009e-06 9.99992829e-01 1.22896328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.525285569999994 meters 0.02855248996998233 Centerline is valid? [True, True] Translation: X:-35.70, Y:3.71, Z:1.22 [[ 9.97607088e-01 6.91255642e-02 -1.32452625e-03 -3.57040363e+01] [-6.91255024e-02 9.97607967e-01 9.24774270e-05 3.71337858e+00] [ 1.32775050e-03 -6.97594051e-07 9.99999119e-01 1.22165585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.585285569999996 meters 0.030883884718063293 Centerline is valid? [True, True] Translation: X:-35.77, Y:3.72, Z:1.22 [[ 9.97592227e-01 6.93281365e-02 1.83253392e-03 -3.57656757e+01] [-6.93280086e-02 9.97593910e-01 -1.33294821e-04 3.71904371e+00] [-1.83736576e-03 5.92795029e-06 9.99998312e-01 1.22221871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64528557 meters 0.028437169724253464 Centerline is valid? [True, True] Translation: X:-35.83, Y:3.72, Z:1.23 [[ 9.97589606e-01 6.93060540e-02 3.41318739e-03 -3.58265114e+01] [-6.93056285e-02 9.97595444e-01 -2.42918138e-04 3.71919052e+00] [-3.42181589e-03 5.77951263e-06 9.99994146e-01 1.23182409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.705285569999994 meters 0.03264206314268515 Centerline is valid? [True, True] Translation: X:-35.89, Y:3.73, Z:1.23 [[ 9.97395285e-01 7.20677756e-02 2.97998706e-03 -3.58869941e+01] [-7.20674633e-02 9.97399737e-01 -2.12207097e-04 3.72735757e+00] [-2.98753161e-03 -3.10575024e-06 9.99995537e-01 1.23105910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.765285569999996 meters 0.028011816970292324 Centerline is valid? [True, True] Translation: X:-35.95, Y:3.74, Z:1.23 [[ 9.97450263e-01 7.12280563e-02 4.42001155e-03 -3.59485757e+01] [-7.12273748e-02 9.97460056e-01 -3.11622780e-04 3.73912176e+00] [-4.43098125e-03 -3.99759569e-06 9.99990183e-01 1.23273314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82528557 meters 0.03013241256235427 Centerline is valid? [True, True] Translation: X:-36.01, Y:3.74, Z:1.24 [[ 9.97269133e-01 7.38126791e-02 2.44210585e-03 -3.60112303e+01] [-7.38124821e-02 9.97272123e-01 -1.70811778e-04 3.74145577e+00] [-2.44805216e-03 -9.91258058e-06 9.99997003e-01 1.23635729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88528556999999 meters 0.028713467459807338 Centerline is valid? [True, True] Translation: X:-36.07, Y:3.75, Z:1.24 [[ 9.97291288e-01 7.34254287e-02 4.33519304e-03 -3.60735843e+01] [-7.34247997e-02 9.97300710e-01 -3.04285780e-04 3.74705143e+00] [-4.34583341e-03 -1.48491230e-05 9.99990557e-01 1.24102725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.945285569999996 meters 0.028208674419454308 Centerline is valid? [True, True] Translation: X:-36.14, Y:3.76, Z:1.25 [[ 9.97311967e-01 7.30786821e-02 5.32414799e-03 -3.61353603e+01] [-7.30777429e-02 9.97326178e-01 -3.70986521e-04 3.76037111e+00] [-5.33702337e-03 -1.90874215e-05 9.99985758e-01 1.24512359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00528557 meters 0.027672942434127403 Centerline is valid? [True, True] Translation: X:-36.20, Y:3.76, Z:1.24 [[ 9.97379173e-01 7.21310408e-02 5.64790445e-03 -3.61986203e+01] [-7.21299751e-02 9.97395164e-01 -3.92435511e-04 3.76338382e+00] [-5.66149937e-03 -1.59762019e-05 9.99983973e-01 1.24436118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06528556999999 meters 0.027704470019850602 Centerline is valid? [True, True] Translation: X:-36.26, Y:3.76, Z:1.25 [[ 9.97447102e-01 7.12676752e-02 4.49408315e-03 -3.62601832e+01] [-7.12669955e-02 9.97457226e-01 -3.11404329e-04 3.76309047e+00] [-4.50484878e-03 -9.67045768e-06 9.99989853e-01 1.25307874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.125285569999996 meters 0.02717106787407513 Centerline is valid? [True, True] Translation: X:-36.32, Y:3.77, Z:1.26 [[ 9.97485276e-01 7.02461787e-02 9.41273148e-03 -3.63220850e+01] [-7.02432452e-02 9.97529686e-01 -6.42299042e-04 3.77275111e+00] [-9.43459813e-03 -2.04969686e-05 9.99955493e-01 1.26016286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18528557 meters 0.028974341326172506 Centerline is valid? [True, True] Translation: X:-36.38, Y:3.78, Z:1.25 [[ 9.97699082e-01 6.77111211e-02 3.42735656e-03 -3.63840574e+01] [-6.77107157e-02 9.97704968e-01 -2.34306132e-04 3.77520843e+00] [-3.43535580e-03 1.69824696e-06 9.99994099e-01 1.25457779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24528557 meters 0.02863104093695656 Centerline is valid? [True, True] Translation: X:-36.45, Y:3.77, Z:1.27 [[ 9.97717891e-01 6.71777837e-02 6.79371897e-03 -3.64452475e+01] [-6.71761693e-02 9.97741021e-01 -4.65810539e-04 3.77364857e+00] [-6.80966422e-03 8.37149324e-06 9.99976814e-01 1.27420555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.305285569999995 meters 0.0273094699997428 Centerline is valid? [True, True] Translation: X:-36.51, Y:3.79, Z:1.28 [[ 9.97722733e-01 6.70783437e-02 7.06006464e-03 -3.65079094e+01] [-6.70766038e-02 9.97747711e-01 -4.83218650e-04 3.78546097e+00] [-7.07657685e-03 8.55307361e-06 9.99974961e-01 1.27517540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36528557 meters 0.027501841601327917 Centerline is valid? [True, True] Translation: X:-36.57, Y:3.78, Z:1.27 [[ 9.97904142e-01 6.45413965e-02 4.66174321e-03 -3.65706715e+01] [-6.45406098e-02 9.97915030e-01 -3.19155101e-04 3.78233408e+00] [-4.67262233e-03 1.76144474e-05 9.99989083e-01 1.27089839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42528557 meters 0.02738754330402275 Centerline is valid? [True, True] Translation: X:-36.63, Y:3.79, Z:1.28 [[ 9.98049610e-01 6.18148962e-02 8.71180697e-03 -3.66319594e+01] [-6.18121082e-02 9.98087629e-01 -5.89180713e-04 3.78508552e+00] [-8.73156691e-03 4.95364255e-05 9.99961878e-01 1.28362475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.485285569999995 meters 0.02767393702863104 Centerline is valid? [True, True] Translation: X:-36.69, Y:3.79, Z:1.28 [[ 9.98209652e-01 5.94672901e-02 6.41347883e-03 -3.66944679e+01] [-5.94657288e-02 9.98230253e-01 -4.34024519e-04 3.79101550e+00] [-6.42793886e-03 5.18652707e-05 9.99979339e-01 1.27876256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54528557 meters 0.030017855817454628 Centerline is valid? [True, True] Translation: X:-36.76, Y:3.80, Z:1.28 [[ 9.98368498e-01 5.66705097e-02 6.98541661e-03 -3.67551766e+01] [-5.66686171e-02 9.98392933e-01 -4.68723999e-04 3.79696532e+00] [-7.00075341e-03 7.21053749e-05 9.99975492e-01 1.28404681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.60528557 meters 0.027721338848246332 Centerline is valid? [True, True] Translation: X:-36.82, Y:3.80, Z:1.30 [[ 9.98260637e-01 5.79641610e-02 1.07637167e-02 -3.68173407e+01] [-5.79597620e-02 9.98318660e-01 -7.20441181e-04 3.79788576e+00] [-1.07873791e-02 9.53256107e-05 9.99941810e-01 1.29589187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.665285569999995 meters 0.027778350174084268 Centerline is valid? [True, True] Translation: X:-36.88, Y:3.81, Z:1.29 [[ 9.98205202e-01 5.95877128e-02 5.97324082e-03 -3.68786716e+01] [-5.95863802e-02 9.98223073e-01 -4.00970546e-04 3.81120258e+00] [-5.98651972e-03 4.43270864e-05 9.99982080e-01 1.29384913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72528557 meters 0.028904305920549225 Centerline is valid? [True, True] Translation: X:-36.94, Y:3.82, Z:1.31 [[ 9.97896042e-01 6.42233341e-02 8.87990893e-03 -3.69403459e+01] [-6.42206175e-02 9.97935551e-01 -5.91022115e-04 3.81997094e+00] [-8.89953421e-03 1.95053946e-05 9.99960398e-01 1.30573695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78528557 meters 0.027386406890874626 Centerline is valid? [True, True] Translation: X:-37.00, Y:3.83, Z:1.31 [[ 9.97787127e-01 6.59582439e-02 8.38802996e-03 -3.70031590e+01] [-6.59558908e-02 9.97822384e-01 -5.57144634e-04 3.82639426e+00] [-8.40651234e-03 2.67175538e-06 9.99964665e-01 1.31009494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.845285569999994 meters 0.027688430584918943 Centerline is valid? [True, True] Translation: X:-37.06, Y:3.83, Z:1.31 [[ 9.97903817e-01 6.46402492e-02 3.10000796e-03 -3.70643209e+01] [-6.46399266e-02 9.97908632e-01 -2.04218759e-04 3.83048903e+00] [-3.10672545e-03 3.40639206e-06 9.99995174e-01 1.31283315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90528557 meters 0.027777630622328825 Centerline is valid? [True, True] Translation: X:-37.12, Y:3.84, Z:1.32 [[ 9.97830498e-01 6.51124772e-02 9.72948135e-03 -3.71249328e+01] [-6.51093429e-02 9.97877931e-01 -6.38876319e-04 3.83846629e+00] [-9.75043354e-03 4.01013738e-06 9.99952463e-01 1.32027404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96528557 meters 0.03192367370521883 Centerline is valid? [True, True] Translation: X:-37.19, Y:3.84, Z:1.32 [[ 9.97840633e-01 6.55070520e-02 4.78515971e-03 -3.71860687e+01] [-6.55062809e-02 9.97852106e-01 -3.17876155e-04 3.83946184e+00] [-4.79570482e-03 3.73172734e-06 9.99988501e-01 1.32361298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.025285569999994 meters 0.02872329523112408 Centerline is valid? [True, True] Translation: X:-37.25, Y:3.85, Z:1.33 [[ 9.97748444e-01 6.67493343e-02 6.52452007e-03 -3.72471294e+01] [-6.67479465e-02 9.97769776e-01 -4.30477871e-04 3.85350454e+00] [-6.53870304e-03 -5.98969085e-06 9.99978622e-01 1.32995525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.085285569999996 meters 0.029890165462573597 Centerline is valid? [True, True] Translation: X:-37.31, Y:3.86, Z:1.33 [[ 9.97607984e-01 6.88641380e-02 6.00344718e-03 -3.73083004e+01] [-6.88630104e-02 9.97626047e-01 -3.94590771e-04 3.85734270e+00] [-6.01636844e-03 -1.97685418e-05 9.99981901e-01 1.33484227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14528557 meters 0.027629010788075798 Centerline is valid? [True, True] Translation: X:-37.37, Y:3.87, Z:1.34 [[ 9.97573511e-01 6.95136913e-02 3.86472838e-03 -3.73701879e+01] [-6.95132237e-02 9.97580997e-01 -2.55348994e-04 3.86674616e+00] [-3.87312984e-03 -1.39203359e-05 9.99992499e-01 1.33781426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.205285569999994 meters 0.03022948662300439 Centerline is valid? [True, True] Translation: X:-37.43, Y:3.87, Z:1.35 [[ 9.97621965e-01 6.86052696e-02 6.61299382e-03 -3.74325461e+01] [-6.86039158e-02 9.97643883e-01 -4.31612511e-04 3.86916288e+00] [-6.62702373e-03 -2.30911495e-05 9.99978041e-01 1.34677609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.265285569999996 meters 0.027801343144259433 Centerline is valid? [True, True] Translation: X:-37.49, Y:3.88, Z:1.35 [[ 9.97623541e-01 6.86938663e-02 5.33128047e-03 -3.74948501e+01] [-6.86929991e-02 9.97637786e-01 -3.45837729e-04 3.87745098e+00] [-5.34244377e-03 -2.12057837e-05 9.99985729e-01 1.34760058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32528557 meters 0.02769993591830756 Centerline is valid? [True, True] Translation: X:-37.56, Y:3.88, Z:1.35 [[ 9.97584257e-01 6.93211061e-02 4.49837335e-03 -3.75565304e+01] [-6.93204861e-02 9.97594398e-01 -2.93781159e-04 3.88384850e+00] [-4.50791729e-03 -1.87579680e-05 9.99989839e-01 1.35098870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38528556999999 meters 0.027909813761293308 Centerline is valid? [True, True] Translation: X:-37.62, Y:3.89, Z:1.36 [[ 9.97610507e-01 6.88638156e-02 5.57227408e-03 -3.76177892e+01] [-6.88628733e-02 9.97626069e-01 -3.61024174e-04 3.88520480e+00] [-5.58390739e-03 -2.35612950e-05 9.99984410e-01 1.35797841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.445285569999996 meters 0.027935208563329907 Centerline is valid? [True, True] Translation: X:-37.68, Y:3.89, Z:1.36 [[ 9.97535705e-01 7.01350691e-02 1.89480855e-03 -3.76784390e+01] [-7.01349566e-02 9.97537504e-01 -1.25821265e-04 3.89494077e+00] [-1.89896707e-03 -7.38111104e-06 9.99998197e-01 1.35828351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50528557 meters 0.02785987870151871 Centerline is valid? [True, True] Translation: X:-37.74, Y:3.90, Z:1.37 [[ 9.97353362e-01 7.22021536e-02 8.55107631e-03 -3.77400662e+01] [-7.22001318e-02 9.97390016e-01 -5.45304866e-04 3.89935551e+00] [-8.56813032e-03 -7.35271951e-05 9.99963290e-01 1.37096761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56528556999999 meters 0.02952334792797683 Centerline is valid? [True, True] Translation: X:-37.80, Y:3.91, Z:1.36 [[ 9.97202385e-01 7.47250696e-02 1.88885954e-03 -3.78014278e+01] [-7.47249730e-02 9.97204173e-01 -1.21736759e-04 3.91358001e+00] [-1.89267540e-03 -1.97487914e-05 9.99998209e-01 1.36091594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.625285569999996 meters 0.028471072356170492 Centerline is valid? [True, True] Translation: X:-37.86, Y:3.92, Z:1.37 [[ 9.97085278e-01 7.58956698e-02 7.79721510e-03 -3.78634459e+01] [-7.58941099e-02 9.97115760e-01 -4.96179344e-04 3.91787007e+00] [-7.81238392e-03 -9.70295805e-05 9.99969478e-01 1.37294368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68528557 meters 0.028488248500833584 Centerline is valid? [True, True] Translation: X:-37.92, Y:3.93, Z:1.37 [[ 9.97098209e-01 7.60669724e-02 2.99618092e-03 -3.79234040e+01] [-7.60667388e-02 9.97102710e-01 -1.91998988e-04 3.93116157e+00] [-3.00210489e-03 -3.64678642e-05 9.99995493e-01 1.37295576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74528557 meters 0.028270248688014234 Centerline is valid? [True, True] Translation: X:-37.99, Y:3.93, Z:1.39 [[ 9.97152287e-01 7.52018164e-02 5.65710277e-03 -3.79855232e+01] [-7.52009708e-02 9.97168332e-01 -3.62345690e-04 3.93070606e+00] [-5.66833279e-03 -6.41057874e-05 9.99983933e-01 1.38511394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.805285569999995 meters 0.028383716518239 Centerline is valid? [True, True] Translation: X:-38.05, Y:3.94, Z:1.39 [[ 9.97295941e-01 7.33170709e-02 5.04117814e-03 -3.80467924e+01] [-7.33163763e-02 9.97308681e-01 -3.22710602e-04 3.93924013e+00] [-5.05127091e-03 -4.77629398e-05 9.99987241e-01 1.38909455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86528557 meters 0.0307799388589296 Centerline is valid? [True, True] Translation: X:-38.11, Y:3.94, Z:1.39 [[ 9.97362057e-01 7.23485168e-02 5.88386592e-03 -3.81077055e+01] [-7.23475709e-02 9.97379411e-01 -3.73713120e-04 3.94238903e+00] [-5.89548431e-03 -5.29561204e-05 9.99982620e-01 1.38981044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.92528557 meters 0.028561087201533376 Centerline is valid? [True, True] Translation: X:-38.17, Y:3.95, Z:1.39 [[ 9.97441230e-01 7.13141529e-02 5.02839036e-03 -3.81700700e+01] [-7.13134487e-02 9.97453904e-01 -3.19426647e-04 3.94963398e+00] [-5.03836724e-03 -3.99825511e-05 9.99987307e-01 1.39443055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.985285569999995 meters 0.02865718274459719 Centerline is valid? [True, True] Translation: X:-38.23, Y:3.96, Z:1.39 [[ 9.97673208e-01 6.81104332e-02 3.02304713e-03 -3.82322753e+01] [-6.81101598e-02 9.97677788e-01 -1.93428129e-04 3.95620650e+00] [-3.02920145e-03 -1.29221611e-05 9.99995412e-01 1.38709152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04528557 meters 0.02927930315782104 Centerline is valid? [True, True] Translation: X:-38.29, Y:3.96, Z:1.40 [[ 9.97831052e-01 6.56071020e-02 5.37579585e-03 -3.82938732e+01] [-6.56062360e-02 9.97845533e-01 -3.37466483e-04 3.95697136e+00] [-5.38635408e-03 -1.59511957e-05 9.99985493e-01 1.39550914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.10528557 meters 0.028658170230361785 Centerline is valid? [True, True] Translation: X:-38.36, Y:3.96, Z:1.40 [[ 9.98056115e-01 6.22372401e-02 3.24307278e-03 -3.83565766e+01] [-6.22369108e-02 9.98061384e-01 -2.02428989e-04 3.95950637e+00] [-3.24938433e-03 1.96658117e-07 9.99994721e-01 1.39558175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.165285569999995 meters 0.028531207425196218 Centerline is valid? [True, True] Translation: X:-38.42, Y:3.96, Z:1.39 [[ 9.98297484e-01 5.82070640e-02 3.75125532e-03 -3.84198784e+01] [-5.82065853e-02 9.98304531e-01 -2.36748571e-04 3.96075432e+00] [-3.75867562e-03 1.79977401e-05 9.99992936e-01 1.39438271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22528557 meters 0.028495356075115864 Centerline is valid? [True, True] Translation: X:-38.48, Y:3.97, Z:1.40 [[ 9.98342526e-01 5.69423240e-02 8.35295116e-03 -3.84817636e+01] [-5.69399994e-02 9.98377469e-01 -5.16044561e-04 3.96556919e+00] [-8.36878301e-03 3.95721968e-05 9.99964980e-01 1.40298076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.28528557 meters 0.029050896014831802 Centerline is valid? [True, True] Translation: X:-38.54, Y:3.97, Z:1.39 [[ 9.98429564e-01 5.59497270e-02 2.83451244e-03 -3.85437709e+01] [-5.59494530e-02 9.98433587e-01 -1.75927416e-04 3.97206994e+00] [-2.83991551e-03 1.70617133e-05 9.99995967e-01 1.39209016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.345285569999994 meters 0.03077912933443334 Centerline is valid? [True, True] Translation: X:-38.60, Y:3.97, Z:1.40 [[ 9.98530621e-01 5.40503596e-02 3.89323252e-03 -3.86048320e+01] [-5.40498215e-02 9.98538210e-01 -2.43358730e-04 3.97069724e+00] [-3.90069506e-03 3.25726207e-05 9.99992392e-01 1.40364151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40528557 meters 0.029560261866747903 Centerline is valid? [True, True] Translation: X:-38.67, Y:3.98, Z:1.41 [[ 9.98396999e-01 5.62715912e-02 6.07785832e-03 -3.86650615e+01] [-5.62703522e-02 9.98415498e-01 -3.74804698e-04 3.98302914e+00] [-6.08931880e-03 3.22006576e-05 9.99981459e-01 1.41123586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46528557 meters 0.029745765489019547 Centerline is valid? [True, True] Translation: X:-38.73, Y:3.99, Z:1.40 [[ 9.98330884e-01 5.77294929e-02 1.65901742e-03 -3.87250181e+01] [-5.77294032e-02 9.98332262e-01 -1.01955732e-04 3.99044681e+00] [-1.66213647e-03 6.01147077e-06 9.99998619e-01 1.40465517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.525285569999994 meters 0.03133277829854212 Centerline is valid? [True, True] Translation: X:-38.79, Y:4.00, Z:1.41 [[ 9.98327723e-01 5.76774802e-02 3.88135555e-03 -3.87866980e+01] [-5.76769755e-02 9.98335268e-01 -2.41917684e-04 3.99941081e+00] [-3.88884734e-03 1.76482811e-05 9.99992438e-01 1.40771404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.585285569999996 meters 0.030603365705569992 Centerline is valid? [True, True] Translation: X:-38.85, Y:4.01, Z:1.41 [[ 9.98143160e-01 6.08376396e-02 3.00215881e-03 -3.88479334e+01] [-6.08373503e-02 9.98147675e-01 -1.87654247e-04 4.01148270e+00] [-3.00801428e-03 4.66241587e-06 9.99995476e-01 1.40852420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64528557 meters 0.03467887796625149 Centerline is valid? [True, True] Translation: X:-38.91, Y:4.02, Z:1.41 [[ 9.98102334e-01 6.15677877e-02 1.06729170e-03 -3.89088573e+01] [-6.15677485e-02 9.98102904e-01 -6.95345337e-05 4.01705755e+00] [-1.06954804e-03 3.69183319e-06 9.99999428e-01 1.40561467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.705285569999994 meters 0.03516920625747572 Centerline is valid? [True, True] Translation: X:-38.97, Y:4.03, Z:1.41 [[ 9.98125167e-01 6.11592077e-02 2.38786196e-03 -3.89707219e+01] [-6.11590252e-02 9.98128024e-01 -1.49451016e-04 4.02590098e+00] [-2.39253225e-03 3.13151038e-06 9.99997138e-01 1.41469398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.765285569999996 meters 0.03427504903121283 Centerline is valid? [True, True] Translation: X:-39.03, Y:4.04, Z:1.41 [[ 9.97923838e-01 6.43944625e-02 1.16877638e-03 -3.90316590e+01] [-6.43944185e-02 9.97924523e-01 -7.53300387e-05 4.03638409e+00] [-1.17120145e-03 -8.90340476e-08 9.99999314e-01 1.41128683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82528557 meters 0.036519234389893414 Centerline is valid? [True, True] Translation: X:-39.09, Y:4.05, Z:1.40 [[ 9.97919066e-01 6.44255934e-02 -2.62300017e-03 -3.90925742e+01] [-6.44254035e-02 9.97922513e-01 1.56910789e-04 4.04936736e+00] [ 2.62765999e-03 1.24035763e-05 9.99996548e-01 1.40121289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88528556999999 meters 0.03844832837121864 Centerline is valid? [True, True] Translation: X:-39.15, Y:4.05, Z:1.41 [[ 9.97854152e-01 6.54653218e-02 1.17593896e-03 -3.91535540e+01] [-6.54652782e-02 9.97854845e-01 -7.55605246e-05 4.05159249e+00] [-1.17836299e-03 -1.58478820e-06 9.99999306e-01 1.40930528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.945285569999996 meters 0.04021662568457888 Centerline is valid? [True, True] Translation: X:-39.22, Y:4.06, Z:1.41 [[ 9.97820833e-01 6.59639492e-02 -1.53073934e-03 -3.92158664e+01] [-6.59638911e-02 9.97822007e-01 8.84888999e-05 4.06221743e+00] [ 1.53324248e-03 1.26774554e-05 9.99998825e-01 1.40802339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00528557 meters 0.04205054581503966 Centerline is valid? [True, True] Translation: X:-39.28, Y:4.07, Z:1.41 [[ 9.97876811e-01 6.51295719e-02 9.33115541e-05 -3.92773614e+01] [-6.51295714e-02 9.97876815e-01 -8.46623401e-06 4.06813423e+00] [-9.36648387e-05 2.37091707e-06 9.99999996e-01 1.40747065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06528556999999 meters 0.04312615705593119 Centerline is valid? [True, True] Translation: X:-39.34, Y:4.07, Z:1.41 [[ 9.97933430e-01 6.42525217e-02 6.94458070e-04 -3.93391565e+01] [-6.42525051e-02 9.97933672e-01 -4.62665701e-05 4.07055340e+00] [-6.95995835e-04 1.55028633e-06 9.99999758e-01 1.40888275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.125285569999996 meters 0.04538035895473828 Centerline is valid? [True, True] Translation: X:-39.40, Y:4.08, Z:1.40 [[ 9.98045426e-01 6.24781534e-02 -1.34444962e-03 -3.94005425e+01] [-6.24781093e-02 9.98046332e-01 7.47736976e-05 4.08047831e+00] [ 1.34649474e-03 9.37112373e-06 9.99999093e-01 1.40261453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18528557 meters 0.049215480100958074 Centerline is valid? [True, True] Translation: X:-39.46, Y:4.09, Z:1.41 [[ 9.98206149e-01 5.98669715e-02 -6.55486743e-04 -3.94609262e+01] [-5.98669594e-02 9.98206364e-01 3.80483418e-05 4.08546414e+00] [ 6.56588878e-04 1.26190948e-06 9.99999784e-01 1.40824827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24528557 meters 0.05004987126731484 Centerline is valid? [True, True] Translation: X:-39.52, Y:4.09, Z:1.41 [[ 9.98358888e-01 5.72634874e-02 -6.50646308e-04 -3.95239331e+01] [-5.72634786e-02 9.98359100e-01 3.22816170e-05 4.08813442e+00] [ 6.51427220e-04 5.02963164e-06 9.99999788e-01 1.40710276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.305285569999995 meters 0.05249468542609307 Centerline is valid? [True, True] Translation: X:-39.58, Y:4.09, Z:1.41 [[ 9.98512919e-01 5.45109729e-02 -7.10305125e-04 -3.95847259e+01] [-5.45109606e-02 9.98513172e-01 3.66843349e-05 4.09405967e+00] [ 7.11248722e-04 2.08963233e-06 9.99999747e-01 1.41178987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36528557 meters 0.05379811490742866 Centerline is valid? [True, True] Translation: X:-39.65, Y:4.10, Z:1.41 [[ 9.98692038e-01 5.11178536e-02 -1.08511352e-03 -3.96468846e+01] [-5.11178208e-02 9.98692628e-01 5.79670286e-05 4.10085794e+00] [ 1.08665802e-03 -2.42257150e-06 9.99999410e-01 1.40793462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.42528557 meters 0.054782931210962414 Centerline is valid? [True, True] Translation: X:-39.71, Y:4.10, Z:1.41 [[ 9.99131820e-01 4.16570095e-02 -5.47449828e-04 -3.97076706e+01] [-4.16569986e-02 9.99131970e-01 3.12388781e-05 4.09802565e+00] [ 5.48275943e-04 -8.40664042e-06 9.99999850e-01 1.41392029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.485285569999995 meters 0.05328330465780283 Centerline is valid? [True, True] Translation: X:-39.77, Y:4.10, Z:1.41 [[ 9.99373125e-01 3.53920921e-02 8.70310016e-04 -3.97691126e+01] [-3.53920605e-02 9.99373503e-01 -5.16065137e-05 4.09969016e+00] [-8.71591233e-04 2.07720981e-05 9.99999620e-01 1.41464386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54528557 meters 0.0536562443449295 Centerline is valid? [True, True] Translation: X:-39.83, Y:4.11, Z:1.42 [[ 9.99528950e-01 3.06390176e-02 1.76858893e-03 -3.98305761e+01] [-3.06388808e-02 9.99530514e-01 -1.04359964e-04 4.10523305e+00] [-1.77095609e-03 5.01232196e-05 9.99998431e-01 1.41545417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.60528557 meters 0.054506441809705805 Centerline is valid? [True, True] Translation: X:-39.89, Y:4.11, Z:1.43 [[ 9.99571293e-01 2.91784181e-02 2.41886315e-03 -3.98926450e+01] [-2.91781502e-02 9.99574216e-01 -1.45964002e-04 4.10573452e+00] [-2.42209223e-03 7.53234744e-05 9.99997064e-01 1.42513493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.665285569999995 meters 0.05540080712578026 Centerline is valid? [True, True] Translation: X:-39.95, Y:4.13, Z:1.42 [[ 9.99466367e-01 3.26609910e-02 -4.90617388e-04 -3.99536388e+01] [-3.26609836e-02 9.99466487e-01 2.30177282e-05 4.12746488e+00] [ 4.91107419e-04 -6.98139873e-06 9.99999879e-01 1.41562028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72528557 meters 0.06100480215315672 Centerline is valid? [True, True] Translation: X:-40.01, Y:4.13, Z:1.42 [[ 9.99268249e-01 3.82225956e-02 1.41392778e-03 -4.00144767e+01] [-3.82225175e-02 9.99269249e-01 -8.22287774e-05 4.12981182e+00] [-1.41603754e-03 2.81247273e-05 9.99998997e-01 1.42391175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.78528557 meters 0.06605791737032442 Centerline is valid? [True, True] Translation: X:-40.07, Y:4.15, Z:1.43 [[ 9.99106532e-01 4.21959420e-02 2.37488785e-03 -4.00747033e+01] [-4.21957234e-02 9.99109354e-01 -1.42079667e-04 4.15378280e+00] [-2.37876785e-03 4.17426123e-05 9.99997170e-01 1.42522914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.845285569999994 meters 0.07169874122984736 Centerline is valid? [True, True] Translation: X:-40.14, Y:4.16, Z:1.42 [[ 9.98933386e-01 4.61189266e-02 -2.26582242e-03 -4.01373037e+01] [-4.61187538e-02 9.98935956e-01 1.28487263e-04 4.15916814e+00] [ 2.26933718e-03 -2.38533104e-05 9.99997425e-01 1.42068759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90528557 meters 0.07750203697880888 Centerline is valid? [True, True] Translation: X:-40.20, Y:4.17, Z:1.43 [[ 9.99012359e-01 4.43021251e-02 3.40991255e-03 -4.01976032e+01] [-4.43016983e-02 9.99018178e-01 -2.00612809e-04 4.17038645e+00] [-3.41545220e-03 4.93497580e-05 9.99994166e-01 1.43401416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.96528557 meters 0.07993548029025657 Centerline is valid? [True, True] Translation: X:-40.26, Y:4.17, Z:1.43 [[ 9.99349662e-01 3.60362680e-02 -1.28092458e-03 -4.02583383e+01] [-3.60362037e-02 9.99350482e-01 7.32865537e-05 4.16780740e+00] [ 1.28273357e-03 -2.70792335e-05 9.99999177e-01 1.43017443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.025285569999994 meters 0.07960580353526363 Centerline is valid? [True, True] Translation: X:-40.32, Y:4.18, Z:1.43 [[ 9.99569985e-01 2.92533437e-02 2.02180706e-03 -4.03180528e+01] [-2.92531675e-02 9.99572028e-01 -1.16692745e-04 4.17646242e+00] [-2.02435543e-03 5.74983049e-05 9.99997949e-01 1.43445941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.085285569999996 meters 0.08007261447046944 Centerline is valid? [True, True] Translation: X:-40.38, Y:4.18, Z:1.44 [[ 9.99746477e-01 2.22119551e-02 3.68937663e-03 -4.03789407e+01] [-2.22113244e-02 9.99753276e-01 -2.11838873e-04 4.17675451e+00] [-3.69317172e-03 1.29839226e-04 9.99993172e-01 1.44042908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14528557 meters 0.08029813604072775 Centerline is valid? [True, True] Translation: X:-40.44, Y:4.19, Z:1.44 [[ 9.99736195e-01 2.29471788e-02 9.83360399e-04 -4.04399289e+01] [-2.29471294e-02 9.99736678e-01 -6.15182220e-05 4.19480315e+00] [-9.84513129e-04 3.89366949e-05 9.99999515e-01 1.43655390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.205285569999994 meters 0.08002157683068943 Centerline is valid? [True, True] Translation: X:-40.50, Y:4.21, Z:1.44 [[ 9.99680374e-01 2.52810058e-02 -1.44199287e-04 -4.05017742e+01] [-2.52810057e-02 9.99680384e-01 2.69921628e-06 4.21064698e+00] [ 1.44221438e-04 9.47149457e-07 9.99999990e-01 1.43769358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.265285569999996 meters 0.08014550011816862 Centerline is valid? [True, True] Translation: X:-40.56, Y:4.23, Z:1.44 [[ 9.99480823e-01 3.22193289e-02 -1.23432926e-05 -4.05618429e+01] [-3.22193290e-02 9.99480823e-01 -6.99290622e-08 4.23409796e+00] [ 1.23346311e-05 4.67585368e-07 1.00000000e+00 1.44206176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32528557 meters 0.08162251016028729 Centerline is valid? [True, True] Translation: X:-40.62, Y:4.26, Z:1.44 [[ 9.99312563e-01 3.70719189e-02 2.73852970e-04 -4.06205835e+01] [-3.70719155e-02 9.99312600e-01 -1.74598901e-05 4.25901668e+00] [-2.74311995e-04 7.29563342e-06 9.99999962e-01 1.43950271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38528556999999 meters 0.0852078251925648 Centerline is valid? [True, True] Translation: X:-40.68, Y:4.27, Z:1.44 [[ 9.99331900e-01 3.65450903e-02 -4.58598236e-04 -4.06828476e+01] [-3.65450848e-02 9.99332005e-01 2.04489415e-05 4.26779124e+00] [ 4.59039203e-04 -3.67576817e-06 9.99999895e-01 1.43813960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.445285569999996 meters 0.09070423673246122 Centerline is valid? [True, True] Translation: X:-40.74, Y:4.29, Z:1.44 [[ 9.99340842e-01 3.62937278e-02 8.03757496e-04 -4.07436085e+01] [-3.62936990e-02 9.99341165e-01 -5.03559812e-05 4.29148466e+00] [-8.05055559e-04 2.11514561e-05 9.99999676e-01 1.43976803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50528557 meters 0.09939319447294273 Centerline is valid? [True, True] Translation: X:-40.80, Y:4.30, Z:1.45 [[ 9.99349092e-01 3.60483898e-02 -1.38033959e-03 -4.08038493e+01] [-3.60483241e-02 9.99350045e-01 7.24683596e-05 4.30423266e+00] [ 1.38205480e-03 -2.26622605e-05 9.99999045e-01 1.44522782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56528556999999 meters 0.10397210454665047 Centerline is valid? [True, False] Translation: X:-40.84, Y:4.33, Z:1.45 [[ 9.99845050e-01 1.75999273e-02 3.45123400e-04 -4.08385581e+01] [-1.76012049e-02 9.99836535e-01 4.13531447e-03 4.33030044e+00] [-2.72285750e-04 -4.14074829e-03 9.99991390e-01 1.44665813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.625285569999996 meters 0.10945470203101039 Centerline is valid? [False, False] Translation: X:-40.88, Y:4.35, Z:1.45 [[ 9.99983955e-01 3.54662258e-03 4.41705286e-03 -4.08762028e+01] [-3.59606351e-03 9.99930408e-01 1.12360108e-02 4.34736871e+00] [-4.37689558e-03 -1.12517145e-02 9.99927118e-01 1.45458973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68528557 meters 0.11468776638013281 Centerline is valid? [False, False] Translation: X:-40.93, Y:4.35, Z:1.46 [[ 9.99997940e-01 1.00322947e-03 -1.76425318e-03 -4.09335017e+01] [-9.89651804e-04 9.99970018e-01 7.68009063e-03 4.35295086e+00] [ 1.77190517e-03 -7.67832882e-03 9.99968951e-01 1.46033743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.74528557 meters 0.12569769936173622 Centerline is valid? [False, False] Translation: X:-40.99, Y:4.36, Z:1.47 [[ 9.99963534e-01 -7.43388909e-03 -4.20323016e-03 -4.09898889e+01] [ 7.48020798e-03 9.99910263e-01 1.11136476e-02 4.36408928e+00] [ 4.12023535e-03 -1.11446834e-02 9.99929407e-01 1.46644210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.805285569999995 meters 0.13054723667681573 Centerline is valid? [False, False] Translation: X:-41.02, Y:4.36, Z:1.47 [[ 9.99980950e-01 5.41634299e-03 -2.96012922e-03 -4.10199269e+01] [-5.37747109e-03 9.99901222e-01 1.29856931e-02 4.35924806e+00] [ 3.03017179e-03 -1.29695277e-02 9.99911301e-01 1.47166237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86528557 meters 0.13719485754609687 Centerline is valid? [False, False] Translation: X:-41.06, Y:4.37, Z:1.47 [[ 9.99951191e-01 -4.63526444e-03 -8.72521219e-03 -4.10581346e+01] [ 4.74773717e-03 9.99905336e-01 1.29142754e-02 4.36601581e+00] [ 8.66452515e-03 -1.29550700e-02 9.99878539e-01 1.47291131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92528557 meters 0.1414075831621032 Centerline is valid? [False, False] Translation: X:-41.12, Y:4.37, Z:1.48 [[ 9.99935164e-01 -8.48429526e-03 -7.59505413e-03 -4.11224264e+01] [ 8.57493122e-03 9.99891450e-01 1.19816078e-02 4.36768702e+00] [ 7.49257419e-03 -1.20459580e-02 9.99899373e-01 1.47889681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.985285569999995 meters 0.14328990919683662 Centerline is valid? [False, False] Translation: X:-41.14, Y:4.36, Z:1.48 [[ 9.99958021e-01 -3.39648884e-03 -8.51005747e-03 -4.11432581e+01] [ 3.45082809e-03 9.99973701e-01 6.37877185e-03 4.36458674e+00] [ 8.48816824e-03 -6.40787082e-03 9.99943443e-01 1.48471338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04528557 meters 0.1508516332128247 Centerline is valid? [False, False] Translation: X:-41.20, Y:4.37, Z:1.49 [[ 9.99914962e-01 -4.24526347e-03 -1.23307423e-02 -4.11996593e+01] [ 4.31988518e-03 9.99972480e-01 6.03136287e-03 4.36699569e+00] [ 1.23047983e-02 -6.08411737e-03 9.99905783e-01 1.48846057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.10528557 meters 0.14744117281711014 Centerline is valid? [False, False] Translation: X:-41.26, Y:4.37, Z:1.49 [[ 9.99863114e-01 -6.14400774e-03 -1.53624566e-02 -4.12603232e+01] [ 6.22109640e-03 9.99968272e-01 4.97524689e-03 4.36746720e+00] [ 1.53314012e-02 -5.07013717e-03 9.99869612e-01 1.49412118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.165285569999995 meters 0.15036773025807226 Centerline is valid? [False, False] Translation: X:-41.33, Y:4.37, Z:1.50 [[ 9.99862399e-01 -7.48595704e-03 -1.48035286e-02 -4.13264811e+01] [ 7.57190777e-03 9.99954751e-01 5.75859668e-03 4.36866297e+00] [ 1.47597501e-02 -5.86989524e-03 9.99873839e-01 1.49928592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22528557 meters 0.16357070607415258 Centerline is valid? [False, False] Translation: X:-41.38, Y:4.37, Z:1.50 [[ 9.99759394e-01 -1.51649527e-02 -1.58486211e-02 -4.13759597e+01] [ 1.53727550e-02 9.99796365e-01 1.30731653e-02 4.36847992e+00] [ 1.56471398e-02 -1.33136568e-02 9.99788935e-01 1.50200827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28528557 meters 0.16960589035881515 Centerline is valid? [False, False] Translation: X:-41.44, Y:4.36, Z:1.50 [[ 9.99849426e-01 -1.16173793e-02 -1.28903932e-02 -4.14431494e+01] [ 1.17200148e-02 9.99899989e-01 7.91540221e-03 4.36008065e+00] [ 1.27971478e-02 -8.06528595e-03 9.99885586e-01 1.50305243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.345285569999994 meters 0.18345826071240426 Centerline is valid? [False, False] Translation: X:-41.47, Y:4.35, Z:1.50 [[ 9.99835216e-01 9.08163480e-04 -1.81305112e-02 -4.14693742e+01] [-6.33299286e-04 9.99884875e-01 1.51603006e-02 4.35412877e+00] [ 1.81421919e-02 -1.51463204e-02 9.99720686e-01 1.49779900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40528557 meters 0.18843319139550915 Centerline is valid? [False, False] Translation: X:-41.53, Y:4.35, Z:1.50 [[ 9.99831093e-01 -2.58061938e-03 -1.81968503e-02 -4.15274509e+01] [ 2.82220685e-03 9.99908057e-01 1.32631776e-02 4.35093483e+00] [ 1.81609500e-02 -1.33122926e-02 9.99746449e-01 1.50238588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.46528557 meters 0.18190279537152038 Centerline is valid? [False, False] Translation: X:-41.59, Y:4.35, Z:1.51 [[ 9.99865507e-01 -4.46047300e-03 -1.57820117e-02 -4.15890293e+01] [ 4.67785564e-03 9.99894328e-01 1.37640784e-02 4.34833065e+00] [ 1.57189497e-02 -1.38360532e-02 9.99780715e-01 1.50604540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.525285569999994 meters 0.17274919045076215 Centerline is valid? [False, False] Translation: X:-41.65, Y:4.34, Z:1.51 [[ 9.99727018e-01 -6.10520989e-03 -2.25525350e-02 -4.16514432e+01] [ 6.40468031e-03 9.99891961e-01 1.32305151e-02 4.34172669e+00] [ 2.24693234e-02 -1.33713452e-02 9.99658110e-01 1.50995333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.585285569999996 meters 0.17379364222950133 Centerline is valid? [False, False] Translation: X:-41.68, Y:4.33, Z:1.51 [[ 9.99763733e-01 3.07641023e-03 -2.15177456e-02 -4.16825044e+01] [-2.79220025e-03 9.99908637e-01 1.32257635e-02 4.33436837e+00] [ 2.15564675e-02 -1.31625569e-02 9.99680982e-01 1.51464247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64528557 meters 0.15092009277636795 Centerline is valid? [False, False] Translation: X:-41.74, Y:4.33, Z:1.52 [[ 9.99736926e-01 6.27725104e-04 -2.29278270e-02 -4.17427481e+01] [-3.55267595e-04 9.99929303e-01 1.18854086e-02 4.32811695e+00] [ 2.29336669e-02 -1.18741364e-02 9.99666470e-01 1.51998344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.705285569999994 meters 0.14088617088260133 Centerline is valid? [False, False] Translation: X:-41.80, Y:4.32, Z:1.52 [[ 9.99698194e-01 -2.93202594e-03 -2.43910667e-02 -4.17986795e+01] [ 3.24159555e-03 9.99914578e-01 1.26620841e-02 4.32343982e+00] [ 2.43518576e-02 -1.27373285e-02 9.99622302e-01 1.51847041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.765285569999996 meters 0.14037714269372312 Centerline is valid? [False, False] Translation: X:-41.85, Y:4.32, Z:1.52 [[ 9.99714353e-01 -5.82819986e-03 -2.31785319e-02 -4.18530935e+01] [ 6.11281944e-03 9.99906555e-01 1.22276114e-02 4.31621817e+00] [ 2.31051010e-02 -1.23658048e-02 9.99656562e-01 1.52055470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82528557 meters 0.11559458898570768 Centerline is valid? [False, False] Translation: X:-41.91, Y:4.31, Z:1.52 [[ 9.99649276e-01 -8.29009603e-03 -2.51515331e-02 -4.19136023e+01] [ 8.55841568e-03 9.99907412e-01 1.05792984e-02 4.30915359e+00] [ 2.50615009e-02 -1.07908452e-02 9.99627670e-01 1.52331880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88528556999999 meters 0.10083299600591361 Centerline is valid? [False, False] Translation: X:-41.98, Y:4.30, Z:1.53 [[ 9.99596856e-01 -8.76614234e-03 -2.70051899e-02 -4.19764182e+01] [ 9.10960632e-03 9.99878846e-01 1.26217798e-02 4.29677115e+00] [ 2.68912737e-02 -1.28626980e-02 9.99555606e-01 1.52657847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.945285569999996 meters 0.07464250022690876 Centerline is valid? [False, True] Translation: X:-41.93, Y:4.28, Z:1.53 [[ 9.99642314e-01 3.67403197e-04 -2.67415094e-02 -4.19251028e+01] [-1.51154884e-04 9.99967279e-01 8.08818807e-03 4.28432896e+00] [ 2.67436060e-02 -8.08125293e-03 9.99609660e-01 1.52723118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00528557 meters 0.059030787570873856 Centerline is valid? [True, True] Translation: X:-41.98, Y:4.27, Z:1.54 [[ 9.99647796e-01 2.62986252e-03 -2.64077074e-02 -4.19842628e+01] [-2.64114063e-03 9.99996435e-01 -3.92206130e-04 4.26947775e+00] [ 2.64065818e-02 4.61814462e-04 9.99651179e-01 1.53893890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 506.72 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%| | 0/1402 [00:00