+ python -m lidar_slam --no-model /working/f55c6d08-0cf5-4c88-a38a-f543fe0e8899 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/f55c6d08-0cf5-4c88-a38a-f543fe0e8899 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.03 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 0.019115933 Adjusted end_distance from 9.223372036854776e+18 to 152.845835933 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.019115933 meters 0.08134919029381624 Centerline is valid? [0, True] SLAMing on 0.049115933 meters 0.05494836914019952 Centerline is valid? [True, True] Translation: X:-0.03, Y:-0.01, Z:-0.02 [[ 9.98754794e-01 -4.91665132e-02 -8.45664186e-03 -3.09746073e-02] [ 4.91748365e-02 9.98789882e-01 7.79007124e-04 -5.08608441e-03] [ 8.40810726e-03 -1.19389108e-03 9.99963939e-01 -1.65772885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.079115933 meters 0.03572241402674898 Centerline is valid? [True, True] Translation: X:-0.06, Y:-0.00, Z:-0.02 [[ 9.96316718e-01 -8.47391202e-02 -1.31254946e-02 -6.07803083e-02] [ 8.47621770e-02 9.96400477e-01 1.20941722e-03 -5.11698282e-04] [ 1.29757641e-02 -2.31750809e-03 9.99913126e-01 -1.73371807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.109115933 meters 0.04482679626420787 Centerline is valid? [True, True] Translation: X:-0.09, Y:0.01, Z:-0.03 [[ 9.93536230e-01 -1.13464166e-01 -3.41221713e-03 -9.08744315e-02] [ 1.13465887e-01 9.93541843e-01 3.14454155e-04 7.66432542e-03] [ 3.35450122e-03 -6.99591838e-04 9.99994129e-01 -2.73608562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.139115933 meters 0.029727087421542342 Centerline is valid? [True, True] Translation: X:-0.12, Y:-0.00, Z:0.00 [[ 9.95399376e-01 -9.50253994e-02 -1.22579039e-02 -1.22607280e-01] [ 9.50462581e-02 9.95472217e-01 1.12914853e-03 -2.16450701e-04] [ 1.20951050e-02 -2.28902165e-03 9.99924232e-01 9.22522408e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.169115933 meters 0.028021996313039615 Centerline is valid? [True, True] Translation: X:-0.16, Y:-0.05, Z:0.02 [[ 0.99715063 -0.06996663 -0.02820093 -0.15797205] [ 0.07006732 0.99753889 0.00259695 -0.05178446] [ 0.02794983 -0.00456551 0.9995989 0.02067684] [ 0. 0. 0. 1. ]] SLAMing on 0.199115933 meters 0.028149355550715287 Centerline is valid? [True, True] Translation: X:-0.19, Y:-0.06, Z:0.02 [[ 0.99709606 -0.06766835 -0.03493493 -0.18988757] [ 0.06782144 0.9976923 0.00321454 -0.05892028] [ 0.03463679 -0.00557454 0.99938442 0.02353118] [ 0. 0. 0. 1. ]] SLAMing on 0.229115933 meters 0.027755631369381657 Centerline is valid? [True, True] Translation: X:-0.22, Y:-0.06, Z:0.03 [[ 0.99701477 -0.06828403 -0.03603945 -0.2194238 ] [ 0.06844747 0.9976492 0.00331948 -0.06157363] [ 0.03572806 -0.00577638 0.99934485 0.02980813] [ 0. 0. 0. 1. ]] SLAMing on 0.259115933 meters 0.027272652250225297 Centerline is valid? [True, True] Translation: X:-0.25, Y:-0.06, Z:0.04 [[ 0.99745188 -0.06322507 -0.03305044 -0.25086434] [ 0.06335989 0.99798609 0.00304678 -0.06439618] [ 0.03279125 -0.00513309 0.99944904 0.04101918] [ 0. 0. 0. 1. ]] SLAMing on 0.28911593300000005 meters 0.025718280715682308 Centerline is valid? [True, True] Translation: X:-0.28, Y:-0.06, Z:0.05 [[ 0.9975873 -0.06138258 -0.03243079 -0.28009956] [ 0.06151154 0.99810189 0.00299285 -0.06357001] [ 0.03218552 -0.0049805 0.9994695 0.04552385] [ 0. 0. 0. 1. ]] SLAMing on 0.31911593299999996 meters 0.02426249742026548 Centerline is valid? [True, True] Translation: X:-0.31, Y:-0.07, Z:0.05 [[ 0.99779885 -0.05840881 -0.0313986 -0.31082138] [ 0.05852831 0.99828154 0.00289946 -0.06534405] [ 0.03117529 -0.00473079 0.99950274 0.04981071] [ 0. 0. 0. 1. ]] SLAMing on 0.349115933 meters 0.0258843359809835 Centerline is valid? [True, True] Translation: X:-0.34, Y:-0.07, Z:0.06 [[ 0.99774361 -0.05843601 -0.03305946 -0.34024265] [ 0.05856865 0.9982787 0.00305709 -0.07313606] [ 0.03282391 -0.00498644 0.99944871 0.05821878] [ 0. 0. 0. 1. ]] SLAMing on 0.379115933 meters 0.026108442133795436 Centerline is valid? [True, True] Translation: X:-0.37, Y:-0.07, Z:0.07 [[ 0.99785305 -0.05622232 -0.03359086 -0.37021927] [ 0.05635819 0.99840577 0.00311114 -0.07410902] [ 0.03336239 -0.00499758 0.99943083 0.06515374] [ 0. 0. 0. 1. ]] SLAMing on 0.40911593300000004 meters 0.025960369993756387 Centerline is valid? [True, True] Translation: X:-0.40, Y:-0.07, Z:0.07 [[ 0.99750474 -0.06147444 -0.03471589 -0.40060311] [ 0.06162269 0.99809434 0.00321579 -0.07106935] [ 0.03445205 -0.00534705 0.99939205 0.06925396] [ 0. 0. 0. 1. ]] SLAMing on 0.43911593299999996 meters 0.025769336673767067 Centerline is valid? [True, True] Translation: X:-0.43, Y:-0.07, Z:0.08 [[ 0.99784211 -0.05679127 -0.03295266 -0.4318234 ] [ 0.05692233 0.99837394 0.00305215 -0.07453344] [ 0.03272575 -0.00492131 0.99945225 0.07679549] [ 0. 0. 0. 1. ]] SLAMing on 0.469115933 meters 0.024451286581919467 Centerline is valid? [True, True] Translation: X:-0.46, Y:-0.07, Z:0.08 [[ 0.99783433 -0.05627755 -0.03405113 -0.46081593] [ 0.05641736 0.99840228 0.0031583 -0.07388108] [ 0.03381898 -0.00507254 0.9994151 0.08153856] [ 0. 0. 0. 1. ]] SLAMing on 0.499115933 meters 0.02615119673174203 Centerline is valid? [True, True] Translation: X:-0.49, Y:-0.08, Z:0.09 [[ 0.99746109 -0.06196716 -0.03509202 -0.4919973 ] [ 0.06211918 0.99806342 0.00325747 -0.07643005] [ 0.03482221 -0.00542909 0.99937878 0.0863361 ] [ 0. 0. 0. 1. ]] SLAMing on 0.529115933 meters 0.026358532260201437 Centerline is valid? [True, True] Translation: X:-0.52, Y:-0.08, Z:0.09 [[ 0.99734796 -0.0623786 -0.03749598 -0.52141122] [ 0.06255266 0.99803558 0.00348565 -0.0764545 ] [ 0.03720489 -0.00582188 0.9992907 0.09197762] [ 0. 0. 0. 1. ]] SLAMing on 0.5591159330000001 meters 0.025262817353562905 Centerline is valid? [True, True] Translation: X:-0.55, Y:-0.07, Z:0.10 [[ 0.99733095 -0.06309512 -0.036742 -0.54984644] [ 0.06326298 0.99799102 0.00342287 -0.07372142] [ 0.03645222 -0.00573815 0.99931892 0.09554069] [ 0. 0. 0. 1. ]] SLAMing on 0.589115933 meters 0.02604818923392858 Centerline is valid? [True, True] Translation: X:-0.58, Y:-0.08, Z:0.10 [[ 0.99708214 -0.06650658 -0.03747105 -0.57999064] [ 0.06668366 0.99776805 0.00349462 -0.07558882] [ 0.037155 -0.00598313 0.9992916 0.10206962] [ 0. 0. 0. 1. ]] SLAMing on 0.619115933 meters 0.026135769994580497 Centerline is valid? [True, True] Translation: X:-0.61, Y:-0.08, Z:0.10 [[ 0.99709079 -0.06648908 -0.03727146 -0.60938774] [ 0.06666447 0.99776938 0.00348161 -0.07511174] [ 0.03695684 -0.00595616 0.99929911 0.10307316] [ 0. 0. 0. 1. ]] SLAMing on 0.649115933 meters 0.02606087144322984 Centerline is valid? [True, True] Translation: X:-0.64, Y:-0.07, Z:0.11 [[ 0.99695336 -0.06742386 -0.03921751 -0.63768573] [ 0.06761908 0.99770446 0.00367141 -0.07044921] [ 0.03887994 -0.00631208 0.99922395 0.10705397] [ 0. 0. 0. 1. ]] SLAMing on 0.679115933 meters 0.025546399208429854 Centerline is valid? [True, True] Translation: X:-0.67, Y:-0.07, Z:0.11 [[ 0.99693767 -0.06682873 -0.04061033 -0.66596129] [ 0.06703793 0.99774315 0.00381011 -0.06530555] [ 0.04026406 -0.00652088 0.9991678 0.109831 ] [ 0. 0. 0. 1. ]] SLAMing on 0.709115933 meters 0.026981305893166812 Centerline is valid? [True, True] Translation: X:-0.69, Y:-0.07, Z:0.11 [[ 0.99689175 -0.06732333 -0.04091947 -0.69486043] [ 0.06753648 0.99770939 0.00384757 -0.06594706] [ 0.0405667 -0.00659916 0.99915504 0.11047061] [ 0. 0. 0. 1. ]] SLAMing on 0.739115933 meters 0.025891736776098465 Centerline is valid? [True, True] Translation: X:-0.72, Y:-0.06, Z:0.11 [[ 0.99708148 -0.06534679 -0.03947551 -0.72451189] [ 0.06554385 0.99784277 0.00371707 -0.06099533] [ 0.03914746 -0.0062936 0.99921362 0.11359507] [ 0. 0. 0. 1. ]] SLAMing on 0.769115933 meters 0.025626727857083823 Centerline is valid? [True, True] Translation: X:-0.75, Y:-0.06, Z:0.12 [[ 0.99722162 -0.0626284 -0.04033266 -0.75313024] [ 0.06283217 0.99801686 0.00380334 -0.05502513] [ 0.04001448 -0.00632696 0.99917907 0.11697884] [ 0. 0. 0. 1. ]] SLAMing on 0.7991159330000001 meters 0.025414971905422034 Centerline is valid? [True, True] Translation: X:-0.78, Y:-0.05, Z:0.12 [[ 0.99740665 -0.05836793 -0.04210886 -0.78367889] [ 0.05858644 0.99827443 0.00397287 -0.05216818] [ 0.04180431 -0.00642957 0.99910513 0.11903155] [ 0. 0. 0. 1. ]] SLAMing on 0.829115933 meters 0.02471214256970947 Centerline is valid? [True, True] Translation: X:-0.81, Y:-0.05, Z:0.12 [[ 0.99760929 -0.05386707 -0.04329024 -0.81354451] [ 0.05409396 0.99852749 0.00408587 -0.04864005] [ 0.0430064 -0.00641784 0.99905418 0.12407956] [ 0. 0. 0. 1. ]] SLAMing on 0.859115933 meters 0.02448679723144074 Centerline is valid? [True, True] Translation: X:-0.84, Y:-0.04, Z:0.13 [[ 0.99773393 -0.05130347 -0.04353106 -0.84267793] [ 0.05153073 0.99866294 0.00411395 -0.0434518 ] [ 0.0432618 -0.00634781 0.9990436 0.12702177] [ 0. 0. 0. 1. ]] SLAMing on 0.889115933 meters 0.023532945257636967 Centerline is valid? [True, True] Translation: X:-0.87, Y:-0.04, Z:0.13 [[ 0.9980668 -0.04448512 -0.043402 -0.87314061] [ 0.0447048 0.99899181 0.00410364 -0.03763006] [ 0.04317569 -0.00603598 0.99904926 0.13215718] [ 0. 0. 0. 1. ]] SLAMing on 0.9191159329999999 meters 0.02258769172558145 Centerline is valid? [True, True] Translation: X:-0.90, Y:-0.03, Z:0.13 [[ 0.99823284 -0.04141246 -0.04261703 -0.90226341] [ 0.04162171 0.9991253 0.0040341 -0.03271945] [ 0.04241269 -0.00580076 0.99908334 0.13234943] [ 0. 0. 0. 1. ]] SLAMing on 0.949115933 meters 0.023384352510888613 Centerline is valid? [True, True] Translation: X:-0.93, Y:-0.03, Z:0.14 [[ 0.99823457 -0.04095724 -0.04301459 -0.93126611] [ 0.04117103 0.99914372 0.00409584 -0.03062427] [ 0.04281 -0.00585956 0.99906605 0.13642133] [ 0. 0. 0. 1. ]] SLAMing on 0.979115933 meters 0.023384352510888613 Centerline is valid? [True, True] Translation: X:-0.96, Y:-0.03, Z:0.14 [[ 0.9982678 -0.04014244 -0.04301135 -0.95910792] [ 0.04035693 0.99917679 0.00412973 -0.02810267] [ 0.04281016 -0.00585838 0.99906605 0.13606741] [ 0. 0. 0. 1. ]] SLAMing on 1.009115933 meters 0.022261343374776785 Centerline is valid? [True, True] Translation: X:-0.99, Y:-0.02, Z:0.14 [[ 0.99831704 -0.03624226 -0.04527229 -0.98832967] [ 0.03647662 0.99932499 0.00436112 -0.02142222] [ 0.04508367 -0.00600516 0.99896516 0.14049432] [ 0. 0. 0. 1. ]] SLAMing on 1.039115933 meters 0.021744746968016065 Centerline is valid? [True, True] Translation: X:-1.02, Y:-0.02, Z:0.14 [[ 0.99848529 -0.03103453 -0.04543111 -1.01772849] [ 0.03126538 0.99950152 0.00437931 -0.01694234] [ 0.04527256 -0.0057931 0.99895787 0.14260925] [ 0. 0. 0. 1. ]] SLAMing on 1.069115933 meters 0.022719937150896975 Centerline is valid? [True, True] Translation: X:-1.05, Y:-0.02, Z:0.15 [[ 0.99844326 -0.02842133 -0.04799264 -1.04652244] [ 0.02867724 0.9995779 0.00465211 -0.01642308] [ 0.04784016 -0.00602116 0.99883686 0.14810358] [ 0. 0. 0. 1. ]] SLAMing on 1.099115933 meters 0.021128548370067467 Centerline is valid? [True, True] Translation: X:-1.08, Y:-0.01, Z:0.15 [[ 0.99860138 -0.02573754 -0.04618285 -1.07568733] [ 0.02597231 0.99965258 0.00449052 -0.01161935] [ 0.04605123 -0.00568372 0.99892291 0.14911385] [ 0. 0. 0. 1. ]] SLAMing on 1.1291159329999998 meters 0.022027322080966943 Centerline is valid? [True, True] Translation: X:-1.10, Y:-0.01, Z:0.15 [[ 0.99857206 -0.0243333 -0.04755765 -1.10461623] [ 0.02458201 0.99968699 0.0046517 -0.0097821 ] [ 0.04742957 -0.00581412 0.99885766 0.14782191] [ 0. 0. 0. 1. ]] SLAMing on 1.1591159329999998 meters 0.02156582776253808 Centerline is valid? [True, True] Translation: X:-1.13, Y:-0.01, Z:0.15 [[ 0.99857428 -0.02203516 -0.04861943 -1.13374869] [ 0.02229417 0.99973997 0.00479125 -0.006085 ] [ 0.04850121 -0.00586835 0.99880588 0.15074094] [ 0. 0. 0. 1. ]] SLAMing on 1.1891159329999998 meters 0.022266796005526675 Centerline is valid? [True, True] Translation: X:-1.16, Y:-0.00, Z:0.15 [[ 0.99855827 -0.02387258 -0.04807791 -1.16263455] [ 0.02412874 0.99969755 0.0047546 -0.00397876] [ 0.04794986 -0.0059078 0.99883227 0.15219232] [ 0. 0. 0. 1. ]] SLAMing on 1.2191159329999999 meters 0.02217248226649119 Centerline is valid? [True, True] Translation: X:-1.19, Y:-0.00, Z:0.16 [[ 0.9985566 -0.02253725 -0.04875224 -1.19144032] [ 0.02280052 0.99972827 0.00485066 -0.00236687] [ 0.04862967 -0.00595524 0.99879912 0.15536042] [ 0. 0. 0. 1. ]] SLAMing on 1.249115933 meters 0.02208429210030335 Centerline is valid? [True, True] Translation: X:-1.22, Y:0.00, Z:0.16 [[ 9.98393920e-01 -2.44818364e-02 -5.10903148e-02 -1.22076223e+00] [ 2.47742047e-02 9.99680078e-01 5.09707512e-03 5.89110895e-04] [ 5.09491841e-02 -6.35461073e-03 9.98681030e-01 1.56434429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.279115933 meters 0.021374814690883176 Centerline is valid? [True, True] Translation: X:-1.25, Y:0.00, Z:0.16 [[ 0.9983259 -0.02419335 -0.05253655 -1.2499122 ] [ 0.0245037 0.99968584 0.00527125 0.0039244 ] [ 0.05239252 -0.00654976 0.99860509 0.15752903] [ 0. 0. 0. 1. ]] SLAMing on 1.309115933 meters 0.020688596075957418 Centerline is valid? [True, True] Translation: X:-1.28, Y:0.01, Z:0.16 [[ 0.99846322 -0.02328821 -0.05028774 -1.27921042] [ 0.0235732 0.9997092 0.00508145 0.00585384] [ 0.05015478 -0.00625908 0.99872184 0.15910469] [ 0. 0. 0. 1. ]] SLAMing on 1.3391159329999998 meters 0.023063032991008592 Centerline is valid? [True, True] Translation: X:-1.31, Y:0.00, Z:0.16 [[ 0.99828711 -0.02741956 -0.05168188 -1.3098371 ] [ 0.02772662 0.99960184 0.00523379 0.00381275] [ 0.05151779 -0.00665779 0.99864988 0.16101852] [ 0. 0. 0. 1. ]] SLAMing on 1.3691159329999998 meters 0.0225258964169947 Centerline is valid? [True, True] Translation: X:-1.34, Y:0.01, Z:0.16 [[ 0.99825903 -0.02684071 -0.05252129 -1.33855676] [ 0.02715861 0.99961683 0.00534835 0.00569967] [ 0.05235761 -0.00676544 0.99860548 0.16356559] [ 0. 0. 0. 1. ]] SLAMing on 1.3991159329999998 meters 0.022988771707684777 Centerline is valid? [True, True] Translation: X:-1.37, Y:0.01, Z:0.16 [[ 0.99816874 -0.02918071 -0.05298732 -1.36818488] [ 0.02950823 0.9995499 0.00540923 0.00712316] [ 0.05280562 -0.00696288 0.99858053 0.16347108] [ 0. 0. 0. 1. ]] SLAMing on 1.4291159329999998 meters 0.02321616832940933 Centerline is valid? [True, True] Translation: X:-1.40, Y:0.01, Z:0.17 [[ 0.99813363 -0.02860298 -0.05395485 -1.39725332] [ 0.02894345 0.9995657 0.00553926 0.00816904] [ 0.05377298 -0.00709056 0.99852801 0.16650447] [ 0. 0. 0. 1. ]] SLAMing on 1.4591159329999999 meters 0.02435182601538553 Centerline is valid? [True, True] Translation: X:-1.43, Y:0.01, Z:0.17 [[ 0.99791545 -0.03363378 -0.05507745 -1.42729831] [ 0.03399668 0.99940589 0.00566489 0.00853448] [ 0.0548542 -0.00752553 0.99846602 0.17125635] [ 0. 0. 0. 1. ]] SLAMing on 1.489115933 meters 0.02276326223831957 Centerline is valid? [True, True] Translation: X:-1.46, Y:0.01, Z:0.17 [[ 0.99828988 -0.030615 -0.04979995 -1.45708772] [ 0.03090801 0.9995091 0.00512426 0.01179456] [ 0.04961863 -0.00665471 0.99874607 0.16673623] [ 0. 0. 0. 1. ]] SLAMing on 1.519115933 meters 0.02392704469041923 Centerline is valid? [True, True] Translation: X:-1.49, Y:0.01, Z:0.17 [[ 0.9977836 -0.03582344 -0.0560765 -1.48727818] [ 0.03620333 0.99932777 0.005773 0.00964141] [ 0.05583199 -0.00779036 0.99840979 0.17381397] [ 0. 0. 0. 1. ]] SLAMing on 1.549115933 meters 0.026210655323857114 Centerline is valid? [True, True] Translation: X:-1.52, Y:0.01, Z:0.18 [[ 0.99746005 -0.03974811 -0.05910606 -1.51776677] [ 0.04017709 0.99917404 0.00608678 0.00872957] [ 0.05881531 -0.00844603 0.99823315 0.1781605 ] [ 0. 0. 0. 1. ]] SLAMing on 1.579115933 meters 0.02479976782262342 Centerline is valid? [True, True] Translation: X:-1.55, Y:0.01, Z:0.18 [[ 0.99758518 -0.03807929 -0.05808419 -1.54694584] [ 0.03849134 0.99924097 0.00599135 0.01051633] [ 0.05781195 -0.00821262 0.99829371 0.17989605] [ 0. 0. 0. 1. ]] SLAMing on 1.6091159329999998 meters 0.02571901191529615 Centerline is valid? [True, True] Translation: X:-1.58, Y:0.01, Z:0.18 [[ 0.99731006 -0.04371213 -0.05883781 -1.57784461] [ 0.04414476 0.99900669 0.00607275 0.01049392] [ 0.05851392 -0.00865379 0.99824908 0.18244102] [ 0. 0. 0. 1. ]] SLAMing on 1.6391159329999998 meters 0.025260084470265464 Centerline is valid? [True, True] Translation: X:-1.61, Y:0.01, Z:0.18 [[ 0.99743664 -0.0410743 -0.05859232 -1.60721833] [ 0.0414993 0.99912019 0.0060547 0.01020478] [ 0.05829208 -0.00847072 0.99826363 0.18414154] [ 0. 0. 0. 1. ]] SLAMing on 1.6691159329999998 meters 0.025601966340522593 Centerline is valid? [True, True] Translation: X:-1.64, Y:0.01, Z:0.19 [[ 0.99731104 -0.04345696 -0.05900998 -1.63763691] [ 0.04389239 0.99901763 0.00610216 0.01072057] [ 0.05868682 -0.00867584 0.99823874 0.18701307] [ 0. 0. 0. 1. ]] SLAMing on 1.6991159329999999 meters 0.02529101774726781 Centerline is valid? [True, True] Translation: X:-1.67, Y:0.01, Z:0.19 [[ 0.99734245 -0.04209359 -0.05946575 -1.66671428] [ 0.0425354 0.99907583 0.00618283 0.00980943] [ 0.05915054 -0.00869579 0.9982112 0.1861625 ] [ 0. 0. 0. 1. ]] SLAMing on 1.7291159329999999 meters 0.027252952032635985 Centerline is valid? [True, True] Translation: X:-1.70, Y:0.01, Z:0.19 [[ 0.99704692 -0.04642309 -0.06117466 -1.69763094] [ 0.04689929 0.99887931 0.00637064 0.0067272 ] [ 0.06081035 -0.00922088 0.99810675 0.18863414] [ 0. 0. 0. 1. ]] SLAMing on 1.759115933 meters 0.02729308715616547 Centerline is valid? [True, True] Translation: X:-1.73, Y:0.01, Z:0.19 [[ 0.9970713 -0.04571631 -0.06130939 -1.72611185] [ 0.04619569 0.99891175 0.00642376 0.00510628] [ 0.060949 -0.00923718 0.99809814 0.19285607] [ 0. 0. 0. 1. ]] SLAMing on 1.789115933 meters 0.027522087229118933 Centerline is valid? [True, True] Translation: X:-1.76, Y:0.01, Z:0.19 [[ 0.99700612 -0.04583687 -0.06227175 -1.75535638] [ 0.04633445 0.99890438 0.00656934 0.00588055] [ 0.06190241 -0.009435 0.99803761 0.19441508] [ 0. 0. 0. 1. ]] SLAMing on 1.8191159329999997 meters 0.02680522862696035 Centerline is valid? [True, True] Translation: X:-1.79, Y:0.01, Z:0.19 [[ 0.99721072 -0.0413909 -0.06210942 -1.78515145] [ 0.04187815 0.99910117 0.00656338 0.0064343 ] [ 0.06178193 -0.0091461 0.99804777 0.19457439] [ 0. 0. 0. 1. ]] SLAMing on 1.8491159329999998 meters 0.02491584860420091 Centerline is valid? [True, True] Translation: X:-1.81, Y:0.01, Z:0.20 [[ 0.99731402 -0.03910187 -0.06193379 -1.81405081] [ 0.03958239 0.99919484 0.00655039 0.01123576] [ 0.06162779 -0.00898428 0.99805877 0.19962543] [ 0. 0. 0. 1. ]] SLAMing on 1.8791159329999998 meters 0.025137901306822176 Centerline is valid? [True, True] Translation: X:-1.84, Y:0.01, Z:0.20 [[ 0.99747302 -0.03759157 -0.06028636 -1.8433308 ] [ 0.03804449 0.99925566 0.0063823 0.01413855] [ 0.06000157 -0.00865974 0.99816072 0.19901008] [ 0. 0. 0. 1. ]] SLAMing on 1.9091159329999998 meters 0.02621843690861313 Centerline is valid? [True, True] Translation: X:-1.87, Y:0.01, Z:0.20 [[ 0.99715018 -0.03513158 -0.06676298 -1.87329679] [ 0.03568439 0.99933785 0.0071054 0.01226348] [ 0.06646915 -0.00946755 0.99774356 0.20319838] [ 0. 0. 0. 1. ]] SLAMing on 1.9391159329999998 meters 0.02455227709132362 Centerline is valid? [True, True] Translation: X:-1.90, Y:0.02, Z:0.20 [[ 0.99761745 -0.0294981 -0.06236416 -1.903715 ] [ 0.02997002 0.99952871 0.00664521 0.0150142 ] [ 0.06213874 -0.00849843 0.99803134 0.19739264] [ 0. 0. 0. 1. ]] SLAMing on 1.9691159329999999 meters 0.024341858795148986 Centerline is valid? [True, True] Translation: X:-1.93, Y:0.02, Z:0.21 [[ 0.99741039 -0.03233507 -0.06424135 -1.93424811] [ 0.03284183 0.9994371 0.00684788 0.0150453 ] [ 0.06398376 -0.00893995 0.9979109 0.20522981] [ 0. 0. 0. 1. ]] SLAMing on 1.999115933 meters 0.024376113629644133 Centerline is valid? [True, True] Translation: X:-1.96, Y:0.01, Z:0.21 [[ 0.99752008 -0.02969136 -0.06381307 -1.96441324] [ 0.03018646 0.9995211 0.00680827 0.01443711] [ 0.06358036 -0.00871768 0.99793865 0.20629864] [ 0. 0. 0. 1. ]] SLAMing on 2.029115933 meters 0.024355737735131788 Centerline is valid? [True, True] Translation: X:-1.99, Y:0.02, Z:0.21 [[ 0.99745182 -0.0300764 -0.06469372 -1.99409539] [ 0.03058844 0.99950798 0.00693875 0.01564057] [ 0.0644532 -0.00889995 0.99788104 0.20887527] [ 0. 0. 0. 1. ]] SLAMing on 2.059115933 meters 0.026001594547872053 Centerline is valid? [True, True] Translation: X:-2.02, Y:0.01, Z:0.21 [[ 0.99745333 -0.0314365 -0.06402036 -2.0239546 ] [ 0.03194342 0.99946579 0.00690977 0.01437814] [ 0.06376894 -0.0089372 0.99792467 0.21075085] [ 0. 0. 0. 1. ]] SLAMing on 2.089115933 meters 0.024231823182930975 Centerline is valid? [True, True] Translation: X:-2.05, Y:0.02, Z:0.22 [[ 0.9977725 -0.0258352 -0.0615027 -2.05440933] [ 0.02629313 0.99963217 0.00664785 0.01681259] [ 0.06130833 -0.00825014 0.99808478 0.21508714] [ 0. 0. 0. 1. ]] SLAMing on 2.1191159330000002 meters 0.02526668568355838 Centerline is valid? [True, True] Translation: X:-2.08, Y:0.01, Z:0.22 [[ 0.99748078 -0.027205 -0.06551322 -2.08474423] [ 0.02772802 0.99959038 0.0070873 0.01380286] [ 0.06529357 -0.008886 0.99782653 0.21564997] [ 0. 0. 0. 1. ]] SLAMing on 2.149115933 meters 0.024532258328804377 Centerline is valid? [True, True] Translation: X:-2.11, Y:0.01, Z:0.22 [[ 0.99740663 -0.02808257 -0.06626754 -2.11410902] [ 0.02862205 0.99956434 0.00720543 0.01282688] [ 0.06603632 -0.00908345 0.99777587 0.21700843] [ 0. 0. 0. 1. ]] SLAMing on 2.1791159330000003 meters 0.021876645289560993 Centerline is valid? [True, True] Translation: X:-2.14, Y:0.01, Z:0.22 [[ 0.99767244 -0.02675657 -0.06271997 -2.14229299] [ 0.02723828 0.99960558 0.00683781 0.01453008] [ 0.06251227 -0.00853028 0.99800774 0.22065235] [ 0. 0. 0. 1. ]] SLAMing on 2.209115933 meters 0.023442000284794855 Centerline is valid? [True, True] Translation: X:-2.17, Y:0.01, Z:0.22 [[ 0.99772329 -0.02628858 -0.06210594 -2.17143513] [ 0.02676272 0.99961859 0.0068147 0.01157713] [ 0.0619031 -0.00846131 0.9980463 0.22429378] [ 0. 0. 0. 1. ]] SLAMing on 2.239115933 meters 0.024473756229702524 Centerline is valid? [True, True] Translation: X:-2.20, Y:0.01, Z:0.23 [[ 0.99775116 -0.02579902 -0.06186306 -2.19975576] [ 0.02627164 0.99963145 0.00683838 0.01143571] [ 0.06166384 -0.00844825 0.99806122 0.22584242] [ 0. 0. 0. 1. ]] SLAMing on 2.269115933 meters 0.024943307386934892 Centerline is valid? [True, True] Translation: X:-2.23, Y:0.01, Z:0.22 [[ 0.9971958 -0.02516757 -0.07047792 -2.22983235] [ 0.02578103 0.99963712 0.00780813 0.00960765] [ 0.07025583 -0.00960323 0.99748278 0.2247814 ] [ 0. 0. 0. 1. ]] SLAMing on 2.299115933 meters 0.023816558976085013 Centerline is valid? [True, True] Translation: X:-2.26, Y:0.01, Z:0.22 [[ 0.99734882 -0.02068437 -0.06976734 -2.25906123] [ 0.02127522 0.99974372 0.00773646 0.00988006] [ 0.06958943 -0.00920026 0.99753329 0.21936419] [ 0. 0. 0. 1. ]] SLAMing on 2.329115933 meters 0.022230656820119658 Centerline is valid? [True, True] Translation: X:-2.29, Y:0.01, Z:0.22 [[ 0.997687 -0.02034133 -0.06486044 -2.28826899] [ 0.02085171 0.99975664 0.00720169 0.01314539] [ 0.06469816 -0.00853749 0.99786836 0.22167231] [ 0. 0. 0. 1. ]] SLAMing on 2.359115933 meters 0.02397961032797483 Centerline is valid? [True, True] Translation: X:-2.32, Y:0.01, Z:0.22 [[ 0.99764706 -0.01893938 -0.0658911 -2.31663671] [ 0.01946626 0.9997834 0.0073633 0.00981699] [ 0.06573738 -0.00862863 0.99779965 0.22408773] [ 0. 0. 0. 1. ]] SLAMing on 2.3891159330000002 meters 0.024681527326111195 Centerline is valid? [True, True] Translation: X:-2.35, Y:0.01, Z:0.23 [[ 0.99740686 -0.01536318 -0.0703102 -2.34603022] [ 0.01595832 0.99984136 0.00791058 0.00779173] [ 0.07017752 -0.0090121 0.99749381 0.22596735] [ 0. 0. 0. 1. ]] SLAMing on 2.419115933 meters 0.024630046970916402 Centerline is valid? [True, True] Translation: X:-2.38, Y:0.00, Z:0.22 [[ 0.9969074 -0.01094908 -0.07781868 -2.37513209] [ 0.01167034 0.999893 0.00881977 0.00395427] [ 0.07771378 -0.00970067 0.99692852 0.21987375] [ 0. 0. 0. 1. ]] SLAMing on 2.449115933 meters 0.023112547208044454 Centerline is valid? [True, True] Translation: X:-2.41, Y:0.00, Z:0.22 [[ 0.99692134 -0.00405363 -0.07830338 -2.40542413] [ 0.00476403 0.99994915 0.00888775 0.00306365] [ 0.07826337 -0.00923343 0.99688996 0.21921513] [ 0. 0. 0. 1. ]] SLAMing on 2.479115933 meters 0.022672887621992165 Centerline is valid? [True, True] Translation: X:-2.43, Y:0.01, Z:0.22 [[ 9.97105716e-01 -2.41305375e-03 -7.59892699e-02 -2.43471013e+00] [ 3.07806729e-03 9.99957976e-01 8.63551060e-03 6.20104968e-03] [ 7.59652386e-02 -8.84441706e-03 9.97071241e-01 2.20556499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.509115933 meters 0.02150790173697548 Centerline is valid? [True, True] Translation: X:-2.47, Y:0.00, Z:0.22 [[ 9.97180198e-01 2.93540597e-03 -7.49869061e-02 -2.46551462e+00] [-2.30238893e-03 9.99960996e-01 8.52675315e-03 4.26380765e-03] [ 7.50090107e-02 -8.33006037e-03 9.97148062e-01 2.20092221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.539115933 meters 0.021460018241307274 Centerline is valid? [True, True] Translation: X:-2.50, Y:0.00, Z:0.22 [[ 9.97074153e-01 5.07825288e-03 -7.62715156e-02 -2.49518565e+00] [-4.42592437e-03 9.99952191e-01 8.71931405e-03 9.59426936e-04] [ 7.63121480e-02 -8.35623072e-03 9.97048960e-01 2.19910309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.569115933 meters 0.02308265202089931 Centerline is valid? [True, True] Translation: X:-2.53, Y:-0.00, Z:0.22 [[ 0.99696761 0.004478 -0.07768868 -2.52560796] [-0.00379517 0.99995288 0.00893468 -0.00433596] [ 0.07772503 -0.00861275 0.99693763 0.22254836] [ 0. 0. 0. 1. ]] SLAMing on 2.599115933 meters 0.02146248749089345 Centerline is valid? [True, True] Translation: X:-2.56, Y:-0.01, Z:0.23 [[ 0.99693785 0.01390205 -0.07695226 -2.55651761] [-0.01325884 0.99987282 0.00886318 -0.01046819] [ 0.07706568 -0.00781574 0.99699538 0.22632651] [ 0. 0. 0. 1. ]] SLAMing on 2.629115933 meters 0.01862704668735509 Centerline is valid? [True, True] Translation: X:-2.59, Y:-0.01, Z:0.23 [[ 0.99685934 0.02183029 -0.07612422 -2.58755487] [-0.02122344 0.99973627 0.00877194 -0.01419459] [ 0.07629564 -0.00712877 0.99705976 0.22830507] [ 0. 0. 0. 1. ]] SLAMing on 2.659115933 meters 0.016226548119490893 Centerline is valid? [True, True] Translation: X:-2.62, Y:-0.02, Z:0.23 [[ 0.9968726 0.03402992 -0.07132304 -2.61710961] [-0.03352782 0.99940394 0.00822547 -0.0176297 ] [ 0.07156043 -0.00580844 0.99741935 0.22784254] [ 0. 0. 0. 1. ]] SLAMing on 2.689115933 meters 0.01604744969442853 Centerline is valid? [True, True] Translation: X:-2.65, Y:-0.02, Z:0.23 [[ 0.99657653 0.03849968 -0.07316411 -2.64625967] [-0.03798195 0.99924265 0.00845509 -0.02073085] [ 0.07343422 -0.00564723 0.99728407 0.23270976] [ 0. 0. 0. 1. ]] SLAMing on 2.719115933 meters 0.016271998324138677 Centerline is valid? [True, True] Translation: X:-2.68, Y:-0.02, Z:0.23 [[ 0.99657283 0.03801392 -0.0734679 -2.67585613] [-0.03748703 0.99926064 0.00853794 -0.02438571] [ 0.07373814 -0.00575459 0.99726103 0.23304522] [ 0. 0. 0. 1. ]] SLAMing on 2.749115933 meters 0.01668848704655362 Centerline is valid? [True, True] Translation: X:-2.70, Y:-0.02, Z:0.23 [[ 0.9963441 0.03954002 -0.07572991 -2.7049681 ] [-0.03898027 0.99920074 0.00885597 -0.02340565] [ 0.07601954 -0.00587162 0.99708904 0.231353 ] [ 0. 0. 0. 1. ]] SLAMing on 2.779115933 meters 0.016692483974287197 Centerline is valid? [True, True] Translation: X:-2.73, Y:-0.02, Z:0.22 [[ 0.99493586 0.04600361 -0.08936609 -2.73491042] [-0.04524751 0.99892095 0.01046926 -0.02496673] [ 0.08975128 -0.00637265 0.99594382 0.21768156] [ 0. 0. 0. 1. ]] SLAMing on 2.809115933 meters 0.016913824712209365 Centerline is valid? [True, True] Translation: X:-2.76, Y:-0.03, Z:0.22 [[ 0.99412683 0.05377871 -0.09391323 -2.76421731] [-0.05297222 0.99853472 0.01106132 -0.02634861] [ 0.09437049 -0.00602156 0.99551894 0.2157717 ] [ 0. 0. 0. 1. ]] SLAMing on 2.839115933 meters 0.01537906695359418 Centerline is valid? [True, True] Translation: X:-2.79, Y:-0.02, Z:0.21 [[ 0.99403115 0.05785694 -0.09249129 -2.79391578] [-0.05709072 0.99830937 0.01091098 -0.02474932] [ 0.0929662 -0.00556546 0.99565371 0.2131931 ] [ 0. 0. 0. 1. ]] SLAMing on 2.8691159330000002 meters 0.015236065780225284 Centerline is valid? [True, True] Translation: X:-2.82, Y:-0.03, Z:0.22 [[ 0.99361263 0.06223564 -0.09413111 -2.82271373] [-0.06145934 0.99804757 0.01112661 -0.02521187] [ 0.0946398 -0.00527031 0.99549763 0.2172384 ] [ 0. 0. 0. 1. ]] SLAMing on 2.899115933 meters 0.015236065780225284 Centerline is valid? [True, True] Translation: X:-2.85, Y:-0.02, Z:0.22 [[ 0.99356243 0.06304428 -0.09412289 -2.85050584] [-0.06226505 0.99799685 0.01119585 -0.02200986] [ 0.09464019 -0.00526321 0.99549763 0.21688331] [ 0. 0. 0. 1. ]] SLAMing on 2.929115933 meters 0.015229296122420606 Centerline is valid? [True, True] Translation: X:-2.88, Y:-0.02, Z:0.21 [[ 0.99354848 0.06362204 -0.09388112 -2.8792574 ] [-0.06284195 0.99796013 0.01124544 -0.0204283 ] [ 0.09440507 -0.00527322 0.9955199 0.21192654] [ 0. 0. 0. 1. ]] SLAMing on 2.959115933 meters 0.015404859758785066 Centerline is valid? [True, True] Translation: X:-2.91, Y:-0.02, Z:0.21 [[ 0.99300966 0.0640207 -0.09916233 -2.90910762] [-0.06314998 0.99793312 0.01189809 -0.01926726] [ 0.0997191 -0.00555282 0.99500013 0.20749612] [ 0. 0. 0. 1. ]] SLAMing on 2.989115933 meters 0.015168516664035967 Centerline is valid? [True, True] Translation: X:-2.94, Y:-0.02, Z:0.20 [[ 0.99204087 0.0714281 -0.10369642 -2.93790644] [-0.07050865 0.99743272 0.01251021 -0.01905033] [ 0.10432378 -0.00509915 0.99453032 0.19879237] [ 0. 0. 0. 1. ]] SLAMing on 3.019115933 meters 0.0150492966545791 Centerline is valid? [True, True] Translation: X:-2.97, Y:-0.02, Z:0.20 [[ 0.99212317 0.07152514 -0.10283861 -2.96662076] [-0.07061369 0.99742565 0.01248101 -0.01745173] [ 0.10346658 -0.00512089 0.99461975 0.20259746] [ 0. 0. 0. 1. ]] SLAMing on 3.049115933 meters 0.01553949422453261 Centerline is valid? [True, True] Translation: X:-3.00, Y:-0.01, Z:0.20 [[ 0.9928924 0.06694223 -0.0984044 -2.9954812 ] [-0.06607852 0.9977421 0.01201391 -0.0148975 ] [ 0.09898645 -0.0054261 0.99507399 0.20323748] [ 0. 0. 0. 1. ]] SLAMing on 3.079115933 meters 0.015027514928057619 Centerline is valid? [True, True] Translation: X:-3.02, Y:-0.02, Z:0.20 [[ 0.99259804 0.07022013 -0.09908711 -3.02478733] [-0.06935348 0.99751793 0.01216825 -0.01610546] [ 0.09969562 -0.00520614 0.99500436 0.20366606] [ 0. 0. 0. 1. ]] SLAMing on 3.109115933 meters 0.01547351981193636 Centerline is valid? [True, True] Translation: X:-3.05, Y:-0.02, Z:0.20 [[ 0.99217616 0.07231086 -0.1017723 -3.0536728 ] [-0.07139978 0.99736855 0.01257136 -0.01571399] [ 0.10241354 -0.00520648 0.99472828 0.20075401] [ 0. 0. 0. 1. ]] SLAMing on 3.1391159330000002 meters 0.01557785008582069 Centerline is valid? [True, True] Translation: X:-3.08, Y:-0.02, Z:0.20 [[ 0.99178311 0.07143547 -0.10612843 -3.08318684] [-0.07043692 0.99742979 0.01313244 -0.01526049] [ 0.10679378 -0.00554917 0.99426571 0.19897815] [ 0. 0. 0. 1. ]] SLAMing on 3.169115933 meters 0.01597789699277555 Centerline is valid? [True, True] Translation: X:-3.11, Y:-0.01, Z:0.20 [[ 0.99177523 0.06667819 -0.10925162 -3.11277952] [-0.06558879 0.99775488 0.01353901 -0.01195006] [ 0.10990909 -0.00626198 0.99392192 0.19898091] [ 0. 0. 0. 1. ]] SLAMing on 3.199115933 meters 0.01706724050000737 Centerline is valid? [True, True] Translation: X:-3.14, Y:-0.01, Z:0.19 [[ 0.99129808 0.06296711 -0.11559957 -3.14179953] [-0.06171733 0.99799033 0.0143625 -0.00835146] [ 0.11627162 -0.00710302 0.99319205 0.19061098] [ 0. 0. 0. 1. ]] SLAMing on 3.229115933 meters 0.017622475113373694 Centerline is valid? [True, True] Translation: X:-3.17, Y:-0.00, Z:0.18 [[ 0.99039339 0.06457343 -0.12227516 -3.17139713] [-0.0631773 0.99788557 0.01526489 -0.00317762] [ 0.12300232 -0.00739323 0.99237884 0.18130177] [ 0. 0. 0. 1. ]] SLAMing on 3.259115933 meters 0.017714124099418357 Centerline is valid? [True, True] Translation: X:-3.20, Y:0.00, Z:0.18 [[ 9.90437081e-01 6.35054766e-02 -1.22480382e-01 -3.19971562e+00] [-6.20855593e-02 9.97952342e-01 1.53787809e-02 1.96959927e-03] [ 1.23206221e-01 -7.62745188e-03 9.92351777e-01 1.75116741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.289115933 meters 0.0193783177462086 Centerline is valid? [True, True] Translation: X:-3.23, Y:0.01, Z:0.18 [[ 0.99063039 0.05282232 -0.1259414 -3.22937284] [-0.05123012 0.99856109 0.01585025 0.0074508 ] [ 0.12659743 -0.00924975 0.99191105 0.17901293] [ 0. 0. 0. 1. ]] SLAMing on 3.319115933 meters 0.01982284693689317 Centerline is valid? [True, True] Translation: X:-3.26, Y:0.01, Z:0.17 [[ 0.99021858 0.05619195 -0.12770912 -3.25759828] [-0.05456928 0.99837901 0.01617227 0.0106478 ] [ 0.12841086 -0.00904509 0.99167981 0.17427995] [ 0. 0. 0. 1. ]] SLAMing on 3.349115933 meters 0.019178053243737954 Centerline is valid? [True, True] Translation: X:-3.29, Y:0.01, Z:0.16 [[ 0.98862666 0.06267506 -0.13670831 -3.28701128] [-0.0608627 0.99799446 0.01740113 0.01150608] [ 0.13752475 -0.00888278 0.9904585 0.16367925] [ 0. 0. 0. 1. ]] SLAMing on 3.379115933 meters 0.01878906103170361 Centerline is valid? [True, True] Translation: X:-3.32, Y:0.01, Z:0.16 [[ 0.98809351 0.0671514 -0.13842656 -3.31528217] [-0.06532054 0.99770677 0.01773222 0.01436867] [ 0.13929986 -0.008479 0.99021394 0.15682517] [ 0. 0. 0. 1. ]] SLAMing on 3.409115933 meters 0.019617851358989514 Centerline is valid? [True, True] Translation: X:-3.34, Y:0.02, Z:0.16 [[ 0.98823215 0.06258489 -0.13957205 -3.34473661] [-0.06066474 0.99799636 0.01797383 0.01688499] [ 0.14041728 -0.00929522 0.99004878 0.15657044] [ 0. 0. 0. 1. ]] SLAMing on 3.439115933 meters 0.019765475553427413 Centerline is valid? [True, True] Translation: X:-3.37, Y:0.02, Z:0.16 [[ 0.98870853 0.06025891 -0.13720173 -3.37382453] [-0.05836817 0.99813703 0.01776607 0.01851641] [ 0.13801669 -0.00955725 0.99038379 0.16339376] [ 0. 0. 0. 1. ]] SLAMing on 3.469115933 meters 0.018604345035618013 Centerline is valid? [True, True] Translation: X:-3.40, Y:0.02, Z:0.16 [[ 0.98876584 0.06807907 -0.13306901 -3.40370327] [-0.06636718 0.99764592 0.01726328 0.01794523] [ 0.13393102 -0.00823792 0.99095642 0.16013594] [ 0. 0. 0. 1. ]] SLAMing on 3.499115933 meters 0.018812946695991418 Centerline is valid? [True, True] Translation: X:-3.43, Y:0.02, Z:0.15 [[ 0.98711188 0.07257731 -0.14262774 -3.4333567 ] [-0.07065192 0.99732901 0.01852452 0.01605806] [ 0.14359124 -0.00820885 0.98960304 0.14749246] [ 0. 0. 0. 1. ]] SLAMing on 3.529115933 meters 0.019834356764672986 Centerline is valid? [True, True] Translation: X:-3.46, Y:0.02, Z:0.15 [[ 0.98726262 0.06937914 -0.14317489 -3.46263587] [-0.06740123 0.9975521 0.01862474 0.0163207 ] [ 0.14411658 -0.00873735 0.98952214 0.15328223] [ 0. 0. 0. 1. ]] SLAMing on 3.559115933 meters 0.02040904197476591 Centerline is valid? [True, True] Translation: X:-3.49, Y:0.02, Z:0.15 [[ 0.98635797 0.07348233 -0.14730346 -3.49166105] [-0.07142839 0.99726107 0.01919241 0.01685726] [ 0.14831031 -0.00840894 0.98890512 0.15168482] [ 0. 0. 0. 1. ]] SLAMing on 3.589115933 meters 0.018715966650613237 Centerline is valid? [True, True] Translation: X:-3.52, Y:0.02, Z:0.14 [[ 0.98489899 0.07971038 -0.15368878 -3.52176338] [-0.07753316 0.99678677 0.02011811 0.01686779] [ 0.15479856 -0.00789833 0.98791448 0.14195588] [ 0. 0. 0. 1. ]] SLAMing on 3.619115933 meters 0.017828993161423428 Centerline is valid? [True, True] Translation: X:-3.55, Y:0.02, Z:0.14 [[ 0.98518907 0.0856316 -0.14855881 -3.55183474] [-0.08365076 0.99630348 0.01954273 0.01601312] [ 0.14968313 -0.00682623 0.98871045 0.14482065] [ 0. 0. 0. 1. ]] SLAMing on 3.649115933 meters 0.017721306576794552 Centerline is valid? [True, True] Translation: X:-3.58, Y:0.02, Z:0.15 [[ 0.98612023 0.08267273 -0.1439865 -3.58137528] [-0.08077306 0.99655142 0.01899956 0.01688347] [ 0.1450607 -0.00710562 0.98939724 0.15174807] [ 0. 0. 0. 1. ]] SLAMing on 3.679115933 meters 0.017268645175289376 Centerline is valid? [True, True] Translation: X:-3.61, Y:0.02, Z:0.14 [[ 0.98488614 0.09126081 -0.14720991 -3.61039983] [-0.08935417 0.99580847 0.01952725 0.01729545] [ 0.14837495 -0.00607829 0.9889125 0.14166375] [ 0. 0. 0. 1. ]] SLAMing on 3.709115933 meters 0.017470181082572728 Centerline is valid? [True, True] Translation: X:-3.64, Y:0.02, Z:0.15 [[ 0.98652505 0.08331368 -0.1408089 -3.64090657] [-0.08147754 0.99649851 0.01876533 0.01676784] [ 0.14187927 -0.00703971 0.98985894 0.14932704] [ 0. 0. 0. 1. ]] SLAMing on 3.739115933 meters 0.01604025212405953 Centerline is valid? [True, True] Translation: X:-3.67, Y:0.02, Z:0.15 [[ 0.987388 0.09212013 -0.12875873 -3.67014504] [-0.09065769 0.99573382 0.01718574 0.01767198] [ 0.12979258 -0.00529602 0.99152702 0.15391001] [ 0. 0. 0. 1. ]] SLAMing on 3.769115933 meters 0.016547517754073433 Centerline is valid? [True, True] Translation: X:-3.70, Y:0.01, Z:0.17 [[ 0.9892659 0.08350035 -0.11991945 -3.70091465] [-0.08216146 0.99648939 0.01607483 0.0149353 ] [ 0.12084071 -0.00604952 0.99265348 0.17222871] [ 0. 0. 0. 1. ]] SLAMing on 3.799115933 meters 0.017924695110580622 Centerline is valid? [True, True] Translation: X:-3.73, Y:0.01, Z:0.17 [[ 0.99057774 0.07058267 -0.11736194 -3.7303763 ] [-0.06920714 0.99747782 0.01575976 0.01375915] [ 0.1181783 -0.00748898 0.99296415 0.17266176] [ 0. 0. 0. 1. ]] SLAMing on 3.829115933 meters 0.01898576819995264 Centerline is valid? [True, True] Translation: X:-3.76, Y:0.02, Z:0.17 [[ 0.99010362 0.06616992 -0.12375928 -3.75980937] [-0.06460289 0.99777236 0.01663682 0.01612681] [ 0.12458444 -0.00847696 0.9921728 0.16639125] [ 0. 0. 0. 1. ]] SLAMing on 3.859115933 meters 0.022741208501178934 Centerline is valid? [True, True] Translation: X:-3.79, Y:0.02, Z:0.15 [[ 0.98882478 0.05687244 -0.1378081 -3.78898686] [-0.05483326 0.99832317 0.0185518 0.01860136] [ 0.13863211 -0.01078801 0.99028519 0.15090813] [ 0. 0. 0. 1. ]] SLAMing on 3.889115933 meters 0.021061329151255304 Centerline is valid? [True, True] Translation: X:-3.82, Y:0.02, Z:0.15 [[ 0.98972519 0.05488404 -0.13202951 -3.81799389] [-0.05299348 0.99843632 0.01779321 0.02189954] [ 0.13279962 -0.01061368 0.99108608 0.15052864] [ 0. 0. 0. 1. ]] SLAMing on 3.919115933 meters 0.02224408703231042 Centerline is valid? [True, True] Translation: X:-3.85, Y:0.03, Z:0.14 [[ 0.98833977 0.05445254 -0.14219502 -3.84645025] [-0.05224829 0.99844968 0.01919234 0.03281254] [ 0.14301965 -0.01153911 0.98965258 0.14112982] [ 0. 0. 0. 1. ]] SLAMing on 3.949115933 meters 0.02417591654513438 Centerline is valid? [True, True] Translation: X:-3.88, Y:0.04, Z:0.13 [[ 0.98774032 0.04763468 -0.14866069 -3.87578261] [-0.04513341 0.99877761 0.02015578 0.03914627] [ 0.14943909 -0.01319911 0.98868283 0.13051116] [ 0. 0. 0. 1. ]] SLAMing on 3.979115933 meters 0.02481196738094173 Centerline is valid? [True, True] Translation: X:-3.91, Y:0.04, Z:0.13 [[ 0.98749222 0.04498781 -0.15111326 -3.9056344 ] [-0.04235722 0.99889047 0.02058368 0.0405362 ] [ 0.15187161 -0.01392548 0.98830213 0.12600055] [ 0. 0. 0. 1. ]] SLAMing on 4.0091159329999995 meters 0.025560532867034698 Centerline is valid? [True, True] Translation: X:-3.94, Y:0.04, Z:0.12 [[ 0.98755386 0.04199084 -0.15157225 -3.93516389] [-0.0393023 0.99901311 0.02069155 0.04196794] [ 0.15229152 -0.01447688 0.98822959 0.12497099] [ 0. 0. 0. 1. ]] SLAMing on 4.039115933 meters 0.024929771073028975 Centerline is valid? [True, True] Translation: X:-3.96, Y:0.04, Z:0.12 [[ 0.98670038 0.04731463 -0.15551103 -3.96408746] [-0.04453131 0.99878014 0.02133515 0.04404142] [ 0.15633079 -0.01412629 0.98760373 0.12186576] [ 0. 0. 0. 1. ]] SLAMing on 4.069115933 meters 0.024303364843504746 Centerline is valid? [True, True] Translation: X:-3.99, Y:0.05, Z:0.11 [[ 0.98547902 0.05619773 -0.16022771 -3.99239836] [-0.05333528 0.99833178 0.02211338 0.04619516] [ 0.16120314 -0.01324648 0.98683235 0.1147328 ] [ 0. 0. 0. 1. ]] SLAMing on 4.099115933 meters 0.02486929757216711 Centerline is valid? [True, True] Translation: X:-4.02, Y:0.05, Z:0.11 [[ 0.98471803 0.064585 -0.16173797 -4.02193887] [-0.06176452 0.9978391 0.02241158 0.04969743] [ 0.16283592 -0.01207942 0.98657922 0.11233735] [ 0. 0. 0. 1. ]] SLAMing on 4.129115933 meters 0.02227933183540094 Centerline is valid? [True, True] Translation: X:-4.05, Y:0.05, Z:0.11 [[ 0.98438178 0.07009563 -0.16149029 -4.05159685] [-0.06735223 0.99747762 0.02240696 0.04655069] [ 0.16265358 -0.01118027 0.98661989 0.10588599] [ 0. 0. 0. 1. ]] SLAMing on 4.159115933 meters 0.022066674987689584 Centerline is valid? [True, True] Translation: X:-4.08, Y:0.04, Z:0.10 [[ 0.98370883 0.07254646 -0.16448084 -4.0807983 ] [-0.06972762 0.99730422 0.02285503 0.0447582 ] [ 0.16569549 -0.01101384 0.98611546 0.10153131] [ 0. 0. 0. 1. ]] SLAMing on 4.189115933 meters 0.057675788797612156 Centerline is valid? [True, True] Translation: X:-4.07, Y:0.37, Z:0.15 [[ 0.98512362 -0.11236397 -0.13002229 -4.06626751] [ 0.11566567 0.99312323 0.01810241 0.36516313] [ 0.1270941 -0.03287223 0.99134581 0.14775731] [ 0. 0. 0. 1. ]] SLAMing on 4.219115933 meters 0.05839304840289181 Centerline is valid? [True, True] Translation: X:-4.09, Y:0.38, Z:0.15 [[ 0.98424161 -0.11761032 -0.13204646 -4.09479921] [ 0.12106145 0.99247464 0.0183909 0.37850377] [ 0.1288898 -0.03408682 0.99107291 0.15091327] [ 0. 0. 0. 1. ]] SLAMing on 4.249115933 meters 0.0546379427509742 Centerline is valid? [True, True] Translation: X:-4.12, Y:0.40, Z:0.15 [[ 0.98409858 -0.12008648 -0.13087868 -4.1208327 ] [ 0.12349714 0.99217742 0.01823271 0.39907254] [ 0.12766536 -0.03410592 0.99123072 0.14977454] [ 0. 0. 0. 1. ]] SLAMing on 4.279115933 meters 0.05524251434593445 Centerline is valid? [True, True] Translation: X:-4.15, Y:0.40, Z:0.15 [[ 0.983912 -0.12474508 -0.12788996 -4.15021571] [ 0.12803826 0.99160898 0.01782811 0.40359987] [ 0.12459286 -0.03391609 0.99162811 0.15315505] [ 0. 0. 0. 1. ]] SLAMing on 4.309115933 meters 0.05545041187774645 Centerline is valid? [True, True] Translation: X:-4.18, Y:0.41, Z:0.15 [[ 0.98387466 -0.12693846 -0.12600504 -4.17989767] [ 0.13015265 0.99133813 0.01757827 0.40982755] [ 0.12268224 -0.03369471 0.99187385 0.15144763] [ 0. 0. 0. 1. ]] SLAMing on 4.339115933 meters 0.05420415882437867 Centerline is valid? [True, True] Translation: X:-4.21, Y:0.41, Z:0.15 [[ 0.98499488 -0.12305242 -0.12100906 -4.21100552] [ 0.12598817 0.991888 0.01688697 0.40653388] [ 0.11794945 -0.03187928 0.99250775 0.15357724] [ 0. 0. 0. 1. ]] SLAMing on 4.369115933 meters 0.05485512394454784 Centerline is valid? [True, True] Translation: X:-4.24, Y:0.40, Z:0.15 [[ 0.98497978 -0.11729081 -0.12671895 -4.24218285] [ 0.12046867 0.99255958 0.01768547 0.40452889] [ 0.12370177 -0.03268549 0.99178099 0.15322618] [ 0. 0. 0. 1. ]] SLAMing on 4.399115933 meters 0.05869656216519939 Centerline is valid? [True, True] Translation: X:-4.27, Y:0.39, Z:0.15 [[ 0.9853489 -0.11581774 -0.12519501 -4.27406357] [ 0.11890848 0.99275138 0.01747769 0.39423373] [ 0.12226329 -0.03210837 0.9919782 0.14674286] [ 0. 0. 0. 1. ]] SLAMing on 4.429115933 meters 0.05190810075473727 Centerline is valid? [True, True] Translation: X:-4.30, Y:0.40, Z:0.16 [[ 0.9881986 -0.10572426 -0.11084184 -4.3034728 ] [ 0.10808345 0.99402131 0.01547922 0.39906256] [ 0.10854262 -0.02727672 0.99371751 0.16203159] [ 0. 0. 0. 1. ]] SLAMing on 4.459115933 meters 0.05521209932611231 Centerline is valid? [True, True] Translation: X:-4.34, Y:0.39, Z:0.16 [[ 0.98857951 -0.09826198 -0.11425911 -4.33531925] [ 0.10072374 0.99478639 0.01596146 0.38896734] [ 0.112095 -0.02728778 0.99332275 0.16004854] [ 0. 0. 0. 1. ]] SLAMing on 4.489115933 meters 0.05407895283988338 Centerline is valid? [True, True] Translation: X:-4.37, Y:0.39, Z:0.16 [[ 0.98932543 -0.08895091 -0.11542498 -4.36545152] [ 0.09140439 0.99568322 0.01612966 0.39090272] [ 0.11349197 -0.02650783 0.99318523 0.1566028 ] [ 0. 0. 0. 1. ]] SLAMing on 4.519115933 meters 0.05212735019803668 Centerline is valid? [True, True] Translation: X:-4.39, Y:0.40, Z:0.17 [[ 0.99144261 -0.07653075 -0.10575726 -4.39351807] [ 0.07852148 0.9968028 0.01478356 0.40103642] [ 0.10428774 -0.02296127 0.99428208 0.165457 ] [ 0. 0. 0. 1. ]] SLAMing on 4.549115933 meters 0.05336143236487143 Centerline is valid? [True, True] Translation: X:-4.42, Y:0.41, Z:0.16 [[ 0.99138435 -0.07810277 -0.10515242 -4.42207779] [ 0.08007998 0.99667992 0.01470798 0.40922984] [ 0.10365458 -0.02300187 0.99434735 0.16020507] [ 0. 0. 0. 1. ]] SLAMing on 4.579115933 meters 0.051508671949301026 Centerline is valid? [True, True] Translation: X:-4.45, Y:0.42, Z:0.16 [[ 0.99038635 -0.08549975 -0.10874134 -4.44961685] [ 0.08765835 0.99603433 0.01521909 0.42378389] [ 0.10700888 -0.02460486 0.99395357 0.15846283] [ 0. 0. 0. 1. ]] SLAMing on 4.609115933 meters 0.05072852817933349 Centerline is valid? [True, True] Translation: X:-4.48, Y:0.43, Z:0.17 [[ 0.99122392 -0.08502882 -0.10121873 -4.47848172] [ 0.08689575 0.99611659 0.01417251 0.43448313] [ 0.09962058 -0.02284361 0.99476324 0.16552989] [ 0. 0. 0. 1. ]] SLAMing on 4.639115933 meters 0.04987067232586157 Centerline is valid? [True, True] Translation: X:-4.51, Y:0.44, Z:0.16 [[ 0.99222432 -0.08072038 -0.09473707 -4.50795579] [ 0.08233624 0.9965163 0.01326675 0.44371678] [ 0.09333614 -0.02096389 0.99541392 0.16150839] [ 0. 0. 0. 1. ]] SLAMing on 4.669115933 meters 0.048567556128918166 Centerline is valid? [True, True] Translation: X:-4.54, Y:0.46, Z:0.16 [[ 0.99178552 -0.08397854 -0.09648361 -4.53639806] [ 0.08567004 0.99623186 0.01351737 0.4556366 ] [ 0.09498488 -0.02167208 0.99524278 0.16125981] [ 0. 0. 0. 1. ]] SLAMing on 4.699115933 meters 0.049456106256793725 Centerline is valid? [True, True] Translation: X:-4.57, Y:0.47, Z:0.16 [[ 0.99123377 -0.09656506 -0.09017092 -4.56565511] [ 0.0980917 0.99509704 0.01264485 0.46549104] [ 0.08850777 -0.02137902 0.99584603 0.1558176 ] [ 0. 0. 0. 1. ]] SLAMing on 4.729115933 meters 0.05121187009313757 Centerline is valid? [True, True] Translation: X:-4.60, Y:0.47, Z:0.15 [[ 0.99046235 -0.10067605 -0.09406735 -4.59543759] [ 0.10235595 0.99466032 0.0131953 0.47235081] [ 0.09223661 -0.0226978 0.99547839 0.15337638] [ 0. 0. 0. 1. ]] SLAMing on 4.759115933 meters 0.04549982910928677 Centerline is valid? [True, True] Translation: X:-4.62, Y:0.49, Z:0.16 [[ 0.99137296 -0.09640409 -0.08880258 -4.62387774] [ 0.09788404 0.9951199 0.01245425 0.48865684] [ 0.08716857 -0.02103916 0.99597138 0.15561497] [ 0. 0. 0. 1. ]] SLAMing on 4.789115933 meters 0.04549982910928677 Centerline is valid? [True, True] Translation: X:-4.65, Y:0.49, Z:0.16 [[ 0.99143812 -0.09573829 -0.08879547 -4.65207768] [ 0.09722 0.99518436 0.01250478 0.49253614] [ 0.08717068 -0.02103041 0.99597138 0.15525213] [ 0. 0. 0. 1. ]] SLAMing on 4.819115933 meters 0.04487330392691162 Centerline is valid? [True, True] Translation: X:-4.68, Y:0.49, Z:0.16 [[ 0.99155491 -0.09489374 -0.088397 -4.68085211] [ 0.09636363 0.99526768 0.01250219 0.49474443] [ 0.0867923 -0.02091486 0.99600686 0.16065899] [ 0. 0. 0. 1. ]] SLAMing on 4.849115933 meters 0.045179422614312424 Centerline is valid? [True, True] Translation: X:-4.71, Y:0.50, Z:0.15 [[ 0.99148424 -0.09588869 -0.08811562 -4.71004672] [ 0.09735466 0.99517147 0.01248271 0.49502789] [ 0.0864932 -0.02095488 0.99603204 0.15287454] [ 0. 0. 0. 1. ]] SLAMing on 4.879115933 meters 0.049533996485188726 Centerline is valid? [True, True] Translation: X:-4.74, Y:0.49, Z:0.15 [[ 0.99095097 -0.0953565 -0.09446334 -4.74195165] [ 0.09704108 0.99519027 0.01339245 0.4853157 ] [ 0.09273194 -0.02243809 0.99543825 0.1482402 ] [ 0. 0. 0. 1. ]] SLAMing on 4.909115933 meters 0.044813881647812796 Centerline is valid? [True, True] Translation: X:-4.77, Y:0.50, Z:0.15 [[ 0.99096452 -0.1007149 -0.08857672 -4.76912623] [ 0.10221581 0.9946829 0.0125638 0.5007522 ] [ 0.08684038 -0.02150422 0.99599012 0.15022073] [ 0. 0. 0. 1. ]] SLAMing on 4.939115933 meters 0.04782069561517079 Centerline is valid? [True, True] Translation: X:-4.80, Y:0.49, Z:0.15 [[ 0.99145386 -0.09531968 -0.08906962 -4.80207888] [ 0.09681691 0.99522203 0.01263333 0.48766223] [ 0.08743984 -0.02114881 0.99594528 0.15214824] [ 0. 0. 0. 1. ]] SLAMing on 4.969115933 meters 0.04867938770515563 Centerline is valid? [True, True] Translation: X:-4.83, Y:0.48, Z:0.15 [[ 0.99192593 -0.08984668 -0.08950152 -4.83282279] [ 0.09133777 0.99573901 0.0126977 0.48410949] [ 0.08797931 -0.02077005 0.99590574 0.15015384] [ 0. 0. 0. 1. ]] SLAMing on 4.999115933 meters 0.048163946115338675 Centerline is valid? [True, True] Translation: X:-4.86, Y:0.48, Z:0.14 [[ 0.99179901 -0.08494246 -0.09549612 -4.8642421 ] [ 0.08661983 0.99614927 0.01355132 0.47802789] [ 0.09397731 -0.02171204 0.99533756 0.14447698] [ 0. 0. 0. 1. ]] SLAMing on 5.029115933 meters 0.047947367337635285 Centerline is valid? [True, True] Translation: X:-4.89, Y:0.47, Z:0.14 [[ 0.9918322 -0.086394 -0.09383482 -4.89435884] [ 0.08802079 0.99602943 0.01333071 0.47117721] [ 0.09231055 -0.02148124 0.99549853 0.14139651] [ 0. 0. 0. 1. ]] SLAMing on 5.059115933 meters 0.050073136647754216 Centerline is valid? [True, True] Translation: X:-4.93, Y:0.46, Z:0.14 [[ 0.99220555 -0.08540115 -0.09074571 -4.92610779] [ 0.0869187 0.99613191 0.0128976 0.45910448] [ 0.08929322 -0.02068457 0.99579057 0.14017817] [ 0. 0. 0. 1. ]] SLAMing on 5.0891159329999995 meters 0.05029247108510722 Centerline is valid? [True, True] Translation: X:-4.96, Y:0.45, Z:0.13 [[ 0.99201893 -0.08212769 -0.09567385 -4.956277 ] [ 0.08380602 0.99638858 0.0136512 0.45332177] [ 0.09420719 -0.02156029 0.99531912 0.13369733] [ 0. 0. 0. 1. ]] SLAMing on 5.119115933 meters 0.05128334092245546 Centerline is valid? [True, True] Translation: X:-4.99, Y:0.44, Z:0.13 [[ 0.9917701 -0.07648161 -0.1026773 -4.98820739] [ 0.07838865 0.99681505 0.01466237 0.43966562] [ 0.10122887 -0.02259044 0.99460665 0.12787502] [ 0. 0. 0. 1. ]] SLAMing on 5.149115933 meters 0.052535720652790684 Centerline is valid? [True, True] Translation: X:-5.02, Y:0.43, Z:0.12 [[ 0.99225103 -0.07409544 -0.09973842 -5.02031855] [ 0.075883 0.99701498 0.01424441 0.43165939] [ 0.09838525 -0.02170248 0.99491173 0.12370849] [ 0. 0. 0. 1. ]] SLAMing on 5.179115933 meters 0.05082433512499445 Centerline is valid? [True, True] Translation: X:-5.05, Y:0.43, Z:0.12 [[ 0.99265971 -0.06904824 -0.09929275 -5.05083523] [ 0.07079611 0.99738995 0.01418457 0.42733666] [ 0.09805417 -0.02110999 0.99495716 0.11546371] [ 0. 0. 0. 1. ]] SLAMing on 5.209115933 meters 0.052631789831559174 Centerline is valid? [True, True] Translation: X:-5.08, Y:0.41, Z:0.11 [[ 0.99253444 -0.0637727 -0.10396359 -5.08345942] [ 0.06566265 0.99773129 0.01485547 0.41386636] [ 0.10278035 -0.02157109 0.99447015 0.11208803] [ 0. 0. 0. 1. ]] SLAMing on 5.239115933 meters 0.05195898961975238 Centerline is valid? [True, True] Translation: X:-5.11, Y:0.41, Z:0.11 [[ 0.99255258 -0.06136963 -0.10522902 -5.11436322] [ 0.06329533 0.99788126 0.01505608 0.40563983] [ 0.10408208 -0.02160445 0.99433403 0.10823721] [ 0. 0. 0. 1. ]] SLAMing on 5.269115933 meters 0.05234568291606914 Centerline is valid? [True, True] Translation: X:-5.14, Y:0.40, Z:0.11 [[ 0.99250998 -0.0596309 -0.10662124 -5.14473459] [ 0.06160562 0.99798297 0.01532127 0.39875451] [ 0.10549256 -0.02177498 0.99418166 0.10803416] [ 0. 0. 0. 1. ]] SLAMing on 5.2991159329999995 meters 0.05340410572240247 Centerline is valid? [True, True] Translation: X:-5.18, Y:0.40, Z:0.10 [[ 0.99276371 -0.05603309 -0.10620973 -5.17609409] [ 0.05797396 0.99820126 0.01527305 0.39579261] [ 0.10516289 -0.02131993 0.99422645 0.10253372] [ 0. 0. 0. 1. ]] SLAMing on 5.329115933 meters 0.05262930763557542 Centerline is valid? [True, True] Translation: X:-5.21, Y:0.40, Z:0.10 [[ 0.99272147 -0.05542813 -0.10691963 -5.20586181] [ 0.05739858 0.99823197 0.01543837 0.39534496] [ 0.10587487 -0.02146304 0.9941478 0.0981378 ] [ 0. 0. 0. 1. ]] SLAMing on 5.359115933 meters 0.05462318594513775 Centerline is valid? [True, True] Translation: X:-5.24, Y:0.38, Z:0.10 [[ 0.99272032 -0.05422827 -0.10754374 -5.23692946] [ 0.05622302 0.99829633 0.01560152 0.38129398] [ 0.10651448 -0.02153437 0.99407793 0.09705171] [ 0. 0. 0. 1. ]] SLAMing on 5.389115933 meters 0.05343342764800407 Centerline is valid? [True, True] Translation: X:-5.27, Y:0.38, Z:0.10 [[ 0.99298584 -0.04969452 -0.10728266 -5.26674226] [ 0.05165609 0.99854337 0.01558155 0.37890444] [ 0.10635207 -0.02101406 0.99410646 0.09974254] [ 0. 0. 0. 1. ]] SLAMing on 5.419115933 meters 0.05334260083082574 Centerline is valid? [True, True] Translation: X:-5.30, Y:0.38, Z:0.10 [[ 0.99275487 -0.04588609 -0.11105061 -5.2969693 ] [ 0.04796713 0.99871851 0.01613963 0.3773315 ] [ 0.11016771 -0.02134947 0.99368369 0.09592126] [ 0. 0. 0. 1. ]] SLAMing on 5.449115933 meters 0.052278457295619946 Centerline is valid? [True, True] Translation: X:-5.33, Y:0.38, Z:0.09 [[ 0.99258157 -0.04460277 -0.11310358 -5.32511937] [ 0.04676171 0.99876969 0.01650626 0.38141364] [ 0.1122282 -0.02167273 0.99344608 0.09483944] [ 0. 0. 0. 1. ]] SLAMing on 5.479115933 meters 0.05344726513354192 Centerline is valid? [True, True] Translation: X:-5.35, Y:0.38, Z:0.09 [[ 0.9930011 -0.04508523 -0.10916105 -5.35443192] [ 0.04710618 0.99876166 0.0160047 0.38266166] [ 0.1083043 -0.02103484 0.99389522 0.09222444] [ 0. 0. 0. 1. ]] SLAMing on 5.509115933 meters 0.05408870118196405 Centerline is valid? [True, True] Translation: X:-5.39, Y:0.38, Z:0.09 [[ 0.99269569 -0.0463376 -0.11139159 -5.38528083] [ 0.04845161 0.99869178 0.01634524 0.3812287 ] [ 0.11048846 -0.02162295 0.99364216 0.08920216] [ 0. 0. 0. 1. ]] SLAMing on 5.539115933 meters 0.0533000532935594 Centerline is valid? [True, True] Translation: X:-5.42, Y:0.38, Z:0.09 [[ 0.99249437 -0.04947838 -0.11183389 -5.41645079] [ 0.05162923 0.99853137 0.01641728 0.37922421] [ 0.11085735 -0.02206796 0.99359129 0.09274597] [ 0. 0. 0. 1. ]] SLAMing on 5.569115933 meters 0.052646167299860665 Centerline is valid? [True, True] Translation: X:-5.45, Y:0.38, Z:0.09 [[ 0.99234347 -0.045223 -0.11493177 -5.44662632] [ 0.04746883 0.99873012 0.01687792 0.3797835 ] [ 0.11402255 -0.02220437 0.99323 0.09102249] [ 0. 0. 0. 1. ]] SLAMing on 5.599115933 meters 0.0528455190678004 Centerline is valid? [True, True] Translation: X:-5.48, Y:0.38, Z:0.09 [[ 0.99224665 -0.04239848 -0.11682877 -5.47649083] [ 0.04470268 0.99885273 0.01717248 0.37776137] [ 0.11596665 -0.02226189 0.9930036 0.09483316] [ 0. 0. 0. 1. ]] SLAMing on 5.629115933 meters 0.054171348084406046 Centerline is valid? [True, True] Translation: X:-5.51, Y:0.37, Z:0.10 [[ 0.99237632 -0.04091479 -0.11625495 -5.50730426] [ 0.04319498 0.99891925 0.01716147 0.36920247] [ 0.11542715 -0.02205227 0.99307113 0.09891268] [ 0. 0. 0. 1. ]] SLAMing on 5.659115933 meters 0.050249470880151956 Centerline is valid? [True, True] Translation: X:-5.54, Y:0.36, Z:0.10 [[ 0.991544 -0.03232824 -0.12567971 -5.53829001] [ 0.03493262 0.99921706 0.01857343 0.36015063] [ 0.12498086 -0.02280669 0.99189699 0.09502239] [ 0. 0. 0. 1. ]] SLAMing on 5.689115933 meters 0.0507174833472653 Centerline is valid? [True, True] Translation: X:-5.57, Y:0.36, Z:0.10 [[ 0.99143051 -0.03494927 -0.12587333 -5.56886564] [ 0.03758385 0.99912006 0.01861599 0.35859175] [ 0.12511195 -0.02318727 0.99187164 0.09604083] [ 0. 0. 0. 1. ]] SLAMing on 5.719115933 meters 0.04898024389429699 Centerline is valid? [True, True] Translation: X:-5.60, Y:0.35, Z:0.10 [[ 0.99093177 -0.02232842 -0.13249777 -5.60100418] [ 0.02514283 0.99949159 0.01960608 0.3500879 ] [ 0.13199264 -0.02275966 0.99098938 0.0951054 ] [ 0. 0. 0. 1. ]] SLAMing on 5.749115933 meters 0.04958174323686806 Centerline is valid? [True, True] Translation: X:-5.63, Y:0.34, Z:0.10 [[ 0.99095773 -0.02884859 -0.13103642 -5.63225727] [ 0.03165712 0.99931049 0.01940048 0.34310875] [ 0.13038639 -0.0233733 0.99118771 0.10095728] [ 0. 0. 0. 1. ]] SLAMing on 5.779115933 meters 0.0440047340704697 Centerline is valid? [True, True] Translation: X:-5.66, Y:0.34, Z:0.09 [[ 0.98986214 -0.00977058 -0.14169504 -5.6615999 ] [ 0.0128733 0.99969666 0.02099699 0.34064522] [ 0.1414469 -0.02260821 0.98968765 0.0941371 ] [ 0. 0. 0. 1. ]] SLAMing on 5.809115933 meters 0.044253049103879914 Centerline is valid? [True, True] Translation: X:-5.69, Y:0.34, Z:0.09 [[ 0.98967277 -0.01136146 -0.14289411 -5.69143849] [ 0.01453577 0.99966979 0.02119012 0.34088438] [ 0.14260618 -0.02304836 0.98951112 0.09376091] [ 0. 0. 0. 1. ]] SLAMing on 5.8391159329999995 meters 0.042182617019998606 Centerline is valid? [True, True] Translation: X:-5.72, Y:0.34, Z:0.09 [[ 9.88571617e-01 -3.99635224e-03 -1.50698992e-01 -5.72066827e+00] [ 7.46369496e-03 9.99720111e-01 2.24498070e-02 3.40143156e-01] [ 1.50567096e-01 -2.33180134e-02 9.88324754e-01 8.73184929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.869115933 meters 0.04348233086769837 Centerline is valid? [True, True] Translation: X:-5.75, Y:0.34, Z:0.09 [[ 0.9884369 -0.0078471 -0.15142957 -5.7514469 ] [ 0.01139553 0.99968011 0.0225793 0.33558884] [ 0.15120395 -0.02404383 0.98821013 0.08706439] [ 0. 0. 0. 1. ]] SLAMing on 5.899115933 meters 0.0380506978211245 Centerline is valid? [True, True] Translation: X:-5.78, Y:0.34, Z:0.08 [[ 0.98739638 0.02494925 -0.15628797 -5.77989983] [-0.02156321 0.99949539 0.0233238 0.33732339] [ 0.15679102 -0.01965976 0.98743611 0.07877116] [ 0. 0. 0. 1. ]] SLAMing on 5.929115933 meters 0.036252489812493655 Centerline is valid? [True, True] Translation: X:-5.81, Y:0.34, Z:0.07 [[ 0.98640908 0.03944646 -0.15950269 -5.8085538 ] [-0.0360998 0.99906412 0.02382636 0.34281889] [ 0.16029328 -0.01774452 0.98690992 0.07224709] [ 0. 0. 0. 1. ]] SLAMing on 5.959115933 meters 0.03814282611944298 Centerline is valid? [True, True] Translation: X:-5.84, Y:0.35, Z:0.08 [[ 0.98744938 0.03792841 -0.15331392 -5.83816849] [-0.03480927 0.99912976 0.02297906 0.34879359] [ 0.15405206 -0.01735391 0.98791032 0.07508567] [ 0. 0. 0. 1. ]] SLAMing on 5.989115933 meters 0.0382805777967844 Centerline is valid? [True, True] Translation: X:-5.87, Y:0.35, Z:0.07 [[ 0.98697382 0.03468007 -0.1570986 -5.86747094] [-0.0313587 0.9992302 0.02357214 0.35119802] [ 0.15779515 -0.01833868 0.98730157 0.0746429 ] [ 0. 0. 0. 1. ]] SLAMing on 6.019115933 meters 0.03812639393115202 Centerline is valid? [True, True] Translation: X:-5.90, Y:0.36, Z:0.07 [[ 0.98688665 0.0388581 -0.15666773 -5.89677807] [-0.03560306 0.99908895 0.02353078 0.35539701] [ 0.15743936 -0.01764436 0.98737102 0.07486878] [ 0. 0. 0. 1. ]] SLAMing on 6.0491159329999995 meters 0.03940957633470347 Centerline is valid? [True, True] Translation: X:-5.92, Y:0.37, Z:0.09 [[ 0.98887761 0.04217818 -0.14262566 -5.92491354] [-0.03951627 0.99898875 0.02144616 0.36973627] [ 0.14338599 -0.01557159 0.98954433 0.0850705 ] [ 0. 0. 0. 1. ]] SLAMing on 6.079115933 meters 0.030428531300873116 Centerline is valid? [True, True] Translation: X:-5.95, Y:0.37, Z:0.07 [[ 0.98453597 0.09251574 -0.14876077 -5.95342846] [-0.09017834 0.99567378 0.02239618 0.37492861] [ 0.15018919 -0.00863484 0.98861957 0.07401132] [ 0. 0. 0. 1. ]] SLAMing on 6.109115933 meters 0.035549522835449314 Centerline is valid? [True, True] Translation: X:-5.98, Y:0.39, Z:0.09 [[ 0.98554055 0.10031949 -0.13654972 -5.98067036] [-0.09841559 0.99493133 0.02064039 0.39134168] [ 0.13792823 -0.00690332 0.99041817 0.08936515] [ 0. 0. 0. 1. ]] SLAMing on 6.139115933 meters 0.03131066318766488 Centerline is valid? [True, True] Translation: X:-6.01, Y:0.39, Z:0.07 [[ 9.79007377e-01 1.46013793e-01 -1.42212965e-01 -6.01042337e+00] [-1.44415417e-01 9.89282394e-01 2.15530005e-02 3.91621784e-01] [ 1.43835818e-01 -5.62801833e-04 9.89601405e-01 6.74160685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.169115933 meters 0.03172884716658857 Centerline is valid? [True, True] Translation: X:-6.04, Y:0.40, Z:0.07 [[ 9.78343714e-01 1.55063013e-01 -1.37109585e-01 -6.03916965e+00] [-1.53659568e-01 9.87904339e-01 2.08267829e-02 3.98441024e-01] [ 1.38680617e-01 6.92447365e-04 9.90336916e-01 7.26812677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.199115933 meters 0.031707428555053575 Centerline is valid? [True, True] Translation: X:-6.07, Y:0.40, Z:0.07 [[ 9.77533280e-01 1.63860105e-01 -1.32584136e-01 -6.06847704e+00] [-1.62622854e-01 9.86481883e-01 2.01817007e-02 3.99813639e-01] [ 1.34098823e-01 1.83292640e-03 9.90966269e-01 7.45828383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.229115933 meters 0.03105395851204641 Centerline is valid? [True, True] Translation: X:-6.10, Y:0.40, Z:0.08 [[ 9.77054856e-01 1.64796570e-01 -1.34929235e-01 -6.09910321e+00] [-1.63513101e-01 9.86325711e-01 2.06169219e-02 3.96293622e-01] [ 1.36481772e-01 1.91883401e-03 9.90640724e-01 7.95790588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.259115933 meters 0.02769263857760183 Centerline is valid? [True, True] Translation: X:-6.13, Y:0.39, Z:0.07 [[ 9.74771084e-01 1.74050086e-01 -1.39742269e-01 -6.12814675e+00] [-1.72759963e-01 9.84731348e-01 2.14048254e-02 3.94162271e-01] [ 1.41334105e-01 3.27706441e-03 9.89956530e-01 6.85714978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.289115933 meters 0.03132103494629244 Centerline is valid? [True, True] Translation: X:-6.16, Y:0.40, Z:0.09 [[ 9.81835708e-01 1.40579478e-01 -1.27420768e-01 -6.15637110e+00] [-1.39218228e-01 9.90068295e-01 1.95718257e-02 4.01696647e-01] [ 1.28906660e-01 -1.47702387e-03 9.91655631e-01 9.22449038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.319115933 meters 0.029158796497114635 Centerline is valid? [True, True] Translation: X:-6.19, Y:0.40, Z:0.09 [[ 9.80668179e-01 1.46435742e-01 -1.29794055e-01 -6.18634947e+00] [-1.45062938e-01 9.89219857e-01 2.00204565e-02 4.00216239e-01] [ 1.31326567e-01 -8.05117510e-04 9.91338834e-01 8.90790626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.349115933 meters 0.02619315172992536 Centerline is valid? [True, True] Translation: X:-6.22, Y:0.40, Z:0.08 [[ 9.79106073e-01 1.54878571e-01 -1.31772250e-01 -6.21588339e+00] [-1.53532066e-01 9.87933475e-01 2.03802082e-02 4.01539716e-01] [ 1.33338674e-01 2.76880269e-04 9.91070493e-01 8.34898062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.379115933 meters 0.02437474145496491 Centerline is valid? [True, True] Translation: X:-6.24, Y:0.41, Z:0.08 [[ 9.78291434e-01 1.59147990e-01 -1.32732010e-01 -6.24415164e+00] [-1.57808323e-01 9.87254435e-01 2.06207108e-02 4.07442284e-01] [ 1.34322010e-01 7.73151146e-04 9.90937435e-01 8.22358522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.409115933 meters 0.023850632337322174 Centerline is valid? [True, True] Translation: X:-6.27, Y:0.42, Z:0.09 [[ 9.79136770e-01 1.54633920e-01 -1.31831471e-01 -6.27160288e+00] [-1.53266196e-01 9.87971831e-01 2.05215677e-02 4.16081036e-01] [ 1.33419110e-01 1.11886631e-04 9.91059700e-01 8.60878552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.439115933 meters 0.026366701920719483 Centerline is valid? [True, True] Translation: X:-6.30, Y:0.43, Z:0.10 [[ 9.81118482e-01 1.46258261e-01 -1.26550562e-01 -6.29964198e+00] [-1.44922941e-01 9.89245902e-01 1.97455402e-02 4.26713914e-01] [ 1.28077573e-01 -1.03263479e-03 9.91763615e-01 9.55532485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.469115933 meters 0.02652599304308325 Centerline is valid? [True, True] Translation: X:-6.33, Y:0.44, Z:0.10 [[ 9.82749670e-01 1.40565956e-01 -1.20184433e-01 -6.32744501e+00] [-1.39309712e-01 9.90069742e-01 1.88337654e-02 4.38444503e-01] [ 1.21638356e-01 -1.76601796e-03 9.92572915e-01 1.02749224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.499115933 meters 0.0246308936737932 Centerline is valid? [True, True] Translation: X:-6.36, Y:0.45, Z:0.10 [[ 9.82105950e-01 1.47768543e-01 -1.16757702e-01 -6.35646442e+00] [-1.46625110e-01 9.89021540e-01 1.83703498e-02 4.46440833e-01] [ 1.18190442e-01 -9.22019021e-04 9.92990518e-01 1.03593907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.529115933 meters 0.023351489445041437 Centerline is valid? [True, True] Translation: X:-6.38, Y:0.45, Z:0.10 [[ 9.80045187e-01 1.61291490e-01 -1.16174381e-01 -6.38494781e+00] [-1.60244201e-01 9.86906616e-01 1.83610294e-02 4.52548007e-01] [ 1.17614743e-01 6.21632360e-04 9.93059105e-01 1.03930115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.559115933 meters 0.02648698616203859 Centerline is valid? [True, True] Translation: X:-6.41, Y:0.46, Z:0.12 [[ 9.81710848e-01 1.55115275e-01 -1.10376908e-01 -6.41322417e+00] [-1.54122858e-01 9.87896359e-01 1.75193730e-02 4.63950184e-01] [ 1.11758468e-01 -1.87354031e-04 9.93735382e-01 1.17385990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5891159329999995 meters 0.02860403302083851 Centerline is valid? [True, True] Translation: X:-6.44, Y:0.47, Z:0.12 [[ 9.80221418e-01 1.63550654e-01 -1.11432292e-01 -6.44099598e+00] [-1.62584240e-01 9.86534689e-01 1.77671969e-02 4.74127266e-01] [ 1.12837658e-01 7.01347481e-04 9.93613190e-01 1.24004065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.619115933 meters 0.029974591759452125 Centerline is valid? [True, True] Translation: X:-6.47, Y:0.48, Z:0.13 [[ 9.79563251e-01 1.69921511e-01 -1.07622102e-01 -6.46862702e+00] [-1.69055290e-01 9.85456666e-01 1.71891858e-02 4.83838296e-01] [ 1.08977730e-01 1.35619094e-03 9.94043266e-01 1.28896249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.649115933 meters 0.03144776715424806 Centerline is valid? [True, True] Translation: X:-6.50, Y:0.49, Z:0.13 [[ 9.80342612e-01 1.69778676e-01 -1.00516486e-01 -6.49761705e+00] [-1.69016034e-01 9.85481502e-01 1.61179948e-02 4.91292225e-01] [ 1.01793630e-01 1.18774077e-03 9.94804828e-01 1.34740687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.679115933 meters 0.0302409318828828 Centerline is valid? [True, True] Translation: X:-6.53, Y:0.49, Z:0.14 [[ 9.79537177e-01 1.75861500e-01 -9.78756973e-02 -6.52639546e+00] [-1.75161783e-01 9.84413447e-01 1.57643504e-02 4.94306493e-01] [ 9.91224949e-02 1.70231435e-03 9.95073783e-01 1.35733473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.709115933 meters 0.0302409318828828 Centerline is valid? [True, True] Translation: X:-6.55, Y:0.50, Z:0.14 [[ 9.79395993e-01 1.76653001e-01 -9.78631956e-02 -6.55398587e+00] [-1.75949493e-01 9.84271718e-01 1.58417491e-02 4.98719050e-01] [ 9.91224682e-02 1.70363407e-03 9.95073783e-01 1.35381346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.739115933 meters 0.028177098080123298 Centerline is valid? [True, True] Translation: X:-6.58, Y:0.51, Z:0.14 [[ 9.79510193e-01 1.76169236e-01 -9.75919129e-02 -6.58277125e+00] [-1.75460124e-01 9.84358627e-01 1.58694215e-02 5.05353737e-01] [ 9.88611453e-02 1.57922896e-03 9.95099985e-01 1.37889746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.769115933 meters 0.023765327758487123 Centerline is valid? [True, True] Translation: X:-6.61, Y:0.51, Z:0.13 [[ 9.75457000e-01 1.92417839e-01 -1.07046799e-01 -6.61201051e+00] [-1.91653646e-01 9.81306967e-01 1.74790437e-02 5.08717428e-01] [ 1.08409049e-01 3.46585368e-03 9.94100330e-01 1.34610336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7991159329999995 meters 0.023771953088540267 Centerline is valid? [True, True] Translation: X:-6.64, Y:0.51, Z:0.14 [[ 9.76139079e-01 1.91134270e-01 -1.03054300e-01 -6.64110621e+00] [-1.90411926e-01 9.81558905e-01 1.68942220e-02 5.14663840e-01] [ 1.04382930e-01 3.13165745e-03 9.94532250e-01 1.37794310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.829115933 meters 0.022186669138799513 Centerline is valid? [True, True] Translation: X:-6.67, Y:0.51, Z:0.14 [[ 9.74742751e-01 1.97605190e-01 -1.04061316e-01 -6.67106754e+00] [-1.96898078e-01 9.80274345e-01 1.71276238e-02 5.14197033e-01] [ 1.05393146e-01 3.79444602e-03 9.94423394e-01 1.36629230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.859115933 meters 0.021675051677427726 Centerline is valid? [True, True] Translation: X:-6.70, Y:0.52, Z:0.14 [[ 9.74529779e-01 1.98663216e-01 -1.04041509e-01 -6.69994832e+00] [-1.97953642e-01 9.80060346e-01 1.72068025e-02 5.15877552e-01] [ 1.05385316e-01 3.82685420e-03 9.94424100e-01 1.40455538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.889115933 meters 0.021443690045142984 Centerline is valid? [True, True] Translation: X:-6.73, Y:0.51, Z:0.14 [[ 9.72706034e-01 2.07120179e-01 -1.04614545e-01 -6.72966290e+00] [-2.06443961e-01 9.78304216e-01 1.73709849e-02 5.14983505e-01] [ 1.05942732e-01 4.70017923e-03 9.94361124e-01 1.35935396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.919115933 meters 0.021282723715827435 Centerline is valid? [True, True] Translation: X:-6.76, Y:0.52, Z:0.14 [[ 9.72800105e-01 2.08688098e-01 -1.00544682e-01 -6.75788494e+00] [-2.08065357e-01 9.77971349e-01 1.67585129e-02 5.19577642e-01] [ 1.01827121e-01 4.61718216e-03 9.94791395e-01 1.38725517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.949115933 meters 0.02158848478769784 Centerline is valid? [True, True] Translation: X:-6.79, Y:0.53, Z:0.14 [[ 9.73912145e-01 2.04204679e-01 -9.89726385e-02 -6.78641698e+00] [-2.03574714e-01 9.78919843e-01 1.65310870e-02 5.25859643e-01] [ 1.00262005e-01 4.04850019e-03 9.94952833e-01 1.42582463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.979115933 meters 0.02326781979916995 Centerline is valid? [True, True] Translation: X:-6.82, Y:0.53, Z:0.14 [[ 9.74816260e-01 2.01322030e-01 -9.59306974e-02 -6.81584127e+00] [-2.00710707e-01 9.79518572e-01 1.60804219e-02 5.30750390e-01] [ 9.72032428e-02 3.57886137e-03 9.95258118e-01 1.40706433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0091159329999995 meters 0.023245572621326864 Centerline is valid? [True, True] Translation: X:-6.84, Y:0.54, Z:0.14 [[ 9.74970515e-01 2.02328695e-01 -9.21715465e-02 -6.84480297e+00] [-2.01763210e-01 9.79311507e-01 1.55106255e-02 5.35753177e-01] [ 9.34029007e-02 3.47442457e-03 9.95622331e-01 1.43810870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.039115933 meters 0.02316289116324062 Centerline is valid? [True, True] Translation: X:-6.87, Y:0.54, Z:0.14 [[ 9.73607697e-01 2.08063313e-01 -9.37961058e-02 -6.87355724e+00] [-2.07497913e-01 9.78107053e-01 1.58495726e-02 5.38684115e-01] [ 9.50403472e-02 4.03123034e-03 9.95465259e-01 1.40826647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.069115933 meters 0.025944575537192503 Centerline is valid? [True, True] Translation: X:-6.90, Y:0.54, Z:0.14 [[ 9.74605989e-01 2.05094060e-01 -8.98865532e-02 -6.90313179e+00] [-2.04556932e-01 9.78735913e-01 1.52471262e-02 5.41188683e-01] [ 9.11022927e-02 3.52697695e-03 9.95835294e-01 1.40270764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.099115933 meters 0.029247381410721366 Centerline is valid? [True, True] Translation: X:-6.93, Y:0.55, Z:0.14 [[ 9.77050470e-01 1.97272095e-01 -8.03498524e-02 -6.93176297e+00] [-1.96812289e-01 9.80345723e-01 1.36816060e-02 5.48966462e-01] [ 8.14696332e-02 2.44621876e-03 9.96672822e-01 1.42342243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.129115933 meters 0.027342236160383532 Centerline is valid? [True, True] Translation: X:-6.96, Y:0.55, Z:0.14 [[ 9.75191355e-01 2.05380715e-01 -8.25868197e-02 -6.96070408e+00] [-2.04921969e-01 9.78676963e-01 1.40850743e-02 5.50083434e-01] [ 8.37186205e-02 3.18821099e-03 9.96484334e-01 1.39429918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.159115933 meters 0.024812870756649414 Centerline is valid? [True, True] Translation: X:-6.99, Y:0.55, Z:0.13 [[ 9.71367545e-01 2.18461035e-01 -9.33802342e-02 -6.99065629e+00] [-2.17929063e-01 9.75833741e-01 1.59822894e-02 5.49087643e-01] [ 9.46150907e-02 4.82558979e-03 9.95502234e-01 1.34526036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.189115933 meters 0.024660323316845915 Centerline is valid? [True, True] Translation: X:-7.02, Y:0.55, Z:0.13 [[ 9.70361609e-01 2.22222312e-01 -9.49504729e-02 -7.01997081e+00] [-2.21683861e-01 9.74982070e-01 1.63165223e-02 5.51729811e-01] [ 9.62009040e-02 5.21606069e-03 9.95348270e-01 1.31456558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.219115932999999 meters 0.022364931009625003 Centerline is valid? [True, True] Translation: X:-7.05, Y:0.54, Z:0.12 [[ 0.96532637 0.24136203 -0.0994453 -7.05140511] [-0.24086513 0.97040698 0.01715454 0.54007666] [ 0.10064287 0.00739318 0.99489515 0.12150293] [ 0. 0. 0. 1. ]] SLAMing on 7.249115933 meters 0.021246045333954192 Centerline is valid? [True, True] Translation: X:-7.08, Y:0.54, Z:0.12 [[ 0.96527623 0.24164141 -0.0992534 -7.08101749] [-0.24114119 0.97033783 0.01718769 0.53724166] [ 0.10046258 0.00734321 0.99491374 0.11985773] [ 0. 0. 0. 1. ]] SLAMing on 7.279115933 meters 0.022426477328432507 Centerline is valid? [True, True] Translation: X:-7.11, Y:0.54, Z:0.12 [[ 0.96517637 0.24014636 -0.10375114 -7.10966443] [-0.23958377 0.97070812 0.01803765 0.54202383] [ 0.10504375 0.00744758 0.99443971 0.12419153] [ 0. 0. 0. 1. ]] SLAMing on 7.309115933 meters 0.022693842376113955 Centerline is valid? [True, True] Translation: X:-7.14, Y:0.54, Z:0.13 [[ 9.66170569e-01 2.37531023e-01 -1.00466143e-01 -7.13790769e+00] [-2.36981999e-01 9.71355709e-01 1.75390609e-02 5.44940103e-01] [ 1.01754432e-01 6.86294290e-03 9.94785874e-01 1.27596377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3391159329999995 meters 0.023135155133677646 Centerline is valid? [True, True] Translation: X:-7.17, Y:0.54, Z:0.12 [[ 0.96417374 0.24588725 -0.09954121 -7.16782194] [-0.24538545 0.9692686 0.01744586 0.54303106] [ 0.10077189 0.00760512 0.99488049 0.11904689] [ 0. 0. 0. 1. ]] SLAMing on 7.369115933 meters 0.022628022487644936 Centerline is valid? [True, True] Translation: X:-7.20, Y:0.54, Z:0.12 [[ 0.96334366 0.24795403 -0.10240996 -7.19676672] [-0.24742688 0.96873895 0.01802182 0.54321625] [ 0.1036771 0.00797777 0.99457901 0.11992035] [ 0. 0. 0. 1. ]] SLAMing on 7.399115933 meters 0.02293657919141259 Centerline is valid? [True, True] Translation: X:-7.23, Y:0.55, Z:0.13 [[ 0.96439681 0.24470283 -0.10029618 -7.22566765] [-0.24417242 0.96956989 0.01772148 0.54561005] [ 0.10158065 0.00739902 0.99479979 0.12727747] [ 0. 0. 0. 1. ]] SLAMing on 7.429115933 meters 0.021111508890240896 Centerline is valid? [True, True] Translation: X:-7.25, Y:0.55, Z:0.12 [[ 0.95828796 0.26560797 -0.10553008 -7.25481286] [-0.26514006 0.96402861 0.01869752 0.54514711] [ 0.10670023 0.01006265 0.99424032 0.11537752] [ 0. 0. 0. 1. ]] SLAMing on 7.459115933 meters 0.02164146921531219 Centerline is valid? [True, True] Translation: X:-7.28, Y:0.55, Z:0.12 [[ 0.9605731 0.25946634 -0.09988265 -7.28326773] [-0.2590067 0.96571205 0.01776985 0.54672071] [ 0.10106855 0.00880104 0.99484053 0.11730405] [ 0. 0. 0. 1. ]] SLAMing on 7.489115933 meters 0.02226177752723281 Centerline is valid? [True, True] Translation: X:-7.31, Y:0.54, Z:0.11 [[ 0.95545594 0.27479617 -0.10766152 -7.31290814] [-0.27435236 0.96143742 0.01920587 0.53882793] [ 0.10878752 0.01118683 0.99400208 0.10815151] [ 0. 0. 0. 1. ]] SLAMing on 7.519115933 meters 0.022193204407254807 Centerline is valid? [True, True] Translation: X:-7.34, Y:0.54, Z:0.11 [[ 0.95557612 0.27558581 -0.10453109 -7.34081074] [-0.27516408 0.96121498 0.01872153 0.54382459] [ 0.10563624 0.01087335 0.99434539 0.11486422] [ 0. 0. 0. 1. ]] SLAMing on 7.5491159329999995 meters 0.022367978928347697 Centerline is valid? [True, True] Translation: X:-7.37, Y:0.55, Z:0.12 [[ 0.9546264 0.27915576 -0.10373278 -7.36823831] [-0.27875298 0.96018161 0.01865635 0.54983216] [ 0.10481034 0.01110597 0.99443021 0.11882021] [ 0. 0. 0. 1. ]] SLAMing on 7.579115933 meters 0.022286924039416237 Centerline is valid? [True, True] Translation: X:-7.40, Y:0.55, Z:0.12 [[ 0.95484149 0.27875877 -0.10281667 -7.39714653] [-0.27835326 0.96029936 0.01856342 0.55315446] [ 0.1039095 0.01089423 0.99452709 0.11714526] [ 0. 0. 0. 1. ]] SLAMing on 7.609115933 meters 0.02239359592273507 Centerline is valid? [True, True] Translation: X:-7.43, Y:0.55, Z:0.12 [[ 0.95521121 0.27793832 -0.1015964 -7.42622549] [-0.27753092 0.96054031 0.01840926 0.55284647] [ 0.10270408 0.01061141 0.99465535 0.11955792] [ 0. 0. 0. 1. ]] SLAMing on 7.639115933 meters 0.022633809737822485 Centerline is valid? [True, True] Translation: X:-7.45, Y:0.55, Z:0.11 [[ 0.95089387 0.29028746 -0.10739661 -7.45407058] [-0.28990071 0.95685718 0.01954284 0.55444508] [ 0.10843625 0.01255119 0.99402417 0.10974302] [ 0. 0. 0. 1. ]] SLAMing on 7.669115933 meters 0.02264180356072704 Centerline is valid? [True, True] Translation: X:-7.48, Y:0.56, Z:0.11 [[ 0.9493568 0.29650033 -0.10396743 -7.48235557] [-0.29616637 0.9549475 0.01899338 0.55726449] [ 0.10491498 0.01276016 0.99439933 0.10834198] [ 0. 0. 0. 1. ]] SLAMing on 7.699115933 meters 0.02324852836753491 Centerline is valid? [True, True] Translation: X:-7.51, Y:0.56, Z:0.12 [[ 0.95484692 0.28017775 -0.09883208 -7.51072763] [-0.27978301 0.95989231 0.01811679 0.5591451 ] [ 0.09994408 0.01035277 0.9949392 0.12238628] [ 0. 0. 0. 1. ]] SLAMing on 7.729115933 meters 0.02274802810806917 Centerline is valid? [True, True] Translation: X:-7.54, Y:0.56, Z:0.12 [[ 0.95215991 0.28803512 -0.10211402 -7.53889972] [-0.28765062 0.95755103 0.01879207 0.56200125] [ 0.10319216 0.0114801 0.99459519 0.11686719] [ 0. 0. 0. 1. ]] SLAMing on 7.7591159329999995 meters 0.02234282541145613 Centerline is valid? [True, True] Translation: X:-7.57, Y:0.57, Z:0.12 [[ 0.95163137 0.28984192 -0.10192842 -7.5670455 ] [-0.28946134 0.95700444 0.01883196 0.56649223] [ 0.10300424 0.01158325 0.99461347 0.11815504] [ 0. 0. 0. 1. ]] SLAMing on 7.789115933 meters 0.02191820853027088 Centerline is valid? [True, True] Translation: X:-7.59, Y:0.57, Z:0.12 [[ 0.95315771 0.28491489 -0.10155727 -7.59494778] [-0.28450356 0.95849022 0.01882062 0.57088861] [ 0.10270393 0.01095439 0.99465165 0.12336896] [ 0. 0. 0. 1. ]] SLAMing on 7.819115933 meters 0.02208733723926561 Centerline is valid? [True, True] Translation: X:-7.62, Y:0.57, Z:0.12 [[ 0.95131758 0.28968078 -0.10526115 -7.62403067] [-0.28925968 0.95705035 0.01958243 0.56909603] [ 0.10641287 0.0118187 0.99425179 0.11770709] [ 0. 0. 0. 1. ]] SLAMing on 7.849115933 meters 0.021750414975211917 Centerline is valid? [True, True] Translation: X:-7.65, Y:0.57, Z:0.11 [[ 0.95090997 0.29185039 -0.10292515 -7.65364032] [-0.29145233 0.95639219 0.01922282 0.5662203 ] [ 0.104047 0.01171861 0.99450334 0.1098014 ] [ 0. 0. 0. 1. ]] SLAMing on 7.879115933 meters 0.021333516529857648 Centerline is valid? [True, True] Translation: X:-7.68, Y:0.57, Z:0.11 [[ 0.95181319 0.28845165 -0.10415034 -7.68231571] [-0.28801589 0.95742649 0.01952875 0.56821835] [ 0.1053494 0.01140923 0.99436982 0.1141062 ] [ 0. 0. 0. 1. ]] SLAMing on 7.909115933 meters 0.02177134662694186 Centerline is valid? [True, True] Translation: X:-7.71, Y:0.58, Z:0.11 [[ 0.94989955 0.29291064 -0.10906051 -7.70896042] [-0.29245456 0.95605932 0.02051602 0.57584592] [ 0.11027768 0.01240708 0.99382337 0.10511751] [ 0. 0. 0. 1. ]] SLAMing on 7.939115933 meters 0.021615623686962737 Centerline is valid? [True, True] Translation: X:-7.74, Y:0.58, Z:0.11 [[ 0.95244605 0.28526362 -0.10710365 -7.73610569] [-0.28476632 0.95838335 0.02023596 0.5808619 ] [ 0.10841894 0.01122585 0.99404191 0.11350169] [ 0. 0. 0. 1. ]] SLAMing on 7.969115932999999 meters 0.02174231962006025 Centerline is valid? [True, True] Translation: X:-7.76, Y:0.58, Z:0.10 [[ 0.94959378 0.29583948 -0.10368539 -7.76372971] [-0.29542815 0.95516272 0.01965664 0.58365817] [ 0.10485163 0.01196575 0.99441589 0.10478436] [ 0. 0. 0. 1. ]] SLAMing on 7.999115933 meters 0.02152363887058871 Centerline is valid? [True, True] Translation: X:-7.79, Y:0.59, Z:0.11 [[ 0.95038479 0.29356189 -0.10290855 -7.79141883] [-0.29313483 0.95587034 0.01959235 0.5861856 ] [ 0.1041188 0.01154581 0.99449785 0.10632896] [ 0. 0. 0. 1. ]] SLAMing on 8.029115933 meters 0.02143604694011287 Centerline is valid? [True, True] Translation: X:-7.82, Y:0.59, Z:0.11 [[ 0.94981388 0.29411444 -0.10653775 -7.81825985] [-0.29365159 0.95569559 0.02036389 0.59012523] [ 0.10780697 0.01194307 0.99410011 0.10755005] [ 0. 0. 0. 1. ]] SLAMing on 8.059115933 meters 0.021432626890775457 Centerline is valid? [True, True] Translation: X:-7.85, Y:0.60, Z:0.12 [[ 0.9511388 0.29007908 -0.1057786 -7.84517275] [-0.28958903 0.95693572 0.02030339 0.59715531] [ 0.10711291 0.01132098 0.99418241 0.11797825] [ 0. 0. 0. 1. ]] SLAMing on 8.089115933 meters 0.022932024473220226 Centerline is valid? [True, True] Translation: X:-7.87, Y:0.60, Z:0.10 [[ 0.94633237 0.30456925 -0.1081324 -7.87252815] [-0.30414236 0.95239898 0.02082346 0.60100215] [ 0.10932737 0.01318173 0.99391839 0.10338421] [ 0. 0. 0. 1. ]] SLAMing on 8.119115933 meters 0.022636509992304318 Centerline is valid? [True, True] Translation: X:-7.90, Y:0.61, Z:0.10 [[ 0.94543976 0.30773825 -0.10696179 -7.8984855 ] [-0.30733025 0.95137795 0.02069103 0.60589156] [ 0.10812851 0.01331047 0.99404781 0.10495229] [ 0. 0. 0. 1. ]] SLAMing on 8.149115933 meters 0.022839684625509792 Centerline is valid? [True, True] Translation: X:-7.92, Y:0.62, Z:0.11 [[ 0.94514978 0.30864435 -0.10691384 -7.92318029] [-0.30823275 0.9510842 0.02077041 0.6215558 ] [ 0.10809474 0.0133232 0.99405132 0.10982538] [ 0. 0. 0. 1. ]] SLAMing on 8.179115933 meters 0.022192605980495477 Centerline is valid? [True, True] Translation: X:-7.95, Y:0.63, Z:0.11 [[ 0.94462831 0.31003518 -0.10749668 -7.94904752] [-0.30961837 0.95062962 0.02097131 0.63095515] [ 0.10869137 0.01347285 0.99398424 0.11075736] [ 0. 0. 0. 1. ]] SLAMing on 8.209115933 meters 0.02261893475676907 Centerline is valid? [True, True] Translation: X:-7.98, Y:0.63, Z:0.11 [[ 0.9443195 0.31041359 -0.1091058 -7.97652373] [-0.30997756 0.95050371 0.02136845 0.63212243] [ 0.11033853 0.0136417 0.99380044 0.10994389] [ 0. 0. 0. 1. ]] SLAMing on 8.239115932999999 meters 0.021952635927970917 Centerline is valid? [True, True] Translation: X:-8.00, Y:0.64, Z:0.12 [[ 0.94714792 0.30302753 -0.10528595 -8.00299724] [-0.30256666 0.95290319 0.0207104 0.63767229] [ 0.10660314 0.0122402 0.99422631 0.1179531 ] [ 0. 0. 0. 1. ]] SLAMing on 8.269115933 meters 0.022038610031564664 Centerline is valid? [True, True] Translation: X:-8.03, Y:0.64, Z:0.12 [[ 0.94661947 0.30380708 -0.10776287 -8.03037551] [-0.30331954 0.9526511 0.02128719 0.64261908] [ 0.10912761 0.01253571 0.9939487 0.11686944] [ 0. 0. 0. 1. ]] SLAMing on 8.299115933 meters 0.022099974808749114 Centerline is valid? [True, True] Translation: X:-8.06, Y:0.65, Z:0.12 [[ 0.94714094 0.30067028 -0.11189917 -8.0576246 ] [-0.30011269 0.95364546 0.02219706 0.64800733] [ 0.11338614 0.01255862 0.99347162 0.1174936 ] [ 0. 0. 0. 1. ]] SLAMing on 8.329115933 meters 0.022599460502858583 Centerline is valid? [True, True] Translation: X:-8.08, Y:0.65, Z:0.11 [[ 0.9464408 0.30302137 -0.11148032 -8.08491286] [-0.30247346 0.95289909 0.02220633 0.65319617] [ 0.11295849 0.01270286 0.9935185 0.11366711] [ 0. 0. 0. 1. ]] SLAMing on 8.359115933 meters 0.022914885079868823 Centerline is valid? [True, True] Translation: X:-8.11, Y:0.66, Z:0.11 [[ 0.9456816 0.30381049 -0.11569569 -8.11187914] [-0.30321543 0.95264106 0.02313911 0.65865382] [ 0.11724637 0.01319848 0.99301515 0.1078632 ] [ 0. 0. 0. 1. ]] SLAMing on 8.389115933 meters 0.02291064068345889 Centerline is valid? [True, True] Translation: X:-8.14, Y:0.66, Z:0.11 [[ 0.94708703 0.29858 -0.11779706 -8.13865115] [-0.29791099 0.95430034 0.02366238 0.66486793] [ 0.11947889 0.01268271 0.99275573 0.11309513] [ 0. 0. 0. 1. ]] SLAMing on 8.419115933 meters 0.02279914522587072 Centerline is valid? [True, True] Translation: X:-8.16, Y:0.67, Z:0.12 [[ 0.94812289 0.2958558 -0.11632854 -8.16433304] [-0.295173 0.95515595 0.02345211 0.67419829] [ 0.11805034 0.01210156 0.99293387 0.11604074] [ 0. 0. 0. 1. ]] SLAMing on 8.449115933 meters 0.02317255719220088 Centerline is valid? [True, True] Translation: X:-8.19, Y:0.67, Z:0.12 [[ 0.9476914 0.29705095 -0.1167979 -8.19287167] [-0.29636146 0.95478345 0.02363163 0.67436918] [ 0.1185365 0.0122189 0.99287451 0.11591565] [ 0. 0. 0. 1. ]] SLAMing on 8.479115933 meters 0.024765264689236306 Centerline is valid? [True, True] Translation: X:-8.22, Y:0.68, Z:0.10 [[ 0.9463982 0.30067479 -0.11800476 -8.21986696] [-0.29998742 0.95364197 0.02396974 0.67950195] [ 0.11974138 0.01271502 0.99272369 0.10369346] [ 0. 0. 0. 1. ]] SLAMing on 8.509115933 meters 0.02521010267906623 Centerline is valid? [True, True] Translation: X:-8.25, Y:0.69, Z:0.11 [[ 0.94685589 0.29853611 -0.11975022 -8.24513099] [-0.29780172 0.95431576 0.02440411 0.69119953] [ 0.12156503 0.01255464 0.99250407 0.11253535] [ 0. 0. 0. 1. ]] SLAMing on 8.539115933 meters 0.02457103774084314 Centerline is valid? [True, True] Translation: X:-8.27, Y:0.70, Z:0.12 [[ 0.94769381 0.29706329 -0.11674697 -8.27069655] [-0.2963425 0.95478292 0.02388931 0.70133682] [ 0.11856465 0.01195734 0.99287434 0.11873208] [ 0. 0. 0. 1. ]] SLAMing on 8.569115932999999 meters 0.024405652399070256 Centerline is valid? [True, True] Translation: X:-8.30, Y:0.71, Z:0.11 [[ 0.94666523 0.30059489 -0.11605019 -8.29737701] [-0.29989729 0.95367348 0.02384343 0.70621782] [ 0.1178412 0.01223139 0.99295712 0.11171129] [ 0. 0. 0. 1. ]] SLAMing on 8.599115933 meters 0.024405652399070256 Centerline is valid? [True, True] Translation: X:-8.32, Y:0.71, Z:0.11 [[ 0.94639784 0.3014438 -0.11602915 -8.32340936] [-0.30074011 0.95340547 0.02394559 0.71157159] [ 0.11784107 0.01223256 0.99295712 0.1113782 ] [ 0. 0. 0. 1. ]] SLAMing on 8.629115933 meters 0.024777894306730636 Centerline is valid? [True, True] Translation: X:-8.35, Y:0.72, Z:0.11 [[ 0.94564191 0.30340253 -0.11708242 -8.35007842] [-0.30268995 0.95278043 0.02425379 0.71709119] [ 0.1189125 0.01250427 0.992826 0.11011709] [ 0. 0. 0. 1. ]] SLAMing on 8.659115933 meters 0.02501575134523068 Centerline is valid? [True, True] Translation: X:-8.38, Y:0.72, Z:0.12 [[ 0.9479305 0.29796753 -0.11244165 -8.37683163] [-0.2972612 0.95450968 0.02338924 0.72243213] [ 0.11429588 0.01125316 0.99338302 0.1174281 ] [ 0. 0. 0. 1. ]] SLAMing on 8.689115933 meters 0.024682091117669377 Centerline is valid? [True, True] Translation: X:-8.40, Y:0.73, Z:0.12 [[ 0.94674439 0.30114834 -0.11395063 -8.40321306] [-0.30043437 0.9535055 0.02380015 0.72940764] [ 0.11581993 0.01170202 0.99320129 0.11663855] [ 0. 0. 0. 1. ]] SLAMing on 8.719115933 meters 0.023819611090833144 Centerline is valid? [True, True] Translation: X:-8.43, Y:0.73, Z:0.11 [[ 0.94565523 0.30339064 -0.11700555 -8.42987536] [-0.30264249 0.95278813 0.02454194 0.73310901] [ 0.1189273 0.01220264 0.99282798 0.1115041 ] [ 0. 0. 0. 1. ]] SLAMing on 8.749115933 meters 0.023205554880749095 Centerline is valid? [True, True] Translation: X:-8.46, Y:0.74, Z:0.12 [[ 0.94815335 0.29814305 -0.1100725 -8.45654017] [-0.29743682 0.95446039 0.02316671 0.73802815] [ 0.11196683 0.01077402 0.99365354 0.11720189] [ 0. 0. 0. 1. ]] SLAMing on 8.779115933 meters 0.02289341626498127 Centerline is valid? [True, True] Translation: X:-8.48, Y:0.75, Z:0.12 [[ 0.94776364 0.29942133 -0.1099589 -8.48219621] [-0.29871379 0.95405967 0.02324273 0.74644948] [ 0.11186672 0.01081763 0.99366434 0.11829236] [ 0. 0. 0. 1. ]] SLAMing on 8.809115933 meters 0.022896739608742694 Centerline is valid? [True, True] Translation: X:-8.51, Y:0.76, Z:0.12 [[ 0.94783191 0.29841895 -0.11207502 -8.50870936] [-0.29766656 0.95437365 0.02378158 0.75672139] [ 0.11405832 0.01082004 0.99341513 0.11855624] [ 0. 0. 0. 1. ]] SLAMing on 8.839115933 meters 0.02339992806544291 Centerline is valid? [True, True] Translation: X:-8.54, Y:0.76, Z:0.11 [[ 0.94666767 0.30191968 -0.11253812 -8.53671518] [-0.30117467 0.95326759 0.02397335 0.75764989] [ 0.11451697 0.01119884 0.99335817 0.11461061] [ 0. 0. 0. 1. ]] SLAMing on 8.869115933 meters 0.022832865284539663 Centerline is valid? [True, True] Translation: X:-8.56, Y:0.76, Z:0.12 [[ 0.9479311 0.30012388 -0.10654715 -8.56398995] [-0.29943495 0.95384458 0.02278653 0.76139868] [ 0.1084682 0.01030388 0.99404652 0.11587853] [ 0. 0. 0. 1. ]] SLAMing on 8.899115933 meters 0.02298080119477136 Centerline is valid? [True, True] Translation: X:-8.59, Y:0.77, Z:0.12 [[ 0.94935904 0.29610574 -0.10506572 -8.59097292] [-0.29540188 0.95510672 0.02255861 0.76928423] [ 0.10702871 0.00962039 0.99420939 0.11959591] [ 0. 0. 0. 1. ]] SLAMing on 8.929115933 meters 0.024073314203593113 Centerline is valid? [True, True] Translation: X:-8.62, Y:0.77, Z:0.12 [[ 0.94844561 0.29793735 -0.10809374 -8.61772501] [-0.29719387 0.95453279 0.02330145 0.77497283] [ 0.11012139 0.01002463 0.99386759 0.11758938] [ 0. 0. 0. 1. ]] SLAMing on 8.959115933 meters 0.02406640226499363 Centerline is valid? [True, True] Translation: X:-8.64, Y:0.78, Z:0.11 [[ 0.94792501 0.30037595 -0.10588895 -8.64476167] [-0.29966773 0.95376838 0.02291595 0.77906535] [ 0.10787693 0.01000889 0.99411387 0.11480339] [ 0. 0. 0. 1. ]] SLAMing on 8.989115932999999 meters 0.0237599964037981 Centerline is valid? [True, True] Translation: X:-8.67, Y:0.78, Z:0.12 [[ 0.94814472 0.29930962 -0.10693615 -8.67228523] [-0.29857083 0.95410467 0.02323217 0.78431027] [ 0.10898189 0.00990056 0.99399443 0.1179233 ] [ 0. 0. 0. 1. ]] SLAMing on 9.019115933 meters 0.024149566023198978 Centerline is valid? [True, True] Translation: X:-8.70, Y:0.79, Z:0.12 [[ 0.94788868 0.29973627 -0.10800565 -8.69931433] [-0.29897521 0.95397009 0.02355633 0.79145018] [ 0.11009484 0.00996223 0.99387116 0.11643487] [ 0. 0. 0. 1. ]] SLAMing on 9.049115933 meters 0.023282559770693777 Centerline is valid? [True, True] Translation: X:-8.73, Y:0.80, Z:0.12 [[ 0.94793948 0.30097062 -0.10405488 -8.72578917] [-0.30026206 0.95358462 0.02278317 0.79898887] [ 0.1060822 0.00964667 0.99431057 0.1205204 ] [ 0. 0. 0. 1. ]] SLAMing on 9.079115933 meters 0.022184593710124316 Centerline is valid? [True, True] Translation: X:-8.75, Y:0.80, Z:0.12 [[ 0.94558996 0.30679254 -0.10834187 -8.75370073] [-0.3060518 0.95171695 0.02381486 0.80010096] [ 0.11041701 0.01063913 0.9938284 0.11911421] [ 0. 0. 0. 1. ]] SLAMing on 9.109115933 meters 0.021983255239000417 Centerline is valid? [True, True] Translation: X:-8.78, Y:0.80, Z:0.12 [[ 0.94650798 0.30446701 -0.10687606 -8.7810705 ] [-0.30372334 0.95246876 0.02356701 0.80161788] [ 0.10897148 0.01015439 0.99399301 0.11521937] [ 0. 0. 0. 1. ]] SLAMing on 9.139115933 meters 0.022041527293664237 Centerline is valid? [True, True] Translation: X:-8.81, Y:0.81, Z:0.12 [[ 0.94518352 0.3084089 -0.10729428 -8.80765835] [-0.30767475 0.9511952 0.0237474 0.8087535 ] [ 0.10938171 0.01056609 0.99394366 0.12080156] [ 0. 0. 0. 1. ]] SLAMing on 9.169115933 meters 0.022373990413419045 Centerline is valid? [True, True] Translation: X:-8.83, Y:0.82, Z:0.12 [[ 0.94196609 0.31697786 -0.11056639 -8.833811 ] [-0.31624769 0.948359 0.02454816 0.81789864] [ 0.11263785 0.01184283 0.99356553 0.11694011] [ 0. 0. 0. 1. ]] SLAMing on 9.199115933 meters 0.022704855232086124 Centerline is valid? [True, True] Translation: X:-8.86, Y:0.82, Z:0.12 [[ 0.94125113 0.31988657 -0.10825385 -8.8610216 ] [-0.31919813 0.9473815 0.02410096 0.82071679] [ 0.11026727 0.01186937 0.9938311 0.11674905] [ 0. 0. 0. 1. ]] SLAMing on 9.229115933 meters 0.02343116840903856 Centerline is valid? [True, True] Translation: X:-8.89, Y:0.83, Z:0.11 [[ 0.93831732 0.3279505 -0.10958589 -8.88776391] [-0.32729027 0.94460682 0.02447535 0.82504483] [ 0.11154228 0.01290075 0.99367595 0.11457211] [ 0. 0. 0. 1. ]] SLAMing on 9.259115933 meters 0.024650595872274177 Centerline is valid? [True, True] Translation: X:-8.91, Y:0.83, Z:0.12 [[ 0.93768293 0.33035515 -0.10777848 -8.91384288] [-0.32972151 0.94376887 0.02416691 0.83088422] [ 0.10970164 0.01287599 0.99388116 0.11522415] [ 0. 0. 0. 1. ]] SLAMing on 9.289115933 meters 0.02404767949799825 Centerline is valid? [True, True] Translation: X:-8.94, Y:0.84, Z:0.12 [[ 0.93592863 0.33592989 -0.10577669 -8.94024659] [-0.33534445 0.94179467 0.02380959 0.83684852] [ 0.10761828 0.01318755 0.99410482 0.11706828] [ 0. 0. 0. 1. ]] SLAMing on 9.319115932999999 meters 0.024974399450135923 Centerline is valid? [True, True] Translation: X:-8.97, Y:0.84, Z:0.11 [[ 0.93358145 0.3428668 -0.10424985 -8.96728533] [-0.34233083 0.93928417 0.02355539 0.84000495] [ 0.10599659 0.01369706 0.99427215 0.1128625 ] [ 0. 0. 0. 1. ]] SLAMing on 9.349115933 meters 0.025194479555664995 Centerline is valid? [True, True] Translation: X:-8.99, Y:0.84, Z:0.11 [[ 0.93173679 0.34836575 -0.10250783 -8.99435395] [-0.34787088 0.93725416 0.02324845 0.84357472] [ 0.10417485 0.01399805 0.99446048 0.10757124] [ 0. 0. 0. 1. ]] SLAMing on 9.379115933 meters 0.024203513097244944 Centerline is valid? [True, True] Translation: X:-9.02, Y:0.85, Z:0.11 [[ 0.92886101 0.35535955 -0.10457922 -9.02053553] [-0.35487799 0.93460938 0.02381008 0.848258 ] [ 0.10620186 0.0149966 0.9942315 0.10624681] [ 0. 0. 0. 1. ]] SLAMing on 9.409115932999999 meters 0.024457505432314747 Centerline is valid? [True, True] Translation: X:-9.05, Y:0.85, Z:0.10 [[ 0.92605074 0.36324709 -0.1023796 -9.04620813] [-0.36282285 0.93156429 0.02339977 0.85440948] [ 0.10387308 0.01547629 0.99447014 0.10105672] [ 0. 0. 0. 1. ]] SLAMing on 9.439115933 meters 0.024289599805627574 Centerline is valid? [True, True] Translation: X:-9.07, Y:0.85, Z:0.10 [[ 0.9257711 0.36483943 -0.09919704 -9.07344135] [-0.36444155 0.93094823 0.02275438 0.85413648] [ 0.10064901 0.01508618 0.99480761 0.10195344] [ 0. 0. 0. 1. ]] SLAMing on 9.469115933 meters 0.024259431711779984 Centerline is valid? [True, True] Translation: X:-9.10, Y:0.85, Z:0.10 [[ 0.92519485 0.36631863 -0.09912192 -9.10132807] [-0.36592112 0.93036602 0.02282106 0.85230501] [ 0.10057944 0.01515688 0.99481357 0.10322748] [ 0. 0. 0. 1. ]] SLAMing on 9.499115933 meters 0.024213367426749025 Centerline is valid? [True, True] Translation: X:-9.13, Y:0.86, Z:0.09 [[ 0.92236714 0.37327807 -0.09951051 -9.12659136] [-0.37290799 0.9275833 0.0229969 0.85943929] [ 0.10088853 0.01589668 0.99477073 0.0934165 ] [ 0. 0. 0. 1. ]] SLAMing on 9.529115933 meters 0.024991734095220694 Centerline is valid? [True, True] Translation: X:-9.15, Y:0.87, Z:0.10 [[ 0.92154096 0.3758085 -0.09762295 -9.15095175] [-0.37545679 0.92656303 0.02265298 0.87033245] [ 0.098967 0.01577755 0.99496563 0.10017186] [ 0. 0. 0. 1. ]] SLAMing on 9.559115933 meters 0.024180790541851096 Centerline is valid? [True, True] Translation: X:-9.18, Y:0.87, Z:0.10 [[ 0.91981052 0.38004029 -0.09756012 -9.17874255] [-0.37970382 0.92482903 0.02272161 0.86927135] [ 0.09886156 0.01614438 0.99497023 0.09883797] [ 0. 0. 0. 1. ]] SLAMing on 9.589115933 meters 0.02422002576610035 Centerline is valid? [True, True] Translation: X:-9.20, Y:0.87, Z:0.10 [[ 0.91923189 0.38239576 -0.09373481 -9.20486995] [-0.38208862 0.92386577 0.02191618 0.87171566] [ 0.09497904 0.01566895 0.99535595 0.09752486] [ 0. 0. 0. 1. ]] SLAMing on 9.619115933 meters 0.02554716994634592 Centerline is valid? [True, True] Translation: X:-9.23, Y:0.88, Z:0.09 [[ 0.91746863 0.38685728 -0.09269715 -9.22970015] [-0.38657099 0.92200298 0.02175704 0.87911627] [ 0.09388391 0.01587263 0.99545661 0.0920349 ] [ 0. 0. 0. 1. ]] SLAMing on 9.649115933 meters 0.02555898925152755 Centerline is valid? [True, True] Translation: X:-9.26, Y:0.88, Z:0.10 [[ 0.9172486 0.38798247 -0.09013663 -9.25603537] [-0.38771016 0.92153684 0.02122924 0.88295301] [ 0.0913008 0.0154744 0.99570312 0.09794309] [ 0. 0. 0. 1. ]] SLAMing on 9.679115933 meters 0.024546251813250264 Centerline is valid? [True, True] Translation: X:-9.28, Y:0.89, Z:0.10 [[ 0.91536323 0.39239823 -0.09018756 -9.28253292] [-0.39213917 0.91965883 0.02131909 0.88641184] [ 0.09130736 0.01585136 0.99569659 0.09647257] [ 0. 0. 0. 1. ]] SLAMing on 9.709115933 meters 0.025661799031873128 Centerline is valid? [True, True] Translation: X:-9.31, Y:0.89, Z:0.09 [[ 0.91409813 0.39551672 -0.08939309 -9.30767161] [-0.39526919 0.91832037 0.02121232 0.89304638] [ 0.09048133 0.01594419 0.99577051 0.0938601 ] [ 0. 0. 0. 1. ]] SLAMing on 9.739115932999999 meters 0.02570220850828077 Centerline is valid? [True, True] Translation: X:-9.33, Y:0.90, Z:0.09 [[ 0.9117521 0.40105012 -0.0886956 -9.33296145] [-0.40082441 0.91591127 0.02112651 0.89964336] [ 0.08971009 0.01628922 0.99583471 0.08848547] [ 0. 0. 0. 1. ]] SLAMing on 9.769115933 meters 0.024974179610430837 Centerline is valid? [True, True] Translation: X:-9.36, Y:0.91, Z:0.10 [[ 0.9120571 0.4009833 -0.08581521 -9.35861502] [-0.40076517 0.91595113 0.02051371 0.9073051 ] [ 0.08682819 0.01568207 0.99609986 0.09507778] [ 0. 0. 0. 1. ]] SLAMing on 9.799115933 meters 0.024986734796862965 Centerline is valid? [True, True] Translation: X:-9.39, Y:0.91, Z:0.09 [[ 0.90972013 0.40635083 -0.08537148 -9.38581984] [-0.40615133 0.9135763 0.02048042 0.90609615] [ 0.08631559 0.01604229 0.99613868 0.08756289] [ 0. 0. 0. 1. ]] SLAMing on 9.829115933 meters 0.024489812195772995 Centerline is valid? [True, True] Translation: X:-9.41, Y:0.91, Z:0.09 [[ 0.90947269 0.40750774 -0.08244314 -9.41295866] [-0.40732039 0.91306967 0.01984636 0.90797111] [ 0.08336388 0.01553105 0.99639814 0.08583065] [ 0. 0. 0. 1. ]] SLAMing on 9.859115933 meters 0.024470355177045506 Centerline is valid? [True, True] Translation: X:-9.44, Y:0.91, Z:0.08 [[ 0.90733503 0.41179973 -0.08464115 -9.43822895] [-0.41161394 0.91112885 0.02044948 0.91456097] [ 0.08554009 0.01628495 0.99620163 0.08465909] [ 0. 0. 0. 1. ]] SLAMing on 9.889115933 meters 0.02396381653884099 Centerline is valid? [True, True] Translation: X:-9.46, Y:0.92, Z:0.09 [[ 0.90720633 0.41228449 -0.08365508 -9.46289828] [-0.41209821 0.91091348 0.02029032 0.91892064] [ 0.08456793 0.0160666 0.99628818 0.09157998] [ 0. 0. 0. 1. ]] SLAMing on 9.919115933 meters 0.024351105955873937 Centerline is valid? [True, True] Translation: X:-9.49, Y:0.93, Z:0.09 [[ 0.90631289 0.41450142 -0.08237429 -9.48814645] [-0.4143235 0.90990877 0.02005175 0.92718613] [ 0.08326456 0.01595644 0.99639972 0.0902424 ] [ 0. 0. 0. 1. ]] SLAMing on 9.949115933 meters 0.02385581220325642 Centerline is valid? [True, True] Translation: X:-9.51, Y:0.93, Z:0.09 [[ 0.90687467 0.41361081 -0.08065008 -9.51467494] [-0.41343096 0.91032226 0.01970321 0.92820241] [ 0.08156702 0.01547489 0.99654772 0.09144599] [ 0. 0. 0. 1. ]] SLAMing on 9.979115933 meters 0.024128883138854057 Centerline is valid? [True, True] Translation: X:-9.54, Y:0.93, Z:0.09 [[ 0.90629509 0.4146794 -0.08167128 -9.54122192] [-0.41449318 0.90983207 0.02002528 0.92875936] [ 0.08261122 0.01570338 0.99645812 0.0917063 ] [ 0. 0. 0. 1. ]] SLAMing on 10.009115933 meters 0.02433670348864816 Centerline is valid? [True, True] Translation: X:-9.57, Y:0.93, Z:0.09 [[ 0.90515087 0.41743997 -0.08028557 -9.56586697] [-0.4172642 0.90857035 0.01976102 0.93498245] [ 0.08119412 0.01561359 0.996576 0.09461123] [ 0. 0. 0. 1. ]] SLAMing on 10.039115933 meters 0.024016558544685127 Centerline is valid? [True, True] Translation: X:-9.59, Y:0.94, Z:0.09 [[ 0.90366979 0.42073433 -0.07977178 -9.5907199 ] [-0.42056738 0.9070473 0.01970496 0.94328007] [ 0.08064733 0.01574263 0.99661837 0.09465057] [ 0. 0. 0. 1. ]] SLAMing on 10.069115932999999 meters 0.02487782788270389 Centerline is valid? [True, True] Translation: X:-9.62, Y:0.95, Z:0.09 [[ 0.90418206 0.42027792 -0.07629725 -9.61543121] [-0.42011813 0.90727226 0.0189157 0.94809694] [ 0.07717223 0.01495062 0.99690568 0.09224993] [ 0. 0. 0. 1. ]] SLAMing on 10.099115933 meters 0.024601982164250323 Centerline is valid? [True, True] Translation: X:-9.64, Y:0.96, Z:0.09 [[ 0.90254118 0.423632 -0.07717084 -9.64011401] [-0.42347501 0.9057043 0.01920009 0.95550454] [ 0.07802774 0.01535105 0.99683299 0.08734381] [ 0. 0. 0. 1. ]] SLAMing on 10.129115933 meters 0.024160316942979914 Centerline is valid? [True, True] Translation: X:-9.67, Y:0.96, Z:0.09 [[ 0.90342706 0.42216376 -0.07481512 -9.6652596 ] [-0.42200616 0.90640047 0.01868136 0.96068253] [ 0.07569905 0.0146952 0.99702242 0.09449618] [ 0. 0. 0. 1. ]] SLAMing on 10.159115932999999 meters 0.02407940636733399 Centerline is valid? [True, True] Translation: X:-9.69, Y:0.97, Z:0.09 [[ 0.89890715 0.43142104 -0.0764318 -9.69021104] [-0.43128368 0.90201317 0.01914746 0.96843666] [ 0.07720311 0.015752 0.99689094 0.08878655] [ 0. 0. 0. 1. ]] SLAMing on 10.189115933 meters 0.023799445321495145 Centerline is valid? [True, True] Translation: X:-9.72, Y:0.97, Z:0.09 [[ 0.8978449 0.43371092 -0.07595645 -9.71610601] [-0.43357799 0.90091372 0.01909425 0.97055145] [ 0.07671159 0.01578937 0.9969283 0.08643264] [ 0. 0. 0. 1. ]] SLAMing on 10.219115933 meters 0.023711577959323177 Centerline is valid? [True, True] Translation: X:-9.74, Y:0.97, Z:0.09 [[ 0.89591442 0.43768514 -0.07595437 -9.74089249] [-0.43755985 0.89898489 0.01917128 0.97231972] [ 0.07667281 0.01605876 0.99692698 0.08505291] [ 0. 0. 0. 1. ]] SLAMing on 10.249115933 meters 0.024263162423872383 Centerline is valid? [True, True] Translation: X:-9.77, Y:0.98, Z:0.09 [[ 0.89592169 0.4382626 -0.07245839 -9.7652222 ] [-0.43814547 0.89871669 0.01835378 0.98253899] [ 0.07316334 0.01530376 0.99720255 0.09011923] [ 0. 0. 0. 1. ]] SLAMing on 10.279115933 meters 0.023975117842696674 Centerline is valid? [True, True] Translation: X:-9.79, Y:1.00, Z:0.09 [[ 0.89496128 0.44062176 -0.06997699 -9.78859471] [-0.44051487 0.89756908 0.01778754 0.99530904] [ 0.07064676 0.01490674 0.99739001 0.09094319] [ 0. 0. 0. 1. ]] SLAMing on 10.309115933 meters 0.024380055368092984 Centerline is valid? [True, True] Translation: X:-9.81, Y:1.00, Z:0.09 [[ 0.89331686 0.44395024 -0.06995115 -9.81311588] [-0.44384879 0.89592405 0.0178424 1.00263773] [ 0.07059205 0.01510881 0.99739084 0.08970408] [ 0. 0. 0. 1. ]] SLAMing on 10.339115933 meters 0.02345363138361285 Centerline is valid? [True, True] Translation: X:-9.84, Y:1.01, Z:0.09 [[ 0.89141233 0.44778049 -0.06983327 -9.83906329] [-0.44768608 0.89401211 0.01787526 1.00585628] [ 0.07043598 0.01532916 0.99739851 0.08696163] [ 0. 0. 0. 1. ]] SLAMing on 10.369115933 meters 0.023859216956787718 Centerline is valid? [True, True] Translation: X:-9.87, Y:1.01, Z:0.09 [[ 0.88970453 0.45116452 -0.06983146 -9.86500203] [-0.45107566 0.89230547 0.01793624 1.00987925] [ 0.07040319 0.01554132 0.99739754 0.08683768] [ 0. 0. 0. 1. ]] SLAMing on 10.399115933 meters 0.023912052901528823 Centerline is valid? [True, True] Translation: X:-9.89, Y:1.01, Z:0.09 [[ 0.88974302 0.45105063 -0.0700763 -9.89080887] [-0.45095631 0.89236324 0.01806272 1.01366338] [ 0.07068071 0.01553017 0.99737809 0.09304058] [ 0. 0. 0. 1. ]] SLAMing on 10.429115933 meters 0.022150426370271186 Centerline is valid? [True, True] Translation: X:-9.92, Y:1.02, Z:0.10 [[ 0.89200231 0.44693096 -0.06770968 -9.91658489] [-0.44682767 0.8944487 0.01750862 1.01711049] [ 0.06838798 0.01463683 0.99755143 0.09972503] [ 0. 0. 0. 1. ]] SLAMing on 10.459115933 meters 0.022598207061523833 Centerline is valid? [True, True] Translation: X:-9.94, Y:1.02, Z:0.10 [[ 0.89081844 0.44947431 -0.06644806 -9.94262061] [-0.44937789 0.89317547 0.0172362 1.02166709] [ 0.067097 0.01450596 0.997641 0.09682326] [ 0. 0. 0. 1. ]] SLAMing on 10.489115932999999 meters 0.023508514192958605 Centerline is valid? [True, True] Translation: X:-9.97, Y:1.04, Z:0.10 [[ 0.8905831 0.450307 -0.06391669 -9.96551726] [-0.45021673 0.89276451 0.01662623 1.03748877] [ 0.06454946 0.01396932 0.99781673 0.09842637] [ 0. 0. 0. 1. ]] SLAMing on 10.519115933 meters 0.023508514192958605 Centerline is valid? [True, True] Translation: X:-9.99, Y:1.04, Z:0.10 [[ 0.89020859 0.45104881 -0.06390336 -9.99074455] [-0.45095686 0.89238992 0.01667739 1.0441229 ] [ 0.06454903 0.0139713 0.99781673 0.09809916] [ 0. 0. 0. 1. ]] SLAMing on 10.549115933 meters 0.022348930944053994 Centerline is valid? [True, True] Translation: X:-10.02, Y:1.04, Z:0.10 [[ 0.89143536 0.44887929 -0.06205138 -10.0172659 ] [ -0.44878417 0.89349247 0.01624756 1.04436812] [ 0.06273564 0.01336403 0.9979407 0.10198011] [ 0. 0. 0. 1. ]] SLAMing on 10.579115932999999 meters 0.022973500797526164 Centerline is valid? [True, True] Translation: X:-10.04, Y:1.05, Z:0.11 [[ 0.89196686 0.44757241 -0.06382832 -10.04221417] [ -0.44746496 0.89414422 0.01676946 1.0501035 ] [ 0.06457727 0.01360314 0.99781999 0.10588424] [ 0. 0. 0. 1. ]] SLAMing on 10.609115933 meters 0.02224165489594685 Centerline is valid? [True, True] Translation: X:-10.07, Y:1.05, Z:0.11 [[ 0.89290729 0.44564933 -0.0641346 -10.06789976] [ -0.44553242 0.89510615 0.01690678 1.05324374] [ 0.06494177 0.01347786 0.99779803 0.1074874 ] [ 0. 0. 0. 1. ]] SLAMing on 10.639115933 meters 0.02223647640190386 Centerline is valid? [True, True] Translation: X:-10.09, Y:1.05, Z:0.11 [[ 0.89374337 0.44470513 -0.05882296 -10.0945456 ] [ -0.4446017 0.89559327 0.015557 1.05436028] [ 0.05959972 0.01224882 0.9981472 0.10842831] [ 0. 0. 0. 1. ]] SLAMing on 10.669115933 meters 0.02240824706426361 Centerline is valid? [True, True] Translation: X:-10.12, Y:1.07, Z:0.10 [[ 0.89017965 0.45156798 -0.06055197 -10.1177386 ] [ -0.45147018 0.89214151 0.01606839 1.0674733 ] [ 0.0612769 0.01303366 0.9980357 0.09907279] [ 0. 0. 0. 1. ]] SLAMing on 10.699115933 meters 0.0223967851041572 Centerline is valid? [True, True] Translation: X:-10.14, Y:1.07, Z:0.11 [[ 0.89106846 0.44973191 -0.0611409 -10.14269253] [ -0.44962475 0.8930692 0.01627853 1.07143675] [ 0.06192403 0.01298518 0.99799639 0.10631616] [ 0. 0. 0. 1. ]] SLAMing on 10.729115933 meters 0.02231952473065934 Centerline is valid? [True, True] Translation: X:-10.17, Y:1.07, Z:0.11 [[ 0.89098718 0.45018091 -0.05898291 -10.16696033] [ -0.45007854 0.89284984 0.01576288 1.07423256] [ 0.05975903 0.01250242 0.99813453 0.10517186] [ 0. 0. 0. 1. ]] SLAMing on 10.759115933 meters 0.02214688853075827 Centerline is valid? [True, True] Translation: X:-10.19, Y:1.08, Z:0.11 [[ 0.89043818 0.45132607 -0.05852026 -10.1909995 ] [ -0.45122429 0.89227254 0.01569585 1.08024073] [ 0.05929996 0.01242958 0.99816282 0.10543652] [ 0. 0. 0. 1. ]] SLAMing on 10.789115933 meters 0.022829461554377904 Centerline is valid? [True, True] Translation: X:-10.22, Y:1.09, Z:0.11 [[ 0.88973819 0.45237316 -0.06102852 -10.21588441] [ -0.45226148 0.89173417 0.01642328 1.08754095] [ 0.06185067 0.01298843 0.9980009 0.10552708] [ 0. 0. 0. 1. ]] SLAMing on 10.819115932999999 meters 0.021946051566012644 Centerline is valid? [True, True] Translation: X:-10.24, Y:1.09, Z:0.11 [[ 0.89110432 0.44983798 -0.05982372 -10.24061169] [ -0.44972199 0.89302254 0.01615152 1.09475058] [ 0.0606895 0.01251135 0.99807828 0.10882207] [ 0. 0. 0. 1. ]] SLAMing on 10.849115933 meters 0.02131462041872772 Centerline is valid? [True, True] Translation: X:-10.27, Y:1.09, Z:0.11 [[ 0.89141589 0.44907684 -0.06089089 -10.26843448] [ -0.44895152 0.89340384 0.01649595 1.09114504] [ 0.0618081 0.01263231 0.99800811 0.10862343] [ 0. 0. 0. 1. ]] SLAMing on 10.879115933 meters 0.021610635994350612 Centerline is valid? [True, True] Translation: X:-10.29, Y:1.09, Z:0.10 [[ 0.88910107 0.45344716 -0.06232938 -10.29337259] [ -0.45332241 0.89118555 0.01694414 1.09448797] [ 0.06323031 0.01319025 0.99791179 0.09970931] [ 0. 0. 0. 1. ]] SLAMing on 10.909115932999999 meters 0.021124800880140227 Centerline is valid? [True, True] Translation: X:-10.32, Y:1.10, Z:0.10 [[ 0.88802316 0.45525427 -0.06448582 -10.31843713] [ -0.45512146 0.89025562 0.01758943 1.09899412] [ 0.06541652 0.01372906 0.99776359 0.09933557] [ 0. 0. 0. 1. ]] SLAMing on 10.939115933 meters 0.021881513049416434 Centerline is valid? [True, True] Translation: X:-10.34, Y:1.11, Z:0.10 [[ 0.88749901 0.45608915 -0.06578898 -10.34095045] [ -0.45594896 0.88982373 0.01800759 1.11020697] [ 0.06675366 0.0140147 0.99767106 0.10018359] [ 0. 0. 0. 1. ]] SLAMing on 10.969115933 meters 0.022602326887085758 Centerline is valid? [True, True] Translation: X:-10.37, Y:1.11, Z:0.10 [[ 0.88798343 0.45501871 -0.06665882 -10.36698827] [ -0.45486766 0.89037082 0.01830871 1.11155955] [ 0.06768188 0.01406311 0.99760784 0.09673675] [ 0. 0. 0. 1. ]] SLAMing on 10.999115933 meters 0.023968662478254636 Centerline is valid? [True, True] Translation: X:-10.39, Y:1.12, Z:0.09 [[ 0.88497488 0.46055105 -0.06864543 -10.39103695] [ -0.46040199 0.88750885 0.01892245 1.11876271] [ 0.06963818 0.0148586 0.99746165 0.09031608] [ 0. 0. 0. 1. ]] SLAMing on 11.029115933 meters 0.023489264674856465 Centerline is valid? [True, True] Translation: X:-10.42, Y:1.12, Z:0.09 [[ 0.88474845 0.46066541 -0.07076407 -10.41673322] [ -0.4605024 0.88744256 0.01957643 1.12161741] [ 0.07181723 0.01526681 0.99730096 0.09202798] [ 0. 0. 0. 1. ]] SLAMing on 11.059115933 meters 0.023789312101654133 Centerline is valid? [True, True] Translation: X:-10.44, Y:1.12, Z:0.09 [[ 0.88254649 0.46466209 -0.07211676 -10.440998 ] [ -0.46449994 0.88534668 0.02002655 1.12451239] [ 0.07315391 0.01582387 0.99719512 0.08790757] [ 0. 0. 0. 1. ]] SLAMing on 11.089115933 meters 0.0228889167372646 Centerline is valid? [True, True] Translation: X:-10.46, Y:1.13, Z:0.10 [[ 0.8881552 0.45382118 -0.07229571 -10.46462801] [ -0.45361704 0.89096849 0.02016765 1.12872199] [ 0.07356571 0.01488256 0.99717932 0.09687033] [ 0. 0. 0. 1. ]] SLAMing on 11.119115933 meters 0.023766321481786718 Centerline is valid? [True, True] Translation: X:-10.49, Y:1.13, Z:0.09 [[ 0.8844728 0.46023764 -0.07674097 -10.48845192] [ -0.4600243 0.88764621 0.02149063 1.13487027] [ 0.07800962 0.01629483 0.99681943 0.08710264] [ 0. 0. 0. 1. ]] SLAMing on 11.149115933 meters 0.023874328117802237 Centerline is valid? [True, True] Translation: X:-10.51, Y:1.14, Z:0.09 [[ 0.8872705 0.45514472 -0.07479531 -10.51294257] [ -0.45491834 0.89028485 0.02102833 1.14047781] [ 0.07616006 0.01536795 0.99697717 0.09200045] [ 0. 0. 0. 1. ]] SLAMing on 11.179115933 meters 0.024083186714607758 Centerline is valid? [True, True] Translation: X:-10.54, Y:1.14, Z:0.09 [[ 0.88828034 0.45252618 -0.07860081 -10.53801558] [ -0.4522596 0.8916104 0.02218468 1.14200182] [ 0.08012045 0.01584175 0.9966593 0.09114022] [ 0. 0. 0. 1. ]] SLAMing on 11.209115933 meters 0.024295762627381076 Centerline is valid? [True, True] Translation: X:-10.56, Y:1.15, Z:0.09 [[ 0.89014776 0.44865849 -0.07963993 -10.56194613] [ -0.44836255 0.89356681 0.02256928 1.1491635 ] [ 0.0812895 0.01561756 0.99656817 0.09353017] [ 0. 0. 0. 1. ]] SLAMing on 11.239115932999999 meters 0.022878083546074464 Centerline is valid? [True, True] Translation: X:-10.59, Y:1.14, Z:0.10 [[ 0.89975611 0.42938105 -0.07791575 -10.58902989] [ -0.42902 0.90302284 0.02217172 1.14229412] [ 0.07987982 0.01347828 0.99671337 0.10450062] [ 0. 0. 0. 1. ]] SLAMing on 11.269115933 meters 0.023075251298636374 Centerline is valid? [True, True] Translation: X:-10.61, Y:1.15, Z:0.11 [[ 0.90388954 0.4201592 -0.08031154 -10.61421606] [ -0.41973289 0.90735768 0.02294195 1.14559178] [ 0.08251056 0.01297241 0.99650576 0.10820725] [ 0. 0. 0. 1. ]] SLAMing on 11.299115933 meters 0.023154543468607 Centerline is valid? [True, True] Translation: X:-10.64, Y:1.15, Z:0.11 [[ 0.90846224 0.40964751 -0.08297756 -10.63906355] [ -0.40914136 0.91216058 0.0237996 1.15061759] [ 0.0854383 0.01232851 0.99626719 0.11160061] [ 0. 0. 0. 1. ]] SLAMing on 11.329115932999999 meters 0.022911995987040596 Centerline is valid? [True, True] Translation: X:-10.66, Y:1.15, Z:0.12 [[ 0.91529187 0.39432971 -0.08212721 -10.66456131] [ -0.39376472 0.91890687 0.02365404 1.15328649] [ 0.08479475 0.01068845 0.99634111 0.11864703] [ 0. 0. 0. 1. ]] SLAMing on 11.359115933 meters 0.0225297866176745 Centerline is valid? [True, True] Translation: X:-10.69, Y:1.16, Z:0.13 [[ 9.21650581e-01 3.78754059e-01 -8.42945381e-02 -1.06892943e+01] [-3.78085516e-01 9.25449611e-01 2.43795269e-02 1.15764734e+00] [ 8.72441922e-02 9.40113876e-03 9.96142595e-01 1.31544359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.389115933 meters 0.021962571773183726 Centerline is valid? [True, True] Translation: X:-10.71, Y:1.16, Z:0.14 [[ 9.24849126e-01 3.71000258e-01 -8.37430796e-02 -1.07144156e+01] [-3.70300404e-01 9.28593684e-01 2.43183284e-02 1.16118052e+00] [ 8.67854009e-02 8.51931143e-03 9.96190602e-01 1.38842206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.419115933 meters 0.021519766180609634 Centerline is valid? [True, True] Translation: X:-10.74, Y:1.17, Z:0.16 [[ 9.32307260e-01 3.52005712e-01 -8.30370489e-02 -1.07387462e+01] [-3.51234284e-01 9.35974607e-01 2.42076849e-02 1.16950724e+00] [ 8.62418126e-02 6.59645802e-03 9.96252396e-01 1.61741027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.449115933 meters 0.021350966831265906 Centerline is valid? [True, True] Translation: X:-10.76, Y:1.18, Z:0.17 [[ 9.35747305e-01 3.43013162e-01 -8.19692178e-02 -1.07631254e+01] [-3.42219254e-01 9.39313876e-01 2.39880053e-02 1.17866502e+00] [ 8.52230253e-02 5.60473326e-03 9.96346136e-01 1.69711594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.479115933 meters 0.02151414782349958 Centerline is valid? [True, True] Translation: X:-10.79, Y:1.19, Z:0.17 [[ 9.36024885e-01 3.41569279e-01 -8.47811419e-02 -1.07884058e+01] [-3.40705916e-01 9.39840059e-01 2.49026593e-02 1.18597411e+00] [ 8.81866967e-02 5.57592778e-03 9.96088357e-01 1.67480200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.509115933 meters 0.02157259881527311 Centerline is valid? [True, True] Translation: X:-10.81, Y:1.19, Z:0.17 [[ 9.35488494e-01 3.42727995e-01 -8.60162683e-02 -1.08124203e+01] [-3.41835142e-01 9.39417546e-01 2.53655483e-02 1.19471524e+00] [ 8.94986751e-02 5.67420470e-03 9.95970778e-01 1.67618744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.539115933 meters 0.021808811579394488 Centerline is valid? [True, True] Translation: X:-10.84, Y:1.21, Z:0.17 [[ 9.35631627e-01 3.42697830e-01 -8.45674633e-02 -1.08356080e+01] [-3.41826445e-01 9.39429663e-01 2.50317788e-02 1.20653378e+00] [ 8.80235198e-02 5.48687145e-03 9.96103285e-01 1.65246415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.569115932999999 meters 0.022161097694507467 Centerline is valid? [True, True] Translation: X:-10.86, Y:1.22, Z:0.16 [[ 9.32980043e-01 3.49508315e-01 -8.59777662e-02 -1.08585829e+01] [-3.48627743e-01 9.36913128e-01 2.55438389e-02 1.21896638e+00] [ 8.94814820e-02 6.14234267e-03 9.95969546e-01 1.56901976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.599115933 meters 0.0220175683076195 Centerline is valid? [True, True] Translation: X:-10.88, Y:1.23, Z:0.15 [[ 9.28937996e-01 3.59398064e-01 -8.89226154e-02 -1.08818257e+01] [-3.58491598e-01 9.33156232e-01 2.65182965e-02 1.23096539e+00] [ 9.25093171e-02 7.24415727e-03 9.95685467e-01 1.47975884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.629115933 meters 0.022137436600052872 Centerline is valid? [True, True] Translation: X:-10.90, Y:1.24, Z:0.13 [[ 9.25986624e-01 3.67825674e-01 -8.51648080e-02 -1.09040852e+01] [-3.67020900e-01 9.29863292e-01 2.54934864e-02 1.24400816e+00] [ 8.85687875e-02 7.65063707e-03 9.96040681e-01 1.34148695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.659115932999999 meters 0.022407026023620328 Centerline is valid? [True, True] Translation: X:-10.93, Y:1.26, Z:0.12 [[ 9.20871124e-01 3.79940864e-01 -8.74146102e-02 -1.09263155e+01] [-3.79137603e-01 9.24967438e-01 2.62662754e-02 1.25719977e+00] [ 9.08352993e-02 8.95431130e-03 9.95825672e-01 1.24688084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.689115933 meters 0.022085878232968835 Centerline is valid? [True, True] Translation: X:-10.95, Y:1.27, Z:0.12 [[ 9.17951631e-01 3.87054892e-01 -8.69098020e-02 -1.09479459e+01] [-3.86283248e-01 9.22007642e-01 2.62137325e-02 1.27385134e+00] [ 9.02776550e-02 9.50886213e-03 9.95871240e-01 1.22083027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.719115933 meters 0.022533820229391724 Centerline is valid? [True, True] Translation: X:-10.97, Y:1.29, Z:0.12 [[ 9.13694918e-01 3.96366671e-01 -8.97499826e-02 -1.09707275e+01] [-3.95577792e-01 9.18030277e-01 2.71775723e-02 1.28505732e+00] [ 9.31654852e-02 1.06710903e-02 9.95593451e-01 1.21448877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.749115933 meters 0.022436365438942216 Centerline is valid? [True, True] Translation: X:-10.99, Y:1.30, Z:0.12 [[ 9.13303987e-01 3.97129978e-01 -9.03526874e-02 -1.09938792e+01] [-3.96324729e-01 9.17699654e-01 2.74600341e-02 1.29720658e+00] [ 9.38218328e-02 1.07296457e-02 9.95531184e-01 1.20250965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.779115933 meters 0.022663987800184884 Centerline is valid? [True, True] Translation: X:-11.02, Y:1.31, Z:0.12 [[ 9.16407616e-01 3.90222141e-01 -8.90155126e-02 -1.10174200e+01] [-3.89399247e-01 9.20668789e-01 2.71515662e-02 1.30793189e+00] [ 9.25489465e-02 9.78067152e-03 9.95660098e-01 1.23834527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.809115933 meters 0.022489794536325016 Centerline is valid? [True, True] Translation: X:-11.04, Y:1.32, Z:0.12 [[ 9.16442658e-01 3.90269007e-01 -8.84474811e-02 -1.10392850e+01] [-3.89447930e-01 9.20650473e-01 2.70742658e-02 1.32336459e+00] [ 9.19954622e-02 9.63367626e-03 9.95712824e-01 1.24015300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.839115933 meters 0.0224107147568889 Centerline is valid? [True, True] Translation: X:-11.06, Y:1.33, Z:0.12 [[ 9.17077120e-01 3.88001836e-01 -9.17830675e-02 -1.10625245e+01] [-3.87096438e-01 9.21607897e-01 2.81998621e-02 1.33468408e+00] [ 9.55295981e-02 9.66745018e-03 9.95379644e-01 1.24449534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.869115933 meters 0.02267870399175242 Centerline is valid? [True, True] Translation: X:-11.09, Y:1.34, Z:0.12 [[ 9.18890970e-01 3.83356980e-01 -9.31494036e-02 -1.10864377e+01] [-3.82390558e-01 9.23554188e-01 2.87249764e-02 1.34398289e+00] [ 9.70404420e-02 9.22433094e-03 9.95237692e-01 1.21662975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.899115933 meters 0.02289437026195795 Centerline is valid? [True, True] Translation: X:-11.11, Y:1.35, Z:0.12 [[ 9.15366480e-01 3.91853861e-01 -9.24919423e-02 -1.11098512e+01] [-3.90933642e-01 9.19973613e-01 2.86258515e-02 1.35369403e+00] [ 9.63072968e-02 9.95506686e-03 9.95301864e-01 1.19427066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.929115933 meters 0.022932800179294003 Centerline is valid? [True, True] Translation: X:-11.13, Y:1.37, Z:0.13 [[ 9.18256423e-01 3.84738648e-01 -9.37086700e-02 -1.11317892e+01] [-3.83746708e-01 9.22979416e-01 2.91112126e-02 1.37046981e+00] [ 9.76913820e-02 9.22883565e-03 9.95173966e-01 1.26606353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.959115933 meters 0.022884120807578852 Centerline is valid? [True, True] Translation: X:-11.15, Y:1.38, Z:0.13 [[ 9.17629470e-01 3.85895940e-01 -9.50814325e-02 -1.11541335e+01] [-3.84869451e-01 9.22494585e-01 2.96521052e-02 1.38377156e+00] [ 9.91547336e-02 9.38429312e-03 9.95027775e-01 1.25345400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.989115932999999 meters 0.023619935265488803 Centerline is valid? [True, True] Translation: X:-11.18, Y:1.40, Z:0.13 [[ 9.16566032e-01 3.88099221e-01 -9.63623530e-02 -1.11761024e+01] [-3.87045424e-01 9.21567092e-01 3.01651228e-02 1.39896382e+00] [ 1.00511434e-01 9.64828085e-03 9.94889121e-01 1.26260760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.019115933 meters 0.02322178270983253 Centerline is valid? [True, True] Translation: X:-11.20, Y:1.42, Z:0.14 [[ 9.17275224e-01 3.86583325e-01 -9.57052543e-02 -1.11981097e+01] [-3.85524843e-01 9.22207425e-01 3.00675890e-02 1.41620223e+00] [ 9.98837247e-02 9.31649876e-03 9.94955499e-01 1.35624634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.049115933 meters 0.022971025896607305 Centerline is valid? [True, True] Translation: X:-11.22, Y:1.43, Z:0.14 [[ 9.17454095e-01 3.86694731e-01 -9.35156037e-02 -1.12202259e+01] [-3.85674349e-01 9.22163712e-01 2.94853197e-02 1.43343270e+00] [ 9.76385140e-02 9.01514232e-03 9.95181113e-01 1.38655679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.079115932999999 meters 0.023411830143967166 Centerline is valid? [True, True] Translation: X:-11.24, Y:1.45, Z:0.14 [[ 9.18753919e-01 3.83634131e-01 -9.33599991e-02 -1.12416969e+01] [-3.82591177e-01 9.23445334e-01 2.95416067e-02 1.45132010e+00] [ 9.75460241e-02 8.57724503e-03 9.95194053e-01 1.43936161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.109115933 meters 0.023552388060441593 Centerline is valid? [True, True] Translation: X:-11.26, Y:1.47, Z:0.15 [[ 9.18107684e-01 3.85377030e-01 -9.25355323e-02 -1.12635977e+01] [-3.84351080e-01 9.22719238e-01 2.93846011e-02 1.46862919e+00] [ 9.67084662e-02 8.58790374e-03 9.95275701e-01 1.45220221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.139115933 meters 0.02405133393261914 Centerline is valid? [True, True] Translation: X:-11.29, Y:1.49, Z:0.16 [[ 9.22018583e-01 3.76398375e-01 -9.05869544e-02 -1.12852107e+01] [-3.75363035e-01 9.26428420e-01 2.88613084e-02 1.48623153e+00] [ 9.47856786e-02 7.39233147e-03 9.95470255e-01 1.55181519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.169115933 meters 0.023751837662173696 Centerline is valid? [True, True] Translation: X:-11.31, Y:1.51, Z:0.16 [[ 9.18685609e-01 3.83297954e-01 -9.53909333e-02 -1.13072504e+01] [-3.82177055e-01 9.23586105e-01 3.04861668e-02 1.50548401e+00] [ 9.97870259e-02 8.44902321e-03 9.94972946e-01 1.55126033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.199115933 meters 0.023904062068671728 Centerline is valid? [True, True] Translation: X:-11.33, Y:1.52, Z:0.16 [[ 9.23032755e-01 3.74236184e-01 -8.92065624e-02 -1.13289067e+01] [-3.73204279e-01 9.27307884e-01 2.86121329e-02 1.52391522e+00] [ 9.34296441e-02 6.88233494e-03 9.95602097e-01 1.64549611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.229115933 meters 0.023638107149217574 Centerline is valid? [True, True] Translation: X:-11.35, Y:1.54, Z:0.17 [[ 9.22806211e-01 3.75144956e-01 -8.77209206e-02 -1.13526784e+01] [-3.74142810e-01 9.26941422e-01 2.82269065e-02 1.53627967e+00] [ 9.19013365e-02 6.77218705e-03 9.95745089e-01 1.65030403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.259115933 meters 0.023829221563042666 Centerline is valid? [True, True] Translation: X:-11.37, Y:1.56, Z:0.18 [[ 9.28909018e-01 3.61127584e-01 -8.19445196e-02 -1.13710862e+01] [-3.60190515e-01 9.32503362e-01 2.64626450e-02 1.56489135e+00] [ 8.59699311e-02 4.93424918e-03 9.96285513e-01 1.83716694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.289115933 meters 0.023803280479495096 Centerline is valid? [True, True] Translation: X:-11.39, Y:1.58, Z:0.19 [[ 9.27726869e-01 3.64167774e-01 -8.18821657e-02 -1.13943534e+01] [-3.63237071e-01 9.31319191e-01 2.65215940e-02 1.58408147e+00] [ 8.59167421e-02 5.13784265e-03 9.96289073e-01 1.92857062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.319115932999999 meters 0.02349409757388726 Centerline is valid? [True, True] Translation: X:-11.42, Y:1.60, Z:0.20 [[ 9.25527668e-01 3.70335821e-01 -7.90564042e-02 -1.14179394e+01] [-3.69484510e-01 9.28881991e-01 2.56796143e-02 1.60081844e+00] [ 8.29441512e-02 5.44292328e-03 9.96539333e-01 1.99804890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.349115933 meters 0.02417307637886309 Centerline is valid? [True, True] Translation: X:-11.44, Y:1.62, Z:0.20 [[ 9.22944340e-01 3.77889100e-01 -7.33046628e-02 -1.14410388e+01] [-3.77175680e-01 9.25833866e-01 2.38779888e-02 1.62019264e+00] [ 7.68911711e-02 5.61068143e-03 9.97023705e-01 2.03804648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.379115933 meters 0.02560008046120966 Centerline is valid? [True, True] Translation: X:-11.46, Y:1.64, Z:0.20 [[ 9.15202672e-01 3.96807505e-01 -7.03411152e-02 -1.14640559e+01] [-3.96201154e-01 9.17876323e-01 2.29717490e-02 1.63910854e+00] [ 7.36798066e-02 6.84542494e-03 9.97258455e-01 2.03335036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.409115932999999 meters 0.02560008046120966 Centerline is valid? [True, True] Translation: X:-11.49, Y:1.65, Z:0.20 [[ 9.14847596e-01 3.97628999e-01 -7.03210871e-02 -1.14891213e+01] [-3.97020388e-01 9.17520732e-01 2.30329705e-02 1.64729375e+00] [ 7.36796324e-02 6.84724757e-03 9.97258455e-01 2.03003364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.439115933 meters 0.026535070719462317 Centerline is valid? [True, True] Translation: X:-11.51, Y:1.66, Z:0.21 [[ 9.01151346e-01 4.26830857e-01 -7.57738099e-02 -1.15134856e+01] [-4.26220306e-01 9.04277456e-01 2.48703270e-02 1.66199424e+00] [ 7.91359710e-02 9.88440777e-03 9.96814826e-01 2.07667749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.469115933 meters 0.026980916170997137 Centerline is valid? [True, True] Translation: X:-11.54, Y:1.68, Z:0.21 [[ 8.93579456e-01 4.42184937e-01 -7.73837061e-02 -1.15382766e+01] [-4.41600375e-01 8.96850989e-01 2.54443079e-02 1.67506835e+00] [ 8.06527430e-02 1.14361628e-02 9.96676652e-01 2.07436851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.499115933 meters 0.027973957950106154 Centerline is valid? [True, True] Translation: X:-11.56, Y:1.68, Z:0.20 [[ 0.89096946 0.44657076 -0.08214615 -11.56418126] [ -0.44592587 0.89466072 0.02706132 1.68469866] [ 0.08557773 0.01252028 0.99625283 0.20216458] [ 0. 0. 0. 1. ]] SLAMing on 12.529115933 meters 0.028586762283396065 Centerline is valid? [True, True] Translation: X:-11.59, Y:1.68, Z:0.20 [[ 0.88871661 0.45063793 -0.08431041 -11.59227189] [ -0.44997006 0.89260938 0.02784687 1.68379818] [ 0.08780512 0.01318919 0.99605035 0.19788173] [ 0. 0. 0. 1. ]] SLAMing on 12.559115933 meters 0.029084841332968854 Centerline is valid? [True, True] Translation: X:-11.62, Y:1.69, Z:0.20 [[ 0.89126052 0.44597736 -0.08221241 -11.6201981 ] [ -0.44531757 0.89495897 0.02721574 1.68532495] [ 0.08571433 0.01235431 0.99624316 0.19774441] [ 0. 0. 0. 1. ]] SLAMing on 12.589115933 meters 0.029327447191213305 Centerline is valid? [True, True] Translation: X:-11.65, Y:1.68, Z:0.19 [[ 8.95662243e-01 4.37351289e-01 -8.07031352e-02 -1.16486382e+01] [-4.36675524e-01 8.99220335e-01 2.67820225e-02 1.68392663e+00] [ 8.42830523e-02 1.12534375e-02 9.96378305e-01 1.94478591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.619115933 meters 0.029195647356017568 Centerline is valid? [True, True] Translation: X:-11.68, Y:1.68, Z:0.19 [[ 8.95722240e-01 4.36642867e-01 -8.38133383e-02 -1.16763965e+01] [-4.35904173e-01 8.99560771e-01 2.78921235e-02 1.68323774e+00] [ 8.75740881e-02 1.15509886e-02 9.96091037e-01 1.86890822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.649115933 meters 0.02952974381878197 Centerline is valid? [True, True] Translation: X:-11.70, Y:1.69, Z:0.19 [[ 8.97853298e-01 4.32963267e-01 -8.00141536e-02 -1.17030402e+01] [-4.32269578e-01 9.01349060e-01 2.66998781e-02 1.68832162e+00] [ 8.36807486e-02 1.06151108e-02 9.96436075e-01 1.87303409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.679115933 meters 0.029721750534738113 Centerline is valid? [True, True] Translation: X:-11.73, Y:1.70, Z:0.20 [[ 9.05289462e-01 4.18286455e-01 -7.40771959e-02 -1.17285044e+01] [-4.17638429e-01 9.08275350e-01 2.47796539e-02 1.69737158e+00] [ 7.76474846e-02 8.50472415e-03 9.96944601e-01 1.99189717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.709115933 meters 0.02903829874657226 Centerline is valid? [True, True] Translation: X:-11.76, Y:1.70, Z:0.20 [[ 8.97904265e-01 4.32796464e-01 -8.03439631e-02 -1.17568903e+01] [-4.32085511e-01 9.01430200e-01 2.69389299e-02 1.69590238e+00] [ 8.40835483e-02 1.05268823e-02 9.96403102e-01 1.97373839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.739115932999999 meters 0.03010004428866361 Centerline is valid? [True, True] Translation: X:-11.78, Y:1.70, Z:0.20 [[ 8.93978629e-01 4.40337736e-01 -8.30956652e-02 -1.17835887e+01] [-4.39602287e-01 8.97757891e-01 2.79392089e-02 1.70097416e+00] [ 8.69024771e-02 1.15519888e-02 9.96149844e-01 1.95283430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.769115933 meters 0.029081415430283773 Centerline is valid? [True, True] Translation: X:-11.81, Y:1.71, Z:0.20 [[ 8.98250664e-01 4.32470820e-01 -7.81967611e-02 -1.18079858e+01] [-4.31784540e-01 9.01591514e-01 2.63600628e-02 1.71130857e+00] [ 8.19014942e-02 1.00862086e-02 9.96589391e-01 2.01949038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.799115933 meters 0.029582302633870964 Centerline is valid? [True, True] Translation: X:-11.83, Y:1.71, Z:0.21 [[ 8.95437427e-01 4.38343750e-01 -7.77597062e-02 -1.18349189e+01] [-4.37680865e-01 8.98746105e-01 2.62849537e-02 1.71389689e+00] [ 8.14080783e-02 1.04974043e-02 9.96625571e-01 2.06166390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.829115932999999 meters 0.02965513747149159 Centerline is valid? [True, True] Translation: X:-11.86, Y:1.72, Z:0.21 [[ 8.95867950e-01 4.37594632e-01 -7.70165855e-02 -1.18609745e+01] [-4.36935799e-01 8.99113781e-01 2.61058866e-02 1.72051716e+00] [ 8.06704692e-02 1.02638762e-02 9.96687979e-01 2.08255440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.859115933 meters 0.02943821885835167 Centerline is valid? [True, True] Translation: X:-11.89, Y:1.72, Z:0.20 [[ 8.91160825e-01 4.46931057e-01 -7.80065043e-02 -1.18877860e+01] [-4.46283761e-01 8.94498523e-01 2.65178709e-02 1.72409002e+00] [ 8.16283630e-02 1.11813484e-02 9.96600114e-01 2.03598036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.889115933 meters 0.029190089571748765 Centerline is valid? [True, True] Translation: X:-11.91, Y:1.73, Z:0.21 [[ 8.93487027e-01 4.42911245e-01 -7.42331545e-02 -1.19128965e+01] [-4.42306023e-01 8.96507156e-01 2.53041600e-02 1.73296794e+00] [ 7.77580512e-02 1.02248326e-02 9.96919825e-01 2.05167361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.919115933 meters 0.028964545860727532 Centerline is valid? [True, True] Translation: X:-11.94, Y:1.74, Z:0.21 [[ 8.94815969e-01 4.40132275e-01 -7.47526748e-02 -1.19388131e+01] [-4.39503547e-01 8.97877369e-01 2.55511607e-02 1.74050033e+00] [ 7.83646255e-02 9.99047914e-03 9.96874704e-01 2.13698948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.949115933 meters 0.02865842555380791 Centerline is valid? [True, True] Translation: X:-11.96, Y:1.74, Z:0.22 [[ 8.90163868e-01 4.48135139e-01 -8.23600926e-02 -1.19644197e+01] [-4.47393664e-01 8.93889684e-01 2.82867962e-02 1.74076124e+00] [ 8.62971445e-02 1.16674997e-02 9.96201120e-01 2.18508255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.979115933 meters 0.02795605374703993 Centerline is valid? [True, True] Translation: X:-11.99, Y:1.74, Z:0.22 [[ 8.92317492e-01 4.43838723e-01 -8.23205983e-02 -1.19897539e+01] [-4.43071196e-01 8.96037259e-01 2.83750889e-02 1.74438962e+00] [ 8.63562865e-02 1.11542978e-02 9.96201874e-01 2.21655346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.009115933 meters 0.027461293499837613 Centerline is valid? [True, True] Translation: X:-12.02, Y:1.74, Z:0.23 [[ 8.93947774e-01 4.40082476e-01 -8.47631546e-02 -1.20168588e+01] [-4.39244074e-01 8.97889584e-01 2.93076525e-02 1.74463561e+00] [ 8.90057379e-02 1.10322027e-02 9.95970014e-01 2.32251122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.039115933 meters 0.027258676074984355 Centerline is valid? [True, True] Translation: X:-12.04, Y:1.75, Z:0.23 [[ 8.94135160e-01 4.39637132e-01 -8.50970450e-02 -1.20404757e+01] [-4.38781810e-01 8.98108755e-01 2.95158772e-02 1.75380661e+00] [ 8.94026768e-02 1.09478518e-02 9.95935392e-01 2.28959702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.069115932999999 meters 0.027795969958196096 Centerline is valid? [True, True] Translation: X:-12.07, Y:1.75, Z:0.24 [[ 8.95336769e-01 4.36138243e-01 -9.03078216e-02 -1.20673921e+01] [-4.35147879e-01 8.99810448e-01 3.14242092e-02 1.75414321e+00] [ 9.49652208e-02 1.11620071e-02 9.95418011e-01 2.36937154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.099115933 meters 0.027811714721409645 Centerline is valid? [True, True] Translation: X:-12.09, Y:1.76, Z:0.23 [[ 8.92258596e-01 4.42232209e-01 -9.11332668e-02 -1.20928177e+01] [-4.41244946e-01 8.96822619e-01 3.18133238e-02 1.75709240e+00] [ 9.57992515e-02 1.18263817e-02 9.95330418e-01 2.34726576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.129115933 meters 0.027986564223372548 Centerline is valid? [True, True] Translation: X:-12.12, Y:1.76, Z:0.24 [[ 0.89097591 0.4445916 -0.09219675 -12.11747365] [ -0.44358349 0.89565126 0.03228776 1.76471768] [ 0.096931 0.01212934 0.99521719 0.2422706 ] [ 0. 0. 0. 1. ]] SLAMing on 13.159115932999999 meters 0.02811562745807467 Centerline is valid? [True, True] Translation: X:-12.14, Y:1.77, Z:0.25 [[ 0.89053989 0.44529006 -0.09303475 -12.14234986] [ -0.44425682 0.89530296 0.03268762 1.7686162 ] [ 0.09784976 0.01222169 0.99512615 0.2481268 ] [ 0. 0. 0. 1. ]] SLAMing on 13.189115933 meters 0.02765215683790285 Centerline is valid? [True, True] Translation: X:-12.17, Y:1.78, Z:0.25 [[ 8.92833357e-01 4.41106732e-01 -9.09584980e-02 -1.21662078e+01] [-4.40086898e-01 8.97382297e-01 3.20707803e-02 1.77560302e+00] [ 9.57711829e-02 1.13957808e-02 9.95338142e-01 2.51477945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.219115933 meters 0.027674265999380478 Centerline is valid? [True, True] Translation: X:-12.19, Y:1.78, Z:0.25 [[ 8.91795856e-01 4.42745460e-01 -9.31483167e-02 -1.21936183e+01] [-4.41673399e-01 8.96570356e-01 3.29576294e-02 1.77559689e+00] [ 9.81058603e-02 1.17496564e-02 9.95106620e-01 2.53029619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.249115932999999 meters 0.027712533375047643 Centerline is valid? [True, True] Translation: X:-12.22, Y:1.78, Z:0.25 [[ 8.89688675e-01 4.46951497e-01 -9.32117016e-02 -1.22173886e+01] [-4.45889679e-01 8.94476058e-01 3.30904221e-02 1.78365447e+00] [ 9.81654491e-02 1.21219620e-02 9.95096278e-01 2.49100541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.279115933 meters 0.02771236011321893 Centerline is valid? [True, True] Translation: X:-12.24, Y:1.79, Z:0.26 [[ 8.90594322e-01 4.44858989e-01 -9.45633823e-02 -1.22409236e+01] [-4.43741158e-01 8.95520967e-01 3.37043452e-02 1.79211476e+00] [ 9.96771725e-02 1.19447663e-02 9.94948131e-01 2.59324840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.309115933 meters 0.02728317758341775 Centerline is valid? [True, True] Translation: X:-12.27, Y:1.80, Z:0.26 [[ 8.90157291e-01 4.45137279e-01 -9.73283166e-02 -1.22654855e+01] [-4.43942814e-01 8.95378879e-01 3.48057520e-02 1.79744086e+00] [ 1.02639057e-01 1.22256128e-02 9.94643533e-01 2.57206579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.339115933 meters 0.028167830964484556 Centerline is valid? [True, True] Translation: X:-12.29, Y:1.81, Z:0.26 [[ 0.88898407 0.44741793 -0.0975936 -12.28892502] [ -0.44621776 0.89423884 0.03502296 1.80535942] [ 0.10294188 0.01241315 0.99460991 0.26010892] [ 0. 0. 0. 1. ]] SLAMing on 13.369115933 meters 0.02808003104901501 Centerline is valid? [True, True] Translation: X:-12.31, Y:1.81, Z:0.26 [[ 0.88563231 0.45413706 -0.09703065 -12.31275117] [ -0.45297644 0.89083703 0.03495331 1.81251999] [ 0.10231209 0.01299681 0.99466744 0.26298114] [ 0. 0. 0. 1. ]] SLAMing on 13.399115933 meters 0.027639863550222025 Centerline is valid? [True, True] Translation: X:-12.34, Y:1.82, Z:0.27 [[ 0.8846286 0.4564546 -0.09529663 -12.335453 ] [ -0.4553361 0.88965293 0.03444859 1.82118471] [ 0.10050515 0.01291779 0.99485268 0.26837496] [ 0. 0. 0. 1. ]] SLAMing on 13.429115933 meters 0.028465903237985597 Centerline is valid? [True, True] Translation: X:-12.36, Y:1.83, Z:0.27 [[ 0.87985764 0.46546299 -0.09588917 -12.35714635] [ -0.46437062 0.88495777 0.03478031 1.83319199] [ 0.10104681 0.01392639 0.9947842 0.26612661] [ 0. 0. 0. 1. ]] SLAMing on 13.459115933 meters 0.028601900588292303 Centerline is valid? [True, True] Translation: X:-12.38, Y:1.84, Z:0.27 [[ 0.8769642 0.47131755 -0.09377398 -12.37998249] [ -0.47029258 0.8818499 0.0341414 1.84187749] [ 0.09878601 0.01416042 0.99500794 0.26909327] [ 0. 0. 0. 1. ]] SLAMing on 13.489115932999999 meters 0.02936220760949744 Centerline is valid? [True, True] Translation: X:-12.40, Y:1.86, Z:0.27 [[ 0.87097116 0.48259859 -0.09223793 -12.40015497] [ -0.48165693 0.87571183 0.03369555 1.858389 ] [ 0.09703527 0.01507918 0.99516671 0.2712237 ] [ 0. 0. 0. 1. ]] SLAMing on 13.519115933 meters 0.028159927933274022 Centerline is valid? [True, True] Translation: X:-12.42, Y:1.87, Z:0.28 [[ 0.87327884 0.47926375 -0.08769453 -12.42152151] [ -0.47838378 0.87756149 0.03216823 1.87135622] [ 0.09237441 0.01385981 0.99562788 0.27931571] [ 0. 0. 0. 1. ]] SLAMing on 13.549115933 meters 0.028590322976571252 Centerline is valid? [True, True] Translation: X:-12.44, Y:1.89, Z:0.28 [[ 0.87136265 0.48264095 -0.08823181 -12.44240056] [ -0.48175686 0.87570303 0.03247363 1.88640884] [ 0.09293797 0.01420998 0.9955705 0.28485442] [ 0. 0. 0. 1. ]] SLAMing on 13.579115932999999 meters 0.0281774031324611 Centerline is valid? [True, True] Translation: X:-12.47, Y:1.90, Z:0.29 [[ 0.86543437 0.49346572 -0.08668871 -12.46520089] [ -0.49265483 0.86963583 0.0320116 1.89652384] [ 0.09118423 0.01500368 0.99572101 0.29138649] [ 0. 0. 0. 1. ]] SLAMing on 13.609115933 meters 0.028660817563186038 Centerline is valid? [True, True] Translation: X:-12.49, Y:1.91, Z:0.30 [[ 0.86396928 0.49676116 -0.08237367 -12.48724358] [ -0.49603535 0.86776614 0.03050996 1.9090168 ] [ 0.08663724 0.01450058 0.99613439 0.29651478] [ 0. 0. 0. 1. ]] SLAMing on 13.639115933 meters 0.02750403913543713 Centerline is valid? [True, True] Translation: X:-12.51, Y:1.92, Z:0.30 [[ 0.86333638 0.49851504 -0.07831381 -12.50937295] [ -0.49785887 0.86677002 0.02909087 1.92070634] [ 0.0823823 0.01387402 0.99650422 0.30310171] [ 0. 0. 0. 1. ]] SLAMing on 13.669115933 meters 0.028278686311924903 Centerline is valid? [True, True] Translation: X:-12.53, Y:1.93, Z:0.30 [[ 0.85661134 0.50989449 -0.07889627 -12.53104313] [ -0.50926761 0.86010614 0.02939272 1.93383907] [ 0.08284635 0.01500118 0.99644942 0.30102186] [ 0. 0. 0. 1. ]] SLAMing on 13.699115933 meters 0.029207621508876076 Centerline is valid? [True, True] Translation: X:-12.55, Y:1.95, Z:0.30 [[ 0.85352617 0.51507178 -0.07870282 -12.55363933] [ -0.51446191 0.85700887 0.02940649 1.94654459] [ 0.08259547 0.01539039 0.99646431 0.30367787] [ 0. 0. 0. 1. ]] SLAMing on 13.729115933 meters 0.029358054297620978 Centerline is valid? [True, True] Translation: X:-12.58, Y:1.96, Z:0.30 [[ 0.85109382 0.51925073 -0.07757572 -12.57676284] [ -0.51866782 0.85448148 0.02907033 1.95572905] [ 0.08138181 0.01549446 0.99656255 0.3040503 ] [ 0. 0. 0. 1. ]] SLAMing on 13.759115933 meters 0.029327078084116845 Centerline is valid? [True, True] Translation: X:-12.60, Y:1.96, Z:0.30 [[ 0.84797227 0.52390265 -0.08043033 -12.60243907] [ -0.52328785 0.85161934 0.03023783 1.95856557] [ 0.0843377 0.01644737 0.99630148 0.30247428] [ 0. 0. 0. 1. ]] SLAMing on 13.789115933 meters 0.029892180155259258 Centerline is valid? [True, True] Translation: X:-12.63, Y:1.97, Z:0.30 [[ 0.84546717 0.52842554 -0.07714737 -12.62628364] [ -0.52787021 0.84882652 0.02909603 1.96653537] [ 0.08085982 0.01612406 0.99659505 0.30003159] [ 0. 0. 0. 1. ]] SLAMing on 13.819115932999999 meters 0.029549627551043067 Centerline is valid? [True, True] Translation: X:-12.65, Y:1.97, Z:0.31 [[ 0.84711768 0.52613699 -0.07464247 -12.64924666] [ -0.52560158 0.85026201 0.02823997 1.9742957 ] [ 0.07832375 0.01530962 0.99681042 0.31454497] [ 0. 0. 0. 1. ]] SLAMing on 13.849115933 meters 0.030373217192743693 Centerline is valid? [True, True] Translation: X:-12.67, Y:1.98, Z:0.30 [[ 0.84109815 0.53510818 -0.07882352 -12.67327047] [ -0.53454121 0.84461295 0.02991085 1.98148916] [ 0.0825809 0.01697646 0.99643976 0.30304737] [ 0. 0. 0. 1. ]] SLAMing on 13.879115933 meters 0.030290667251054334 Centerline is valid? [True, True] Translation: X:-12.70, Y:1.99, Z:0.31 [[ 0.8420731 0.53379426 -0.07730842 -12.6984533 ] [ -0.53323631 0.84545445 0.02942468 1.98532173] [ 0.08106748 0.01644593 0.99657293 0.30578949] [ 0. 0. 0. 1. ]] SLAMing on 13.909115932999999 meters 0.030820847762901032 Centerline is valid? [True, True] Translation: X:-12.72, Y:1.99, Z:0.31 [[ 0.84007844 0.53716216 -0.07566391 -12.72112854] [ -0.53663364 0.84332077 0.02888638 1.99426288] [ 0.07932562 0.01633697 0.99671488 0.3067002 ] [ 0. 0. 0. 1. ]] SLAMing on 13.939115933 meters 0.030625500316077102 Centerline is valid? [True, True] Translation: X:-12.75, Y:2.00, Z:0.31 [[ 0.84004041 0.53687151 -0.07810947 -12.74583624] [ -0.536299 0.8434976 0.02991952 1.9987638 ] [ 0.08194808 0.01675642 0.99649573 0.31185618] [ 0. 0. 0. 1. ]] SLAMing on 13.969115933 meters 0.03098732986117978 Centerline is valid? [True, True] Translation: X:-12.77, Y:2.00, Z:0.31 [[ 0.83650068 0.54187097 -0.08150131 -12.77097711] [ -0.54126205 0.84027065 0.0313148 2.00098999] [ 0.08545174 0.01791872 0.99618117 0.30626503] [ 0. 0. 0. 1. ]] SLAMing on 13.999115932999999 meters 0.0299379016656044 Centerline is valid? [True, True] Translation: X:-12.80, Y:2.00, Z:0.31 [[ 0.83705923 0.54124235 -0.07992851 -12.79603946] [ -0.54064466 0.8406863 0.03082044 2.00194119] [ 0.08387613 0.01741439 0.99632401 0.31377237] [ 0. 0. 0. 1. ]] SLAMing on 14.029115933 meters 0.032356026160848476 Centerline is valid? [True, True] Translation: X:-12.82, Y:2.02, Z:0.30 [[ 0.83335557 0.54709972 -0.07874256 -12.81607814] [ -0.54653631 0.83688129 0.03045932 2.01736143] [ 0.08256246 0.01765222 0.99642955 0.3016693 ] [ 0. 0. 0. 1. ]] SLAMing on 14.059115933 meters 0.03094770197669598 Centerline is valid? [True, True] Translation: X:-12.84, Y:2.02, Z:0.32 [[ 0.83789123 0.54045633 -0.07645418 -12.8402207 ] [ -0.53988949 0.84121219 0.02968817 2.02153471] [ 0.08035935 0.01640135 0.99663101 0.3163506 ] [ 0. 0. 0. 1. ]] SLAMing on 14.089115933 meters 0.03153038421659766 Centerline is valid? [True, True] Translation: X:-12.86, Y:2.03, Z:0.32 [[ 0.83694661 0.54209943 -0.07515701 -12.86365901] [ -0.54155055 0.84015822 0.02927739 2.02859759] [ 0.07901503 0.01619771 0.99674182 0.31759895] [ 0. 0. 0. 1. ]] SLAMing on 14.119115933 meters 0.03131231763908145 Centerline is valid? [True, True] Translation: X:-12.89, Y:2.03, Z:0.32 [[ 0.84006224 0.53743934 -0.07385384 -12.88853286] [ -0.53688392 0.84316188 0.02887393 2.03165604] [ 0.07778872 0.01539504 0.996851 0.32174859] [ 0. 0. 0. 1. ]] SLAMing on 14.149115933 meters 0.03092170851087902 Centerline is valid? [True, True] Translation: X:-12.91, Y:2.03, Z:0.33 [[ 0.83943519 0.53827866 -0.07486419 -12.91417153] [ -0.53770368 0.84262242 0.02936354 2.03226026] [ 0.07888801 0.01560596 0.99676132 0.32840227] [ 0. 0. 0. 1. ]] SLAMing on 14.179115933 meters 0.031585704712120515 Centerline is valid? [True, True] Translation: X:-12.94, Y:2.04, Z:0.32 [[ 0.83726397 0.54146605 -0.07618109 -12.93721023] [ -0.54087572 0.84056828 0.02997377 2.0388813 ] [ 0.08026519 0.01610855 0.99664337 0.32227976] [ 0. 0. 0. 1. ]] SLAMing on 14.209115933 meters 0.03215193448210915 Centerline is valid? [True, True] Translation: X:-12.96, Y:2.04, Z:0.32 [[ 0.83410265 0.54609095 -0.07782961 -12.96190037] [ -0.54548365 0.83755726 0.03074764 2.04131163] [ 0.08197776 0.01680809 0.99649242 0.31956746] [ 0. 0. 0. 1. ]] SLAMing on 14.239115932999999 meters 0.03320812171962902 Centerline is valid? [True, True] Translation: X:-12.99, Y:2.04, Z:0.31 [[ 0.83107976 0.55014169 -0.081551 -12.98625392] [ -0.54948321 0.8348787 0.03233815 2.04298899] [ 0.08587576 0.01793533 0.99614441 0.31318699] [ 0. 0. 0. 1. ]] SLAMing on 14.269115933 meters 0.03259328233878135 Centerline is valid? [True, True] Translation: X:-13.01, Y:2.05, Z:0.33 [[ 0.8362897 0.54286457 -0.07692594 -13.00914671] [ -0.54223919 0.83966589 0.03062452 2.04746697] [ 0.08121705 0.01610129 0.99656637 0.33058353] [ 0. 0. 0. 1. ]] SLAMing on 14.299115933 meters 0.03229684578043075 Centerline is valid? [True, True] Translation: X:-13.03, Y:2.05, Z:0.34 [[ 0.83602486 0.54344346 -0.0757076 -13.03237461] [ -0.54283004 0.83929715 0.03026292 2.05237265] [ 0.07998736 0.0157958 0.99667072 0.33539957] [ 0. 0. 0. 1. ]] SLAMing on 14.329115932999999 meters 0.03229684578043075 Centerline is valid? [True, True] Translation: X:-13.05, Y:2.06, Z:0.34 [[ 0.83520946 0.54470207 -0.0756625 -13.05442574] [ -0.54408384 0.83848084 0.03037546 2.0613636 ] [ 0.07998713 0.01579688 0.99667072 0.33510685] [ 0. 0. 0. 1. ]] SLAMing on 14.359115933 meters 0.03303052515960103 Centerline is valid? [True, True] Translation: X:-13.08, Y:2.07, Z:0.34 [[ 0.83517911 0.54427203 -0.07901779 -13.07638319] [ -0.54358325 0.83874981 0.0318749 2.06595213] [ 0.08362477 0.01633149 0.99636348 0.33522785] [ 0. 0. 0. 1. ]] SLAMing on 14.389115933 meters 0.03246851927661476 Centerline is valid? [True, True] Translation: X:-13.10, Y:2.07, Z:0.34 [[ 0.83243276 0.54878325 -0.07676354 -13.09960652] [ -0.54814141 0.83580772 0.03108774 2.06889823] [ 0.08121999 0.01619882 0.99656455 0.33805855] [ 0. 0. 0. 1. ]] SLAMing on 14.419115932999999 meters 0.03319080234756401 Centerline is valid? [True, True] Translation: X:-13.12, Y:2.08, Z:0.34 [[ 0.83293505 0.54797257 -0.0771055 -13.12084274] [ -0.54731181 0.83634152 0.03134698 2.07909267] [ 0.08166382 0.01609076 0.99653003 0.34398375] [ 0. 0. 0. 1. ]] SLAMing on 14.449115933 meters 0.03309759477400493 Centerline is valid? [True, True] Translation: X:-13.14, Y:2.08, Z:0.33 [[ 0.8262236 0.55780676 -0.07877928 -13.14387728] [ -0.55714897 0.82978995 0.03215078 2.08271773] [ 0.08330418 0.01732806 0.9963735 0.3337875 ] [ 0. 0. 0. 1. ]] SLAMing on 14.479115933 meters 0.033543726237302555 Centerline is valid? [True, True] Translation: X:-13.17, Y:2.09, Z:0.34 [[ 0.82334127 0.56226828 -0.07722394 -13.16625007] [ -0.56164383 0.8267736 0.03164844 2.08960861] [ 0.08164163 0.01731488 0.99651133 0.33564244] [ 0. 0. 0. 1. ]] SLAMing on 14.509115933 meters 0.03263886562072141 Centerline is valid? [True, True] Translation: X:-13.19, Y:2.10, Z:0.35 [[ 0.82379568 0.56217865 -0.0729098 -13.18657466] [ -0.56161166 0.82685662 0.030008 2.09982472] [ 0.07715581 0.01622653 0.996887 0.34539515] [ 0. 0. 0. 1. ]] SLAMing on 14.539115933 meters 0.03464793633285454 Centerline is valid? [True, True] Translation: X:-13.21, Y:2.11, Z:0.34 [[ 0.81945156 0.56834709 -0.074032 -13.20724636] [ -0.56777688 0.82261395 0.03058932 2.10959866] [ 0.07828511 0.01696719 0.99678662 0.34436666] [ 0. 0. 0. 1. ]] SLAMing on 14.569115932999999 meters 0.034369977366072696 Centerline is valid? [True, True] Translation: X:-13.23, Y:2.12, Z:0.34 [[ 0.81415817 0.57616264 -0.07199371 -13.22967995] [ -0.57564253 0.81715568 0.02987076 2.11596266] [ 0.07604049 0.01712311 0.99695769 0.34045025] [ 0. 0. 0. 1. ]] SLAMing on 14.599115933 meters 0.03407616611663027 Centerline is valid? [True, True] Translation: X:-13.25, Y:2.13, Z:0.36 [[ 0.81501342 0.57506876 -0.07105659 -13.250314 ] [ -0.57454861 0.81793473 0.02960859 2.12587778] [ 0.07514663 0.01669407 0.99703274 0.3607248 ] [ 0. 0. 0. 1. ]] SLAMing on 14.629115933 meters 0.03412996490420867 Centerline is valid? [True, True] Translation: X:-13.27, Y:2.13, Z:0.36 [[ 0.81019291 0.58193272 -0.07029766 -13.27191742] [ -0.58143871 0.81305833 0.02941385 2.13370303] [ 0.07427298 0.01704288 0.9970923 0.35653343] [ 0. 0. 0. 1. ]] SLAMing on 14.659115932999999 meters 0.035428771341184356 Centerline is valid? [True, True] Translation: X:-13.29, Y:2.14, Z:0.35 [[ 0.80322384 0.59152889 -0.07017865 -13.29278754] [ -0.59106225 0.80608721 0.02947592 2.14132391] [ 0.07400597 0.01780419 0.99709886 0.34639099] [ 0. 0. 0. 1. ]] SLAMing on 14.689115933 meters 0.037149590304279924 Centerline is valid? [True, True] Translation: X:-13.31, Y:2.15, Z:0.33 [[ 0.79288587 0.60472899 -0.07506556 -13.31446104] [ -0.60424016 0.79617348 0.03164837 2.14694346] [ 0.07890389 0.02026408 0.99667625 0.3291234 ] [ 0. 0. 0. 1. ]] SLAMing on 14.719115933 meters 0.03488346071804646 Centerline is valid? [True, True] Translation: X:-13.34, Y:2.15, Z:0.35 [[ 0.80539893 0.58843409 -0.07125925 -13.33648821] [ -0.58792393 0.8083536 0.0301647 2.15271655] [ 0.07535261 0.0176004 0.99700161 0.35000337] [ 0. 0. 0. 1. ]] SLAMing on 14.749115932999999 meters 0.0355522406794157 Centerline is valid? [True, True] Translation: X:-13.36, Y:2.16, Z:0.33 [[ 0.79106227 0.60707607 -0.07535993 -13.35782861] [ -0.60657301 0.79438244 0.03202689 2.15821337] [ 0.07930737 0.02037604 0.99664194 0.32913267] [ 0. 0. 0. 1. ]] SLAMing on 14.779115933 meters 0.034802774619093556 Centerline is valid? [True, True] Translation: X:-13.38, Y:2.17, Z:0.34 [[ 0.80030157 0.59531828 -0.07150904 -13.37828221] [ -0.59481099 0.80328592 0.03052246 2.16551163] [ 0.07561278 0.01810719 0.99697284 0.33754396] [ 0. 0. 0. 1. ]] SLAMing on 14.809115933 meters 0.035545188690090074 Centerline is valid? [True, True] Translation: X:-13.40, Y:2.17, Z:0.32 [[ 0.79345852 0.60391576 -0.07556018 -13.40111405] [ -0.6033749 0.79679981 0.03238488 2.16710754] [ 0.07976408 0.01989506 0.99661521 0.32130442] [ 0. 0. 0. 1. ]] SLAMing on 14.839115933 meters 0.03474763935912397 Centerline is valid? [True, True] Translation: X:-13.42, Y:2.17, Z:0.33 [[ 0.79802063 0.59825983 -0.07244481 -13.42271962] [ -0.59773079 0.80109039 0.03117819 2.17273311] [ 0.0766875 0.01842165 0.99688498 0.3291034 ] [ 0. 0. 0. 1. ]] SLAMing on 14.869115933 meters 0.03335093008834486 Centerline is valid? [True, True] Translation: X:-13.44, Y:2.18, Z:0.34 [[ 0.79883541 0.59734735 -0.0709798 -13.44391427] [ -0.59682699 0.80178365 0.03066794 2.17816789] [ 0.07522985 0.01786403 0.99700619 0.3392759 ] [ 0. 0. 0. 1. ]] SLAMing on 14.899115933 meters 0.033998480559457325 Centerline is valid? [True, True] Translation: X:-13.46, Y:2.19, Z:0.35 [[ 0.79819965 0.59852434 -0.06816101 -13.46146927] [ -0.59803944 0.80092087 0.0295736 2.19212124] [ 0.07229209 0.01715734 0.99723592 0.35095645] [ 0. 0. 0. 1. ]] SLAMing on 14.929115933 meters 0.033775510649992145 Centerline is valid? [True, True] Translation: X:-13.49, Y:2.19, Z:0.35 [[ 0.80060369 0.59500511 -0.07072944 -13.48592034] [ -0.5944602 0.80353418 0.03082048 2.18991539] [ 0.07517186 0.01737084 0.99701928 0.34579429] [ 0. 0. 0. 1. ]] SLAMing on 14.959115933 meters 0.03335822588413979 Centerline is valid? [True, True] Translation: X:-13.51, Y:2.19, Z:0.35 [[ 0.80932027 0.58328994 -0.06909078 -13.50906136] [ -0.58271979 0.81211052 0.03023498 2.19195941] [ 0.07374511 0.01579078 0.9971521 0.35051586] [ 0. 0. 0. 1. ]] SLAMing on 14.989115932999999 meters 0.03352001376039858 Centerline is valid? [True, True] Translation: X:-13.53, Y:2.20, Z:0.35 [[ 0.81151387 0.5803753 -0.06789514 -13.53008591] [ -0.5798056 0.8142082 0.02984077 2.19886615] [ 0.07259963 0.01514978 0.9972461 0.35361004] [ 0. 0. 0. 1. ]] SLAMing on 15.019115933 meters 0.03301088550753731 Centerline is valid? [True, True] Translation: X:-13.55, Y:2.20, Z:0.35 [[ 0.80640009 0.58749445 -0.06759556 -13.5536043 ] [ -0.58694438 0.80907746 0.02983213 2.20052222] [ 0.07221625 0.0156182 0.99726671 0.35063572] [ 0. 0. 0. 1. ]] SLAMing on 15.049115933 meters 0.03311731653444396 Centerline is valid? [True, True] Translation: X:-13.57, Y:2.21, Z:0.35 [[ 0.80632583 0.58741857 -0.0691236 -13.57312608] [ -0.58683316 0.8091279 0.03064117 2.2096095 ] [ 0.07392902 0.01585725 0.99713743 0.35222736] [ 0. 0. 0. 1. ]] SLAMing on 15.079115932999999 meters 0.032795917846568885 Centerline is valid? [True, True] Translation: X:-13.58, Y:2.22, Z:0.37 [[ 0.81004957 0.58241425 -0.06792158 -13.58477997] [ -0.58181352 0.8127552 0.0303647 2.21612286] [ 0.07288845 0.01492079 0.99722848 0.37440509] [ 0. 0. 0. 1. ]] SLAMing on 15.109115933 meters 0.031551711845114364 Centerline is valid? [True, True] Translation: X:-13.61, Y:2.22, Z:0.39 [[ 8.16578419e-01 5.73572388e-01 -6.49184122e-02 -1.36064399e+01] [-5.72985997e-01 8.19045702e-01 2.91750820e-02 2.21944789e+00] [ 6.99051680e-02 1.33735988e-02 9.97463992e-01 3.89106448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.139115933 meters 0.03156264536041094 Centerline is valid? [True, True] Translation: X:-13.63, Y:2.23, Z:0.39 [[ 8.11315437e-01 5.81144773e-01 -6.35453815e-02 -1.36258879e+01] [-5.80596095e-01 8.13686207e-01 2.86867724e-02 2.23007945e+00] [ 6.83771683e-02 1.36201790e-02 9.97566566e-01 3.85144750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.169115932999999 meters 0.031235647335254885 Centerline is valid? [True, True] Translation: X:-13.65, Y:2.23, Z:0.36 [[ 0.80525831 0.58884001 -0.06947295 -13.6501815 ] [ -0.58820078 0.80810107 0.03150401 2.22744536] [ 0.07469198 0.01549518 0.99708626 0.35982258] [ 0. 0. 0. 1. ]] SLAMing on 15.199115933 meters 0.030840077044169953 Centerline is valid? [True, True] Translation: X:-13.67, Y:2.24, Z:0.38 [[ 8.16678349e-01 5.73422654e-01 -6.49841103e-02 -1.36691247e+01] [-5.72806924e-01 8.19155748e-01 2.95987702e-02 2.23842425e+00] [ 7.02047129e-02 1.30506736e-02 9.97447231e-01 3.83094557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.229115933 meters 0.030464462368711094 Centerline is valid? [True, True] Translation: X:-13.69, Y:2.24, Z:0.37 [[ 8.12254608e-01 5.79652730e-01 -6.51549205e-02 -1.36915971e+01] [-5.79043465e-01 8.14751536e-01 2.98094026e-02 2.24170601e+00] [ 7.03641731e-02 1.35147063e-02 9.97429815e-01 3.65469526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.259115933 meters 0.029909878031036584 Centerline is valid? [True, True] Translation: X:-13.71, Y:2.25, Z:0.38 [[ 8.19846330e-01 5.69279995e-01 -6.14189007e-02 -1.37109140e+01] [-5.68702093e-01 8.22059184e-01 2.82246116e-02 2.25234996e+00] [ 6.65576781e-02 1.17892131e-02 9.97712930e-01 3.82380014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.289115933 meters 0.029616597161057252 Centerline is valid? [True, True] Translation: X:-13.73, Y:2.26, Z:0.38 [[ 8.15189528e-01 5.76018564e-01 -6.05693615e-02 -1.37327794e+01] [-5.75466148e-01 8.17347577e-01 2.79580270e-02 2.25763517e+00] [ 6.56105634e-02 1.20645263e-02 9.97772369e-01 3.78589557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.319115932999999 meters 0.02992074994751448 Centerline is valid? [True, True] Translation: X:-13.75, Y:2.26, Z:0.37 [[ 8.12683112e-01 5.79429480e-01 -6.17060590e-02 -1.37548106e+01] [-5.78856819e-01 8.14927042e-01 2.86129318e-02 2.26211009e+00] [ 6.68651123e-02 1.24657266e-02 9.97684150e-01 3.72861118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.349115933 meters 0.02906747784152324 Centerline is valid? [True, True] Translation: X:-13.77, Y:2.27, Z:0.39 [[ 8.14770852e-01 5.76649785e-01 -6.01953857e-02 -1.37733842e+01] [-5.76088502e-01 8.16905889e-01 2.80500841e-02 2.27069280e+00] [ 6.53490400e-02 1.18234786e-02 9.97792417e-01 3.88860619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.379115933 meters 0.02968991359996392 Centerline is valid? [True, True] Translation: X:-13.80, Y:2.27, Z:0.36 [[ 8.10610554e-01 5.81944928e-01 -6.51968569e-02 -1.37962131e+01] [-5.81292717e-01 8.13121789e-01 3.05243140e-02 2.27252642e+00] [ 7.07764546e-02 1.31551270e-02 9.97405452e-01 3.64482201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.409115932999999 meters 0.029473914659723106 Centerline is valid? [True, True] Translation: X:-13.82, Y:2.27, Z:0.37 [[ 8.21508394e-01 5.66613042e-01 -6.38249005e-02 -1.38180336e+01] [-5.65932207e-01 8.23904507e-01 3.00349905e-02 2.27301472e+00] [ 6.96038405e-02 1.14465700e-02 9.97509038e-01 3.72703255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.439115933 meters 0.028383388037446177 Centerline is valid? [True, True] Translation: X:-13.84, Y:2.28, Z:0.37 [[ 8.18168545e-01 5.71650450e-01 -6.17737409e-02 -1.38379861e+01] [-5.71016922e-01 8.20418423e-01 2.92110619e-02 2.27973093e+00] [ 6.73788317e-02 1.13742794e-02 9.97662628e-01 3.68695483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.469115933 meters 0.028570395797579556 Centerline is valid? [True, True] Translation: X:-13.86, Y:2.28, Z:0.36 [[ 8.13087089e-01 5.78308981e-01 -6.66941409e-02 -1.38620546e+01] [-5.77580729e-01 8.15718146e-01 3.16923878e-02 2.27704811e+00] [ 7.27316135e-02 1.27525791e-02 9.97270016e-01 3.57543674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.499115932999999 meters 0.027681365591477467 Centerline is valid? [True, True] Translation: X:-13.88, Y:2.28, Z:0.36 [[ 8.17525318e-01 5.72301930e-01 -6.42094743e-02 -1.38811976e+01] [-5.71598500e-01 8.19960423e-01 3.06603803e-02 2.28498590e+00] [ 7.01962225e-02 1.16364021e-02 9.97465330e-01 3.60029955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.529115933 meters 0.026738133381693622 Centerline is valid? [True, True] Translation: X:-13.90, Y:2.29, Z:0.35 [[ 8.20448786e-01 5.67866900e-01 -6.62644215e-02 -1.39039129e+01] [-5.67092348e-01 8.23040201e-01 3.17977360e-02 2.28525796e+00] [ 7.25951645e-02 1.14896325e-02 9.97295308e-01 3.50326257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.559115933 meters 0.02662015435767016 Centerline is valid? [True, True] Translation: X:-13.93, Y:2.29, Z:0.34 [[ 8.22006867e-01 5.65281570e-01 -6.90033109e-02 -1.39259245e+01] [-5.64420226e-01 8.24816569e-01 3.32781549e-02 2.28834367e+00] [ 7.57266018e-02 1.15919925e-02 9.97061236e-01 3.43770033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.589115933 meters 0.025527372819339873 Centerline is valid? [True, True] Translation: X:-13.95, Y:2.29, Z:0.34 [[ 8.29525528e-01 5.54020052e-01 -7.03504070e-02 -1.39493776e+01] [-5.53071663e-01 8.32435553e-01 3.40996560e-02 2.28813464e+00] [ 7.74540731e-02 1.06222814e-02 9.96939333e-01 3.37066492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.619115933 meters 0.02538913996476387 Centerline is valid? [True, True] Translation: X:-13.97, Y:2.29, Z:0.33 [[ 8.29151128e-01 5.54382900e-01 -7.18888576e-02 -1.39708700e+01] [-5.53379741e-01 8.32192412e-01 3.50235966e-02 2.29124058e+00] [ 7.92418448e-02 1.07419828e-02 9.96797542e-01 3.33989908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.649115933 meters 0.02429956603151672 Centerline is valid? [True, True] Translation: X:-13.99, Y:2.30, Z:0.34 [[ 8.36472837e-01 5.43944025e-01 -6.66189976e-02 -1.39898795e+01] [-5.43035741e-01 8.39074653e-01 3.26482932e-02 2.29748463e+00] [ 7.36571563e-02 8.86708633e-03 9.97244202e-01 3.44782765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.679115933 meters 0.023876237723465782 Centerline is valid? [True, True] Translation: X:-14.01, Y:2.30, Z:0.35 [[ 8.38597644e-01 5.40734713e-01 -6.60300003e-02 -1.40108472e+01] [-5.39819871e-01 8.41151624e-01 3.25338580e-02 2.30230934e+00] [ 7.31334284e-02 8.36148952e-03 9.97287114e-01 3.46708059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.709115933 meters 0.02313131619681305 Centerline is valid? [True, True] Translation: X:-14.03, Y:2.31, Z:0.35 [[ 8.44823560e-01 5.30915949e-01 -6.63431056e-02 -1.40325381e+01] [-5.29949918e-01 8.47392173e-01 3.28571142e-02 2.30671006e+00] [ 7.36629944e-02 7.40005923e-03 9.97255736e-01 3.50625139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.739115932999999 meters 0.023312369766348758 Centerline is valid? [True, True] Translation: X:-14.05, Y:2.31, Z:0.34 [[ 8.43735853e-01 5.32169722e-01 -7.00371182e-02 -1.40529262e+01] [-5.31082872e-01 8.46602011e-01 3.48714547e-02 2.31200457e+00] [ 7.78510974e-02 7.77321734e-03 9.96934694e-01 3.41408079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.769115933 meters 0.022906473320590606 Centerline is valid? [True, True] Translation: X:-14.07, Y:2.32, Z:0.35 [[ 8.46310410e-01 5.28185245e-01 -6.91305804e-02 -1.40723818e+01] [-5.27099143e-01 8.49099030e-01 3.46024578e-02 2.32151856e+00] [ 7.69752165e-02 7.15424941e-03 9.97007338e-01 3.45630442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.799115933 meters 0.023070381594055722 Centerline is valid? [True, True] Translation: X:-14.09, Y:2.33, Z:0.34 [[ 8.42900737e-01 5.33669587e-01 -6.86667208e-02 -1.40923772e+01] [-5.32602064e-01 8.45660264e-01 3.45508241e-02 2.32813729e+00] [ 7.65074413e-02 7.44912214e-03 9.97041184e-01 3.43672611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.829115932999999 meters 0.0229288869116159 Centerline is valid? [True, True] Translation: X:-14.11, Y:2.34, Z:0.35 [[ 8.45381211e-01 5.29983753e-01 -6.66920545e-02 -1.41114950e+01] [-5.28952203e-01 8.47980864e-01 3.37345677e-02 2.33644607e+00] [ 7.44323588e-02 6.75833948e-03 9.97203163e-01 3.45603103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.859115933 meters 0.022948529072659166 Centerline is valid? [True, True] Translation: X:-14.13, Y:2.34, Z:0.34 [[ 8.42465795e-01 5.34574154e-01 -6.69466828e-02 -1.41318948e+01] [-5.33535770e-01 8.45092240e-01 3.40395213e-02 2.34357886e+00] [ 7.47727704e-02 7.04131756e-03 9.97175738e-01 3.38735894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.889115933 meters 0.023243685374148716 Centerline is valid? [True, True] Translation: X:-14.15, Y:2.36, Z:0.34 [[ 8.39782697e-01 5.38709891e-01 -6.75031464e-02 -1.41478134e+01] [-5.37653116e-01 8.42459603e-01 3.45100551e-02 2.35650979e+00] [ 7.54595820e-02 7.31232983e-03 9.97122049e-01 3.37474391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.919115932999999 meters 0.023405018103733754 Centerline is valid? [True, True] Translation: X:-14.16, Y:2.37, Z:0.34 [[ 8.38822985e-01 5.40196312e-01 -6.75569681e-02 -1.41637363e+01] [-5.39128812e-01 8.41507384e-01 3.47195371e-02 2.37179647e+00] [ 7.56050534e-02 7.29836223e-03 9.97111132e-01 3.38681033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.949115933 meters 0.02332940773052138 Centerline is valid? [True, True] Translation: X:-14.18, Y:2.38, Z:0.34 [[ 8.33667442e-01 5.48247042e-01 -6.65114843e-02 -1.41804365e+01] [-5.47220548e-01 8.36280886e-01 3.44085971e-02 2.38047702e+00] [ 7.44866946e-02 7.71112375e-03 9.97192194e-01 3.38186669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.979115933 meters 0.023460577528805666 Centerline is valid? [True, True] Translation: X:-14.20, Y:2.39, Z:0.34 [[ 8.31358962e-01 5.51971498e-01 -6.45735390e-02 -1.41981958e+01] [-5.51002046e-01 8.33827802e-01 3.35848458e-02 2.39207855e+00] [ 7.23810897e-02 7.65908954e-03 9.97347641e-01 3.35282202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.009115933 meters 0.023784139123427746 Centerline is valid? [True, True] Translation: X:-14.22, Y:2.40, Z:0.33 [[ 8.23611652e-01 5.63470539e-01 -6.45352533e-02 -1.42154966e+01] [-5.62524270e-01 8.26092243e-01 3.37350176e-02 2.40442812e+00] [ 7.23207607e-02 8.51809271e-03 9.97345050e-01 3.26711950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.039115932999998 meters 0.023362542534957894 Centerline is valid? [True, True] Translation: X:-14.23, Y:2.42, Z:0.32 [[ 8.21837531e-01 5.66026670e-01 -6.47833422e-02 -1.42319255e+01] [-5.65068341e-01 8.24341713e-01 3.40369101e-02 2.41790572e+00] [ 7.26694102e-02 8.63420554e-03 9.97318709e-01 3.23082602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.069115933 meters 0.023689072294467255 Centerline is valid? [True, True] Translation: X:-14.25, Y:2.43, Z:0.32 [[ 8.18755288e-01 5.70478535e-01 -6.47612504e-02 -1.42486477e+01] [-5.69521851e-01 8.21264473e-01 3.41983340e-02 2.42973276e+00] [ 7.26955297e-02 8.88288046e-03 9.97314622e-01 3.18919156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.099115932999997 meters 0.02368517403798375 Centerline is valid? [True, True] Translation: X:-14.26, Y:2.44, Z:0.32 [[ 8.16343065e-01 5.74123556e-01 -6.29773220e-02 -1.42648801e+01] [-5.73217085e-01 8.18721290e-01 3.34308618e-02 2.44349574e+00] [ 7.07543196e-02 8.80862481e-03 9.97454878e-01 3.24090852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.129115932999998 meters 0.02355117147777139 Centerline is valid? [True, True] Translation: X:-14.28, Y:2.46, Z:0.32 [[ 8.13905298e-01 5.77864138e-01 -6.02594758e-02 -1.42815956e+01] [-5.77032372e-01 8.16087729e-01 3.21630338e-02 2.45649312e+00] [ 6.77628825e-02 8.59400466e-03 9.97664440e-01 3.21426224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.159115933 meters 0.023649123887918514 Centerline is valid? [True, True] Translation: X:-14.30, Y:2.47, Z:0.32 [[ 8.13702924e-01 5.78199968e-01 -5.97691281e-02 -1.42985044e+01] [-5.77371793e-01 8.15851635e-01 3.20612424e-02 2.46871572e+00] [ 6.73005502e-02 8.42068191e-03 9.97697213e-01 3.16720041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.189115932999997 meters 0.02322045687538713 Centerline is valid? [True, True] Translation: X:-14.32, Y:2.48, Z:0.31 [[ 8.11448118e-01 5.80769170e-01 -6.52619530e-02 -1.43157170e+01] [-5.79775666e-01 8.14015451e-01 3.51997594e-02 2.47813798e+00] [ 7.35671732e-02 9.27451368e-03 9.97247138e-01 3.11906046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.219115932999998 meters 0.02322045687538713 Centerline is valid? [True, True] Translation: X:-14.33, Y:2.49, Z:0.31 [[ 8.10281823e-01 5.82403396e-01 -6.51893503e-02 -1.43339141e+01] [-5.81404484e-01 8.12847055e-01 3.53339804e-02 2.48812073e+00] [ 7.35676016e-02 9.27089853e-03 9.97247140e-01 3.11663629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.249115933 meters 0.022854161780911583 Centerline is valid? [True, True] Translation: X:-14.35, Y:2.50, Z:0.32 [[ 8.15910564e-01 5.74985964e-01 -6.06720117e-02 -1.43502245e+01] [-5.74089043e-01 8.18125485e-01 3.30524103e-02 2.50101256e+00] [ 6.86419910e-02 7.86332639e-03 9.97610367e-01 3.15533337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.279115932999996 meters 0.022561319204862665 Centerline is valid? [True, True] Translation: X:-14.37, Y:2.51, Z:0.32 [[ 8.21099419e-01 5.67964824e-01 -5.66718874e-02 -1.43676673e+01] [-5.67156031e-01 8.23025822e-01 3.10247071e-02 2.51184543e+00] [ 6.42633690e-02 6.66743371e-03 9.97910700e-01 3.24275954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.309115932999998 meters 0.02186526278617142 Centerline is valid? [True, True] Translation: X:-14.38, Y:2.52, Z:0.32 [[ 8.21454720e-01 5.67774984e-01 -5.33264566e-02 -1.43846541e+01] [-5.67049933e-01 8.23160888e-01 2.93347119e-02 2.52463156e+00] [ 6.05517690e-02 6.14162616e-03 9.98146163e-01 3.22499109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.339115933 meters 0.022310206794784886 Centerline is valid? [True, True] Translation: X:-14.40, Y:2.54, Z:0.32 [[ 8.18031412e-01 5.72297048e-01 -5.74516916e-02 -1.44037176e+01] [-5.71456296e-01 8.20017766e-01 3.17579107e-02 2.53525626e+00] [ 6.52863663e-02 6.85216235e-03 9.97843043e-01 3.16432453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.369115932999996 meters 0.022313784980019506 Centerline is valid? [True, True] Translation: X:-14.42, Y:2.55, Z:0.32 [[ 8.20542573e-01 5.68742695e-01 -5.69353332e-02 -1.44197509e+01] [-5.67898028e-01 8.22490786e-01 3.16344302e-02 2.54794984e+00] [ 6.48206381e-02 6.37606668e-03 9.97876561e-01 3.19912992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.399115932999997 meters 0.022227165687448806 Centerline is valid? [True, True] Translation: X:-14.44, Y:2.56, Z:0.31 [[ 8.19201854e-01 5.70677861e-01 -5.68779581e-02 -1.44377845e+01] [-5.69829398e-01 8.21149127e-01 3.17579605e-02 2.55942687e+00] [ 6.48288506e-02 6.39455255e-03 9.97875909e-01 3.11365045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.429115933 meters 0.021472738764814366 Centerline is valid? [True, True] Translation: X:-14.45, Y:2.58, Z:0.33 [[ 8.23854545e-01 5.64548621e-01 -5.04830968e-02 -1.44521530e+01] [-5.63861283e-01 8.25383843e-01 2.83189900e-02 2.57820247e+00] [ 5.76553792e-02 5.13473514e-03 9.98323340e-01 3.32724795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.459115932999996 meters 0.021127512386145825 Centerline is valid? [True, True] Translation: X:-14.47, Y:2.59, Z:0.32 [[ 8.18532437e-01 5.72232180e-01 -5.05468208e-02 -1.44686047e+01] [-5.71549236e-01 8.20072786e-01 2.84973222e-02 2.58986066e+00] [ 5.77591570e-02 5.56401418e-03 9.98315041e-01 3.21369794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.489115932999997 meters 0.021748260779041774 Centerline is valid? [True, True] Translation: X:-14.48, Y:2.60, Z:0.32 [[ 8.13049335e-01 5.80154238e-01 -4.87015432e-02 -1.44849335e+01] [-5.79526751e-01 8.14486046e-01 2.75903286e-02 2.60306443e+00] [ 5.56733734e-02 5.79154885e-03 9.98432238e-01 3.16583536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.519115933 meters 0.021592274087949292 Centerline is valid? [True, True] Translation: X:-14.50, Y:2.62, Z:0.31 [[ 8.03738506e-01 5.92890042e-01 -4.98579199e-02 -1.45005781e+01] [-5.92248740e-01 8.05255377e-01 2.83761781e-02 2.61822503e+00] [ 5.69723115e-02 6.72126325e-03 9.98353134e-01 3.08838944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.549115933 meters 0.02245917433933736 Centerline is valid? [True, True] Translation: X:-14.52, Y:2.63, Z:0.29 [[ 7.90960352e-01 6.09194385e-01 -5.71307499e-02 -1.45181588e+01] [-6.08383240e-01 7.92970781e-01 3.26676233e-02 2.62947681e+00] [ 6.52039481e-02 8.91859588e-03 9.97832102e-01 2.87826998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.579115932999997 meters 0.0219789186194656 Centerline is valid? [True, True] Translation: X:-14.53, Y:2.64, Z:0.30 [[ 7.93236207e-01 6.06641915e-01 -5.25538575e-02 -1.45342907e+01] [-6.05941886e-01 7.94935965e-01 3.01867996e-02 2.64308618e+00] [ 6.00895294e-02 7.89932113e-03 9.98161735e-01 2.99297309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.609115932999998 meters 0.022187445398445096 Centerline is valid? [True, True] Translation: X:-14.56, Y:2.65, Z:0.28 [[ 7.91449731e-01 6.08729572e-01 -5.52777671e-02 -1.45560752e+01] [-6.07950421e-01 7.93333775e-01 3.19030868e-02 2.64609400e+00] [ 6.32740720e-02 8.35645236e-03 9.97961202e-01 2.84581732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.639115933 meters 0.02180308661764786 Centerline is valid? [True, True] Translation: X:-14.58, Y:2.64, Z:0.28 [[ 7.97764255e-01 6.00115857e-01 -5.85930931e-02 -1.45784813e+01] [-5.99204481e-01 7.99873314e-01 3.40098710e-02 2.64399406e+00] [ 6.72769145e-02 7.97738458e-03 9.97702450e-01 2.76477326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.669115932999997 meters 0.02082051991714502 Centerline is valid? [True, True] Translation: X:-14.60, Y:2.65, Z:0.28 [[ 8.05187010e-01 5.90018577e-01 -5.95983080e-02 -1.45987195e+01] [-5.89035905e-01 8.07358389e-01 3.47726008e-02 2.64893686e+00] [ 6.86336743e-02 7.10709686e-03 9.97616614e-01 2.78032591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.699115932999998 meters 0.02146508725194419 Centerline is valid? [True, True] Translation: X:-14.62, Y:2.65, Z:0.28 [[ 8.14721523e-01 5.76943101e-01 -5.80129150e-02 -1.46199775e+01] [-5.75967943e-01 8.16764427e-01 3.40117564e-02 2.65404750e+00] [ 6.70057335e-02 5.70346929e-03 9.97736289e-01 2.84416423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.729115933 meters 0.02022738837483984 Centerline is valid? [True, True] Translation: X:-14.64, Y:2.66, Z:0.29 [[ 8.22356375e-01 5.66013957e-01 -5.79499169e-02 -1.46401864e+01] [-5.65000564e-01 8.24382597e-01 3.41715730e-02 2.66007824e+00] [ 6.71144902e-02 4.64052482e-03 9.97734489e-01 2.89221339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.759115932999997 meters 0.020089451767986835 Centerline is valid? [True, True] Translation: X:-14.66, Y:2.67, Z:0.29 [[ 8.25486070e-01 5.61486035e-01 -5.74993895e-02 -1.46602612e+01] [-5.60465729e-01 8.27476088e-01 3.40806344e-02 2.66834693e+00] [ 6.67151702e-02 4.09334827e-03 9.97763665e-01 2.87182408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.789115932999998 meters 0.019498275377312756 Centerline is valid? [True, True] Translation: X:-14.68, Y:2.68, Z:0.29 [[ 8.27373336e-01 5.58877021e-01 -5.57659193e-02 -1.46778312e+01] [-5.57900814e-01 8.29242610e-01 3.32170962e-02 2.68110728e+00] [ 6.48077482e-02 3.62891207e-03 9.97891170e-01 2.85279276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.819115933 meters 0.019508208960530588 Centerline is valid? [True, True] Translation: X:-14.69, Y:2.70, Z:0.29 [[ 8.25724791e-01 5.61631503e-01 -5.24273200e-02 -1.46938284e+01] [-5.60764964e-01 8.27380138e-01 3.13809279e-02 2.69565092e+00] [ 6.10018410e-02 3.48739410e-03 9.98131561e-01 2.92681489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.849115932999997 meters 0.018922804074369318 Centerline is valid? [True, True] Translation: X:-14.71, Y:2.72, Z:0.30 [[ 8.28269245e-01 5.58287613e-01 -4.78016596e-02 -1.47073534e+01] [-5.57554082e-01 8.29642622e-01 2.87500522e-02 2.71566672e+00] [ 5.57090923e-02 2.83922636e-03 9.98443006e-01 3.01829989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.879115932999998 meters 0.019491081425477383 Centerline is valid? [True, True] Translation: X:-14.73, Y:2.73, Z:0.30 [[ 8.18253611e-01 5.72608359e-01 -5.08005360e-02 -1.47265698e+01] [-5.71798263e-01 8.19819641e-01 3.07001979e-02 2.72599210e+00] [ 5.92264672e-02 3.92711046e-03 9.98236847e-01 2.99102123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.909115933 meters 0.019576302469231987 Centerline is valid? [True, True] Translation: X:-14.74, Y:2.74, Z:0.29 [[ 8.15192189e-01 5.76870695e-01 -5.17870251e-02 -1.47422469e+01] [-5.76028583e-01 8.16824679e-01 3.14406665e-02 2.74236843e+00] [ 6.04381192e-02 4.20062094e-03 9.98163107e-01 2.91630962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.939115932999997 meters 0.018941428599703335 Centerline is valid? [True, True] Translation: X:-14.76, Y:2.76, Z:0.28 [[ 8.14549381e-01 5.77758796e-01 -5.20007719e-02 -1.47588946e+01] [-5.76902666e-01 8.16196927e-01 3.17157766e-02 2.75641616e+00] [ 6.07669392e-02 4.16531775e-03 9.98143291e-01 2.81690004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.969115932999998 meters 0.018586550977784444 Centerline is valid? [True, True] Translation: X:-14.78, Y:2.77, Z:0.28 [[ 8.10411684e-01 5.83586611e-01 -5.15710105e-02 -1.47778046e+01] [-5.82747606e-01 8.12038727e-01 3.15964268e-02 2.76770974e+00] [ 6.03169093e-02 4.44676941e-03 9.98169373e-01 2.82639054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.999115933 meters 0.018584230597878493 Centerline is valid? [True, True] Translation: X:-14.79, Y:2.79, Z:0.29 [[ 8.13930391e-01 5.79269462e-01 -4.43194069e-02 -1.47922626e+01] [-5.78637075e-01 8.15128849e-01 2.72780900e-02 2.78520402e+00] [ 5.19273917e-02 3.44238556e-03 9.98644930e-01 2.89894641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.029115932999996 meters 0.01873566440886035 Centerline is valid? [True, True] Translation: X:-14.81, Y:2.80, Z:0.28 [[ 8.13819012e-01 5.79151054e-01 -4.77773184e-02 -1.48080969e+01] [-5.78407705e-01 8.15212368e-01 2.95520175e-02 2.79914207e+00] [ 5.60637430e-02 3.58477540e-03 9.98420756e-01 2.83903574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.059115932999998 meters 0.018188772240961052 Centerline is valid? [True, True] Translation: X:-14.83, Y:2.81, Z:0.28 [[ 8.10646882e-01 5.83049436e-01 -5.38979470e-02 -1.48255487e+01] [-5.82101408e-01 8.12425739e-01 3.35017846e-02 2.81192353e+00] [ 6.33212760e-02 4.21595366e-03 9.97984289e-01 2.79993186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.089115933 meters 0.017779956579032422 Centerline is valid? [True, True] Translation: X:-14.84, Y:2.83, Z:0.27 [[ 8.14179291e-01 5.78395453e-01 -5.07028740e-02 -1.48415765e+01] [-5.77538636e-01 8.15749004e-01 3.16652242e-02 2.82588637e+00] [ 5.96758407e-02 3.50169887e-03 9.98211667e-01 2.74090092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.119115932999996 meters 0.017600162366011238 Centerline is valid? [True, True] Translation: X:-14.86, Y:2.84, Z:0.28 [[ 8.17234233e-01 5.74377554e-01 -4.71023793e-02 -1.48581434e+01] [-5.73623418e-01 8.18585516e-01 2.95622478e-02 2.83811929e+00] [ 5.55372171e-02 2.85974688e-03 9.98452522e-01 2.78077092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.149115932999997 meters 0.017522573318467387 Centerline is valid? [True, True] Translation: X:-14.87, Y:2.85, Z:0.29 [[ 8.20283243e-01 5.69977657e-01 -4.75486262e-02 -1.48737905e+01] [-5.69193618e-01 8.21656490e-01 2.99872901e-02 2.85469538e+00] [ 5.61607227e-02 2.46630299e-03 9.98418695e-01 2.85413716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.179115933 meters 0.017324430579488428 Centerline is valid? [True, True] Translation: X:-14.89, Y:2.87, Z:0.28 [[ 8.20179522e-01 5.70036473e-01 -4.86206895e-02 -1.48901964e+01] [-5.69207994e-01 8.21615880e-01 3.08156618e-02 2.86870165e+00] [ 5.75135818e-02 2.40091039e-03 9.98341837e-01 2.80412877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.209115932999996 meters 0.01703548770799184 Centerline is valid? [True, True] Translation: X:-14.91, Y:2.89, Z:0.28 [[ 8.21864825e-01 5.67842324e-01 -4.57526592e-02 -1.49054428e+01] [-5.67097903e-01 8.23134917e-01 2.91354808e-02 2.88548368e+00] [ 5.42049705e-02 2.00081023e-03 9.98527825e-01 2.75886586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.239115932999997 meters 0.017683843254131085 Centerline is valid? [True, True] Translation: X:-14.92, Y:2.90, Z:0.28 [[ 8.20585061e-01 5.69741616e-01 -4.51070789e-02 -1.49215039e+01] [-5.69013537e-01 8.21821489e-01 2.88623299e-02 2.90162273e+00] [ 5.35140372e-02 1.98254182e-03 9.98565129e-01 2.81428421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.269115933 meters 0.017002413971809047 Centerline is valid? [True, True] Translation: X:-14.94, Y:2.92, Z:0.29 [[ 8.18946331e-01 5.72197335e-01 -4.37848885e-02 -1.49363641e+01] [-5.71508181e-01 8.20113595e-01 2.81440879e-02 2.92025241e+00] [ 5.20125545e-02 1.97492447e-03 9.98644478e-01 2.88726454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.299115933 meters 0.016498137392839087 Centerline is valid? [True, True] Translation: X:-14.95, Y:2.94, Z:0.29 [[ 8.20094886e-01 5.70778661e-01 -4.06951850e-02 -1.49508756e+01] [-5.70176189e-01 8.21102288e-01 2.62706102e-02 2.93862806e+00] [ 4.84096132e-02 1.65903242e-03 9.98826190e-01 2.89003661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.329115932999997 meters 0.017908223076984676 Centerline is valid? [True, True] Translation: X:-14.97, Y:2.96, Z:0.29 [[ 8.11101505e-01 5.83227731e-01 -4.42692001e-02 -1.49659459e+01] [-5.82526166e-01 8.12304836e-01 2.87074692e-02 2.95728063e+00] [ 5.27030775e-02 2.50329593e-03 9.98607089e-01 2.93456860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.359115932999998 meters 0.019402760550305275 Centerline is valid? [True, True] Translation: X:-14.98, Y:2.97, Z:0.29 [[ 8.10000986e-01 5.84537368e-01 -4.70581268e-02 -1.49802187e+01] [-5.83737706e-01 8.11362555e-01 3.06772652e-02 2.97225370e+00] [ 5.61132098e-02 2.62098796e-03 9.98420972e-01 2.92870169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.389115933 meters 0.016952200150516433 Centerline is valid? [True, True] Translation: X:-14.99, Y:3.00, Z:0.30 [[ 8.15676754e-01 5.77303875e-01 -3.73050774e-02 -1.49909737e+01] [-5.76789008e-01 8.16527833e-01 2.44282030e-02 2.99665472e+00] [ 4.45631303e-02 1.59164121e-03 9.99005302e-01 3.00912288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.419115932999997 meters 0.017865780816512175 Centerline is valid? [True, True] Translation: X:-15.01, Y:3.01, Z:0.30 [[ 8.13911809e-01 5.79844877e-01 -3.64346865e-02 -1.50083566e+01] [-5.79351647e-01 8.14725321e-01 2.39649775e-02 3.01049093e+00] [ 4.35802311e-02 1.60311738e-03 9.99048644e-01 3.01512374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.449115932999998 meters 0.016907391124762874 Centerline is valid? [True, True] Translation: X:-15.03, Y:3.02, Z:0.29 [[ 8.10013358e-01 5.85017443e-01 -4.04097998e-02 -1.50264402e+01] [-5.84411145e-01 8.11018275e-01 2.67015233e-02 3.02397403e+00] [ 4.83939430e-02 1.98734680e-03 9.98826350e-01 2.93289889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.479115933 meters 0.017405701658731797 Centerline is valid? [True, True] Translation: X:-15.04, Y:3.04, Z:0.28 [[ 8.08230353e-01 5.87288174e-01 -4.30847595e-02 -1.50444966e+01] [-5.86595398e-01 8.09375031e-01 2.85989306e-02 3.03737666e+00] [ 5.16675423e-02 2.15879786e-03 9.98662007e-01 2.82752771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.509115932999997 meters 0.017093771511630388 Centerline is valid? [True, True] Translation: X:-15.06, Y:3.06, Z:0.28 [[ 8.11728950e-01 5.82455856e-01 -4.29102235e-02 -1.50592288e+01] [-5.81755183e-01 8.12860480e-01 2.86137530e-02 3.05539205e+00] [ 5.15462728e-02 1.73663325e-03 9.98669097e-01 2.80551907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.539115932999998 meters 0.016365150803873827 Centerline is valid? [True, True] Translation: X:-15.08, Y:3.07, Z:0.28 [[ 8.10185875e-01 5.84506336e-01 -4.41722866e-02 -1.50751491e+01] [-5.83759711e-01 8.11387119e-01 2.95895656e-02 3.07276528e+00] [ 5.31361129e-02 1.81295317e-03 9.98585633e-01 2.76483717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.569115933 meters 0.016734599603719088 Centerline is valid? [True, True] Translation: X:-15.09, Y:3.09, Z:0.29 [[ 8.13859259e-01 5.79483672e-01 -4.27992987e-02 -1.50896933e+01] [-5.78769173e-01 8.14982758e-01 2.87984114e-02 3.09148781e+00] [ 5.15688997e-02 1.33306099e-03 9.98668549e-01 2.87524418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.599115932999997 meters 0.01733019458866329 Centerline is valid? [True, True] Translation: X:-15.11, Y:3.11, Z:0.29 [[ 8.15607201e-01 5.77047198e-01 -4.24431906e-02 -1.51060131e+01] [-5.76334739e-01 8.16710105e-01 2.86857517e-02 3.10822565e+00] [ 5.12168153e-02 1.06517953e-03 9.98686990e-01 2.88701941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.629115932999998 meters 0.01949777050313778 Centerline is valid? [True, True] Translation: X:-15.13, Y:3.12, Z:0.30 [[ 8.06165570e-01 5.89536871e-01 -5.04316549e-02 -1.51253849e+01] [-5.88545333e-01 8.07738795e-01 3.42407656e-02 3.11961034e+00] [ 6.09217980e-02 2.07758882e-03 9.98140380e-01 3.04891879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.659115933 meters 0.018283092225198902 Centerline is valid? [True, True] Translation: X:-15.14, Y:3.14, Z:0.30 [[ 8.07845437e-01 5.87201496e-01 -5.07952031e-02 -1.51414207e+01] [-5.86181755e-01 8.09438810e-01 3.46375960e-02 3.13652295e+00] [ 6.14548570e-02 1.79339742e-03 9.98108253e-01 2.95449018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.689115932999997 meters 0.01666820426268223 Centerline is valid? [True, True] Translation: X:-15.16, Y:3.15, Z:0.29 [[ 8.11843808e-01 5.82170629e-01 -4.45756664e-02 -1.51569486e+01] [-5.81370811e-01 8.13065851e-01 3.05270820e-02 3.15473390e+00] [ 5.40149227e-02 1.13176878e-03 9.98539487e-01 2.94259630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.719115932999998 meters 0.023385747953228685 Centerline is valid? [True, True] Translation: X:-15.18, Y:3.17, Z:0.28 [[ 8.03052794e-01 5.93508734e-01 -5.34190296e-02 -1.51765046e+01] [-5.92373649e-01 8.04824727e-01 3.67507722e-02 3.16546825e+00] [ 6.48048602e-02 2.13121515e-03 9.97895680e-01 2.80755074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.749115933 meters 0.01729730828028187 Centerline is valid? [True, True] Translation: X:-15.19, Y:3.19, Z:0.28 [[ 8.05131639e-01 5.91044363e-01 -4.92910234e-02 -1.51910765e+01] [-5.90064645e-01 8.06637336e-01 3.40576463e-02 3.18510001e+00] [ 5.98895597e-02 1.66400163e-03 9.98203622e-01 2.83680225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.779115932999996 meters 0.01731203593036226 Centerline is valid? [True, True] Translation: X:-15.21, Y:3.20, Z:0.28 [[ 8.05535268e-01 5.90485935e-01 -4.93892003e-02 -1.52079106e+01] [-5.89492405e-01 8.07046523e-01 3.42726479e-02 3.20148735e+00] [ 6.00968989e-02 1.50673185e-03 9.98191411e-01 2.79495871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.809115932999998 meters 0.016807788730508765 Centerline is valid? [True, True] Translation: X:-15.22, Y:3.23, Z:0.28 [[ 8.07499611e-01 5.88142447e-01 -4.50870261e-02 -1.52187808e+01] [-5.87303349e-01 8.08756603e-01 3.14250477e-02 3.22519807e+00] [ 5.49468345e-02 1.10404764e-03 9.98488671e-01 2.82233907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.839115933 meters 0.015755927955190915 Centerline is valid? [True, True] Translation: X:-15.23, Y:3.25, Z:0.28 [[ 8.02289778e-01 5.95084891e-01 -4.69583382e-02 -1.52312170e+01] [-5.94178230e-01 8.03661394e-01 3.28724013e-02 3.24830721e+00] [ 5.73004729e-02 1.52843078e-03 9.98355808e-01 2.79193729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.869115932999996 meters 0.015742884518854867 Centerline is valid? [True, True] Translation: X:-15.25, Y:3.27, Z:0.28 [[ 8.05607201e-01 5.90549438e-01 -4.74172861e-02 -1.52461036e+01] [-5.89609059e-01 8.07000707e-01 3.33319285e-02 3.26864566e+00] [ 5.79499350e-02 1.10521976e-03 9.98318879e-01 2.83224374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.899115932999997 meters 0.019084737263031476 Centerline is valid? [True, True] Translation: X:-15.27, Y:3.28, Z:0.29 [[ 7.97033421e-01 6.01252345e-01 -5.68625000e-02 -1.52688386e+01] [-5.99915148e-01 7.99056383e-01 4.01336795e-02 3.27620899e+00] [ 6.95668125e-02 2.12479122e-03 9.97575032e-01 2.87431559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.929115933 meters 0.016529349962202178 Centerline is valid? [True, True] Translation: X:-15.28, Y:3.30, Z:0.29 [[ 8.02876790e-01 5.94128706e-01 -4.89891771e-02 -1.52813968e+01] [-5.93114903e-01 8.04369116e-01 3.47136460e-02 3.29814108e+00] [ 6.00297547e-02 1.18543028e-03 9.98195884e-01 2.87015328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.959115932999996 meters 0.018485837103322904 Centerline is valid? [True, True] Translation: X:-15.30, Y:3.31, Z:0.29 [[ 7.95856762e-01 6.03224215e-01 -5.22739000e-02 -1.53023176e+01] [-6.02078841e-01 7.97569475e-01 3.72021906e-02 3.30710190e+00] [ 6.41333292e-02 1.86539414e-03 9.97939596e-01 2.91531891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.989115932999997 meters 0.01807569938162278 Centerline is valid? [True, True] Translation: X:-15.32, Y:3.31, Z:0.27 [[ 7.90071112e-01 6.10324573e-01 -5.73720668e-02 -1.53238597e+01] [-6.08948953e-01 7.92147443e-01 4.10316997e-02 3.31199869e+00] [ 7.04897906e-02 2.51869946e-03 9.97509321e-01 2.65532150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.019115933 meters 0.017293823020839948 Centerline is valid? [True, True] Translation: X:-15.33, Y:3.35, Z:0.29 [[ 7.98900174e-01 5.99578351e-01 -4.75848091e-02 -1.53273435e+01] [-5.98604532e-01 8.00315195e-01 3.41789819e-02 3.34652452e+00] [ 5.85758234e-02 1.17888783e-03 9.98282266e-01 2.91028353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.049115932999996 meters 0.017441456218273595 Centerline is valid? [True, True] Translation: X:-15.35, Y:3.36, Z:0.28 [[ 7.96255794e-01 6.02791719e-01 -5.11747492e-02 -1.53467474e+01] [-6.01661710e-01 7.97897364e-01 3.69186072e-02 3.35977468e+00] [ 6.30864282e-02 1.39323224e-03 9.98007095e-01 2.83316177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.079115932999997 meters 0.019676679878516155 Centerline is valid? [True, True] Translation: X:-15.37, Y:3.36, Z:0.28 [[ 7.78711832e-01 6.23869552e-01 -6.62922717e-02 -1.53713824e+01] [-6.22030910e-01 7.81519032e-01 4.80161358e-02 3.36456704e+00] [ 8.17644771e-02 3.84510905e-03 9.96644262e-01 2.79660191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.109115932999998 meters 0.01698213494880451 Centerline is valid? [True, True] Translation: X:-15.38, Y:3.39, Z:0.27 [[ 7.91968943e-01 6.08329250e-01 -5.21604906e-02 -1.53805529e+01] [-6.07147510e-01 7.93683110e-01 3.79344455e-02 3.39035429e+00] [ 6.44755332e-02 1.62620931e-03 9.97917963e-01 2.72042094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.139115933 meters 0.01698213494880451 Centerline is valid? [True, True] Translation: X:-15.40, Y:3.40, Z:0.27 [[ 7.90731480e-01 6.09943522e-01 -5.20828862e-02 -1.53989728e+01] [-6.08758273e-01 7.92443220e-01 3.80408791e-02 3.40369558e+00] [ 6.44755178e-02 1.62576725e-03 9.97917965e-01 2.71766909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.169115932999997 meters 0.017166876654478448 Centerline is valid? [True, True] Translation: X:-15.42, Y:3.42, Z:0.29 [[ 7.86218511e-01 6.15568232e-01 -5.41867598e-02 -1.54154507e+01] [-6.14287065e-01 7.88080962e-01 3.97466731e-02 3.42088027e+00] [ 6.71703431e-02 2.03665556e-03 9.97739443e-01 2.87602892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.199115932999998 meters 0.017522737547247046 Centerline is valid? [True, True] Translation: X:-15.44, Y:3.43, Z:0.27 [[ 7.77926196e-01 6.25704240e-01 -5.76631430e-02 -1.54386750e+01] [-6.24268030e-01 7.80054783e-01 4.24730758e-02 3.42923773e+00] [ 7.15559941e-02 2.95633834e-03 9.97432203e-01 2.70360383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.229115933 meters 0.025389497512806947 Centerline is valid? [True, True] Translation: X:-15.46, Y:3.42, Z:0.23 [[ 7.64079776e-01 6.41623078e-01 -6.70963596e-02 -1.54593262e+01] [-6.39699632e-01 7.67005003e-01 4.98769156e-02 3.42201318e+00] [ 8.34654236e-02 4.81157410e-03 9.96499058e-01 2.31759724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.259115932999997 meters 0.01862575137014899 Centerline is valid? [True, True] Translation: X:-15.48, Y:3.43, Z:0.22 [[ 7.62041717e-01 6.44036610e-01 -6.71510750e-02 -1.54775556e+01] [-6.42097328e-01 7.64979113e-01 5.01794568e-02 3.43367424e+00] [ 8.36865770e-02 4.87868647e-03 9.96480183e-01 2.16189712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.289115932999998 meters 0.016786341462643687 Centerline is valid? [True, True] Translation: X:-15.51, Y:3.43, Z:0.16 [[ 7.61024321e-01 6.45345678e-01 -6.61130751e-02 -1.55073502e+01] [-6.43453300e-01 7.63875704e-01 4.96161122e-02 3.43004092e+00] [ 8.25217154e-02 4.78160824e-03 9.96577796e-01 1.61937085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.319115933 meters 0.019518025855697136 Centerline is valid? [True, True] Translation: X:-15.54, Y:3.42, Z:0.08 [[ 7.36255530e-01 6.71442165e-01 -8.42212181e-02 -1.55423033e+01] [-6.68497108e-01 7.40995775e-01 6.35364236e-02 3.41630964e+00] [ 1.05068601e-01 9.52259751e-03 9.94419383e-01 8.41589222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.349115932999997 meters 0.01868004873872793 Centerline is valid? [True, True] Translation: X:-15.55, Y:3.45, Z:0.09 [[ 7.30672040e-01 6.76834748e-01 -8.95158882e-02 -1.55471320e+01] [-6.73511465e-01 7.36056932e-01 6.78417176e-02 3.44557303e+00] [ 1.11806422e-01 1.07199309e-02 9.93672183e-01 8.88485046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.379115932999998 meters 0.020233512707486443 Centerline is valid? [True, True] Translation: X:-15.54, Y:3.48, Z:0.13 [[ 7.28373357e-01 6.78043636e-01 -9.86361024e-02 -1.55434936e+01] [-6.73961908e-01 7.34928504e-01 7.52026606e-02 3.48337092e+00] [ 1.23481169e-01 1.17013614e-02 9.92277924e-01 1.29577773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.409115933 meters 0.018821433971154013 Centerline is valid? [True, True] Translation: X:-15.55, Y:3.51, Z:0.15 [[ 7.36737634e-01 6.69541683e-01 -9.45071052e-02 -1.55500491e+01] [-6.65687373e-01 7.42712577e-01 7.23764510e-02 3.51046515e+00] [ 1.18650666e-01 9.58973126e-03 9.92889750e-01 1.54803119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.439115932999997 meters 0.023972881907796336 Centerline is valid? [True, True] Translation: X:-15.57, Y:3.52, Z:0.16 [[ 7.26786858e-01 6.78619697e-01 -1.06095103e-01 -1.55722064e+01] [-6.73807321e-01 7.34388682e-01 8.15901831e-02 3.51824626e+00] [ 1.33283748e-01 1.21889845e-02 9.91002962e-01 1.62911949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.469115932999998 meters 0.022701423273426155 Centerline is valid? [True, True] Translation: X:-15.60, Y:3.52, Z:0.15 [[ 7.25082642e-01 6.80220903e-01 -1.07492718e-01 -1.55953816e+01] [-6.75249956e-01 7.32902430e-01 8.30152097e-02 3.52334748e+00] [ 1.35250355e-01 1.23915654e-02 9.90733966e-01 1.48352761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.499115933 meters 0.020679515888797885 Centerline is valid? [True, True] Translation: X:-15.61, Y:3.54, Z:0.15 [[ 7.29970803e-01 6.75746091e-01 -1.02517547e-01 -1.56078085e+01] [-6.71138749e-01 7.37055852e-01 7.95075459e-02 3.54184467e+00] [ 1.29288071e-01 1.07653108e-02 9.91548639e-01 1.50275270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.529115932999996 meters 0.022598780520746996 Centerline is valid? [True, True] Translation: X:-15.62, Y:3.56, Z:0.18 [[ 7.41507159e-01 6.64080788e-01 -9.57279477e-02 -1.56194146e+01] [-6.59928715e-01 7.47619244e-01 7.45624398e-02 3.56177206e+00] [ 1.21083540e-01 7.88503866e-03 9.92611003e-01 1.80397900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.559115932999998 meters 0.018352920777444565 Centerline is valid? [True, True] Translation: X:-15.63, Y:3.59, Z:0.18 [[ 7.59733134e-01 6.45371796e-01 -7.93776404e-02 -1.56281516e+01] [-6.42388990e-01 7.63859071e-01 6.20943163e-02 3.58686213e+00] [ 1.00707251e-01 3.81621271e-03 9.94908783e-01 1.84952341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.589115933 meters 0.020208533067434628 Centerline is valid? [True, True] Translation: X:-15.64, Y:3.61, Z:0.25 [[ 7.58872316e-01 6.46654864e-01 -7.71381606e-02 -1.56379752e+01] [-6.43819755e-01 7.62773865e-01 6.05983030e-02 3.61126361e+00] [ 9.80251602e-02 3.67669711e-03 9.95177145e-01 2.51099421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.619115932999996 meters 0.023633971246554152 Centerline is valid? [True, True] Translation: X:-15.67, Y:3.61, Z:0.22 [[ 7.49638410e-01 6.56367344e-01 -8.49950796e-02 -1.56652813e+01] [-6.52954328e-01 7.54423311e-01 6.70530689e-02 3.61314230e+00] [ 1.08133714e-01 5.23234916e-03 9.94122589e-01 2.15042131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.649115932999997 meters 0.020809643465893517 Centerline is valid? [True, True] Translation: X:-15.67, Y:3.64, Z:0.26 [[ 7.54445265e-01 6.51773789e-01 -7.74807759e-02 -1.56747953e+01] [-6.48890863e-01 7.58402982e-01 6.13642063e-02 3.63841335e+00] [ 9.87572327e-02 3.98063268e-03 9.95103594e-01 2.58310915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.679115933 meters 0.021907654759495465 Centerline is valid? [True, True] Translation: X:-15.69, Y:3.65, Z:0.27 [[ 7.56462501e-01 6.49709551e-01 -7.51131425e-02 -1.56918301e+01] [-6.46966756e-01 7.60174899e-01 5.97339052e-02 3.65359785e+00] [ 9.59088142e-02 3.40924685e-03 9.95384286e-01 2.73017204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.709115932999996 meters 0.020931632519654124 Centerline is valid? [True, True] Translation: X:-15.71, Y:3.66, Z:0.25 [[ 7.61619418e-01 6.44121098e-01 -7.10202350e-02 -1.57129804e+01] [-6.41623330e-01 7.64919863e-01 5.67195383e-02 3.66254163e+00] [ 9.08590397e-02 2.36953794e-03 9.95860944e-01 2.54628698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.739115932999997 meters 0.019677406860162214 Centerline is valid? [True, True] Translation: X:-15.75, Y:3.65, Z:0.17 [[ 7.52962737e-01 6.53652567e-01 -7.60620705e-02 -1.57517204e+01] [-6.50808630e-01 7.56786387e-01 6.10122246e-02 3.64859085e+00] [ 9.74435367e-02 3.56192030e-03 9.95234681e-01 1.67856632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.769115933 meters 0.02076647928787798 Centerline is valid? [True, True] Translation: X:-15.77, Y:3.66, Z:0.18 [[ 7.47273412e-01 6.59747054e-01 -7.94749860e-02 -1.57704437e+01] [-6.56647096e-01 7.51475206e-01 6.40281705e-02 3.66071076e+00] [ 1.01965878e-01 4.34046935e-03 9.94778428e-01 1.79930560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.799115932999996 meters 0.022403687621827532 Centerline is valid? [True, True] Translation: X:-15.79, Y:3.66, Z:0.18 [[ 7.41053005e-01 6.65467695e-01 -8.94046509e-02 -1.57922128e+01] [-6.61535646e-01 7.46406669e-01 7.24408253e-02 3.66390885e+00] [ 1.14939257e-01 5.46187223e-03 9.93357506e-01 1.78075806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.829115932999997 meters 0.02188372379000108 Centerline is valid? [True, True] Translation: X:-15.81, Y:3.67, Z:0.18 [[ 7.47358716e-01 6.58542418e-01 -8.81863528e-02 -1.58116895e+01] [-6.54631381e-01 7.52532531e-01 7.17812221e-02 3.67391361e+00] [ 1.13634079e-01 4.08323197e-03 9.93514279e-01 1.79736415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.859115932999998 meters 0.020849822876963915 Centerline is valid? [True, True] Translation: X:-15.83, Y:3.68, Z:0.15 [[ 7.55251237e-01 6.50589070e-01 -7.95577247e-02 -1.58320056e+01] [-6.47333138e-01 7.59426258e-01 6.50504997e-02 3.68290273e+00] [ 1.02739369e-01 2.37088119e-03 9.94705485e-01 1.51507366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.889115933 meters 0.0222819097687391 Centerline is valid? [True, True] Translation: X:-15.84, Y:3.71, Z:0.22 [[ 7.70954915e-01 6.33448638e-01 -6.61161264e-02 -1.58375615e+01] [-6.31114497e-01 7.73784724e-01 5.43294862e-02 3.71004788e+00] [ 8.55745876e-02 -1.58738543e-04 9.96331754e-01 2.15004049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.919115932999997 meters 0.022281086055494417 Centerline is valid? [True, True] Translation: X:-15.87, Y:3.70, Z:0.16 [[ 7.67364406e-01 6.37476697e-01 -6.91037575e-02 -1.58694447e+01] [-6.34918360e-01 7.70469631e-01 5.70545718e-02 3.70499575e+00] [ 8.96133065e-02 9.35967822e-05 9.95976630e-01 1.63587450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.949115932999998 meters 0.02303020607263903 Centerline is valid? [True, True] Translation: X:-15.87, Y:3.74, Z:0.23 [[ 7.75441344e-01 6.28259472e-01 -6.30932469e-02 -1.58731046e+01] [-6.26077238e-01 7.78003133e-01 5.23298964e-02 3.73636142e+00] [ 8.19634968e-02 -1.07751941e-03 9.96634750e-01 2.25325969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.979115933 meters 0.02453353507446948 Centerline is valid? [True, True] Translation: X:-15.91, Y:3.72, Z:0.14 [[ 7.65316848e-01 6.39595218e-01 -7.21670244e-02 -1.59121177e+01] [-6.36761898e-01 7.68711879e-01 6.01359567e-02 3.72151931e+00] [ 9.39383192e-02 -6.98494475e-05 9.95578017e-01 1.41471052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.009115932999997 meters 0.02120653671803428 Centerline is valid? [True, True] Translation: X:-15.93, Y:3.73, Z:0.11 [[ 7.72366514e-01 6.32174548e-01 -6.16871812e-02 -1.59343629e+01] [-6.30062962e-01 7.74825341e-01 5.16367550e-02 3.72821601e+00] [ 8.04402335e-02 -1.01569231e-03 9.96758916e-01 1.12141942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.039115932999998 meters 0.02173424838682537 Centerline is valid? [True, True] Translation: X:-15.95, Y:3.75, Z:0.14 [[ 7.68809006e-01 6.36617920e-01 -6.04180155e-02 -1.59490212e+01] [-6.34587962e-01 7.71179038e-01 5.08036384e-02 3.74663019e+00] [ 7.89356137e-02 -7.17749381e-04 9.96879458e-01 1.44105511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.069115933 meters 0.020935660169025646 Centerline is valid? [True, True] Translation: X:-15.98, Y:3.74, Z:0.09 [[ 7.63050932e-01 6.43374950e-01 -6.18219110e-02 -1.59806063e+01] [-6.41251911e-01 7.65551195e-01 5.22240830e-02 3.74218562e+00] [ 8.09275046e-02 -2.06216697e-04 9.96719969e-01 9.01520897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.099115932999997 meters 0.02040437718603324 Centerline is valid? [True, True] Translation: X:-16.01, Y:3.74, Z:0.06 [[ 7.56729059e-01 6.50314245e-01 -6.67271635e-02 -1.60062223e+01] [-6.47842330e-01 7.59665224e-01 5.66485935e-02 3.74362549e+00] [ 8.75296929e-02 3.61044195e-04 9.96161846e-01 6.01436293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.129115932999998 meters 0.020411838946746596 Centerline is valid? [True, True] Translation: X:-16.03, Y:3.75, Z:0.05 [[ 7.51303621e-01 6.56422512e-01 -6.82081673e-02 -1.60269837e+01] [-6.53840062e-01 7.54392931e-01 5.81762719e-02 3.75282208e+00] [ 8.96439738e-02 8.89188558e-04 9.95973477e-01 5.30089141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.159115933 meters 0.021038967796617476 Centerline is valid? [True, True] Translation: X:-16.05, Y:3.76, Z:0.06 [[ 7.47088827e-01 6.61340624e-01 -6.69840499e-02 -1.60469392e+01] [-6.58845374e-01 7.50084684e-01 5.74085297e-02 3.76251352e+00] [ 8.82103028e-02 1.24286029e-03 9.96101098e-01 5.51652318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.189115932999997 meters 0.021393404064326344 Centerline is valid? [True, True] Translation: X:-16.06, Y:3.77, Z:0.05 [[ 7.50280750e-01 6.57976917e-01 -6.43830146e-02 -1.60646412e+01] [-6.55636539e-01 7.53037852e-01 5.54501779e-02 3.77446116e+00] [ 8.49677841e-02 6.08655857e-04 9.96383513e-01 5.13591258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.219115932999998 meters 0.021370082601900327 Centerline is valid? [True, True] Translation: X:-16.09, Y:3.78, Z:0.02 [[ 7.44730338e-01 6.64170674e-01 -6.52230023e-02 -1.60910381e+01] [-6.61768267e-01 7.47580134e-01 5.64508901e-02 3.77591082e+00] [ 8.62524466e-02 1.12182279e-03 9.96272682e-01 2.00776671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.249115933 meters 0.02196954239310792 Centerline is valid? [True, True] Translation: X:-16.11, Y:3.79, Z:0.01 [[ 7.40700090e-01 6.68708759e-01 -6.47454478e-02 -1.61095609e+01] [-6.66335360e-01 7.43523058e-01 5.63085223e-02 3.78600453e+00] [ 8.57937354e-02 1.43445376e-03 9.96311888e-01 9.73085977e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.279115932999996 meters 0.021857442232563404 Centerline is valid? [True, True] Translation: X:-16.13, Y:3.79, Z:0.01 [[ 7.35178947e-01 6.74549274e-01 -6.70461909e-02 -1.61296834e+01] [-6.72001892e-01 7.38227190e-01 5.86009701e-02 3.79460462e+00] [ 8.90245630e-02 1.97296755e-03 9.96027477e-01 6.02681956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.309115932999998 meters 0.022836517209847085 Centerline is valid? [True, True] Translation: X:-16.15, Y:3.80, Z:-0.00 [[ 7.34706047e-01 6.75141750e-01 -6.62619196e-02 -1.61475769e+01] [-6.72630178e-01 7.37685817e-01 5.82089186e-02 3.80448675e+00] [ 8.81797495e-02 1.80332229e-03 9.96102946e-01 -3.83661129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.339115933 meters 0.020535235830151554 Centerline is valid? [True, True] Translation: X:-16.17, Y:3.81, Z:-0.02 [[ 7.33878620e-01 6.76401800e-01 -6.24721991e-02 -1.61675514e+01] [-6.74151733e-01 7.36530996e-01 5.51501024e-02 3.81327810e+00] [ 8.33163395e-02 1.64226022e-03 9.96521796e-01 -1.73673984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.369115932999996 meters 0.021323113826178148 Centerline is valid? [True, True] Translation: X:-16.19, Y:3.82, Z:-0.02 [[ 7.32904986e-01 6.77738591e-01 -5.93353547e-02 -1.61868279e+01] [-6.75692911e-01 7.35301377e-01 5.26400447e-02 3.82316316e+00] [ 7.93055577e-02 1.51232728e-03 9.96849207e-01 -1.52271818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.399115932999997 meters 0.02099876235404078 Centerline is valid? [True, True] Translation: X:-16.21, Y:3.83, Z:-0.04 [[ 7.27336499e-01 6.84222434e-01 -5.31157095e-02 -1.62077344e+01] [-6.82584022e-01 7.29271129e-01 4.73568775e-02 3.83033340e+00] [ 7.11383914e-02 1.81154915e-03 9.97464810e-01 -3.60738556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.429115933 meters 0.021240883516960886 Centerline is valid? [True, True] Translation: X:-16.22, Y:3.84, Z:-0.04 [[ 7.16785116e-01 6.95361300e-01 -5.18821743e-02 -1.62225489e+01] [-6.93807320e-01 7.18655479e-01 4.65371399e-02 3.84197723e+00] [ 6.96455349e-02 2.63910313e-03 9.97568311e-01 -4.40722886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.459115932999996 meters 0.02490256619360597 Centerline is valid? [True, True] Translation: X:-16.23, Y:3.86, Z:-0.02 [[ 7.08945497e-01 7.02988331e-01 -5.66011370e-02 -1.62305916e+01] [-7.01141480e-01 7.11192779e-01 5.10436768e-02 3.86391059e+00] [ 7.61374291e-02 3.49822016e-03 9.97091197e-01 -1.76240836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.489115932999997 meters 0.02105338675733447 Centerline is valid? [True, True] Translation: X:-16.23, Y:3.89, Z:0.02 [[ 7.08399303e-01 7.04144906e-01 -4.84807124e-02 -1.62324875e+01] [-7.02779484e-01 7.10050166e-01 4.39290225e-02 3.89309520e+00] [ 6.53561353e-02 2.95196114e-03 9.97857636e-01 1.85980084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.519115933 meters 0.020617726828486567 Centerline is valid? [True, True] Translation: X:-16.25, Y:3.90, Z:0.02 [[ 7.02940900e-01 7.09885907e-01 -4.40010359e-02 -1.62502847e+01] [-7.08760506e-01 7.04310220e-01 4.00706740e-02 3.90423528e+00] [ 5.94359860e-02 3.01888087e-03 9.98227554e-01 2.27105073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.549115932999996 meters 0.01978891272854314 Centerline is valid? [True, True] Translation: X:-16.28, Y:3.90, Z:-0.04 [[ 7.10694691e-01 7.02531012e-01 -3.69219860e-02 -1.62835037e+01] [-7.01720656e-01 7.11650602e-01 3.37867101e-02 3.89724427e+00] [ 5.00117652e-02 1.89688473e-03 9.98746827e-01 -3.76020761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.579115932999997 meters 0.018972605959581737 Centerline is valid? [True, True] Translation: X:-16.31, Y:3.90, Z:-0.05 [[ 7.10707966e-01 7.02537785e-01 -3.65355743e-02 -1.63056389e+01] [-7.01736111e-01 7.11644269e-01 3.35985878e-02 3.90268006e+00] [ 4.96046095e-02 1.75954786e-03 9.98767384e-01 -5.18823584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.609115932999998 meters 0.024367451233299902 Centerline is valid? [True, True] Translation: X:-16.30, Y:3.94, Z:0.02 [[ 7.19531291e-01 6.93653324e-01 -3.34632265e-02 -1.63040905e+01] [-6.92963751e-01 7.20308408e-01 3.09360199e-02 3.93505424e+00] [ 4.55627164e-02 9.29368637e-04 9.98961048e-01 2.29590865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.639115933 meters 0.02317150695723867 Centerline is valid? [True, True] Translation: X:-16.27, Y:4.00, Z:0.20 [[ 7.21791743e-01 6.91306795e-01 -3.33405828e-02 -1.62735909e+01] [-6.90613222e-01 7.22561043e-01 3.09663930e-02 4.00311462e+00] [ 4.54978842e-02 6.74160548e-04 9.98964208e-01 2.02853913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.669115932999997 meters 0.019475372793664715 Centerline is valid? [True, True] Translation: X:-16.32, Y:3.98, Z:0.09 [[ 7.27045229e-01 6.86036756e-01 -2.75464083e-02 -1.63232329e+01] [-6.85555327e-01 7.27566855e-01 2.56975565e-02 3.97873855e+00] [ 3.76713219e-02 2.01301129e-04 9.99290164e-01 9.31425239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.699115932999998 meters 0.02567927005571883 Centerline is valid? [True, True] Translation: X:-16.31, Y:4.03, Z:0.20 [[ 7.25911156e-01 6.87274587e-01 -2.65826036e-02 -1.63077010e+01] [-6.86822915e-01 7.26397695e-01 2.49132708e-02 4.02914119e+00] [ 3.64317999e-02 1.72720097e-04 9.99336127e-01 2.00970311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.729115933 meters 0.02082536340825738 Centerline is valid? [True, True] Translation: X:-16.30, Y:4.07, Z:0.27 [[ 7.25258028e-01 6.87945129e-01 -2.70608970e-02 -1.63040436e+01] [-6.87473127e-01 7.25762692e-01 2.54796999e-02 4.06559477e+00] [ 3.71684249e-02 1.24282580e-04 9.99309008e-01 2.71020610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.759115932999997 meters 0.019933555270356996 Centerline is valid? [True, True] Translation: X:-16.33, Y:4.08, Z:0.25 [[ 7.29484284e-01 6.83586482e-01 -2.37107785e-02 -1.63257463e+01] [-6.83218694e-01 7.29869507e-01 2.24213779e-02 4.07569553e+00] [ 3.26327250e-02 -1.56395735e-04 9.99467399e-01 2.49242503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.789115932999998 meters 0.02041663308246176 Centerline is valid? [True, True] Translation: X:-16.33, Y:4.11, Z:0.29 [[ 7.27285983e-01 6.86168723e-01 -1.50858391e-02 -1.63277126e+01] [-6.86019394e-01 7.27442424e-01 1.43147225e-02 4.10584052e+00] [ 2.07963941e-02 -6.17188323e-05 9.99783730e-01 2.85097784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.819115933 meters 0.014898778379369046 Centerline is valid? [True, True] Translation: X:-16.44, Y:4.01, Z:-0.00 [[ 7.02972402e-01 7.10403701e-01 -3.40056579e-02 -1.64385561e+01] [-7.09661545e-01 7.03793230e-01 3.24897160e-02 4.01275520e+00] [ 4.70137663e-02 1.29313409e-03 9.98893405e-01 -4.99323799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.849115932999997 meters 0.01471769773835992 Centerline is valid? [True, True] Translation: X:-16.45, Y:4.03, Z:0.01 [[ 6.99137916e-01 7.14142505e-01 -3.47369664e-02 -1.64507771e+01] [-7.13364283e-01 6.99998831e-01 3.33621955e-02 4.02997512e+00] [ 4.81411978e-02 1.45533534e-03 9.98839480e-01 7.60824315e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.879115932999998 meters 0.015125403014208342 Centerline is valid? [True, True] Translation: X:-16.47, Y:4.04, Z:0.00 [[ 6.97831767e-01 7.15538228e-01 -3.21849293e-02 -1.64676878e+01] [-7.14864823e-01 6.98572312e-01 3.10645920e-02 4.04228852e+00] [ 4.47114036e-02 1.33001469e-03 9.98999060e-01 9.75349212e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.909115933 meters 0.019059025853075427 Centerline is valid? [True, True] Translation: X:-16.48, Y:4.05, Z:0.01 [[ 6.91956651e-01 7.21120348e-01 -3.43720297e-02 -1.64839917e+01] [-7.20347264e-01 6.92807893e-01 3.34222011e-02 4.04878359e+00] [ 4.79146427e-02 1.63308321e-03 9.98850099e-01 1.37080281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.939115932999997 meters 0.01924849618923613 Centerline is valid? [True, True] Translation: X:-16.40, Y:4.17, Z:0.29 [[ 7.15077189e-01 6.98926390e-01 -1.29040625e-02 -1.64027188e+01] [-6.98812949e-01 7.15193611e-01 1.25921365e-02 4.16747656e+00] [ 1.80298796e-02 1.31764011e-05 9.99837448e-01 2.87880896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.969115932999998 meters 0.016169185936252013 Centerline is valid? [True, True] Translation: X:-16.42, Y:4.18, Z:0.27 [[ 7.22554412e-01 6.91261180e-01 -8.54996044e-03 -1.64215826e+01] [-6.91210532e-01 7.22604983e-01 8.36894569e-03 4.18007227e+00] [ 1.19633713e-02 -1.37195936e-04 9.99928427e-01 2.69802795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.999115933 meters 0.018065759508723328 Centerline is valid? [True, True] Translation: X:-16.43, Y:4.21, Z:0.33 [[ 7.19947279e-01 6.93862578e-01 -1.51867611e-02 -1.64271792e+01] [-6.93701284e-01 7.20107399e-01 1.49620081e-02 4.20800708e+00] [ 2.13176766e-02 -2.36781382e-04 9.99772724e-01 3.26586351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.029115932999996 meters 0.018065759508723328 Centerline is valid? [True, True] Translation: X:-16.44, Y:4.22, Z:0.33 [[ 7.18532067e-01 6.95328677e-01 -1.51558785e-02 -1.64428028e+01] [-6.95167050e-01 7.18691850e-01 1.49932517e-02 4.22344299e+00] [ 2.13176442e-02 -2.37264788e-04 9.99772725e-01 3.26322407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.059115932999998 meters 0.01745010641738007 Centerline is valid? [True, True] Translation: X:-16.45, Y:4.25, Z:0.35 [[ 7.21032501e-01 6.92769033e-01 -1.35351159e-02 -1.64506215e+01] [-6.92638704e-01 7.21159460e-01 1.34409249e-02 4.24904287e+00] [ 1.90724334e-02 -3.16398501e-04 9.99818055e-01 3.51139777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.089115933 meters 0.027263872485854195 Centerline is valid? [True, True] Translation: X:-16.48, Y:4.25, Z:0.34 [[ 7.11515006e-01 7.02345328e-01 -2.13877640e-02 -1.64788365e+01] [-7.02020734e-01 7.11836364e-01 2.13513303e-02 4.25085805e+00] [ 3.02205952e-02 -1.77138097e-04 9.99543238e-01 3.36232029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.119115932999996 meters 0.017214169550381346 Centerline is valid? [True, True] Translation: X:-15.56, Y:5.01, Z:-1.84 [[ 7.45482530e-01 -6.66509461e-01 4.57546141e-03 -1.55580015e+01] [-6.66489403e-01 -7.45496078e-01 -5.24155611e-03 5.00767401e+00] [ 6.90453527e-03 8.57991968e-04 -9.99975795e-01 -1.83658329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.149115932999997 meters 0.016634365984703078 Centerline is valid? [True, True] Translation: X:-16.36, Y:4.15, Z:0.37 [[ 7.79047335e-01 6.26756015e-01 -1.61909588e-02 -1.63597330e+01] [-6.26605037e-01 7.79215349e-01 1.37683309e-02 4.15228915e+00] [ 2.12456278e-02 -5.80845154e-04 9.99774117e-01 3.72118546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.179115933 meters 0.015426731759434747 Centerline is valid? [True, True] Translation: X:-16.38, Y:4.16, Z:0.37 [[ 7.69171855e-01 6.38649611e-01 -2.23904410e-02 -1.63810505e+01] [-6.38364150e-01 7.69497575e-01 1.90969671e-02 4.16362759e+00] [ 2.94256607e-02 -3.95594799e-04 9.99566893e-01 3.70939361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.209115932999996 meters 0.01633991878550599 Centerline is valid? [True, True] Translation: X:-16.40, Y:4.17, Z:0.36 [[ 7.75989080e-01 6.30542739e-01 -1.60250771e-02 -1.64027661e+01] [-6.30393831e-01 7.76154343e-01 1.37132631e-02 4.17367826e+00] [ 2.10847317e-02 -5.39232679e-04 9.99777547e-01 3.63660477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.239115932999997 meters 0.015216128363963072 Centerline is valid? [True, True] Translation: X:-16.42, Y:4.19, Z:0.37 [[ 7.68959987e-01 6.38994424e-01 -1.96637812e-02 -1.64212979e+01] [-6.38770962e-01 7.69211242e-01 1.69033197e-02 4.18942477e+00] [ 2.59267286e-02 -4.37324098e-04 9.99663750e-01 3.71256527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.269115933 meters 0.014391539472625111 Centerline is valid? [True, True] Translation: X:-16.43, Y:4.22, Z:0.37 [[ 7.76207227e-01 6.30364348e-01 -1.19636904e-02 -1.64294005e+01] [-6.30280162e-01 7.76299281e-01 1.03123131e-02 4.21626751e+00] [ 1.57879188e-02 -4.64015212e-04 9.99875255e-01 3.72800759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.299115932999996 meters 0.014606606645953733 Centerline is valid? [True, True] Translation: X:-16.44, Y:4.24, Z:0.40 [[ 7.89979871e-01 6.13131172e-01 1.40312657e-03 -1.64379028e+01] [-6.13129916e-01 7.89981107e-01 -1.24728060e-03 4.24342511e+00] [-1.87319009e-03 1.25027689e-04 9.99998238e-01 4.03517037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.329115932999997 meters 0.015358807761284286 Centerline is valid? [True, True] Translation: X:-16.46, Y:4.25, Z:0.40 [[ 7.75017161e-01 6.31903935e-01 -6.76879491e-03 -1.64634549e+01] [-6.31876743e-01 7.75046672e-01 5.86836243e-03 4.24966504e+00] [ 8.95437328e-03 -2.71037506e-04 9.99959872e-01 4.04304026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.359115932999998 meters 0.02473952937800143 Centerline is valid? [True, True] Translation: X:-16.49, Y:4.26, Z:0.40 [[ 7.68655624e-01 6.39542984e-01 -1.23815879e-02 -1.64871155e+01] [-6.39452122e-01 7.68755249e-01 1.07866445e-02 4.25835619e+00] [ 1.64169335e-02 -3.73782269e-04 9.99865163e-01 4.02326977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.389115933 meters 0.017957430456895695 Centerline is valid? [True, True] Translation: X:-16.50, Y:4.28, Z:0.43 [[ 7.73630561e-01 6.33592025e-01 -7.54328473e-03 -1.64958006e+01] [-6.33557896e-01 7.73667272e-01 6.58376380e-03 4.28411233e+00] [ 1.00074128e-02 -3.14293280e-04 9.99949875e-01 4.32202904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.419115932999997 meters 0.014820104969654304 Centerline is valid? [True, True] Translation: X:-16.52, Y:4.30, Z:0.42 [[ 7.72073338e-01 6.35531387e-01 -1.61797747e-03 -1.65173198e+01] [-6.35529862e-01 7.72075032e-01 1.39300348e-03 4.29584058e+00] [ 2.13449744e-03 -4.72278519e-05 9.99997721e-01 4.17707874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.449115932999998 meters 0.019599347000615764 Centerline is valid? [True, True] Translation: X:-16.54, Y:4.30, Z:0.42 [[ 7.61096943e-01 6.48601439e-01 -6.90046323e-03 -1.65404985e+01] [-6.48573123e-01 7.61128212e-01 6.06211657e-03 4.29693885e+00] [ 9.18403477e-03 -1.38403404e-04 9.99957816e-01 4.20876473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.479115933 meters 0.021867047328821262 Centerline is valid? [True, True] Translation: X:-16.55, Y:4.32, Z:0.43 [[ 7.68902559e-01 6.39365896e-01 3.25536704e-04 -1.65479036e+01] [-6.39365816e-01 7.68902627e-01 -3.20956279e-04 4.32400516e+00] [-4.55514526e-04 3.86470642e-05 9.99999896e-01 4.30937805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.509115932999997 meters 0.015228249731795413 Centerline is valid? [True, True] Translation: X:-16.57, Y:4.34, Z:0.44 [[ 7.68624491e-01 6.39694570e-01 2.69237592e-03 -1.65676686e+01] [-6.39689993e-01 7.68629194e-01 -2.42399715e-03 4.33824302e+00] [-3.62005655e-03 1.40857638e-04 9.99993438e-01 4.35807325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.539115932999998 meters 0.01568232535233729 Centerline is valid? [True, True] Translation: X:-16.59, Y:4.35, Z:0.43 [[ 7.72728686e-01 6.34724048e-01 3.96992763e-03 -1.65896968e+01] [-6.34714010e-01 7.72738845e-01 -3.57810662e-03 4.35089893e+00] [-5.33882761e-03 2.45136941e-04 9.99985718e-01 4.34074362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.569115933 meters 0.015331345892015612 Centerline is valid? [True, True] Translation: X:-16.60, Y:4.37, Z:0.44 [[ 7.68757514e-01 6.39536398e-01 2.25369829e-03 -1.66047261e+01] [-6.39533142e-01 7.68760807e-01 -2.04503343e-03 4.37084671e+00] [-3.04042823e-03 1.30820062e-04 9.99995369e-01 4.35135862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.599115932999997 meters 0.015203012284560594 Centerline is valid? [True, True] Translation: X:-16.62, Y:4.39, Z:0.42 [[ 7.75265014e-01 6.31605550e-01 6.21187650e-03 -1.66239421e+01] [-6.31580654e-01 7.75289776e-01 -5.62491077e-03 4.38526402e+00] [-8.36872920e-03 4.37495506e-04 9.99964886e-01 4.23262696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.629115932999998 meters 0.019665621980426425 Centerline is valid? [True, True] Translation: X:-16.66, Y:4.38, Z:0.43 [[ 7.63429260e-01 6.45861661e-01 -6.20326281e-03 -1.66588621e+01] [-6.45837635e-01 7.63454421e-01 5.57647762e-03 4.38335098e+00] [ 8.33754151e-03 -2.50945595e-04 9.99965211e-01 4.29747366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.659115933 meters 0.014634250373598832 Centerline is valid? [True, True] Translation: X:-16.67, Y:4.41, Z:0.43 [[ 7.71425908e-01 6.36318749e-01 -7.20149778e-04 -1.66691202e+01] [-6.36318449e-01 7.71426244e-01 6.18334075e-04 4.40687409e+00] [ 9.49000002e-04 -1.87543356e-05 9.99999550e-01 4.29447829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.689115932999997 meters 0.014121388433177244 Centerline is valid? [True, True] Translation: X:-16.69, Y:4.42, Z:0.43 [[ 7.70179396e-01 6.37815120e-01 -3.94605516e-03 -1.66904594e+01] [-6.37805222e-01 7.70189472e-01 3.56032482e-03 4.41960179e+00] [ 5.31003914e-03 -2.25274227e-04 9.99985876e-01 4.26917762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.719115932999998 meters 0.013389069475286354 Centerline is valid? [True, True] Translation: X:-16.71, Y:4.43, Z:0.42 [[ 7.75902576e-01 6.30852736e-01 1.35718584e-04 -1.67134210e+01] [-6.30852717e-01 7.75902587e-01 -1.58671324e-04 4.42890271e+00] [-2.05402639e-04 3.74950514e-05 9.99999978e-01 4.20381434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.749115933 meters 0.014121788729658281 Centerline is valid? [True, True] Translation: X:-16.73, Y:4.44, Z:0.42 [[ 7.72467217e-01 6.35053317e-01 -1.29715563e-03 -1.67349744e+01] [-6.35052261e-01 7.72468303e-01 1.16030738e-03 4.44213341e+00] [ 1.73886866e-03 -7.25377945e-05 9.99998486e-01 4.24135008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.779115932999996 meters 0.014395823367812652 Centerline is valid? [True, True] Translation: X:-16.75, Y:4.46, Z:0.42 [[ 7.74017751e-01 6.33163689e-01 -5.14943237e-04 -1.67545597e+01] [-6.33163536e-01 7.74017922e-01 4.39930901e-04 4.45604305e+00] [ 6.77123566e-04 -1.44710458e-05 9.99999771e-01 4.24764868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.809115932999998 meters 0.014528803547428585 Centerline is valid? [True, True] Translation: X:-16.77, Y:4.47, Z:0.43 [[ 7.78892916e-01 6.27132582e-01 5.52729344e-03 -1.67713952e+01] [-6.27111719e-01 7.78912340e-01 -5.14374764e-03 4.47378261e+00] [-7.53108881e-03 5.40198108e-04 9.99971495e-01 4.32726107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.839115933 meters 0.014276908345504763 Centerline is valid? [True, True] Translation: X:-16.79, Y:4.49, Z:0.44 [[ 7.83406980e-01 6.21376887e-01 1.28167167e-02 -1.67878901e+01] [-6.21264295e-01 7.83510625e-01 -1.19069912e-02 4.49141577e+00] [-1.74407629e-02 1.36545156e-03 9.99846966e-01 4.35521812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.869115932999996 meters 0.014622209404697637 Centerline is valid? [True, True] Translation: X:-16.81, Y:4.51, Z:0.45 [[ 7.80959302e-01 6.24509328e-01 9.52193380e-03 -1.68075400e+01] [-6.24447049e-01 7.81016728e-01 -8.87432729e-03 4.50746788e+00] [-1.29788898e-02 9.84544982e-04 9.99915286e-01 4.53274323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.899115932999997 meters 0.019634799963937986 Centerline is valid? [True, True] Translation: X:-16.84, Y:4.51, Z:0.46 [[ 7.68274822e-01 6.40120143e-01 -1.22709241e-05 -1.68384103e+01] [-6.40120143e-01 7.68274822e-01 -1.51455191e-05 4.50980976e+00] [-2.67510039e-07 1.94907867e-05 1.00000000e+00 4.62714969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.929115933 meters 0.015190750641635213 Centerline is valid? [True, True] Translation: X:-16.86, Y:4.52, Z:0.43 [[ 7.74473067e-01 6.32561686e-01 7.56181582e-03 -1.68595670e+01] [-6.32522082e-01 7.74509640e-01 -7.11568500e-03 4.52126395e+00] [-1.03578090e-02 7.27890903e-04 9.99946092e-01 4.32750283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.959115932999996 meters 0.01725457778548302 Centerline is valid? [True, True] Translation: X:-16.90, Y:4.52, Z:0.41 [[ 7.63261593e-01 6.46081803e-01 3.16944027e-03 -1.68964396e+01] [-6.46074829e-01 7.63268132e-01 -3.01238084e-03 4.51566033e+00] [-4.36537720e-03 2.51539021e-04 9.99990440e-01 4.09043500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.989115932999997 meters 0.01725781105456647 Centerline is valid? [True, True] Translation: X:-16.90, Y:4.53, Z:0.45 [[ 7.48373192e-01 6.63259811e-01 -4.89775665e-03 -1.69040371e+01] [-6.63244097e-01 7.48389199e-01 4.56886130e-03 4.53133839e+00] [ 6.69577026e-03 -1.70805130e-04 9.99977568e-01 4.48929132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.019115933 meters 0.016959260373517047 Centerline is valid? [True, True] Translation: X:-16.93, Y:4.54, Z:0.44 [[ 7.44624971e-01 6.67450595e-01 -6.58451993e-03 -1.69270277e+01] [-6.67421560e-01 7.44654042e-01 6.23045920e-03 4.53958692e+00] [ 9.06171308e-03 -2.44704937e-04 9.99958912e-01 4.44674349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.049115932999996 meters 0.017190574460734513 Centerline is valid? [True, True] Translation: X:-16.98, Y:4.52, Z:0.36 [[ 7.37963584e-01 6.74762848e-01 -1.02395127e-02 -1.69750804e+01] [-6.74692440e-01 7.38034563e-01 9.75168577e-03 4.51946512e+00] [ 1.41371895e-02 -2.87867205e-04 9.99900024e-01 3.59501272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.079115932999997 meters 0.01598584493787939 Centerline is valid? [True, True] Translation: X:-16.98, Y:4.54, Z:0.39 [[ 7.50767134e-01 6.60564316e-01 -1.86957584e-03 -1.69812614e+01] [-6.60561990e-01 7.50769457e-01 1.75475846e-03 4.54483072e+00] [ 2.56275126e-03 -8.24442379e-05 9.99996713e-01 3.85456385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.109115932999998 meters 0.016177319003505216 Centerline is valid? [True, True] Translation: X:-17.00, Y:4.56, Z:0.39 [[ 7.58513071e-01 6.51651626e-01 2.84247898e-03 -1.69990643e+01] [-6.51645720e-01 7.58518352e-01 -2.78669861e-03 4.55693582e+00] [-3.97202915e-03 2.61458056e-04 9.99992077e-01 3.88983247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.139115932999996 meters 0.014911090974393859 Centerline is valid? [True, True] Translation: X:-17.07, Y:4.51, Z:0.23 [[ 7.27781598e-01 6.85587906e-01 -1.74117458e-02 -1.70732583e+01] [-6.85380970e-01 7.27989777e-01 1.68466796e-02 4.50703205e+00] [ 2.42254527e-02 -3.27024131e-04 9.99706467e-01 2.28627712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.169115932999997 meters 0.018236988369995984 Centerline is valid? [True, True] Translation: X:-17.03, Y:4.59, Z:0.44 [[ 7.64549763e-01 6.44563468e-01 1.26362318e-03 -1.70265004e+01] [-6.44562223e-01 7.64550790e-01 -1.27712915e-03 4.58971006e+00] [-1.78929490e-03 1.61945025e-04 9.99998386e-01 4.40239691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.199115932999998 meters 0.018597763869011442 Centerline is valid? [True, True] Translation: X:-17.04, Y:4.61, Z:0.47 [[ 7.61886949e-01 6.47707223e-01 -1.90548521e-03 -1.70405325e+01] [-6.47704652e-01 7.61889315e-01 1.83202763e-03 4.60849014e+00] [ 2.63838634e-03 -1.61606310e-04 9.99996506e-01 4.73947360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.229115933 meters 0.01756819031594467 Centerline is valid? [True, True] Translation: X:-17.06, Y:4.62, Z:0.48 [[ 7.59229196e-01 6.50822970e-01 -7.00435609e-04 -1.70567460e+01] [-6.50822645e-01 7.59229518e-01 6.50584193e-04 4.62383579e+00] [ 9.55206526e-04 -3.80831578e-05 9.99999543e-01 4.76499597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.259115932999997 meters 0.018841410409791925 Centerline is valid? [True, True] Translation: X:-17.07, Y:4.64, Z:0.49 [[ 7.53442131e-01 6.57509577e-01 -2.47206765e-03 -1.70718031e+01] [-6.57505210e-01 7.53446164e-01 2.40339825e-03 4.64066426e+00] [ 3.44282726e-03 -1.85424137e-04 9.99994056e-01 4.91787510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.289115932999998 meters 0.018355487522873335 Centerline is valid? [True, True] Translation: X:-17.08, Y:4.66, Z:0.51 [[ 7.53465726e-01 6.57486374e-01 -1.03317889e-03 -1.70820811e+01] [-6.57485640e-01 7.53466432e-01 9.84559677e-04 4.66199539e+00] [ 1.42580019e-03 -6.25316870e-05 9.99998982e-01 5.06545048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.319115933 meters 0.01674132190220914 Centerline is valid? [True, True] Translation: X:-17.12, Y:4.65, Z:0.43 [[ 7.33742276e-01 6.79330850e-01 -1.14833709e-02 -1.71184790e+01] [-6.79235616e-01 7.33831920e-01 1.13882307e-02 4.65436229e+00] [ 1.61632406e-02 -5.56111852e-04 9.99869212e-01 4.27375276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.349115932999997 meters 0.017429225220944398 Centerline is valid? [True, True] Translation: X:-17.14, Y:4.67, Z:0.44 [[ 7.23145753e-01 6.90519720e-01 -1.55800222e-02 -1.71370022e+01] [-6.90345165e-01 7.23313410e-01 1.55326741e-02 4.66650459e+00] [ 2.19948567e-02 -4.76794328e-04 9.99757970e-01 4.35931382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.379115932999998 meters 0.01604920751491942 Centerline is valid? [True, True] Translation: X:-17.14, Y:4.69, Z:0.46 [[ 7.29497622e-01 6.83916175e-01 -9.58569627e-03 -1.71390430e+01] [-6.83849138e-01 7.29560466e-01 9.58551223e-03 4.69429378e+00] [ 1.35490319e-02 -4.37438236e-04 9.99908112e-01 4.56863703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.409115933 meters 0.016530026162087458 Centerline is valid? [True, True] Translation: X:-16.14, Y:5.67, Z:-1.95 [[ 7.38441747e-01 -6.74232739e-01 1.06770971e-02 -1.61405242e+01] [-6.74151718e-01 -7.38518742e-01 -1.04656034e-02 5.67249181e+00] [ 1.49414887e-02 5.30255097e-04 -9.99888229e-01 -1.95435829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.439115932999997 meters 0.017510879377649582 Centerline is valid? [True, True] Translation: X:-17.10, Y:4.64, Z:0.49 [[ 7.87379658e-01 6.16439797e-01 -5.93721227e-03 -1.70997387e+01] [-6.16419107e-01 7.87401976e-01 5.06094146e-03 4.64159862e+00] [ 7.79473839e-03 -3.25071269e-04 9.99969568e-01 4.90420058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.469115932999998 meters 0.018246790564338096 Centerline is valid? [True, True] Translation: X:-17.12, Y:4.66, Z:0.52 [[ 7.84544817e-01 6.20017107e-01 -8.25941540e-03 -1.71169459e+01] [-6.19977157e-01 7.84588184e-01 7.05023009e-03 4.65716150e+00] [ 1.08515030e-02 -4.10572598e-04 9.99941036e-01 5.15673874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.499115933 meters 0.019245885707638483 Centerline is valid? [True, True] Translation: X:-17.13, Y:4.67, Z:0.55 [[ 7.85335521e-01 6.18943421e-01 -1.25363969e-02 -1.71337380e+01] [-6.18850184e-01 7.85435266e-01 1.07653420e-02 4.67251294e+00] [ 1.65096658e-02 -6.96253928e-04 9.99863464e-01 5.49481119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.529115932999996 meters 0.018504440225089427 Centerline is valid? [True, True] Translation: X:-17.15, Y:4.69, Z:0.53 [[ 7.87306045e-01 6.16436049e-01 -1.24815667e-02 -1.71512645e+01] [-6.16342544e-01 7.87404588e-01 1.07648720e-02 4.68638236e+00] [ 1.64638981e-02 -7.82328248e-04 9.99864155e-01 5.34958591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.559115932999998 meters 0.017998932804180034 Centerline is valid? [True, True] Translation: X:-17.17, Y:4.70, Z:0.53 [[ 7.87741028e-01 6.15886670e-01 -1.21524766e-02 -1.71726556e+01] [-6.15797229e-01 7.87834345e-01 1.05270327e-02 4.69612170e+00] [ 1.60575975e-02 -8.09114131e-04 9.99870741e-01 5.32384602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.589115933 meters 0.019413340163751472 Centerline is valid? [True, True] Translation: X:-17.19, Y:4.70, Z:0.54 [[ 7.74185189e-01 6.32727413e-01 -1.71264116e-02 -1.71936087e+01] [-6.32551993e-01 7.74374271e-01 1.49152456e-02 4.70477770e+00] [ 2.26995373e-02 -7.13816442e-04 9.99742077e-01 5.35550097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.619115932999996 meters 0.019217333534767792 Centerline is valid? [True, True] Translation: X:-17.21, Y:4.72, Z:0.54 [[ 7.66483116e-01 6.42037293e-01 -1.70805993e-02 -1.72111366e+01] [-6.41863578e-01 7.66673252e-01 1.49423109e-02 4.71692783e+00] [ 2.26887595e-02 -4.89614430e-04 9.99742457e-01 5.43285717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.649115932999997 meters 0.01924555766179783 Centerline is valid? [True, True] Translation: X:-17.23, Y:4.73, Z:0.55 [[ 7.63117317e-01 6.46054918e-01 -1.62789423e-02 -1.72267342e+01] [-6.45896624e-01 7.63290823e-01 1.43063023e-02 4.73266925e+00] [ 2.16682243e-02 -4.02873140e-04 9.99765135e-01 5.48059125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.679115933 meters 0.020276157165120382 Centerline is valid? [True, True] Translation: X:-17.26, Y:4.73, Z:0.52 [[ 7.30992370e-01 6.81706647e-01 -3.04335734e-02 -1.72605780e+01] [-6.81176251e-01 7.31624849e-01 2.69071474e-02 4.72546120e+00] [ 4.06087398e-02 1.06170802e-03 9.99174561e-01 5.20442481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.709115932999996 meters 0.020206556369855584 Centerline is valid? [True, True] Translation: X:-17.28, Y:4.74, Z:0.52 [[ 7.31769044e-01 6.80944613e-01 -2.87836887e-02 -1.72757718e+01] [-6.80464830e-01 7.32334399e-01 2.55723151e-02 4.73901424e+00] [ 3.84926156e-02 8.73259301e-04 9.99258503e-01 5.15888543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.739115932999997 meters 0.020377481040246514 Centerline is valid? [True, True] Translation: X:-17.30, Y:4.74, Z:0.45 [[ 7.18657851e-01 6.94783717e-01 -2.83985766e-02 -1.73027836e+01] [-6.94322412e-01 7.19217182e-01 2.53581205e-02 4.73690952e+00] [ 3.80431535e-02 1.49395582e-03 9.99274980e-01 4.54604865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.769115933 meters 0.02051958056666111 Centerline is valid? [True, True] Translation: X:-17.32, Y:4.75, Z:0.48 [[ 7.08716545e-01 7.04762785e-01 -3.20979111e-02 -1.73162625e+01] [-7.04177110e-01 7.09439667e-01 2.88089621e-02 4.75173515e+00] [ 4.30750157e-02 2.18522619e-03 9.99069451e-01 4.75628069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.799115932999996 meters 0.02011440719571518 Centerline is valid? [True, True] Translation: X:-17.33, Y:4.77, Z:0.50 [[ 7.08242668e-01 7.05198151e-01 -3.29831904e-02 -1.73272599e+01] [-7.04573877e-01 7.09006946e-01 2.97456296e-02 4.76992859e+00] [ 4.43618741e-02 2.17197023e-03 9.99013166e-01 4.98068310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.829115932999997 meters 0.019337367665503293 Centerline is valid? [True, True] Translation: X:-17.34, Y:4.79, Z:0.53 [[ 7.16591932e-01 6.96757737e-01 -3.20102972e-02 -1.73350991e+01] [-6.96155230e-01 7.17304967e-01 2.90082782e-02 4.79126148e+00] [ 4.31728875e-02 1.49703772e-03 9.99066495e-01 5.34965849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.859115932999998 meters 0.020414371113146687 Centerline is valid? [True, True] Translation: X:-17.35, Y:4.80, Z:0.55 [[ 7.13484157e-01 6.99841440e-01 -3.40927638e-02 -1.73537690e+01] [-6.99153665e-01 7.14296271e-01 3.10643074e-02 4.80088505e+00] [ 4.60924237e-02 1.67218960e-03 9.98935780e-01 5.52751309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.889115932999996 meters 0.020882362200820858 Centerline is valid? [True, True] Translation: X:-17.38, Y:4.81, Z:0.55 [[ 7.14525233e-01 6.98679381e-01 -3.60668083e-02 -1.73760258e+01] [-6.97898529e-01 7.15433241e-01 3.30593357e-02 4.80677524e+00] [ 4.89012698e-02 1.54924299e-03 9.98802416e-01 5.49543016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.919115932999997 meters 0.02063039712516095 Centerline is valid? [True, True] Translation: X:-17.39, Y:4.82, Z:0.55 [[ 7.08968268e-01 7.04259210e-01 -3.71881846e-02 -1.73917579e+01] [-7.03426988e-01 7.09940502e-01 3.42776340e-02 4.81912815e+00] [ 5.05417379e-02 1.85741789e-03 9.98720222e-01 5.52504413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.949115932999998 meters 0.02063039712516095 Centerline is valid? [True, True] Translation: X:-17.41, Y:4.83, Z:0.55 [[ 7.06907146e-01 7.06333227e-01 -3.70898809e-02 -1.74061033e+01] [-7.05498289e-01 7.07877045e-01 3.43839026e-02 4.83246549e+00] [ 5.05415682e-02 1.86062103e-03 9.98720225e-01 5.52282209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.979115933 meters 0.02088786149937248 Centerline is valid? [True, True] Translation: X:-17.42, Y:4.84, Z:0.56 [[ 7.01640770e-01 7.11601359e-01 -3.63831803e-02 -1.74233154e+01] [-7.10795503e-01 7.02580425e-01 3.39190130e-02 4.84378583e+00] [ 4.96989260e-02 2.06203857e-03 9.98762116e-01 5.60119413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.009115932999997 meters 0.020756098806924347 Centerline is valid? [True, True] Translation: X:-17.43, Y:4.86, Z:0.56 [[ 6.97075997e-01 7.16150264e-01 -3.48404046e-02 -1.74331959e+01] [-7.15408466e-01 6.97942788e-01 3.26587106e-02 4.86257846e+00] [ 4.77051533e-02 2.15951717e-03 9.98859127e-01 5.61223305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.039115932999998 meters 0.020564933823316214 Centerline is valid? [True, True] Translation: X:-17.45, Y:4.87, Z:0.52 [[ 6.77739601e-01 7.34320526e-01 -3.79789163e-02 -1.74516947e+01] [-7.33455709e-01 6.78793412e-01 3.58081804e-02 4.87002253e+00] [ 5.20745201e-02 3.58723105e-03 9.98636759e-01 5.18107122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.069115933 meters 0.020137204129523432 Centerline is valid? [True, True] Translation: X:-17.47, Y:4.88, Z:0.49 [[ 6.65781723e-01 7.45235709e-01 -3.68569538e-02 -1.74686516e+01] [-7.44427517e-01 6.66788084e-01 3.49474267e-02 4.87975327e+00] [ 5.06198479e-02 4.16997258e-03 9.98709288e-01 4.86907733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.099115932999997 meters 0.019097272099856344 Centerline is valid? [True, True] Translation: X:-17.49, Y:4.88, Z:0.44 [[ 6.58583092e-01 7.51871112e-01 -3.09538746e-02 -1.74918782e+01] [-7.51301434e-01 6.59299051e-01 2.95113069e-02 4.88157944e+00] [ 4.25965593e-02 3.82004267e-03 9.99085052e-01 4.39417828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.129115932999998 meters 0.019067103374350927 Centerline is valid? [True, True] Translation: X:-17.51, Y:4.89, Z:0.42 [[ 6.56160336e-01 7.54208175e-01 -2.49728493e-02 -1.75115188e+01] [-7.53834727e-01 6.56627973e-01 2.39355140e-02 4.88799238e+00] [ 3.44502318e-02 3.11986612e-03 9.99401545e-01 4.24722251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.159115933 meters 0.020421055570564346 Centerline is valid? [True, True] Translation: X:-17.52, Y:4.90, Z:0.47 [[ 6.37410471e-01 7.70060891e-01 -2.67229299e-02 -1.75178798e+01] [-7.69639435e-01 6.37957098e-01 2.58046797e-02 4.90261810e+00] [ 3.69192575e-02 4.11884760e-03 9.99309764e-01 4.65195833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.189115932999997 meters 0.020109646302231034 Centerline is valid? [True, True] Translation: X:-17.53, Y:4.92, Z:0.48 [[ 6.39908240e-01 7.68113173e-01 -2.27947050e-02 -1.75290987e+01] [-7.67801050e-01 6.40305447e-01 2.21468118e-02 4.91811121e+00] [ 3.16068316e-02 3.32987105e-03 9.99494832e-01 4.80772546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.219115932999998 meters 0.020316723706568715 Centerline is valid? [True, True] Translation: X:-17.54, Y:4.93, Z:0.47 [[ 6.27811547e-01 7.77871023e-01 -2.77368656e-02 -1.75440268e+01] [-7.77411781e-01 6.28407533e-01 2.71089625e-02 4.92950181e+00] [ 3.85173316e-02 4.54364642e-03 9.99247602e-01 4.70930367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.249115933 meters 0.020191003765985437 Centerline is valid? [True, True] Translation: X:-17.57, Y:4.93, Z:0.44 [[ 6.18850139e-01 7.84873788e-01 -3.15854732e-02 -1.75721628e+01] [-7.84278985e-01 6.19630755e-01 3.10515842e-02 4.92609454e+00] [ 4.39429051e-02 5.55554566e-03 9.99018597e-01 4.37206461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.279115932999996 meters 0.020687466710284198 Centerline is valid? [True, True] Translation: X:-17.58, Y:4.95, Z:0.47 [[ 6.06006549e-01 7.94669603e-01 -3.54441082e-02 -1.75754855e+01] [-7.93926182e-01 6.07002990e-01 3.50512308e-02 4.94845428e+00] [ 4.93688273e-02 6.89873009e-03 9.98756790e-01 4.73213065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.309115932999998 meters 0.020721254603254143 Centerline is valid? [True, True] Translation: X:-17.59, Y:4.96, Z:0.46 [[ 5.99143365e-01 7.99749015e-01 -3.77986974e-02 -1.75916766e+01] [-7.98901733e-01 6.00285468e-01 3.75949155e-02 4.95682619e+00] [ 5.27565054e-02 7.67270066e-03 9.98577929e-01 4.64982140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.339115933 meters 0.020688480188685215 Centerline is valid? [True, True] Translation: X:-17.60, Y:4.97, Z:0.52 [[ 6.05115688e-01 7.95324947e-01 -3.59615576e-02 -1.76009061e+01] [-7.94540126e-01 6.06145132e-01 3.59731490e-02 4.97268731e+00] [ 5.04082659e-02 6.80498367e-03 9.98705512e-01 5.15194773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.369115932999996 meters 0.01904324683749854 Centerline is valid? [True, True] Translation: X:-16.42, Y:6.01, Z:-2.05 [[ 8.32565502e-01 -5.53662407e-01 -1.71062875e-02 -1.64154322e+01] [-5.53506903e-01 -8.32739815e-01 1.32102135e-02 6.01099086e+00] [-2.15590853e-02 -1.52991979e-03 -9.99766405e-01 -2.05016115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.399115932999997 meters 0.02024281567306401 Centerline is valid? [True, True] Translation: X:-17.49, Y:4.84, Z:0.56 [[ 6.86368232e-01 7.26460043e-01 -3.39772907e-02 -1.74899647e+01] [-7.25898212e-01 6.87192050e-01 2.89632858e-02 4.83727877e+00] [ 4.43895939e-02 4.78457528e-03 9.99002839e-01 5.57729210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.429115933 meters 0.019974089504614035 Centerline is valid? [True, True] Translation: X:-17.51, Y:4.84, Z:0.57 [[ 6.90958059e-01 7.22203636e-01 -3.16049027e-02 -1.75109623e+01] [-7.21707926e-01 6.91668301e-01 2.70671372e-02 4.84132018e+00] [ 4.14080942e-02 4.10725223e-03 9.99133875e-01 5.70554438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.459115932999996 meters 0.02018574010739524 Centerline is valid? [True, True] Translation: X:-17.52, Y:4.86, Z:0.59 [[ 6.89958359e-01 7.23102719e-01 -3.28621341e-02 -1.75232623e+01] [-7.22560619e-01 6.90727670e-01 2.83096944e-02 4.85547944e+00] [ 4.31696023e-02 4.21237367e-03 9.99058878e-01 5.88507840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.489115932999997 meters 0.02022730504959662 Centerline is valid? [True, True] Translation: X:-17.54, Y:4.86, Z:0.58 [[ 6.88701073e-01 7.24327593e-01 -3.22547660e-02 -1.75422566e+01] [-7.23799921e-01 6.89443781e-01 2.79454188e-02 4.86132691e+00] [ 4.24794858e-02 4.09995720e-03 9.99088927e-01 5.84500080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.519115933 meters 0.02338481016508736 Centerline is valid? [True, True] Translation: X:-17.55, Y:4.88, Z:0.60 [[ 6.94681465e-01 7.18716852e-01 -2.93896194e-02 -1.75544248e+01] [-7.18268215e-01 6.95294943e-01 2.56069066e-02 4.87567898e+00] [ 3.88385691e-02 3.32098610e-03 9.99239979e-01 5.96661576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.549115932999996 meters 0.02062399716003881 Centerline is valid? [True, True] Translation: X:-17.58, Y:4.88, Z:0.59 [[ 6.83083823e-01 7.29487413e-01 -3.52789561e-02 -1.75770057e+01] [-7.28846161e-01 6.83978834e-01 3.09229248e-02 4.87747140e+00] [ 4.66879437e-02 4.58998202e-03 9.98898978e-01 5.90810825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.579115932999997 meters 0.020024898307489283 Centerline is valid? [True, True] Translation: X:-17.59, Y:4.89, Z:0.59 [[ 6.83924066e-01 7.28815718e-01 -3.27951256e-02 -1.75916490e+01] [-7.28253815e-01 6.84697550e-01 2.89075477e-02 4.88836723e+00] [ 4.35230173e-02 4.11260775e-03 9.99043960e-01 5.89906044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.609115932999998 meters 0.020807147688799738 Centerline is valid? [True, True] Translation: X:-17.61, Y:4.89, Z:0.58 [[ 6.75083271e-01 7.36875426e-01 -3.57377173e-02 -1.76059078e+01] [-7.36207908e-01 6.76010899e-01 3.17361295e-02 4.89326314e+00] [ 4.75446604e-02 4.88585997e-03 9.98857164e-01 5.81753863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.639115932999996 meters 0.019616788588250132 Centerline is valid? [True, True] Translation: X:-17.62, Y:4.91, Z:0.59 [[ 6.82011915e-01 7.30691899e-01 -3.08074071e-02 -1.76170600e+01] [-7.30182766e-01 6.82697218e-01 2.75251896e-02 4.90771042e+00] [ 4.11445642e-02 3.72253048e-03 9.99146269e-01 5.92610223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.669115932999997 meters 0.020104379508783778 Centerline is valid? [True, True] Translation: X:-17.64, Y:4.91, Z:0.58 [[ 6.70949118e-01 7.40816320e-01 -3.19133362e-02 -1.76376902e+01] [-7.40273938e-01 6.71693366e-01 2.86795880e-02 4.91137855e+00] [ 4.26822830e-02 4.38206680e-03 9.99079086e-01 5.82016504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.699115932999998 meters 0.019826070639670203 Centerline is valid? [True, True] Translation: X:-17.65, Y:4.92, Z:0.57 [[ 6.78914231e-01 7.33761777e-01 -2.58673970e-02 -1.76506956e+01] [-7.33396004e-01 6.79399754e-01 2.33725536e-02 4.92409040e+00] [ 3.47241896e-02 3.10308633e-03 9.99392116e-01 5.67880253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.729115933 meters 0.02013975993882175 Centerline is valid? [True, True] Translation: X:-17.67, Y:4.93, Z:0.57 [[ 6.69766057e-01 7.42037741e-01 -2.81676985e-02 -1.76683786e+01] [-7.41605299e-01 6.70347671e-01 2.56043015e-02 4.93191848e+00] [ 3.78815091e-02 3.74042241e-03 9.99275238e-01 5.68230405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.759115932999997 meters 0.019101070392101224 Centerline is valid? [True, True] Translation: X:-17.68, Y:4.94, Z:0.56 [[ 6.69393221e-01 7.42474784e-01 -2.53753891e-02 -1.76846875e+01] [-7.42119443e-01 6.69865890e-01 2.32039156e-02 4.93926125e+00] [ 3.42264298e-02 3.29902586e-03 9.99408659e-01 5.60451002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.789115932999998 meters 0.0199275601196123 Centerline is valid? [True, True] Translation: X:-17.70, Y:4.95, Z:0.57 [[ 6.64410330e-01 7.46954943e-01 -2.48440397e-02 -1.76958710e+01] [-7.46612800e-01 6.64866149e-01 2.28545575e-02 4.95350872e+00] [ 3.35892857e-02 3.36407394e-03 9.99430059e-01 5.73934023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.819115933 meters 0.020123034166404385 Centerline is valid? [True, True] Translation: X:-17.71, Y:4.97, Z:0.59 [[ 6.67755782e-01 7.44127872e-01 -1.93887920e-02 -1.77086343e+01] [-7.43915843e-01 6.68032714e-01 1.79307819e-02 4.96631425e+00] [ 2.62951420e-02 2.45024624e-03 9.99651220e-01 5.86186522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.849115932999997 meters 0.020299507138462354 Centerline is valid? [True, True] Translation: X:-17.72, Y:4.98, Z:0.62 [[ 6.66620259e-01 7.45148417e-01 -1.92682807e-02 -1.77183190e+01] [-7.44936611e-01 6.66894341e-01 1.79271714e-02 4.98110987e+00] [ 2.62083107e-02 2.40303214e-03 9.99653615e-01 6.22990082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.879115932999998 meters 0.019160328980836284 Centerline is valid? [True, True] Translation: X:-17.72, Y:5.01, Z:0.66 [[ 6.88015613e-01 7.25654880e-01 -7.71437482e-03 -1.77203318e+01] [-7.25619549e-01 6.88058553e-01 7.19008201e-03 5.00675282e+00] [ 1.05254597e-02 6.50812497e-04 9.99944394e-01 6.61103571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.909115933 meters 0.01918414621632726 Centerline is valid? [True, True] Translation: X:-17.74, Y:5.01, Z:0.64 [[ 6.76275766e-01 7.36556990e-01 -1.16142035e-02 -1.77391427e+01] [-7.36476977e-01 6.76374478e-01 1.09191542e-02 5.01005212e+00] [ 1.58981301e-02 1.16923408e-03 9.99872933e-01 6.42444524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.939115932999997 meters 0.019225753787940954 Centerline is valid? [True, True] Translation: X:-17.76, Y:5.02, Z:0.64 [[ 6.67865492e-01 7.44205716e-01 -1.06553732e-02 -1.77556797e+01] [-7.44138378e-01 6.67949417e-01 1.00821822e-02 5.02039274e+00] [ 1.46204680e-02 1.19553054e-03 9.99892401e-01 6.43512826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.969115932999998 meters 0.0198415463302417 Centerline is valid? [True, True] Translation: X:-17.78, Y:5.03, Z:0.64 [[ 6.62876295e-01 7.48651624e-01 -1.07592972e-02 -1.77768139e+01] [-7.48582690e-01 6.62962396e-01 1.02380867e-02 5.02515574e+00] [ 1.47977697e-02 1.26763870e-03 9.99889703e-01 6.44782857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.999115933 meters 0.019835564210458456 Centerline is valid? [True, True] Translation: X:-17.79, Y:5.04, Z:0.64 [[ 6.62646408e-01 7.48864115e-01 -1.01130918e-02 -1.77906979e+01] [-7.48802504e-01 6.62722558e-01 9.67579572e-03 5.03691584e+00] [ 1.39480303e-02 1.16107717e-03 9.99902047e-01 6.43328285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.029115932999996 meters 0.018680606114419428 Centerline is valid? [True, True] Translation: X:-17.80, Y:5.05, Z:0.64 [[ 6.70339747e-01 7.42033283e-01 -5.58835495e-03 -1.78007097e+01] [-7.42014173e-01 6.70362809e-01 5.35451439e-03 5.05301654e+00] [ 7.71945322e-03 5.57294751e-04 9.99970049e-01 6.39572505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.059115932999998 meters 0.019308740267430725 Centerline is valid? [True, True] Translation: X:-17.82, Y:5.06, Z:0.64 [[ 6.63953703e-01 7.47714813e-01 -9.38286128e-03 -1.78210236e+01] [-7.47660337e-01 6.64019265e-01 9.07943570e-03 5.05960209e+00] [ 1.30192292e-02 9.86868269e-04 9.99914759e-01 6.42786970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.089115933 meters 0.01907451806777994 Centerline is valid? [True, True] Translation: X:-17.84, Y:5.07, Z:0.62 [[ 6.62533734e-01 7.48979350e-01 -8.88733897e-03 -1.78398712e+01] [-7.48930001e-01 6.62592691e-01 8.64747135e-03 5.06654113e+00] [ 1.23654633e-02 9.26753300e-04 9.99923115e-01 6.23817599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.119115932999996 meters 0.018202101160710735 Centerline is valid? [True, True] Translation: X:-17.85, Y:5.08, Z:0.62 [[ 6.71414056e-01 7.41059430e-01 -5.83836355e-03 -1.78516226e+01] [-7.41037711e-01 6.71439252e-01 5.69574043e-03 5.08085568e+00] [ 8.14098861e-03 5.02247379e-04 9.99966735e-01 6.24266561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.149115932999997 meters 0.01883030417946673 Centerline is valid? [True, True] Translation: X:-17.87, Y:5.09, Z:0.63 [[ 6.65739063e-01 7.46148564e-01 -7.33629734e-03 -1.78667464e+01] [-7.46113989e-01 6.65779145e-01 7.21426247e-03 5.09172485e+00] [ 1.02672654e-02 6.70897737e-04 9.99947065e-01 6.27194404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.179115933 meters 0.018471240444576365 Centerline is valid? [True, True] Translation: X:-17.88, Y:5.11, Z:0.63 [[ 6.70917413e-01 7.41510608e-01 -5.64303321e-03 -1.78791597e+01] [-7.41489826e-01 6.70940994e-01 5.56953817e-03 5.10519465e+00] [ 7.91601394e-03 4.47551573e-04 9.99968568e-01 6.34350124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.209115932999996 meters 0.017997107694486203 Centerline is valid? [True, True] Translation: X:-17.89, Y:5.12, Z:0.63 [[ 6.77541911e-01 7.35478488e-01 -2.89019333e-03 -1.78940340e+01] [-7.35473021e-01 6.77548045e-01 2.84270540e-03 5.11636762e+00] [ 4.04899351e-03 1.99607172e-04 9.99991783e-01 6.29211862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.239115932999997 meters 0.01884565787778007 Centerline is valid? [True, True] Translation: X:-16.63, Y:6.31, Z:-2.16 [[ 7.85784795e-01 -6.18294988e-01 1.59236752e-02 -1.66305850e+01] [-6.18118187e-01 -7.85943904e-01 -1.49025429e-02 6.30855814e+00] [ 2.17292831e-02 1.86747838e-03 -9.99762147e-01 -2.16177082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.269115933 meters 0.017399610914892484 Centerline is valid? [True, True] Translation: X:-17.81, Y:5.02, Z:0.66 [[ 7.51471628e-01 6.59757560e-01 3.21767428e-03 -1.78102861e+01] [-6.59751794e-01 7.51478516e-01 -2.75890260e-03 5.02008455e+00] [-4.23821994e-03 -4.96293456e-05 9.99991017e-01 6.57171773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.299115932999996 meters 0.016926028132551292 Centerline is valid? [True, True] Translation: X:-17.83, Y:5.03, Z:0.64 [[ 7.56965696e-01 6.53427542e-01 5.94833054e-03 -1.78278140e+01] [-6.53407213e-01 7.56989067e-01 -5.15420494e-03 5.03031033e+00] [-7.87072066e-03 1.48742497e-05 9.99969025e-01 6.37330694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.329115932999997 meters 0.017365513315116786 Centerline is valid? [True, True] Translation: X:-17.85, Y:5.03, Z:0.61 [[ 7.47968202e-01 6.63734041e-01 8.32127065e-04 -1.78544570e+01] [-6.63733598e-01 7.47968664e-01 -7.67120339e-04 5.03052009e+00] [-1.13156885e-03 2.14709295e-05 9.99999360e-01 6.11255993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.359115932999998 meters 0.015709555024527852 Centerline is valid? [True, True] Translation: X:-17.88, Y:5.03, Z:0.57 [[ 7.47466396e-01 6.64295699e-01 2.28304679e-03 -1.78778547e+01] [-6.64292591e-01 7.47469882e-01 -2.03191653e-03 5.03368043e+00] [-3.05630213e-03 2.17825967e-06 9.99995329e-01 5.73227825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.389115932999996 meters 0.016549113836742943 Centerline is valid? [True, True] Translation: X:-17.90, Y:5.04, Z:0.56 [[ 7.47500894e-01 6.64251824e-01 3.45368957e-03 -1.78967056e+01] [-6.64244731e-01 7.47508873e-01 -3.06967937e-03 5.04232278e+00] [-4.62070371e-03 4.92971547e-07 9.99989324e-01 5.61311493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.419115932999997 meters 0.015409485825223914 Centerline is valid? [True, True] Translation: X:-17.91, Y:5.06, Z:0.55 [[ 7.54220457e-01 6.56570459e-01 8.16919047e-03 -1.79123195e+01] [-6.56530626e-01 7.54264691e-01 -7.23279849e-03 5.05574070e+00] [-1.09105738e-02 9.18008531e-05 9.99940474e-01 5.54750224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.449115932999998 meters 0.01638639175961842 Centerline is valid? [True, True] Translation: X:-17.93, Y:5.07, Z:0.56 [[ 7.49556341e-01 6.61911785e-01 6.17086892e-03 -1.79316140e+01] [-6.61888869e-01 7.49581741e-01 -5.50801989e-03 5.06576847e+00] [-8.27139395e-03 4.41417863e-05 9.99965790e-01 5.62152259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.479115933 meters 0.01616335913833312 Centerline is valid? [True, True] Translation: X:-17.95, Y:5.08, Z:0.53 [[ 7.54540194e-01 6.56198361e-01 8.53267573e-03 -1.79506376e+01] [-6.56153897e-01 7.54588419e-01 -7.64068663e-03 5.07527411e+00] [-1.14524643e-02 1.66456734e-04 9.99934405e-01 5.33394880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.509115932999997 meters 0.016126165807390992 Centerline is valid? [True, True] Translation: X:-17.95, Y:5.11, Z:0.62 [[ 7.64696843e-01 6.44218507e-01 1.48745767e-02 -1.79477317e+01] [-6.44079871e-01 7.64841219e-01 -1.33801724e-02 5.10856596e+00] [-1.99964441e-02 6.51360080e-04 9.99799839e-01 6.15744305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.539115932999998 meters 0.01568230765662881 Centerline is valid? [True, True] Translation: X:-17.97, Y:5.11, Z:0.58 [[ 7.56198050e-01 6.54250867e-01 1.09687195e-02 -1.79734950e+01] [-6.54175519e-01 7.56277521e-01 -9.93484745e-03 5.10781625e+00] [-1.47952785e-02 3.37244518e-04 9.99890487e-01 5.75250832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.569115933 meters 0.01615493562933846 Centerline is valid? [True, True] Translation: X:-17.99, Y:5.11, Z:0.55 [[ 7.47310787e-01 6.64429100e-01 7.78188482e-03 -1.79944271e+01] [-6.64391074e-01 7.47351290e-01 -7.10988122e-03 5.11287378e+00] [-1.05398136e-02 1.43076117e-04 9.99944444e-01 5.52230275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.599115932999997 meters 0.01574603593303315 Centerline is valid? [True, True] Translation: X:-18.01, Y:5.12, Z:0.54 [[ 7.42440033e-01 6.69882493e-01 6.34364347e-03 -1.80142627e+01] [-6.69857068e-01 7.42467129e-01 -5.83697153e-03 5.12174406e+00] [-8.62003180e-03 8.42669207e-05 9.99962843e-01 5.40123179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.629115932999998 meters 0.01653335236342461 Centerline is valid? [True, True] Translation: X:-18.01, Y:5.15, Z:0.61 [[ 7.48478333e-01 6.63080202e-01 1.02386979e-02 -1.80139103e+01] [-6.63013066e-01 7.48548307e-01 -9.43960127e-03 5.15327433e+00] [-1.39233727e-02 2.76946559e-04 9.99903027e-01 6.12822959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.659115933 meters 0.01710704328964451 Centerline is valid? [True, True] Translation: X:-18.02, Y:5.18, Z:0.66 [[ 7.53084881e-01 6.57783755e-01 1.35533758e-02 -1.80205344e+01] [-6.57664266e-01 7.53206641e-01 -1.25486829e-02 5.17693447e+00] [-1.84628124e-02 5.36652384e-04 9.99829404e-01 6.55787778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.689115932999997 meters 0.01726413327708868 Centerline is valid? [True, True] Translation: X:-18.03, Y:5.20, Z:0.68 [[ 7.49673517e-01 6.61702684e-01 1.17973216e-02 -1.80326501e+01] [-6.61611745e-01 7.49766215e-01 -1.09781980e-02 5.19539144e+00] [-1.61095363e-02 4.24817749e-04 9.99870143e-01 6.75243142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.719115932999998 meters 0.017383791599972956 Centerline is valid? [True, True] Translation: X:-18.06, Y:5.19, Z:0.63 [[ 7.35240742e-01 6.77779977e-01 5.94583032e-03 -1.80599869e+01] [-6.77757003e-01 7.35264780e-01 -5.58101670e-03 5.19382457e+00] [-8.15446100e-03 7.35627279e-05 9.99966749e-01 6.33937789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.749115933 meters 0.016597166846442725 Centerline is valid? [True, True] Translation: X:-18.07, Y:5.22, Z:0.65 [[ 7.38965153e-01 6.73670519e-01 9.92645525e-03 -1.80678425e+01] [-6.73605615e-01 7.39031786e-01 -9.35386132e-03 5.21507127e+00] [-1.36373866e-02 2.25661573e-04 9.99906981e-01 6.46689790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.779115932999996 meters 0.016444073124393818 Centerline is valid? [True, True] Translation: X:-18.09, Y:5.22, Z:0.62 [[ 7.38142984e-01 6.74565440e-01 1.03151275e-02 -1.80910769e+01] [-6.74494632e-01 7.38215009e-01 -9.77712712e-03 5.22012392e+00] [-1.42100940e-02 2.59419642e-04 9.99898998e-01 6.17286712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.809115932999998 meters 0.01713281093592361 Centerline is valid? [True, True] Translation: X:-18.10, Y:5.24, Z:0.64 [[ 7.34955757e-01 6.78033007e-01 1.05487504e-02 -1.81019467e+01] [-6.77958470e-01 7.35031417e-01 -1.00562913e-02 5.23947692e+00] [-1.45721604e-02 2.39314478e-04 9.99893792e-01 6.38293030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.839115933 meters 0.01713281093592361 Centerline is valid? [True, True] Translation: X:-18.12, Y:5.25, Z:0.64 [[ 7.32930057e-01 6.80222677e-01 1.05186475e-02 -1.81164733e+01] [-6.80147912e-01 7.33005493e-01 -1.00878553e-02 5.25328590e+00] [-1.45722143e-02 2.39456227e-04 9.99893791e-01 6.38074833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.869115932999996 meters 0.017641667536203907 Centerline is valid? [True, True] Translation: X:-18.14, Y:5.26, Z:0.62 [[ 7.21793345e-01 6.92076042e-01 6.71702560e-03 -1.81370534e+01] [-6.92045593e-01 7.21824598e-01 -6.49205400e-03 5.26043728e+00] [-9.34150934e-03 3.74334037e-05 9.99956366e-01 6.20874193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.899115932999997 meters 0.018711680893017585 Centerline is valid? [True, True] Translation: X:-18.13, Y:5.30, Z:0.74 [[ 7.32581749e-01 6.80591834e-01 1.08966066e-02 -1.81250647e+01] [-6.80509746e-01 7.32662709e-01 -1.05754838e-02 5.30322783e+00] [-1.51811252e-02 3.32159380e-04 9.99884705e-01 7.35115618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.929115933 meters 0.017307794034872336 Centerline is valid? [True, True] Translation: X:-18.14, Y:5.32, Z:0.71 [[ 7.31797701e-01 6.81382846e-01 1.37674540e-02 -1.81387943e+01] [-6.81250636e-01 7.31927057e-01 -1.34296060e-02 5.31664674e+00] [-1.92274752e-02 4.48668027e-04 9.99815034e-01 7.11708067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.959115932999996 meters 0.01620009703565303 Centerline is valid? [True, True] Translation: X:-18.16, Y:5.32, Z:0.67 [[ 7.25753361e-01 6.87832526e-01 1.29798112e-02 -1.81629942e+01] [-6.87714646e-01 7.25869351e-01 -1.27377790e-02 5.32006952e+00] [-1.81831058e-02 3.18079676e-04 9.99834623e-01 6.66070067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.989115932999997 meters 0.017715214930209076 Centerline is valid? [True, True] Translation: X:-18.19, Y:5.32, Z:0.64 [[ 7.06523240e-01 7.07629366e-01 9.25158929e-03 -1.81875214e+01] [-7.07570272e-01 7.06583805e-01 -9.14529212e-03 5.32349673e+00] [-1.30085004e-02 -8.47881302e-05 9.99915382e-01 6.42148642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.019115933 meters 0.017897526375900523 Centerline is valid? [True, True] Translation: X:-18.18, Y:5.35, Z:0.71 [[ 7.19237023e-01 6.94596884e-01 1.52733118e-02 -1.81840003e+01] [-6.94431002e-01 7.19399104e-01 -1.51826440e-02 5.35410262e+00] [-2.15334240e-02 3.13658439e-04 9.99768080e-01 7.12858185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.049115932999996 meters 0.0191645502933409 Centerline is valid? [True, True] Translation: X:-18.18, Y:5.38, Z:0.76 [[ 7.26604684e-01 6.86785396e-01 1.92731138e-02 -1.81792870e+01] [-6.86512286e-01 7.26859745e-01 -1.93853374e-02 5.37884217e+00] [-2.73224172e-02 8.54247507e-04 9.99626308e-01 7.63662755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.079115932999997 meters 0.018838477167459667 Centerline is valid? [True, True] Translation: X:-16.93, Y:6.51, Z:-2.33 [[ 7.37370494e-01 -6.74363359e-01 3.89719730e-02 -1.69288203e+01] [-6.73483316e-01 -7.38399179e-01 -3.44510483e-02 6.51332299e+00] [ 5.20093975e-02 -8.43787110e-04 -9.98646239e-01 -2.33286278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.109115932999998 meters 0.018818364483382068 Centerline is valid? [True, True] Translation: X:-18.05, Y:5.30, Z:0.87 [[ 8.06920917e-01 5.89709486e-01 3.34866556e-02 -1.80531549e+01] [-5.89030848e-01 8.07608924e-01 -2.84690294e-02 5.29785882e+00] [-4.38325786e-02 3.24758220e-03 9.99033612e-01 8.69249844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.139115932999996 meters 0.020607714417727328 Centerline is valid? [True, True] Translation: X:-18.08, Y:5.31, Z:0.87 [[ 8.04076384e-01 5.93625193e-01 3.27154320e-02 -1.80757377e+01] [-5.92974657e-01 8.04735771e-01 -2.79534509e-02 5.30825684e+00] [-4.29211510e-02 3.07728764e-03 9.99073724e-01 8.72133219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.169115932999997 meters 0.020548369364383524 Centerline is valid? [True, True] Translation: X:-18.09, Y:5.33, Z:0.92 [[ 8.07447659e-01 5.88865272e-01 3.55804680e-02 -1.80878104e+01] [-5.88085408e-01 8.08222640e-01 -3.05240356e-02 5.33116335e+00] [-4.67314843e-02 3.72220707e-03 9.98900552e-01 9.23334184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.199115932999998 meters 0.020624679218401255 Centerline is valid? [True, True] Translation: X:-18.10, Y:5.35, Z:0.94 [[ 8.18499951e-01 5.73194576e-01 3.88047557e-02 -1.81021417e+01] [-5.72243009e-01 8.19403156e-01 -3.34126545e-02 5.35066320e+00] [-5.09486916e-02 5.14250589e-03 9.98688032e-01 9.36551278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.229115933 meters 0.020083997907564228 Centerline is valid? [True, True] Translation: X:-18.11, Y:5.38, Z:0.94 [[ 8.28178525e-01 5.58422164e-01 4.78018476e-02 -1.81113399e+01] [-5.56945495e-01 8.29522412e-01 -4.12829665e-02 5.37700499e+00] [-6.27060274e-02 7.56664258e-03 9.98003357e-01 9.44259862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.259115932999997 meters 0.020904547685678378 Centerline is valid? [True, True] Translation: X:-18.14, Y:5.38, Z:0.94 [[ 8.21133519e-01 5.69271436e-01 4.08628819e-02 -1.81404889e+01] [-5.68200850e-01 8.22128941e-01 -3.53807616e-02 5.38191291e+00] [-5.37358148e-02 5.83400502e-03 9.98538145e-01 9.43297435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.289115932999998 meters 0.022074007897625997 Centerline is valid? [True, True] Translation: X:-18.17, Y:5.38, Z:0.92 [[ 8.02475425e-01 5.96007146e-01 2.84372105e-02 -1.81725678e+01] [-5.95501853e-01 8.02973921e-01 -2.47067947e-02 5.38008557e+00] [-3.75597646e-02 2.89218402e-03 9.99290198e-01 9.20459348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.319115933 meters 0.02230101562471908 Centerline is valid? [True, True] Translation: X:-18.19, Y:5.40, Z:0.97 [[ 7.96995866e-01 6.03481846e-01 2.46424868e-02 -1.81872494e+01] [-6.03102647e-01 7.97373471e-01 -2.15115188e-02 5.39940966e+00] [-3.26310763e-02 2.28264257e-03 9.99464858e-01 9.70433461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.349115932999997 meters 0.02307511224488607 Centerline is valid? [True, True] Translation: X:-18.21, Y:5.41, Z:0.97 [[ 7.95023075e-01 6.06106833e-01 2.39335985e-02 -1.82063857e+01] [-6.05746998e-01 7.95380214e-01 -2.09973386e-02 5.41039958e+00] [-3.17629411e-02 2.19566322e-03 9.99493019e-01 9.72984840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.379115932999998 meters 0.022293634181718366 Centerline is valid? [True, True] Translation: X:-18.21, Y:5.43, Z:1.00 [[ 7.98782105e-01 6.01092795e-01 2.51912799e-02 -1.82146359e+01] [-6.00688269e-01 7.99174999e-01 -2.22019148e-02 5.43481771e+00] [-3.34776521e-02 2.60238595e-03 9.99436078e-01 1.00379590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.409115933 meters 0.023202682768077014 Centerline is valid? [True, True] Translation: X:-18.24, Y:5.44, Z:0.98 [[ 7.91160949e-01 6.11294231e-01 1.95886817e-02 -1.82412880e+01] [-6.11050739e-01 7.91401480e-01 -1.73404649e-02 5.43894415e+00] [-2.61026379e-02 1.74942025e-03 9.99657737e-01 9.75776260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.439115932999997 meters 0.02338999328671472 Centerline is valid? [True, True] Translation: X:-18.25, Y:5.46, Z:1.03 [[ 7.88823225e-01 6.14342788e-01 1.84623416e-02 -1.82544521e+01] [-6.14125494e-01 7.89037603e-01 -1.64176451e-02 5.45950901e+00] [-2.46535437e-02 1.61242513e-03 9.99694755e-01 1.03416521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.469115932999998 meters 0.023899448167483628 Centerline is valid? [True, True] Translation: X:-18.28, Y:5.46, Z:0.99 [[ 7.79209681e-01 6.26624816e-01 1.31762656e-02 -1.82756838e+01] [-6.26513784e-01 7.79320477e-01 -1.18352712e-02 5.46210911e+00] [-1.76848082e-02 9.67045921e-04 9.99843144e-01 9.91404747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.499115933 meters 0.024728342396846705 Centerline is valid? [True, True] Translation: X:-18.27, Y:5.50, Z:1.11 [[ 7.95724241e-01 6.05319096e-01 2.02909627e-02 -1.82727703e+01] [-6.05047873e-01 7.95979726e-01 -1.82578238e-02 5.50057386e+00] [-2.72030043e-02 2.25118920e-03 9.99627395e-01 1.10770799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.529115932999996 meters 0.024993460197097358 Centerline is valid? [True, True] Translation: X:-18.30, Y:5.51, Z:1.08 [[ 7.82101552e-01 6.23040487e-01 1.17351319e-02 -1.82975275e+01] [-6.22950981e-01 7.82188968e-01 -1.06063073e-02 5.50577339e+00] [-1.57872496e-02 9.84797446e-04 9.99874889e-01 1.08005296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.559115932999998 meters 0.025056696236303334 Centerline is valid? [True, True] Translation: X:-18.31, Y:5.52, Z:1.08 [[ 7.78163816e-01 6.27990166e-01 9.45663660e-03 -1.83132223e+01] [-6.27931775e-01 7.78220912e-01 -8.59640285e-03 5.52147899e+00] [-1.27578088e-02 7.51287041e-04 9.99918334e-01 1.07892826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.589115933 meters 0.025333917128242164 Centerline is valid? [True, True] Translation: X:-18.33, Y:5.54, Z:1.08 [[ 7.60482538e-01 6.49356810e-01 1.42937809e-03 -1.83272153e+01] [-6.49355434e-01 7.60483876e-01 -1.33945479e-03 5.53674768e+00] [-1.95680308e-03 9.04575448e-05 9.99998081e-01 1.08394354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.619115932999996 meters 0.024705506285939673 Centerline is valid? [True, True] Translation: X:-18.34, Y:5.55, Z:1.09 [[ 7.58544132e-01 6.51621669e-01 -7.04322363e-06 -1.83404393e+01] [-6.51621669e-01 7.58544131e-01 -3.48809412e-05 5.55357034e+00] [-1.73865814e-05 3.10482504e-05 9.99999999e-01 1.08641164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.649115932999997 meters 0.02444025471235141 Centerline is valid? [True, True] Translation: X:-18.35, Y:5.58, Z:1.14 [[ 7.55511505e-01 6.55135334e-01 2.44110261e-04 -1.83458045e+01] [-6.55135282e-01 7.55511543e-01 -2.64869591e-04 5.57977438e+00] [-3.57953548e-04 4.01867790e-05 9.99999935e-01 1.13577680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.679115933 meters 0.024944926492989787 Centerline is valid? [True, True] Translation: X:-18.36, Y:5.59, Z:1.15 [[ 7.49202972e-01 6.62328906e-01 -3.91493583e-03 -1.83611982e+01] [-6.62319280e-01 7.49213196e-01 3.57190734e-03 5.59442558e+00] [ 5.29889907e-03 -8.31461175e-05 9.99985957e-01 1.15251488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.709115932999996 meters 0.024501375112091633 Centerline is valid? [True, True] Translation: X:-18.38, Y:5.61, Z:1.16 [[ 7.50634085e-01 6.60704282e-01 -4.28042764e-03 -1.83783585e+01] [-6.60692629e-01 7.50646280e-01 3.92587340e-03 5.60619516e+00] [ 5.80692845e-03 -1.18847402e-04 9.99983133e-01 1.15517866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.739115932999997 meters 0.02411264111728617 Centerline is valid? [True, True] Translation: X:-18.40, Y:5.62, Z:1.12 [[ 7.61621517e-01 6.48020237e-01 -1.56081272e-03 -1.83960255e+01] [-6.48018704e-01 7.61623114e-01 1.41127371e-03 5.61717666e+00] [ 2.10328497e-03 -6.34205916e-05 9.99997786e-01 1.12438400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.769115933 meters 0.02312068453815806 Centerline is valid? [True, True] Translation: X:-18.41, Y:5.63, Z:1.13 [[ 7.52102407e-01 6.59000976e-01 -7.72553837e-03 -1.84116869e+01] [-6.58961782e-01 7.52142016e-01 7.19433738e-03 5.63232824e+00] [ 1.05517774e-02 -3.20043928e-04 9.99944277e-01 1.13403352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.799115932999996 meters 0.023509903143925925 Centerline is valid? [True, True] Translation: X:-18.43, Y:5.64, Z:1.14 [[ 7.42784120e-01 6.69458950e-01 -9.82170957e-03 -1.84294402e+01] [-6.69395731e-01 7.42849006e-01 9.20380788e-03 5.64425771e+00] [ 1.34576187e-02 -2.61831876e-04 9.99909408e-01 1.14016710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.829115932999997 meters 0.02319217518428086 Centerline is valid? [True, True] Translation: X:-18.45, Y:5.65, Z:1.12 [[ 7.36094919e-01 6.76709456e-01 -1.51189439e-02 -1.84484766e+01] [-6.76559066e-01 7.36250118e-01 1.42686130e-02 5.65399700e+00] [ 2.07870295e-02 -2.74194982e-04 9.99783889e-01 1.12166927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.859115932999998 meters 0.02326771291447179 Centerline is valid? [True, True] Translation: X:-18.46, Y:5.67, Z:1.13 [[ 7.21805817e-01 6.91775295e-01 -2.10547659e-02 -1.84647863e+01] [-6.91486192e-01 7.22112820e-01 1.99980450e-02 5.66719387e+00] [ 2.90380699e-02 1.24374644e-04 9.99578299e-01 1.13430167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.889115932999996 meters 0.023040599943370238 Centerline is valid? [True, True] Translation: X:-18.48, Y:5.68, Z:1.14 [[ 7.25222361e-01 6.88217853e-01 -2.02166811e-02 -1.84784741e+01] [-6.87946654e-01 7.25504084e-01 1.93190460e-02 5.68204945e+00] [ 2.79629971e-02 -1.02606011e-04 9.99608954e-01 1.13901081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.919115932999997 meters 0.023142738186817294 Centerline is valid? [True, True] Translation: X:-18.49, Y:5.70, Z:1.17 [[ 7.17884028e-01 6.95744542e-01 -2.41258281e-02 -1.84889441e+01] [-6.95357358e-01 7.18289301e-01 2.32083062e-02 5.70137993e+00] [ 3.34763765e-02 1.15199734e-04 9.99439502e-01 1.16796710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.949115932999998 meters 0.022220423590006335 Centerline is valid? [True, True] Translation: X:-18.51, Y:5.71, Z:1.13 [[ 7.11286780e-01 7.02287667e-01 -2.93794031e-02 -1.85087504e+01] [-7.01711195e-01 7.11893172e-01 2.84518915e-02 5.70811916e+00] [ 4.08964089e-02 3.78401760e-04 9.99163320e-01 1.12735974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.979115933 meters 0.023171280442946505 Centerline is valid? [True, True] Translation: X:-18.53, Y:5.71, Z:1.14 [[ 6.86112618e-01 7.26547480e-01 -3.71245832e-02 -1.85306712e+01] [-7.25648231e-01 6.87113044e-01 3.61982002e-02 5.71224083e+00] [ 5.18084965e-02 2.10334618e-03 9.98654823e-01 1.13797082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.009115932999997 meters 0.02237568820014655 Centerline is valid? [True, True] Translation: X:-18.54, Y:5.72, Z:1.10 [[ 6.83926080e-01 7.28401131e-01 -4.09500883e-02 -1.85431665e+01] [-7.27294734e-01 6.85147097e-01 4.01973191e-02 5.72423389e+00] [ 5.73366068e-02 2.29078872e-03 9.98352275e-01 1.10332782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.039115932999998 meters 0.02159552979747527 Centerline is valid? [True, True] Translation: X:-18.56, Y:5.74, Z:1.11 [[ 6.62185989e-01 7.47723079e-01 -4.91926121e-02 -1.85579305e+01] [-7.46154454e-01 6.63995366e-01 4.86177400e-02 5.73562610e+00] [ 6.90162727e-02 4.51130032e-03 9.97605334e-01 1.10804165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.069115933 meters 0.020540548954705348 Centerline is valid? [True, True] Translation: X:-18.57, Y:5.75, Z:1.09 [[ 6.60619774e-01 7.48812410e-01 -5.34928885e-02 -1.85715441e+01] [-7.46934427e-01 6.62764618e-01 5.32167581e-02 5.74602540e+00] [ 7.53025627e-02 4.79963727e-03 9.97149180e-01 1.09072942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.099115932999997 meters 0.020399591039532497 Centerline is valid? [True, True] Translation: X:-18.59, Y:5.76, Z:1.09 [[ 6.39226419e-01 7.66630690e-01 -6.05555159e-02 -1.85857042e+01] [-7.64265804e-01 6.42044271e-01 6.06377334e-02 5.75686584e+00] [ 8.53660694e-02 7.51926887e-03 9.96321281e-01 1.08578522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.129115932999998 meters 0.018713250837343993 Centerline is valid? [True, True] Translation: X:-17.34, Y:6.83, Z:-2.63 [[ 8.04729794e-01 -5.91968637e-01 -4.45319074e-02 -1.73414448e+01] [-5.90849362e-01 -8.05955141e-01 3.65149610e-02 6.83139878e+00] [-5.75064314e-02 -3.07302803e-03 -9.98340406e-01 -2.63284927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.159115933 meters 0.019055884758194794 Centerline is valid? [True, True] Translation: X:-18.46, Y:5.63, Z:1.11 [[ 7.11916168e-01 6.99650931e-01 -6.05305231e-02 -1.84552514e+01] [-6.97761036e-01 7.14464080e-01 5.16779902e-02 5.62545141e+00] [ 7.94034385e-02 5.44544372e-03 9.96827689e-01 1.10991036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.189115932999997 meters 0.018362009041213007 Centerline is valid? [True, True] Translation: X:-18.45, Y:5.64, Z:1.12 [[ 7.16417601e-01 6.95370900e-01 -5.66138932e-02 -1.84522543e+01] [-6.93651187e-01 7.18639164e-01 4.90487895e-02 5.63508108e+00] [ 7.47920617e-02 4.13087807e-03 9.97190595e-01 1.11943887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.219115932999998 meters 0.01843238899135034 Centerline is valid? [True, True] Translation: X:-18.47, Y:5.65, Z:1.11 [[ 7.18564119e-01 6.93243265e-01 -5.54921783e-02 -1.84662293e+01] [-6.91556298e-01 7.20694915e-01 4.84636536e-02 5.64765731e+00] [ 7.35900322e-02 3.55172281e-03 9.97282253e-01 1.11011295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.249115933 meters 0.018550574055906106 Centerline is valid? [True, True] Translation: X:-18.48, Y:5.66, Z:1.11 [[ 7.12462247e-01 6.99476245e-01 -5.59511308e-02 -1.84802984e+01] [-6.97756870e-01 7.14644635e-01 4.91771893e-02 5.65954895e+00] [ 7.43834512e-02 4.00339514e-03 9.97221678e-01 1.11043216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.279115932999996 meters 0.0185564575707109 Centerline is valid? [True, True] Translation: X:-18.49, Y:5.68, Z:1.13 [[ 7.18201296e-01 6.93830339e-01 -5.27859853e-02 -1.84903263e+01] [-6.92263431e-01 7.20132245e-01 4.67000186e-02 5.67527677e+00] [ 7.04147799e-02 3.00179345e-03 9.97513282e-01 1.12814351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.309115932999998 meters 0.018795888469893333 Centerline is valid? [True, True] Translation: X:-18.50, Y:5.70, Z:1.14 [[ 7.18410860e-01 6.93840405e-01 -4.97124655e-02 -1.84972886e+01] [-6.92432202e-01 7.20124019e-01 4.42610812e-02 5.69602442e+00] [ 6.65092669e-02 2.62487048e-03 9.97782355e-01 1.13565535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.339115933 meters 0.019453103059651606 Centerline is valid? [True, True] Translation: X:-18.51, Y:5.71, Z:1.16 [[ 7.18508667e-01 6.93649671e-01 -5.09453523e-02 -1.85093570e+01] [-6.92150591e-01 7.20308306e-01 4.56454038e-02 5.71265779e+00] [ 6.83582798e-02 2.46523747e-03 9.97657791e-01 1.15561647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.369115932999996 meters 0.018344519358838834 Centerline is valid? [True, True] Translation: X:-18.52, Y:5.73, Z:1.13 [[ 7.23972952e-01 6.88138277e-01 -4.82584334e-02 -1.85217494e+01] [-6.86763173e-01 7.25577716e-01 4.35123262e-02 5.72753154e+00] [ 6.49577410e-02 1.64036765e-03 9.97886667e-01 1.13173192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.399115932999997 meters 0.018222701557444872 Centerline is valid? [True, True] Translation: X:-18.53, Y:5.74, Z:1.14 [[ 7.27490304e-01 6.84599238e-01 -4.56260998e-02 -1.85305917e+01] [-6.83345830e-01 7.28918919e-01 4.14208343e-02 5.74394106e+00] [ 6.16143990e-02 1.04514973e-03 9.98099481e-01 1.13710054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.429115933 meters 0.018052944344907736 Centerline is valid? [True, True] Translation: X:-18.55, Y:5.76, Z:1.15 [[ 7.18415380e-01 6.94039099e-01 -4.67874980e-02 -1.85461972e+01] [-6.92723284e-01 7.19935306e-01 4.27505200e-02 5.75574737e+00] [ 6.33545040e-02 1.69815822e-03 9.97989641e-01 1.15066962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.459115932999996 meters 0.01864599668596472 Centerline is valid? [True, True] Translation: X:-18.56, Y:5.77, Z:1.14 [[ 7.01613687e-01 7.10722205e-01 -5.11095136e-02 -1.85576364e+01] [-7.09174384e-01 7.03465160e-01 4.69942831e-02 5.77100633e+00] [ 6.93536426e-02 3.27372559e-03 9.97586766e-01 1.14034417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.489115932999997 meters 0.01849668997083283 Centerline is valid? [True, True] Translation: X:-18.57, Y:5.79, Z:1.11 [[ 7.04200612e-01 7.08280213e-01 -4.94028102e-02 -1.85675109e+01] [-7.06809167e-01 7.05926114e-01 4.57069183e-02 5.78813986e+00] [ 6.72480396e-02 2.73151929e-03 9.97732549e-01 1.10953308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.519115933 meters 0.018963400331279284 Centerline is valid? [True, True] Translation: X:-18.58, Y:5.80, Z:1.10 [[ 6.90395887e-01 7.21233520e-01 -5.63536016e-02 -1.85845686e+01] [-7.19335772e-01 6.92678554e-01 5.24639616e-02 5.79761564e+00] [ 7.68736990e-02 4.31625820e-03 9.97031496e-01 1.10459331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.549115932999996 meters 0.019214650613596153 Centerline is valid? [True, True] Translation: X:-18.60, Y:5.81, Z:1.08 [[ 6.85660320e-01 7.25612647e-01 -5.79328205e-02 -1.86011464e+01] [-7.23594432e-01 6.88087356e-01 5.42852501e-02 5.80549050e+00] [ 7.92529053e-02 4.69862440e-03 9.96843468e-01 1.07575769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.579115932999997 meters 0.018826563293953748 Centerline is valid? [True, True] Translation: X:-18.61, Y:5.83, Z:1.11 [[ 6.86540477e-01 7.24855251e-01 -5.69827997e-02 -1.86063936e+01] [-7.22873448e-01 6.88887787e-01 5.37363549e-02 5.82769479e+00] [ 7.82058338e-02 4.29917014e-03 9.96927964e-01 1.10639040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.609115932999998 meters 0.018306967541001175 Centerline is valid? [True, True] Translation: X:-18.63, Y:5.83, Z:1.08 [[ 6.80932238e-01 7.29988600e-01 -5.87190885e-02 -1.86257256e+01] [-7.27874462e-01 6.83442493e-01 5.57236603e-02 5.83447289e+00] [ 8.08087570e-02 4.79608825e-03 9.96718086e-01 1.08251346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.639115932999996 meters 0.018666500789485053 Centerline is valid? [True, True] Translation: X:-18.63, Y:5.85, Z:1.08 [[ 6.81039691e-01 7.29942057e-01 -5.80476800e-02 -1.86324374e+01] [-7.27846893e-01 6.83494297e-01 5.54476914e-02 5.85329114e+00] [ 8.01488601e-02 4.48774497e-03 9.96772803e-01 1.07870163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.669115932999997 meters 0.019123685588953256 Centerline is valid? [True, True] Translation: X:-18.64, Y:5.87, Z:1.09 [[ 6.82760999e-01 7.28423456e-01 -5.68918887e-02 -1.86446107e+01] [-7.26378918e-01 6.85115579e-01 5.46837382e-02 5.86765019e+00] [ 7.88104368e-02 3.98914483e-03 9.96881639e-01 1.08719760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.699115932999998 meters 0.019156713902672522 Centerline is valid? [True, True] Translation: X:-18.66, Y:5.88, Z:1.06 [[ 6.82124495e-01 7.29023561e-01 -5.68403084e-02 -1.86592613e+01] [-7.26957045e-01 6.84477977e-01 5.49850218e-02 5.87824807e+00] [ 7.89913157e-02 3.81383246e-03 9.96868009e-01 1.05935010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.729115932999996 meters 0.019392384596123396 Centerline is valid? [True, True] Translation: X:-18.67, Y:5.89, Z:1.06 [[ 6.74710810e-01 7.35734883e-01 -5.88175567e-02 -1.86699140e+01] [-7.33516435e-01 6.77254679e-01 5.72690088e-02 5.89283344e+00] [ 8.19692729e-02 4.50362514e-03 9.96624681e-01 1.06052162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.759115932999997 meters 0.019392384596123396 Centerline is valid? [True, True] Translation: X:-18.68, Y:5.90, Z:1.06 [[ 6.71725576e-01 7.38479366e-01 -5.85916132e-02 -1.86808364e+01] [-7.36251247e-01 6.74260966e-01 5.75000114e-02 5.90367290e+00] [ 8.19686096e-02 4.51391999e-03 9.96624689e-01 1.06036056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.789115932999998 meters 0.01884129431128091 Centerline is valid? [True, True] Translation: X:-18.69, Y:5.92, Z:1.03 [[ 6.71173245e-01 7.39080802e-01 -5.73240105e-02 -1.86925518e+01] [-7.36920250e-01 6.73603469e-01 5.66296072e-02 5.91809036e+00] [ 8.04675078e-02 4.23494690e-03 9.96748236e-01 1.03463202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.819115933 meters 0.019595357876190485 Centerline is valid? [True, True] Translation: X:-18.70, Y:5.94, Z:1.05 [[ 6.73139489e-01 7.37385753e-01 -5.60845753e-02 -1.87009342e+01] [-7.35284382e-01 6.75461692e-01 5.57528593e-02 5.93636878e+00] [ 7.89943463e-02 3.70866101e-03 9.96868165e-01 1.04507750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.849115932999997 meters 0.019859860163898596 Centerline is valid? [True, True] Translation: X:-18.72, Y:5.94, Z:1.00 [[ 6.64930777e-01 7.44590809e-01 -5.87502281e-02 -1.87200692e+01] [-7.42281468e-01 6.67505813e-01 5.87725375e-02 5.94280016e+00] [ 8.29776100e-02 4.52953656e-03 9.96541118e-01 9.99328361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.879115932999998 meters 0.019347175355462827 Centerline is valid? [True, True] Translation: X:-17.61, Y:6.96, Z:-2.57 [[ 7.92975023e-01 -6.07446902e-01 -4.68921569e-02 -1.76066088e+01] [-6.06229245e-01 -7.94357503e-01 3.85001363e-02 6.95780640e+00] [-6.06359251e-02 -2.10224958e-03 -9.98157736e-01 -2.57096861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.909115933 meters 0.019942683304571582 Centerline is valid? [True, True] Translation: X:-18.63, Y:5.86, Z:1.03 [[ 7.19899873e-01 6.90977388e-01 -6.55318419e-02 -1.86280112e+01] [-6.88733795e-01 7.22859601e-01 5.58547859e-02 5.86070499e+00] [ 8.59647151e-02 4.92414085e-03 9.96286013e-01 1.02540080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.939115932999997 meters 0.019698814214506522 Centerline is valid? [True, True] Translation: X:-18.65, Y:5.87, Z:0.99 [[ 7.02962203e-01 7.07763092e-01 -7.01109599e-02 -1.86471425e+01] [-7.05242779e-01 7.06413252e-01 6.01077286e-02 5.86662004e+00] [ 9.20693431e-02 7.19178695e-03 9.95726626e-01 9.90312529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.969115932999998 meters 0.019691137569516837 Centerline is valid? [True, True] Translation: X:-18.66, Y:5.88, Z:0.98 [[ 7.10975284e-01 6.99931100e-01 -6.79014022e-02 -1.86584457e+01] [-6.97500090e-01 7.14187445e-01 5.85654933e-02 5.88115360e+00] [ 8.94861392e-02 5.72261592e-03 9.95971627e-01 9.77733814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.999115933 meters 0.019544096374774264 Centerline is valid? [True, True] Translation: X:-18.67, Y:5.89, Z:0.95 [[ 6.94123919e-01 7.16303659e-01 -7.14216594e-02 -1.86729178e+01] [-7.13662412e-01 6.97743335e-01 6.19693500e-02 5.89239143e+00] [ 9.42228590e-02 7.95654561e-03 9.95519335e-01 9.52717942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.029115932999996 meters 0.01930418594741921 Centerline is valid? [True, True] Translation: X:-18.68, Y:5.92, Z:0.98 [[ 7.02557749e-01 7.08470873e-01 -6.69449851e-02 -1.86769784e+01] [-7.06084028e-01 7.05712703e-01 5.84373659e-02 5.91674197e+00] [ 8.86450980e-02 6.21316045e-03 9.96043896e-01 9.80331838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.059115932999998 meters 0.01871932241960451 Centerline is valid? [True, True] Translation: X:-18.70, Y:5.92, Z:0.95 [[ 6.91199830e-01 7.19157366e-01 -7.11018874e-02 -1.86964327e+01] [-7.16484526e-01 6.94803574e-01 6.24332988e-02 5.92237136e+00] [ 9.43012122e-02 7.78951654e-03 9.95513237e-01 9.46077861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.089115933 meters 0.018955285204705727 Centerline is valid? [True, True] Translation: X:-18.71, Y:5.93, Z:0.94 [[ 6.75263486e-01 7.33719844e-01 -7.53287096e-02 -1.87110997e+01] [-7.30765569e-01 6.79376906e-01 6.65484967e-02 5.93335716e+00] [ 1.00004538e-01 1.01098575e-02 9.94935618e-01 9.40006249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.119115932999996 meters 0.019133628984465693 Centerline is valid? [True, True] Translation: X:-18.73, Y:5.94, Z:0.91 [[ 6.69929440e-01 7.38677972e-01 -7.44942898e-02 -1.87264226e+01] [-7.35779792e-01 6.73977317e-01 6.62017656e-02 5.94350726e+00] [ 9.91092475e-02 1.04608814e-02 9.95021571e-01 9.11455262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.149115932999997 meters 0.01891241531872276 Centerline is valid? [True, True] Translation: X:-18.75, Y:5.94, Z:0.85 [[ 6.64707115e-01 7.43311531e-01 -7.51825695e-02 -1.87502497e+01] [-7.40347193e-01 6.68855309e-01 6.72206010e-02 5.94268223e+00] [ 1.00252109e-01 1.09791926e-02 9.94901489e-01 8.48232360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.179115933 meters 0.018576322938437806 Centerline is valid? [True, True] Translation: X:-18.76, Y:5.96, Z:0.83 [[ 6.66385038e-01 7.41889221e-01 -7.43731444e-02 -1.87559392e+01] [-7.38939182e-01 6.70442222e-01 6.69037572e-02 5.96225413e+00] [ 9.94980725e-02 1.03735676e-02 9.94983680e-01 8.34264808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.209115932999996 meters 0.017347402765839837 Centerline is valid? [True, True] Translation: X:-18.84, Y:5.89, Z:0.45 [[ 6.63283233e-01 7.44487755e-01 -7.61139615e-02 -1.88363194e+01] [-7.41369193e-01 6.67550026e-01 6.89106797e-02 5.89182683e+00] [ 1.02113034e-01 1.07212477e-02 9.94715026e-01 4.51263853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.239115932999997 meters 0.01992329295240714 Centerline is valid? [True, True] Translation: X:-18.78, Y:5.99, Z:0.84 [[ 6.50624977e-01 7.55997194e-01 -7.18009841e-02 -1.87757864e+01] [-7.53246363e-01 6.54473839e-01 6.54515888e-02 5.99209743e+00] [ 9.64730832e-02 1.14993916e-02 9.95269164e-01 8.41389917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.269115933 meters 0.018079675592246842 Centerline is valid? [True, True] Translation: X:-18.84, Y:5.94, Z:0.56 [[ 6.41865194e-01 7.63041282e-01 -7.60070691e-02 -1.88371081e+01] [-7.59953031e-01 6.46219758e-01 6.97955240e-02 5.94373238e+00] [ 1.02374136e-01 1.29624849e-02 9.94661505e-01 5.55492897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.299115932999996 meters 0.018452332366200322 Centerline is valid? [True, True] Translation: X:-18.83, Y:5.97, Z:0.63 [[ 6.28087971e-01 7.74322693e-01 -7.70056375e-02 -1.88301777e+01] [-7.71176367e-01 6.32621726e-01 7.12513971e-02 5.97463377e+00] [ 1.03887013e-01 1.46327824e-02 9.94481458e-01 6.26705052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.329115932999997 meters 0.017226002006196017 Centerline is valid? [True, True] Translation: X:-18.89, Y:5.93, Z:0.39 [[ 6.16897482e-01 7.82788821e-01 -8.17261141e-02 -1.88858235e+01] [-7.79258786e-01 6.22062543e-01 7.61179180e-02 5.93316740e+00] [ 1.10423010e-01 1.67288405e-02 9.93743883e-01 3.88663510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.359115932999998 meters 0.01686662212767076 Centerline is valid? [True, True] Translation: X:-18.90, Y:5.94, Z:0.35 [[ 6.30145516e-01 7.72785928e-01 -7.56210164e-02 -1.89039114e+01] [-7.69644554e-01 6.34522786e-01 7.09090571e-02 5.93846064e+00] [ 1.02780779e-01 1.35182791e-02 9.94612169e-01 3.47594065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.389115932999996 meters 0.016284157337494855 Centerline is valid? [True, True] Translation: X:-18.91, Y:5.96, Z:0.37 [[ 6.26774674e-01 7.75615203e-01 -7.46630082e-02 -1.89134546e+01] [-7.72526731e-01 6.31061250e-01 7.04567160e-02 5.95527102e+00] [ 1.01764231e-01 1.35186844e-02 9.94716686e-01 3.70787856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.419115932999997 meters 0.018238651442876588 Centerline is valid? [True, True] Translation: X:-18.86, Y:6.04, Z:0.66 [[ 6.29399821e-01 7.74017244e-01 -6.89432424e-02 -1.88648807e+01] [-7.71336617e-01 6.33051290e-01 6.54666870e-02 6.03815214e+00] [ 9.43169532e-02 1.19737263e-02 9.95470212e-01 6.58602597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.449115932999998 meters 0.016218702568652633 Centerline is valid? [True, True] Translation: X:-18.93, Y:5.99, Z:0.39 [[ 6.32181643e-01 7.71530283e-01 -7.13259582e-02 -1.89333094e+01] [-7.68602996e-01 6.36084437e-01 6.81617457e-02 5.98582000e+00] [ 9.79581830e-02 1.17307408e-02 9.95121392e-01 3.86218193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.479115932999996 meters 0.01855025933607515 Centerline is valid? [True, True] Translation: X:-18.86, Y:6.09, Z:0.78 [[ 6.45072204e-01 7.61732560e-01 -6.03768059e-02 -1.88623173e+01] [-7.59563117e-01 6.47837043e-01 5.80606241e-02 6.09260185e+00] [ 8.33409992e-02 8.40670009e-03 9.96485627e-01 7.78309884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.509115932999997 meters 0.019819619088725527 Centerline is valid? [True, True] Translation: X:-18.95, Y:6.01, Z:0.40 [[ 6.30372779e-01 7.73121246e-01 -7.00977820e-02 -1.89537669e+01] [-7.70221218e-01 6.34158862e-01 6.78366637e-02 6.01480103e+00] [ 9.68990955e-02 1.12284129e-02 9.95230872e-01 3.95490435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.539115932999998 meters 0.017541241869675588 Centerline is valid? [True, True] Translation: X:-18.88, Y:6.12, Z:0.83 [[ 6.43202518e-01 7.63390664e-01 -5.93735191e-02 -1.88809139e+01] [-7.61240735e-01 6.45887356e-01 5.78106095e-02 6.12369083e+00] [ 8.24806848e-02 8.01361170e-03 9.96560444e-01 8.33139118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.569115933 meters 0.015449451628808303 Centerline is valid? [True, True] Translation: X:-18.97, Y:6.05, Z:0.44 [[ 6.34862071e-01 7.69690317e-01 -6.72827416e-02 -1.89734356e+01] [-7.66922395e-01 6.38343158e-01 6.59397663e-02 6.04529477e+00] [ 9.37026774e-02 9.73798479e-03 9.95552600e-01 4.36618041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.599115932999997 meters 0.01748047806126699 Centerline is valid? [True, True] Translation: X:-18.90, Y:6.15, Z:0.83 [[ 6.49924618e-01 7.57738146e-01 -5.85738325e-02 -1.89020009e+01] [-7.55563550e-01 6.52524153e-01 5.77576959e-02 6.15065964e+00] [ 8.19860498e-02 6.71810442e-03 9.96610834e-01 8.31150029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.629115932999998 meters 0.015949981699922112 Centerline is valid? [True, True] Translation: X:-19.00, Y:6.07, Z:0.43 [[ 6.53350965e-01 7.54478721e-01 -6.24049351e-02 -1.89975167e+01] [-7.51960253e-01 6.56292694e-01 6.19328483e-02 6.07108635e+00] [ 8.76829192e-02 6.46214459e-03 9.96127475e-01 4.34528641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.659115933 meters 0.017600253365812172 Centerline is valid? [True, True] Translation: X:-18.92, Y:6.18, Z:0.88 [[ 6.51647818e-01 7.56184494e-01 -5.94990177e-02 -1.89204421e+01] [-7.53870113e-01 6.54329809e-01 5.94336112e-02 6.18154146e+00] [ 8.38747561e-02 6.12474810e-03 9.96457482e-01 8.80352568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.689115932999997 meters 0.01769878996604495 Centerline is valid? [True, True] Translation: X:-18.94, Y:6.19, Z:0.85 [[ 6.58061977e-01 7.50760550e-01 -5.75589267e-02 -1.89384362e+01] [-7.48545621e-01 6.60555370e-01 5.78451066e-02 6.18975856e+00] [ 8.14486822e-02 5.01981726e-03 9.96664895e-01 8.53795913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.719115932999998 meters 0.017975527654998227 Centerline is valid? [True, True] Translation: X:-17.85, Y:7.10, Z:-2.45 [[ 7.90212005e-01 -6.11447515e-01 -4.11937338e-02 -1.78517557e+01] [-6.10512859e-01 -7.91283402e-01 3.38323365e-02 7.10477993e+00] [-5.32826160e-02 -1.58541425e-03 -9.98578214e-01 -2.45313284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.749115933 meters 0.01731124451791391 Centerline is valid? [True, True] Translation: X:-18.82, Y:6.07, Z:0.90 [[ 7.21507734e-01 6.89694357e-01 -6.12232236e-02 -1.88211240e+01] [-6.87714927e-01 7.24087828e-01 5.23927116e-02 6.07110899e+00] [ 8.04659486e-02 4.30237811e-03 9.96748073e-01 8.96871604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.779115932999996 meters 0.017252072883985822 Centerline is valid? [True, True] Translation: X:-18.84, Y:6.08, Z:0.86 [[ 7.22249199e-01 6.88998795e-01 -6.03055133e-02 -1.88416701e+01] [-6.87053997e-01 7.24751663e-01 5.18828780e-02 6.07601812e+00] [ 7.94537615e-02 3.96077686e-03 9.96830684e-01 8.59020592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.809115932999998 meters 0.01820703820602944 Centerline is valid? [True, True] Translation: X:-18.85, Y:6.09, Z:0.89 [[ 7.30042045e-01 6.80926095e-01 -5.81228558e-02 -1.88536223e+01] [-6.79070981e-01 7.32346991e-01 5.03039514e-02 6.09298969e+00] [ 7.68193717e-02 2.74554511e-03 9.97041246e-01 8.87050948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.839115933 meters 0.017539926325795215 Centerline is valid? [True, True] Translation: X:-18.88, Y:6.09, Z:0.81 [[ 7.19415321e-01 6.91865444e-01 -6.13498424e-02 -1.88830527e+01] [-6.89812455e-01 7.22015917e-01 5.34021689e-02 6.08719428e+00] [ 8.12426781e-02 3.90154695e-03 9.96686714e-01 8.10346411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.869115932999996 meters 0.01740089322113461 Centerline is valid? [True, True] Translation: X:-18.90, Y:6.10, Z:0.80 [[ 7.15733141e-01 6.95563655e-01 -6.25881290e-02 -1.89017931e+01] [-6.93413226e-01 7.18452379e-01 5.48112862e-02 6.09552621e+00] [ 8.30913287e-02 4.16918244e-03 9.96533215e-01 7.99079122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.899115932999997 meters 0.016828657667145856 Centerline is valid? [True, True] Translation: X:-18.94, Y:6.08, Z:0.66 [[ 7.03347818e-01 7.07790535e-01 -6.58362022e-02 -1.89388896e+01] [-7.05430000e-01 7.06399957e-01 5.80311697e-02 6.07812674e+00] [ 8.75806030e-02 5.62673552e-03 9.96141545e-01 6.64966045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.929115933 meters 0.017382318832564254 Centerline is valid? [True, True] Translation: X:-18.92, Y:6.13, Z:0.82 [[ 7.17071056e-01 6.94655843e-01 -5.71170824e-02 -1.89221898e+01] [-6.92813280e-01 7.19334942e-01 5.06655718e-02 6.12703188e+00] [ 7.62814486e-02 3.24065815e-03 9.97081059e-01 8.16785909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.959115932999996 meters 0.01737210234074669 Centerline is valid? [True, True] Translation: X:-18.93, Y:6.15, Z:0.86 [[ 7.12873019e-01 6.98983248e-01 -5.68724691e-02 -1.89320486e+01] [-6.97147273e-01 7.15129614e-01 5.07475579e-02 6.14724205e+00] [ 7.61428797e-02 3.47192195e-03 9.97090872e-01 8.55454232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.989115932999997 meters 0.01570911729625487 Centerline is valid? [True, True] Translation: X:-19.03, Y:6.06, Z:0.41 [[ 6.93029657e-01 7.17730211e-01 -6.76257192e-02 -1.90295145e+01] [-7.15183068e-01 6.96293053e-01 6.07384782e-02 6.05779841e+00] [ 9.06811593e-02 6.27120263e-03 9.95860231e-01 4.12659369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.019115933 meters 0.019271136726926083 Centerline is valid? [True, True] Translation: X:-18.96, Y:6.17, Z:0.88 [[ 7.05620792e-01 7.06396898e-01 -5.57020722e-02 -1.89579583e+01] [-7.04611014e-01 7.07806127e-01 5.03369250e-02 6.17389444e+00] [ 7.49841156e-02 3.72951268e-03 9.97177754e-01 8.75444032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.049115932999996 meters 0.017579701802390307 Centerline is valid? [True, True] Translation: X:-18.98, Y:6.18, Z:0.81 [[ 6.98586058e-01 7.13251912e-01 -5.70020165e-02 -1.89809537e+01] [-7.11380848e-01 7.00894248e-01 5.18125637e-02 6.17676361e+00] [ 7.69077956e-02 4.35460819e-03 9.97028700e-01 8.09518778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.079115932999997 meters 0.01700231410400598 Centerline is valid? [True, True] Translation: X:-19.02, Y:6.16, Z:0.68 [[ 6.99139504e-01 7.12773355e-01 -5.61969606e-02 -1.90187183e+01] [-7.10929707e-01 7.01382892e-01 5.13905756e-02 6.16184156e+00] [ 7.60454197e-02 4.02290721e-03 9.97096239e-01 6.77911347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.109115932999998 meters 0.018391332521922592 Centerline is valid? [True, True] Translation: X:-19.01, Y:6.20, Z:0.80 [[ 7.03243786e-01 7.08958199e-01 -5.31643719e-02 -1.90095231e+01] [-7.07275956e-01 7.05243232e-01 4.89152875e-02 6.20161982e+00] [ 7.21727076e-02 3.20251004e-03 9.97387008e-01 8.02350616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.139115932999996 meters 0.01597044172276044 Centerline is valid? [True, True] Translation: X:-19.11, Y:6.11, Z:0.39 [[ 6.85288606e-01 7.25658806e-01 -6.16345982e-02 -1.91084840e+01] [-7.23431690e-01 6.88032920e-01 5.70726900e-02 6.11254751e+00] [ 8.38219326e-02 5.47715731e-03 9.96465697e-01 3.85480122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.169115932999997 meters 0.019313875863066873 Centerline is valid? [True, True] Translation: X:-19.04, Y:6.22, Z:0.77 [[ 6.94447890e-01 7.17468782e-01 -5.45955545e-02 -1.90383522e+01] [-7.15671988e-01 6.96580634e-01 5.08824690e-02 6.22193282e+00] [ 7.45367890e-02 3.73728581e-03 9.97211261e-01 7.68553831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.199115932999998 meters 0.01977682145454739 Centerline is valid? [True, True] Translation: X:-19.03, Y:6.26, Z:0.84 [[ 6.91769896e-01 7.20062400e-01 -5.44476900e-02 -1.90348763e+01] [-7.18260361e-01 6.93898958e-01 5.10518304e-02 6.25535911e+00] [ 7.45416989e-02 3.79149810e-03 9.97210690e-01 8.42303381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.229115932999996 meters 0.01850483801916737 Centerline is valid? [True, True] Translation: X:-19.12, Y:6.18, Z:0.48 [[ 6.66966337e-01 7.42223976e-01 -6.52646487e-02 -1.91234377e+01] [-7.39700680e-01 6.70113126e-01 6.15735527e-02 6.17993859e+00] [ 8.94360649e-02 7.20881810e-03 9.95966477e-01 4.77790686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.259115932999997 meters 0.01920983223969322 Centerline is valid? [True, True] Translation: X:-19.08, Y:6.26, Z:0.77 [[ 6.89529801e-01 7.22222617e-01 -5.42507587e-02 -1.90751130e+01] [-7.20393105e-01 6.91651450e-01 5.14980221e-02 6.26339167e+00] [ 7.47156522e-02 3.57245157e-03 9.97198480e-01 7.65026183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.289115932999998 meters 0.01688830255128546 Centerline is valid? [True, True] Translation: X:-19.16, Y:6.20, Z:0.44 [[ 6.67974169e-01 7.41353170e-01 -6.48535817e-02 -1.91587069e+01] [-7.38787489e-01 6.71083430e-01 6.19683449e-02 6.19629086e+00] [ 8.94625930e-02 6.51976111e-03 9.95968843e-01 4.38679942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.319115933 meters 0.017094710291440558 Centerline is valid? [True, True] Translation: X:-19.14, Y:6.24, Z:0.59 [[ 6.66780428e-01 7.42629186e-01 -6.24960319e-02 -1.91446486e+01] [-7.40220933e-01 6.69674129e-01 6.00793817e-02 6.24115438e+00] [ 8.64686780e-02 6.20111521e-03 9.96235270e-01 5.91588846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.349115932999997 meters 0.018407738677910786 Centerline is valid? [True, True] Translation: X:-19.12, Y:6.29, Z:0.73 [[ 6.84212324e-01 7.27370500e-01 -5.27792778e-02 -1.91230474e+01] [-7.25584856e-01 6.86236699e-01 5.10471348e-02 6.29332896e+00] [ 7.33492574e-02 3.36876594e-03 9.97300626e-01 7.34960076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.379115932999998 meters 0.01829558969304684 Centerline is valid? [True, True] Translation: X:-19.18, Y:6.25, Z:0.51 [[ 6.68184622e-01 7.41559306e-01 -6.01590093e-02 -1.91833242e+01] [-7.39256052e-01 6.70866461e-01 5.86402732e-02 6.25124375e+00] [ 8.38439019e-02 5.29038291e-03 9.96464857e-01 5.12422799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.409115933 meters 0.015020589164650535 Centerline is valid? [True, True] Translation: X:-19.25, Y:6.20, Z:0.28 [[ 6.52900883e-01 7.54386923e-01 -6.79765218e-02 -1.92500389e+01] [-7.51458490e-01 6.56387711e-01 6.68229867e-02 6.19916324e+00] [ 9.50293409e-02 7.45274739e-03 9.95446574e-01 2.80708860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.439115932999997 meters 0.017460748113415053 Centerline is valid? [True, True] Translation: X:-19.21, Y:6.27, Z:0.53 [[ 6.61037105e-01 7.47971723e-01 -5.97348154e-02 -1.92064941e+01] [-7.45652400e-01 6.63708079e-01 5.91107847e-02 6.27379651e+00] [ 8.38596750e-02 5.46698652e-03 9.96462577e-01 5.31832473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.469115932999998 meters 0.019371493460779345 Centerline is valid? [True, True] Translation: X:-19.18, Y:6.33, Z:0.70 [[ 6.69840894e-01 7.40398020e-01 -5.58922920e-02 -1.91823937e+01] [-7.38313876e-01 6.72156898e-01 5.56572152e-02 6.32772765e+00] [ 7.87768815e-02 3.98457592e-03 9.96884309e-01 7.00906145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.499115933 meters 0.020000664542084916 Centerline is valid? [True, True] Translation: X:-19.25, Y:6.28, Z:0.44 [[ 6.62730178e-01 7.46616807e-01 -5.78969368e-02 -1.92508285e+01] [-7.44373401e-01 6.65238132e-01 5.80212716e-02 6.27976235e+00] [ 8.18349067e-02 4.64449214e-03 9.96635077e-01 4.37366030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.529115932999996 meters 0.02031399426217941 Centerline is valid? [True, True] Translation: X:-18.05, Y:7.35, Z:-2.24 [[ 7.92367773e-01 -6.08649145e-01 -4.12253712e-02 -1.80503456e+01] [-6.07713943e-01 -7.93437653e-01 3.37706121e-02 7.34757313e+00] [-5.32642160e-02 -1.70551183e-03 -9.98578998e-01 -2.24484497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.559115932999998 meters 0.019183426250663594 Centerline is valid? [True, True] Translation: X:-19.08, Y:6.23, Z:0.69 [[ 7.30511959e-01 6.80585061e-01 -5.61805414e-02 -1.90792225e+01] [-6.78901590e-01 7.32662436e-01 4.79414839e-02 6.23254527e+00] [ 7.37896301e-02 3.11923154e-03 9.97268951e-01 6.85735565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.589115933 meters 0.020396403159664518 Centerline is valid? [True, True] Translation: X:-19.10, Y:6.24, Z:0.67 [[ 7.26575188e-01 6.84676331e-01 -5.75049361e-02 -1.91012174e+01] [-6.82906568e-01 7.28839145e-01 4.93165264e-02 6.23743963e+00] [ 7.56777068e-02 3.43833407e-03 9.97126402e-01 6.67643085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.619115932999996 meters 0.019075008560777026 Centerline is valid? [True, True] Translation: X:-19.12, Y:6.24, Z:0.65 [[ 7.11514157e-01 6.99875621e-01 -6.26236381e-02 -1.91200972e+01] [-6.97807026e-01 7.14245381e-01 5.40267552e-02 6.24471920e+00] [ 8.25406531e-02 5.25841343e-03 9.96573826e-01 6.53969465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.649115932999997 meters 0.019075008560777026 Centerline is valid? [True, True] Translation: X:-19.13, Y:6.26, Z:0.65 [[ 7.09453490e-01 7.01978626e-01 -6.24640263e-02 -1.91342915e+01] [-6.99901989e-01 7.12178600e-01 5.42111326e-02 6.25711146e+00] [ 8.25405991e-02 5.25841903e-03 9.96573830e-01 6.53764765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.679115933 meters 0.016728216275894776 Centerline is valid? [True, True] Translation: X:-19.22, Y:6.18, Z:0.33 [[ 7.10890910e-01 7.00446826e-01 -6.33116008e-02 -1.92167753e+01] [-6.98279623e-01 7.13687676e-01 5.52762929e-02 6.18355545e+00] [ 8.39028131e-02 4.91378666e-03 9.96461827e-01 3.25222881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.709115932999996 meters 0.01921283251812494 Centerline is valid? [True, True] Translation: X:-19.16, Y:6.28, Z:0.64 [[ 7.21788405e-01 6.89949413e-01 -5.46928289e-02 -1.91586158e+01] [-6.88280039e-01 7.23851550e-01 4.80574806e-02 6.28434580e+00] [ 7.27467195e-02 2.95665007e-03 9.97346065e-01 6.43714726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.739115932999997 meters 0.0183290561223248 Centerline is valid? [True, True] Translation: X:-19.19, Y:6.28, Z:0.59 [[ 7.11983354e-01 6.99820197e-01 -5.77182406e-02 -1.91889934e+01] [-6.97968424e-01 7.14308101e-01 5.10295532e-02 6.27809086e+00] [ 7.69401188e-02 3.95331701e-03 9.97027878e-01 5.90202122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.769115933 meters 0.018062557542060476 Centerline is valid? [True, True] Translation: X:-19.19, Y:6.31, Z:0.63 [[ 7.14328147e-01 6.97666662e-01 -5.47405410e-02 -1.91907928e+01] [-6.95974487e-01 7.16414794e-01 4.86760270e-02 6.30572488e+00] [ 7.31765746e-02 3.32736379e-03 9.97313450e-01 6.34166967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.799115932999996 meters 0.018329743824893777 Centerline is valid? [True, True] Translation: X:-19.22, Y:6.29, Z:0.54 [[ 7.11811972e-01 7.00235856e-01 -5.47125463e-02 -1.92213631e+01] [-6.98524641e-01 7.13903892e-01 4.90362962e-02 6.29295095e+00] [ 7.33964726e-02 3.31343904e-03 9.97297337e-01 5.40362498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.829115932999997 meters 0.017452812755979482 Centerline is valid? [True, True] Translation: X:-19.24, Y:6.30, Z:0.54 [[ 7.09148631e-01 7.03002928e-01 -5.38061552e-02 -1.92379721e+01] [-7.01333415e-01 7.11179213e-01 4.85341842e-02 6.30354729e+00] [ 7.23854927e-02 3.31810428e-03 9.97371210e-01 5.41596853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.859115932999998 meters 0.02011373505087087 Centerline is valid? [True, True] Translation: X:-19.23, Y:6.34, Z:0.62 [[ 7.00798651e-01 7.11248948e-01 -5.48286836e-02 -1.92335414e+01] [-7.09519189e-01 7.02928568e-01 4.97388058e-02 6.33831295e+00] [ 7.39173214e-02 4.04511514e-03 9.97256169e-01 6.24690988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.889115932999996 meters 0.019091782700200274 Centerline is valid? [True, True] Translation: X:-19.26, Y:6.34, Z:0.58 [[ 6.92164088e-01 7.19596890e-01 -5.55804885e-02 -1.92578487e+01] [-7.17822535e-01 6.94375565e-01 5.07285274e-02 6.33836364e+00] [ 7.50978236e-02 4.78446223e-03 9.97164693e-01 5.81389526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.919115932999997 meters 0.019166068364310354 Centerline is valid? [True, True] Translation: X:-19.27, Y:6.36, Z:0.58 [[ 6.87920757e-01 7.23707515e-01 -5.48859184e-02 -1.92670939e+01] [-7.21967333e-01 6.90089046e-01 5.04011776e-02 6.35597116e+00] [ 7.43518821e-02 4.95382384e-03 9.97219764e-01 5.78807417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.949115932999998 meters 0.020810153309853942 Centerline is valid? [True, True] Translation: X:-19.29, Y:6.36, Z:0.57 [[ 6.68489243e-01 7.41107569e-01 -6.23033253e-02 -1.92871006e+01] [-7.38907186e-01 6.71343796e-01 5.75645595e-02 6.36078093e+00] [ 8.44884816e-02 7.55508603e-03 9.96395813e-01 5.66674743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.979115932999996 meters 0.01935495621196834 Centerline is valid? [True, True] Translation: X:-19.30, Y:6.38, Z:0.55 [[ 6.78934252e-01 7.32112600e-01 -5.53120440e-02 -1.92980186e+01] [-7.30326143e-01 6.81161481e-01 5.14077954e-02 6.37590860e+00] [ 7.53127286e-02 5.49331868e-03 9.97144832e-01 5.46136250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.009115932999997 meters 0.01959071384656084 Centerline is valid? [True, True] Translation: X:-19.31, Y:6.39, Z:0.54 [[ 6.69710095e-01 7.40508575e-01 -5.59949952e-02 -1.93133190e+01] [-7.38682486e-01 6.72017370e-01 5.23530220e-02 6.38602470e+00] [ 7.63974711e-02 6.30117497e-03 9.97057532e-01 5.43264484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.039115932999998 meters 0.018381163037547155 Centerline is valid? [True, True] Translation: X:-19.33, Y:6.39, Z:0.53 [[ 6.73346668e-01 7.37362261e-01 -5.38624308e-02 -1.93325835e+01] [-7.35640558e-01 6.75475032e-01 5.06601403e-02 6.39209838e+00] [ 7.37376028e-02 5.51155200e-03 9.97262447e-01 5.25292511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.069115933 meters 0.018398223403261287 Centerline is valid? [True, True] Translation: X:-19.36, Y:6.39, Z:0.48 [[ 6.68152524e-01 7.42019877e-01 -5.45775245e-02 -1.93569687e+01] [-7.40244299e-01 6.70351938e-01 5.16396865e-02 6.39215823e+00] [ 7.49038232e-02 5.89751448e-03 9.97173323e-01 4.82069092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.099115932999997 meters 0.018786850088786156 Centerline is valid? [True, True] Translation: X:-19.37, Y:6.41, Z:0.48 [[ 6.71505473e-01 7.39133686e-01 -5.25527713e-02 -1.93683962e+01] [-7.37456219e-01 6.73539015e-01 5.00351933e-02 6.40583129e+00] [ 7.23790387e-02 5.15646183e-03 9.97363868e-01 4.78504572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.129115932999998 meters 0.018602184668705505 Centerline is valid? [True, True] Translation: X:-19.37, Y:6.44, Z:0.53 [[ 6.69002360e-01 7.41634811e-01 -4.91289089e-02 -1.93659494e+01] [-7.40156383e-01 6.70786097e-01 4.70589146e-02 6.43589682e+00] [ 6.78555182e-02 4.88055059e-03 9.97683221e-01 5.30801065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.159115933 meters 0.018736320606903185 Centerline is valid? [True, True] Translation: X:-19.37, Y:6.46, Z:0.56 [[ 6.68734772e-01 7.41927470e-01 -4.83470130e-02 -1.93730366e+01] [-7.40478188e-01 6.70464038e-01 4.65835513e-02 6.45692250e+00] [ 6.69765500e-02 4.64786803e-03 9.97743724e-01 5.63194195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.189115932999997 meters 0.019387280287914983 Centerline is valid? [True, True] Translation: X:-19.41, Y:6.44, Z:0.47 [[ 6.62519304e-01 7.47448649e-01 -4.88742056e-02 -1.94095455e+01] [-7.45962978e-01 6.64300233e-01 4.73754812e-02 6.44331780e+00] [ 6.78778856e-02 5.07117713e-03 9.97680748e-01 4.73400225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.219115932999998 meters 0.019294877776217585 Centerline is valid? [True, True] Translation: X:-19.42, Y:6.46, Z:0.50 [[ 6.50921381e-01 7.57466196e-01 -5.04610443e-02 -1.94167034e+01] [-7.55884883e-01 6.52846286e-01 4.92926933e-02 6.45677471e+00] [ 7.02808543e-02 6.05707255e-03 9.97508854e-01 4.97430056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.249115933 meters 0.01980213920665731 Centerline is valid? [True, True] Translation: X:-19.41, Y:6.49, Z:0.54 [[ 6.53852201e-01 7.55242166e-01 -4.56789870e-02 -1.94137095e+01] [-7.53923433e-01 6.55426166e-01 4.48998791e-02 6.48667529e+00] [ 6.38494852e-02 5.08057391e-03 9.97946607e-01 5.41381105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.279115932999996 meters 0.01921238812705114 Centerline is valid? [True, True] Translation: X:-19.43, Y:6.49, Z:0.52 [[ 6.42894239e-01 7.64476326e-01 -4.75704126e-02 -1.94335230e+01] [-7.63049089e-01 6.44623589e-01 4.70798799e-02 6.48952648e+00] [ 6.66564638e-02 6.03117644e-03 9.97757757e-01 5.16078851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.309115932999998 meters 0.018159729992371896 Centerline is valid? [True, True] Translation: X:-19.46, Y:6.49, Z:0.49 [[ 6.37451755e-01 7.69002004e-01 -4.78662508e-02 -1.94553101e+01] [-7.67549754e-01 6.39214766e-01 4.76640241e-02 6.49278323e+00] [ 6.72505444e-02 6.35621324e-03 9.97715873e-01 4.87308570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.339115933 meters 0.01855273630732467 Centerline is valid? [True, True] Translation: X:-19.48, Y:6.49, Z:0.41 [[ 6.32672830e-01 7.72819980e-01 -4.97430223e-02 -1.94837194e+01] [-7.71241836e-01 6.34588498e-01 4.98344252e-02 6.48863773e+00] [ 7.00793893e-02 6.83501296e-03 9.97518001e-01 4.10256838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.369115932999996 meters 0.0204039081603367 Centerline is valid? [True, True] Translation: X:-18.29, Y:7.62, Z:-2.04 [[ 8.31141907e-01 -5.54673333e-01 -3.92507967e-02 -1.82896413e+01] [-5.53765594e-01 -8.32053497e-01 3.21036667e-02 7.61838888e+00] [-5.04658105e-02 -4.94696200e-03 -9.98713537e-01 -2.03743907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.399115932999997 meters 0.017896404659522715 Centerline is valid? [True, True] Translation: X:-19.40, Y:6.40, Z:0.44 [[ 6.83730256e-01 7.27821113e-01 -5.28144288e-02 -1.93994420e+01] [-7.26461695e-01 6.85725654e-01 4.50969263e-02 6.39779433e+00] [ 6.90387039e-02 7.53352649e-03 9.97585537e-01 4.42448970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.429115933 meters 0.018845219497337442 Centerline is valid? [True, True] Translation: X:-19.40, Y:6.43, Z:0.48 [[ 6.70753594e-01 7.39411469e-01 -5.79680479e-02 -1.93976501e+01] [-7.37795249e-01 6.73188259e-01 4.97567969e-02 6.42827852e+00] [ 7.58141555e-02 9.39400002e-03 9.97077713e-01 4.78658870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.459115932999996 meters 0.018080633840335227 Centerline is valid? [True, True] Translation: X:-19.41, Y:6.44, Z:0.49 [[ 6.69339006e-01 7.40989052e-01 -5.40418351e-02 -1.94067796e+01] [-7.39570444e-01 6.71460233e-01 4.66552682e-02 6.44469801e+00] [ 7.08579861e-02 8.73955313e-03 9.97448127e-01 4.93832711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.489115932999997 meters 0.01802379502705136 Centerline is valid? [True, True] Translation: X:-19.43, Y:6.44, Z:0.46 [[ 6.70038199e-01 7.40390218e-01 -5.35829919e-02 -1.94328993e+01] [-7.38973981e-01 6.72124647e-01 4.65393760e-02 6.43896161e+00] [ 7.04717483e-02 8.41327721e-03 9.97478295e-01 4.57198373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.519115933 meters 0.018450994355591315 Centerline is valid? [True, True] Translation: X:-19.44, Y:6.46, Z:0.48 [[ 6.60176751e-01 7.49113413e-01 -5.47334576e-02 -1.94410603e+01] [-7.47644571e-01 6.62375688e-01 4.78125881e-02 6.45681071e+00] [ 7.20711626e-02 9.35641337e-03 9.97355606e-01 4.75797900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.549115932999996 meters 0.01862252649511145 Centerline is valid? [True, True] Translation: X:-19.45, Y:6.47, Z:0.48 [[ 6.58898813e-01 7.50285012e-01 -5.40810130e-02 -1.94525106e+01] [-7.48835520e-01 6.61050613e-01 4.75126460e-02 6.47098170e+00] [ 7.13983130e-02 9.19175745e-03 9.97405531e-01 4.83800972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.579115932999997 meters 0.01746311422836235 Centerline is valid? [True, True] Translation: X:-19.48, Y:6.46, Z:0.42 [[ 6.56226439e-01 7.52480023e-01 -5.60417321e-02 -1.94823046e+01] [-7.50909758e-01 6.58545342e-01 4.95234112e-02 6.46171934e+00] [ 7.41713992e-02 9.58371167e-03 9.97199456e-01 4.18907276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.609115932999998 meters 0.018273244791050386 Centerline is valid? [True, True] Translation: X:-19.49, Y:6.48, Z:0.45 [[ 6.48679213e-01 7.58894312e-01 -5.73994881e-02 -1.94911084e+01] [-7.57248904e-01 6.51131160e-01 5.10128356e-02 6.47824979e+00] [ 7.60879461e-02 1.03747334e-02 9.97047135e-01 4.51658951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.639115932999996 meters 0.01736403771456714 Centerline is valid? [True, True] Translation: X:-19.51, Y:6.48, Z:0.42 [[ 6.51475697e-01 7.56685096e-01 -5.48368609e-02 -1.95149737e+01] [-7.55155357e-01 6.53710821e-01 4.90157969e-02 6.47690603e+00] [ 7.29369724e-02 9.47774889e-03 9.97291517e-01 4.20388448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.669115932999997 meters 0.017792003742089866 Centerline is valid? [True, True] Translation: X:-19.52, Y:6.50, Z:0.48 [[ 6.57886449e-01 7.51505621e-01 -4.92414615e-02 -1.95194609e+01] [-7.50241560e-01 6.59680326e-01 4.42658890e-02 6.49858752e+00] [ 6.57496878e-02 7.82106240e-03 9.97805497e-01 4.76037519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.699115932999998 meters 0.018274894666137118 Centerline is valid? [True, True] Translation: X:-19.54, Y:6.49, Z:0.43 [[ 6.50310500e-01 7.57898052e-01 -5.18343141e-02 -1.95414256e+01] [-7.56490574e-01 6.52315467e-01 4.69738546e-02 6.49273675e+00] [ 6.94137177e-02 8.66457911e-03 9.97550330e-01 4.33714351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.729115932999996 meters 0.0194101470237094 Centerline is valid? [True, True] Translation: X:-19.56, Y:6.50, Z:0.44 [[ 6.43461919e-01 7.63639299e-01 -5.30262228e-02 -1.95604598e+01] [-7.62163435e-01 6.45576137e-01 4.83564927e-02 6.49664303e+00] [ 7.11593822e-02 9.29908659e-03 9.97421611e-01 4.37071826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.759115932999997 meters 0.018420195600907515 Centerline is valid? [True, True] Translation: X:-19.57, Y:6.51, Z:0.48 [[ 6.50589944e-01 7.57837943e-01 -4.91362997e-02 -1.95684678e+01] [-7.56536877e-01 6.52395642e-01 4.50763806e-02 6.51439239e+00] [ 6.62168994e-02 7.84718281e-03 9.97774395e-01 4.77141847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.789115932999998 meters 0.0189938021133331 Centerline is valid? [True, True] Translation: X:-19.58, Y:6.53, Z:0.51 [[ 6.50298898e-01 7.58174121e-01 -4.77843622e-02 -1.95798262e+01] [-7.56927737e-01 6.52009092e-01 4.40970039e-02 6.52758783e+00] [ 6.45890458e-02 7.49307605e-03 9.97883815e-01 5.14254121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.819115932999996 meters 0.01908998314658679 Centerline is valid? [True, True] Translation: X:-19.61, Y:6.52, Z:0.46 [[ 6.48373278e-01 7.59835589e-01 -4.75601762e-02 -1.96078912e+01] [-7.58588482e-01 6.50072556e-01 4.41495965e-02 6.52052429e+00] [ 6.44640000e-02 7.45318329e-03 9.97892200e-01 4.60111519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.849115932999997 meters 0.01917784797574506 Centerline is valid? [True, True] Translation: X:-19.62, Y:6.53, Z:0.46 [[ 6.49207705e-01 7.59070171e-01 -4.83924645e-02 -1.96195004e+01] [-7.57759209e-01 6.50967531e-01 4.51912994e-02 6.53247508e+00] [ 6.58052906e-02 7.33129588e-03 9.97805550e-01 4.61329878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.879115932999998 meters 0.019598825321372516 Centerline is valid? [True, True] Translation: X:-19.63, Y:6.54, Z:0.48 [[ 6.45837985e-01 7.61829551e-01 -5.00902350e-02 -1.96332444e+01] [-7.60410222e-01 6.47732195e-01 4.71094223e-02 6.54099050e+00] [ 6.83344079e-02 7.66407231e-03 9.97633034e-01 4.82600056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.909115933 meters 0.01963617365576159 Centerline is valid? [True, True] Translation: X:-19.65, Y:6.55, Z:0.48 [[ 6.48602716e-01 7.59713575e-01 -4.63659492e-02 -1.96456486e+01] [-7.58471364e-01 6.50223650e-01 4.39362576e-02 6.54883028e+00] [ 6.35272080e-02 6.67006879e-03 9.97957817e-01 4.81186283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.939115932999997 meters 0.01766631275880604 Centerline is valid? [True, True] Translation: X:-19.67, Y:6.54, Z:0.43 [[ 6.55043844e-01 7.54218284e-01 -4.55229826e-02 -1.96748817e+01] [-7.52990070e-01 6.56597831e-01 4.34193791e-02 6.54130171e+00] [ 6.26379813e-02 5.83675685e-03 9.98019246e-01 4.29900162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.969115932999998 meters 0.019095629015116276 Centerline is valid? [True, True] Translation: X:-19.68, Y:6.56, Z:0.47 [[ 6.47771548e-01 7.60228477e-01 -4.94437555e-02 -1.96798079e+01] [-7.58775413e-01 6.49620534e-01 4.74661481e-02 6.56196944e+00] [ 6.82047963e-02 6.76948580e-03 9.97648375e-01 4.69398996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.999115933 meters 0.01904979721273921 Centerline is valid? [True, True] Translation: X:-19.71, Y:6.55, Z:0.40 [[ 6.52168204e-01 7.56429274e-01 -4.99137909e-02 -1.97105607e+01] [-7.54916429e-01 6.54045801e-01 4.82211202e-02 6.55342505e+00] [ 6.91217723e-02 6.23245936e-03 9.97588761e-01 3.98796422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.029115932999996 meters 0.019129526723893245 Centerline is valid? [True, True] Translation: X:-19.72, Y:6.57, Z:0.43 [[ 6.49540588e-01 7.58602658e-01 -5.11764786e-02 -1.97168431e+01] [-7.56996982e-01 6.51521834e-01 4.97480563e-02 6.57238584e+00] [ 7.10816009e-02 6.42705809e-03 9.97449798e-01 4.33148492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.059115932999998 meters 0.018342924556392484 Centerline is valid? [True, True] Translation: X:-19.73, Y:6.59, Z:0.48 [[ 6.60874824e-01 7.49056566e-01 -4.64621093e-02 -1.97273900e+01] [-7.47690615e-01 6.62489399e-01 4.54592155e-02 6.58664194e+00] [ 6.48321787e-02 4.69643205e-03 9.97885130e-01 4.75026860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.089115933 meters 0.018729104151990444 Centerline is valid? [True, True] Translation: X:-19.74, Y:6.60, Z:0.48 [[ 6.63236453e-01 7.47082750e-01 -4.45507864e-02 -1.97424032e+01] [-7.45805193e-01 6.64718205e-01 4.38671019e-02 6.59674516e+00] [ 6.23860739e-02 4.13194681e-03 9.98043539e-01 4.78229757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.119115932999996 meters 0.01875224805896103 Centerline is valid? [True, True] Translation: X:-19.77, Y:6.60, Z:0.45 [[ 6.62439790e-01 7.47781951e-01 -4.46730174e-02 -1.97666166e+01] [-7.46481149e-01 6.63932216e-01 4.42708297e-02 6.59656607e+00] [ 6.27647828e-02 4.02080619e-03 9.98020248e-01 4.52544227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.149115932999997 meters 0.019212793521946655 Centerline is valid? [True, True] Translation: X:-19.78, Y:6.61, Z:0.44 [[ 6.56470217e-01 7.52930779e-01 -4.62827737e-02 -1.97814489e+01] [-7.51527420e-01 6.58084499e-01 4.61663210e-02 6.60621996e+00] [ 6.52180199e-02 4.47595875e-03 9.97861000e-01 4.44801875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.179115933 meters 0.019147551423596823 Centerline is valid? [True, True] Translation: X:-19.80, Y:6.61, Z:0.44 [[ 6.61852274e-01 7.48189710e-01 -4.65158611e-02 -1.98001513e+01] [-7.46740311e-01 6.63473842e-01 4.67051257e-02 6.61150159e+00] [ 6.58063516e-02 3.82337492e-03 9.97825088e-01 4.39258783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.209115932999996 meters 0.018188380704045062 Centerline is valid? [True, True] Translation: X:-18.43, Y:7.90, Z:-2.04 [[ 7.94358992e-01 -6.06727954e-01 -2.95800809e-02 -1.84287048e+01] [-6.06257543e-01 -7.94908841e-01 2.39108126e-02 7.89608267e+00] [-3.80208262e-02 -1.06062183e-03 -9.99276384e-01 -2.04326068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.239115932999997 meters 0.019649716797548553 Centerline is valid? [True, True] Translation: X:-19.69, Y:6.50, Z:0.45 [[ 7.15492916e-01 6.96730398e-01 -5.13482088e-02 -1.96935648e+01] [-6.95357249e-01 7.17320350e-01 4.39296152e-02 6.49687382e+00] [ 6.74402134e-02 4.27402075e-03 9.97714163e-01 4.52940582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.269115933 meters 0.019582617753273662 Centerline is valid? [True, True] Translation: X:-19.71, Y:6.51, Z:0.45 [[ 7.16930366e-01 6.95506057e-01 -4.77721090e-02 -1.97052936e+01] [-6.94299529e-01 7.18510750e-01 4.11152788e-02 6.51020270e+00] [ 6.29206993e-02 3.69136090e-03 9.98011703e-01 4.47295995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.299115932999996 meters 0.019386620490691193 Centerline is valid? [True, True] Translation: X:-19.74, Y:6.50, Z:0.38 [[ 7.09562519e-01 7.02886986e-01 -4.97083171e-02 -1.97358702e+01] [-7.01577807e-01 7.11288570e-01 4.30946662e-02 6.49943673e+00] [ 6.56476378e-02 4.29589221e-03 9.97833620e-01 3.78139832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.329115932999997 meters 0.020114159987754607 Centerline is valid? [True, True] Translation: X:-19.74, Y:6.52, Z:0.41 [[ 7.01046674e-01 7.11344274e-01 -5.02283331e-02 -1.97423122e+01] [-7.10009798e-01 7.02826413e-01 4.38305846e-02 6.51870738e+00] [ 6.64804345e-02 4.93532305e-03 9.97775523e-01 4.10236948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.359115932999998 meters 0.020458883778164252 Centerline is valid? [True, True] Translation: X:-19.75, Y:6.54, Z:0.45 [[ 7.03350393e-01 7.09114476e-01 -4.95467819e-02 -1.97459764e+01] [-7.07791975e-01 7.05079258e-01 4.35173610e-02 6.54126389e+00] [ 6.57931989e-02 4.46086168e-03 9.97823309e-01 4.51040241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.389115932999996 meters 0.02032231582633917 Centerline is valid? [True, True] Translation: X:-19.76, Y:6.55, Z:0.42 [[ 6.97775586e-01 7.14546700e-01 -5.03214279e-02 -1.97614691e+01] [-7.13176762e-01 6.99570975e-01 4.44899669e-02 6.54921361e+00] [ 6.69935694e-02 4.84406027e-03 9.97741648e-01 4.20794056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.419115932999997 meters 0.0211583978344002 Centerline is valid? [True, True] Translation: X:-19.77, Y:6.56, Z:0.40 [[ 6.94203526e-01 7.18019649e-01 -5.02916309e-02 -1.97740604e+01] [-7.16638374e-01 6.96005248e-01 4.47899028e-02 6.56044811e+00] [ 6.71632694e-02 4.94760413e-03 9.97729731e-01 4.02522651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.449115932999998 meters 0.021838998552804714 Centerline is valid? [True, True] Translation: X:-19.78, Y:6.57, Z:0.43 [[ 6.83127828e-01 7.28281808e-01 -5.42400147e-02 -1.97833939e+01] [-7.26679755e-01 6.85250019e-01 4.86718089e-02 6.57412030e+00] [ 7.26147641e-02 6.16605353e-03 9.97341003e-01 4.28731565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.479115932999996 meters 0.021135491702020535 Centerline is valid? [True, True] Translation: X:-19.79, Y:6.59, Z:0.42 [[ 6.77878387e-01 7.33131923e-01 -5.47583425e-02 -1.97918341e+01] [-7.31491025e-01 6.80055105e-01 4.94563890e-02 6.58936322e+00] [ 7.34967479e-02 6.52981886e-03 9.97274079e-01 4.16113803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.509115932999997 meters 0.01943759119702501 Centerline is valid? [True, True] Translation: X:-19.83, Y:6.57, Z:0.29 [[ 6.80728689e-01 7.30639854e-01 -5.26674141e-02 -1.98300995e+01] [-7.29093221e-01 6.82738316e-01 4.78692698e-02 6.56996905e+00] [ 7.09332579e-02 5.81346935e-03 9.97464123e-01 2.91922666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.539115932999998 meters 0.021808079836756023 Centerline is valid? [True, True] Translation: X:-19.82, Y:6.61, Z:0.39 [[ 6.71061111e-01 7.39443914e-01 -5.38487031e-02 -1.98178696e+01] [-7.37832301e-01 6.73185000e-01 4.92488762e-02 6.61106049e+00] [ 7.26669210e-02 6.68230689e-03 9.97333879e-01 3.92782862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.569115932999996 meters 0.021808079836756023 Centerline is valid? [True, True] Translation: X:-19.83, Y:6.62, Z:0.39 [[ 6.68754885e-01 7.41541463e-01 -5.36950837e-02 -1.98301916e+01] [-7.39923265e-01 6.70873757e-01 4.94162318e-02 6.62277915e+00] [ 7.26668074e-02 6.68289523e-03 9.97333883e-01 3.92610040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.599115932999997 meters 0.019933802239589692 Centerline is valid? [True, True] Translation: X:-19.84, Y:6.64, Z:0.38 [[ 6.68985575e-01 7.41362726e-01 -5.32879851e-02 -1.98391322e+01] [-7.39742934e-01 6.71074257e-01 4.93936628e-02 6.63810723e+00] [ 7.23788155e-02 6.37576250e-03 9.97356835e-01 3.79640567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.629115932999998 meters 0.020354765987251736 Centerline is valid? [True, True] Translation: X:-19.85, Y:6.66, Z:0.41 [[ 6.74288880e-01 7.36950661e-01 -4.73099209e-02 -1.98460018e+01] [-7.35645410e-01 6.75927703e-01 4.41312934e-02 6.65641226e+00] [ 6.45006720e-02 5.04608570e-03 9.97904905e-01 4.11261946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.659115933 meters 0.020141159103619185 Centerline is valid? [True, True] Translation: X:-19.86, Y:6.66, Z:0.39 [[ 6.66406226e-01 7.43951757e-01 -4.93814258e-02 -1.98626363e+01] [-7.42528712e-01 6.68208362e-01 4.63540308e-02 6.66307381e+00] [ 6.74822443e-02 5.77651174e-03 9.97703753e-01 3.88548737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.689115932999997 meters 0.019209940897866953 Centerline is valid? [True, True] Translation: X:-19.88, Y:6.67, Z:0.36 [[ 6.67005355e-01 7.43525950e-01 -4.76761742e-02 -1.98818534e+01] [-7.42180166e-01 6.68685707e-01 4.50336180e-02 6.66705251e+00] [ 6.53640399e-02 5.34664656e-03 9.97847160e-01 3.61302848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.719115932999998 meters 0.018410309113707272 Centerline is valid? [True, True] Translation: X:-19.92, Y:6.65, Z:0.24 [[ 6.59337230e-01 7.49992540e-01 -5.27788418e-02 -1.99244502e+01] [-7.48338545e-01 6.61415294e-01 5.01919417e-02 6.64508439e+00] [ 7.25523150e-02 6.40302585e-03 9.97344054e-01 2.40063428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.749115933 meters 0.014328451498047696 Centerline is valid? [True, True] Translation: X:-19.98, Y:6.61, Z:0.08 [[ 6.67034656e-01 7.43334350e-01 -5.01877636e-02 -1.99770390e+01] [-7.41796056e-01 6.68900145e-01 4.80750234e-02 6.61273661e+00] [ 6.93064186e-02 5.16137840e-03 9.97582067e-01 8.08004794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.779115932999996 meters 0.01706571454640166 Centerline is valid? [True, True] Translation: X:-19.98, Y:6.63, Z:0.12 [[ 6.56986941e-01 7.51905333e-01 -5.48318269e-02 -1.99799195e+01] [-7.50068114e-01 6.59240378e-01 5.29145339e-02 6.63497271e+00] [ 7.59340745e-02 6.36344723e-03 9.97092535e-01 1.18205017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.809115932999998 meters 0.019822490462814722 Centerline is valid? [True, True] Translation: X:-19.95, Y:6.69, Z:0.27 [[ 6.58079403e-01 7.51318571e-01 -4.95167045e-02 -1.99536975e+01] [-7.49793304e-01 6.59917310e-01 4.81575006e-02 6.68652449e+00] [ 6.88585550e-02 5.43583423e-03 9.97611623e-01 2.73452845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.839115933 meters 0.018789001928445934 Centerline is valid? [True, True] Translation: X:-19.99, Y:6.68, Z:0.18 [[ 6.54297354e-01 7.54454443e-01 -5.18986013e-02 -1.99870501e+01] [-7.52760792e-01 6.56326852e-01 5.08552182e-02 6.67606987e+00] [ 7.24303909e-02 5.79279751e-03 9.97356647e-01 1.83528919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.869115932999996 meters 0.02160371799910255 Centerline is valid? [True, True] Translation: X:-19.97, Y:6.72, Z:0.31 [[ 6.49504492e-01 7.58655300e-01 -5.08532302e-02 -1.99677767e+01] [-7.57016219e-01 6.51465542e-01 5.01905507e-02 6.72305931e+00] [ 7.12064544e-02 5.89773191e-03 9.97444163e-01 3.12523689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.899115932999997 meters 0.0218129582618857 Centerline is valid? [True, True] Translation: X:-19.98, Y:6.73, Z:0.29 [[ 6.49769993e-01 7.58490470e-01 -4.99115586e-02 -1.99775976e+01] [-7.56875152e-01 6.51661460e-01 4.97729419e-02 6.72940450e+00] [ 7.02777413e-02 5.43585437e-03 9.97512652e-01 2.85838260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.929115933 meters 0.024410355969739162 Centerline is valid? [True, True] Translation: X:-20.00, Y:6.73, Z:0.25 [[ 6.55155434e-01 7.54033377e-01 -4.69576686e-02 -1.99986542e+01] [-7.52569893e-01 6.56821108e-01 4.71655361e-02 6.73184707e+00] [ 6.64071764e-02 4.43817033e-03 9.97782737e-01 2.45801976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.959115932999996 meters 0.026498642483313493 Centerline is valid? [True, True] Translation: X:-18.56, Y:8.07, Z:-1.84 [[ 7.98538571e-01 -6.01247450e-01 -2.89422807e-02 -1.85578522e+01] [-6.00794077e-01 -7.99061864e-01 2.33797809e-02 8.06968071e+00] [-3.71837064e-02 -1.28130595e-03 -9.99307625e-01 -1.83504134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.989115932999997 meters 0.03032627693457998 Centerline is valid? [True, True] Translation: X:-19.88, Y:6.59, Z:0.26 [[ 7.39980704e-01 6.71747395e-01 -3.44092300e-02 -1.98845539e+01] [-6.71103215e-01 7.40779137e-01 2.94405330e-02 6.58948469e+00] [ 4.52662411e-02 1.30671851e-03 9.98974104e-01 2.56158602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.019115933 meters 0.03350150588066943 Centerline is valid? [True, True] Translation: X:-19.90, Y:6.60, Z:0.26 [[ 7.30918305e-01 6.81603058e-01 -3.42885168e-02 -1.98988967e+01] [-6.80966640e-01 7.31719947e-01 2.95017698e-02 6.60216823e+00] [ 4.51980882e-02 1.78595247e-03 9.98976448e-01 2.61477741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.049115932999996 meters 0.033804190519252555 Centerline is valid? [True, True] Translation: X:-19.91, Y:6.62, Z:0.28 [[ 7.26500884e-01 6.86178198e-01 -3.68231689e-02 -1.99090077e+01] [-6.85439993e-01 7.27430533e-01 3.18878612e-02 6.61908990e+00] [ 4.86670525e-02 2.07351325e-03 9.98812905e-01 2.76930654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.079115932999997 meters 0.034512387034265374 Centerline is valid? [True, True] Translation: X:-19.96, Y:6.59, Z:0.13 [[ 7.23264223e-01 6.89279731e-01 -4.22174968e-02 -1.99565106e+01] [-6.88300339e-01 7.24491222e-01 3.68118623e-02 6.58999485e+00] [ 5.59598763e-02 2.43361435e-03 9.98430053e-01 1.31908989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.109115932999998 meters 0.03349035157553255 Centerline is valid? [True, True] Translation: X:-19.97, Y:6.61, Z:0.14 [[ 7.19680626e-01 6.92953999e-01 -4.32960792e-02 -1.99665743e+01] [-6.91915893e-01 7.20977092e-01 3.80056507e-02 6.60602976e+00] [ 5.75516489e-02 2.60531485e-03 9.98339131e-01 1.36870118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.139115932999996 meters 0.03296824260019594 Centerline is valid? [True, True] Translation: X:-20.00, Y:6.59, Z:0.05 [[ 7.12339829e-01 7.00206231e-01 -4.77828639e-02 -2.00023952e+01] [-6.98937484e-01 7.13933044e-01 4.22611199e-02 6.58992518e+00] [ 6.37052649e-02 3.29295570e-03 9.97963324e-01 4.85543773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.169115932999997 meters 0.03305052489128223 Centerline is valid? [True, True] Translation: X:-20.01, Y:6.60, Z:0.04 [[ 7.14377151e-01 6.98285170e-01 -4.54214576e-02 -2.00143863e+01] [-6.97118346e-01 7.15814324e-01 4.04458283e-02 6.60262059e+00] [ 6.07560520e-02 2.77055582e-03 9.98148800e-01 4.26295407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.199115932999998 meters 0.02927791862292866 Centerline is valid? [True, True] Translation: X:-20.05, Y:6.59, Z:-0.03 [[ 7.08843950e-01 7.03683910e-01 -4.86745189e-02 -2.00467983e+01] [-7.02335829e-01 7.10505776e-01 4.36569045e-02 6.59207691e+00] [ 6.53041881e-02 3.23992597e-03 9.97860143e-01 -2.63261242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.229115932999996 meters 0.032190663702852326 Centerline is valid? [True, True] Translation: X:-20.04, Y:6.63, Z:0.05 [[ 7.03401412e-01 7.08968943e-01 -5.08870406e-02 -2.00373879e+01] [-7.07485409e-01 7.05230230e-01 4.59860671e-02 6.63056112e+00] [ 6.84897727e-02 3.65517420e-03 9.97645123e-01 5.10555184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.259115932999997 meters 0.028599327288237015 Centerline is valid? [True, True] Translation: X:-20.07, Y:6.62, Z:-0.02 [[ 7.06796757e-01 7.05553775e-01 -5.13051188e-02 -2.00698499e+01] [-7.04014767e-01 7.08649491e-01 4.66808931e-02 6.61973902e+00] [ 6.92932267e-02 3.12565738e-03 9.97591439e-01 -1.85078766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.289115932999998 meters 0.02901944136104821 Centerline is valid? [True, True] Translation: X:-20.07, Y:6.64, Z:0.00 [[ 6.99575629e-01 7.12574782e-01 -5.32082631e-02 -2.00743964e+01] [-7.10913410e-01 7.01586373e-01 4.87717620e-02 6.64104232e+00] [ 7.20837200e-02 3.70693169e-03 9.97391696e-01 2.75208600e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.319115932999996 meters 0.027715512275366696 Centerline is valid? [True, True] Translation: X:-20.09, Y:6.65, Z:-0.01 [[ 6.94465023e-01 7.17427857e-01 -5.49145009e-02 -2.00876785e+01] [-7.15644665e-01 6.96620867e-01 5.07156939e-02 6.65272207e+00] [ 7.46394388e-02 4.07899411e-03 9.97202244e-01 -1.10988823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.349115932999997 meters 0.02608246300771748 Centerline is valid? [True, True] Translation: X:-20.08, Y:6.69, Z:0.03 [[ 6.88808192e-01 7.22985676e-01 -5.32445959e-02 -2.00808916e+01] [-7.21299346e-01 6.90849738e-01 4.95367839e-02 6.68734141e+00] [ 7.25984003e-02 4.28394964e-03 9.97352054e-01 3.36659676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.379115932999998 meters 0.023720066306371655 Centerline is valid? [True, True] Translation: X:-20.10, Y:6.69, Z:0.00 [[ 6.81912893e-01 7.29518666e-01 -5.28897183e-02 -2.01005064e+01] [-7.27848607e-01 6.83944744e-01 4.95579699e-02 6.69162553e+00] [ 7.23271089e-02 4.70148912e-03 9.97369884e-01 1.10411334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.409115933 meters 0.024329731811631956 Centerline is valid? [True, True] Translation: X:-20.11, Y:6.71, Z:0.02 [[ 6.79208263e-01 7.32051148e-01 -5.26996381e-02 -2.01076287e+01] [-7.30377066e-01 6.81233249e-01 4.97051591e-02 6.71002676e+00] [ 7.22874645e-02 4.73045223e-03 9.97372621e-01 1.87739635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.439115932999997 meters 0.022161455747062738 Centerline is valid? [True, True] Translation: X:-20.08, Y:6.77, Z:0.15 [[ 6.83400984e-01 7.28494111e-01 -4.75334055e-02 -2.00755602e+01] [-7.27105029e-01 6.85041928e-01 4.51202131e-02 6.77168890e+00] [ 6.54321852e-02 3.72658017e-03 9.97850060e-01 1.50320481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.469115932999998 meters 0.024520327278032487 Centerline is valid? [True, True] Translation: X:-20.10, Y:6.77, Z:0.09 [[ 6.73834713e-01 7.37054097e-01 -5.19426368e-02 -2.01022307e+01] [-7.35396627e-01 6.75817016e-01 4.96302511e-02 6.76805525e+00] [ 7.16838977e-02 4.75585383e-03 9.97416062e-01 8.93013857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.499115933 meters 0.026491250760854644 Centerline is valid? [True, True] Translation: X:-20.11, Y:6.79, Z:0.13 [[ 6.73799523e-01 7.37125839e-01 -5.13780087e-02 -2.01051022e+01] [-7.35481857e-01 6.75740541e-01 4.94080864e-02 6.79116754e+00] [ 7.11381806e-02 4.49644819e-03 9.97456335e-01 1.33510325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.529115932999996 meters 0.025413141315691612 Centerline is valid? [True, True] Translation: X:-20.14, Y:6.77, Z:0.04 [[ 6.62180060e-01 7.47305198e-01 -5.52495133e-02 -2.01409598e+01] [-7.45401814e-01 6.64456622e-01 5.36053499e-02 6.77288112e+00] [ 7.67704615e-02 5.68669357e-03 9.97032576e-01 3.53526847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.559115932999998 meters 0.01990024812413656 Centerline is valid? [True, True] Translation: X:-20.12, Y:6.82, Z:0.13 [[ 6.69179588e-01 7.41496300e-01 -4.88048743e-02 -2.01211738e+01] [-7.39973890e-01 6.70943750e-01 4.76773216e-02 6.81934749e+00] [ 6.80978829e-02 4.20964229e-03 9.97669764e-01 1.26247628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.589115933 meters 0.025154622907075354 Centerline is valid? [True, True] Translation: X:-20.12, Y:6.85, Z:0.18 [[ 6.53592617e-01 7.54946703e-01 -5.35925985e-02 -2.01198186e+01] [-7.53128882e-01 6.55759405e-01 5.26924148e-02 6.84594701e+00] [ 7.49238153e-02 5.92276051e-03 9.97171672e-01 1.76974006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.619115932999996 meters 0.021247127576102268 Centerline is valid? [True, True] Translation: X:-20.13, Y:6.86, Z:0.19 [[ 6.65112826e-01 7.45387218e-01 -4.49758168e-02 -2.01263168e+01] [-7.44067198e-01 6.66620569e-01 4.45086711e-02 6.86371917e+00] [ 6.31579991e-02 3.86174199e-03 9.97996069e-01 1.85103372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.649115932999997 meters 0.020869975902624273 Centerline is valid? [True, True] Translation: X:-20.14, Y:6.88, Z:0.17 [[ 6.54796993e-01 7.54293023e-01 -4.77800480e-02 -2.01374449e+01] [-7.52805353e-01 6.56520333e-01 4.75936189e-02 6.87748255e+00] [ 6.72681077e-02 4.80491729e-03 9.97723366e-01 1.71202858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.679115933 meters 0.024099053345198105 Centerline is valid? [True, True] Translation: X:-20.15, Y:6.89, Z:0.15 [[ 6.36687721e-01 7.69331811e-01 -5.25100907e-02 -2.01529783e+01] [-7.67556893e-01 6.38813506e-01 5.26661135e-02 6.88561495e+00] [ 7.40618717e-02 6.77261434e-03 9.97230651e-01 1.54982043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.709115932999996 meters 0.02179007879815925 Centerline is valid? [True, True] Translation: X:-18.74, Y:8.20, Z:-1.73 [[ 8.15318066e-01 -5.77880925e-01 -3.61951376e-02 -1.87422132e+01] [-5.77134400e-01 -8.16114847e-01 2.95371218e-02 8.20296044e+00] [-4.66083285e-02 -3.19268995e-03 -9.98908139e-01 -1.73434067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.739115932999997 meters 0.024958786602401955 Centerline is valid? [True, True] Translation: X:-20.04, Y:6.75, Z:0.20 [[ 6.90743363e-01 7.20862810e-01 -5.68367518e-02 -2.00356187e+01] [-7.19255495e-01 6.93039649e-01 4.86577671e-02 6.75200454e+00] [ 7.44656972e-02 7.27011632e-03 9.97197074e-01 1.97239988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.769115933 meters 0.022943936196980007 Centerline is valid? [True, True] Translation: X:-20.04, Y:6.77, Z:0.22 [[ 6.96996414e-01 7.15099250e-01 -5.31889246e-02 -2.00411819e+01] [-7.13655755e-01 6.98996944e-01 4.58119521e-02 6.77173210e+00] [ 6.99389884e-02 6.02781590e-03 9.97533059e-01 2.16654619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.799115932999996 meters 0.023470030105627107 Centerline is valid? [True, True] Translation: X:-20.06, Y:6.78, Z:0.19 [[ 6.83355736e-01 7.27717273e-01 -5.87580458e-02 -2.00584737e+01] [-7.25975603e-01 6.85832239e-01 5.09270484e-02 6.77718923e+00] [ 7.73586549e-02 7.85561711e-03 9.96972381e-01 1.89570346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.829115932999997 meters 0.02575844526731534 Centerline is valid? [True, True] Translation: X:-20.07, Y:6.78, Z:0.16 [[ 6.86631845e-01 7.24568589e-01 -5.94732639e-02 -2.00728195e+01] [-7.22737130e-01 6.89164241e-01 5.19970166e-02 6.78159599e+00] [ 7.86622517e-02 7.28072859e-03 9.96874737e-01 1.55958202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.859115932999998 meters 0.024461540736011658 Centerline is valid? [True, True] Translation: X:-20.10, Y:6.77, Z:0.11 [[ 6.84788018e-01 7.26259011e-01 -6.01100517e-02 -2.01016644e+01] [-7.24366036e-01 6.87382292e-01 5.29096439e-02 6.77429894e+00] [ 7.97446908e-02 7.30978969e-03 9.96788519e-01 1.10255792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.889115932999996 meters 0.02331510067984358 Centerline is valid? [True, True] Translation: X:-20.10, Y:6.80, Z:0.18 [[ 6.88704776e-01 7.22775049e-01 -5.72883948e-02 -2.01009316e+01] [-7.21019345e-01 6.91054142e-01 5.07471846e-02 6.80170473e+00] [ 7.62681814e-02 6.35621252e-03 9.97067081e-01 1.77297704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.919115932999997 meters 0.02107004398938572 Centerline is valid? [True, True] Translation: X:-20.12, Y:6.81, Z:0.16 [[ 7.03459257e-01 7.09119631e-01 -4.79001343e-02 -2.01177935e+01] [-7.07842901e-01 7.05077607e-01 4.27082662e-02 6.80866565e+00] [ 6.40585820e-02 3.86224479e-03 9.97938666e-01 1.56204660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.949115932999998 meters 0.024904601292487477 Centerline is valid? [True, True] Translation: X:-20.16, Y:6.79, Z:0.07 [[ 6.83775544e-01 7.27403454e-01 -5.77513701e-02 -2.01583141e+01] [-7.25575878e-01 6.86180220e-01 5.19263977e-02 6.78510222e+00] [ 7.73992889e-02 6.39700025e-03 9.96979653e-01 6.69073875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.979115932999996 meters 0.024285171036021475 Centerline is valid? [True, True] Translation: X:-20.19, Y:6.78, Z:0.01 [[ 6.84185971e-01 7.27066308e-01 -5.71326573e-02 -2.01860330e+01] [-7.25246408e-01 6.86540850e-01 5.17620483e-02 6.77840534e+00] [ 7.68583445e-02 6.02038723e-03 9.97023846e-01 1.33471878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.009115932999997 meters 0.0229924143672582 Centerline is valid? [True, True] Translation: X:-20.17, Y:6.83, Z:0.11 [[ 6.93647609e-01 7.18544426e-01 -5.04668409e-02 -2.01676837e+01] [-7.17081670e-01 6.95467986e-01 4.60234561e-02 6.82681874e+00] [ 6.81679700e-02 4.26478631e-03 9.97664743e-01 1.14927617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.039115932999998 meters 0.021289812976147095 Centerline is valid? [True, True] Translation: X:-20.16, Y:6.86, Z:0.18 [[ 7.13252934e-01 6.99902896e-01 -3.74991698e-02 -2.01603669e+01] [-6.99058541e-01 7.14236055e-01 3.44095052e-02 6.86318988e+00] [ 5.08665715e-02 1.67143432e-03 9.98704059e-01 1.78323806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.069115932999996 meters 0.018929048681968406 Centerline is valid? [True, True] Translation: X:-20.20, Y:6.84, Z:0.08 [[ 6.97538085e-01 7.14934940e-01 -4.80484258e-02 -2.02036844e+01] [-7.13562303e-01 6.99183141e-01 4.44046765e-02 6.84139217e+00] [ 6.53411040e-02 3.31159230e-03 9.97857492e-01 7.85518778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.099115932999997 meters 0.022207102970893632 Centerline is valid? [True, True] Translation: X:-20.17, Y:6.90, Z:0.23 [[ 7.12579912e-01 7.00616581e-01 -3.69631533e-02 -2.01747308e+01] [-6.99774166e-01 7.13536632e-01 3.43742854e-02 6.90255793e+00] [ 5.04577583e-02 1.37143450e-03 9.98725254e-01 2.32496925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.129115932999998 meters 0.018082312678339818 Centerline is valid? [True, True] Translation: X:-20.25, Y:6.84, Z:0.02 [[ 7.02873836e-01 7.09972975e-01 -4.36663017e-02 -2.02484149e+01] [-7.08790646e-01 7.04225719e-01 4.10116686e-02 6.83781465e+00] [ 5.98681091e-02 2.12423733e-03 9.98204036e-01 2.13528498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.159115933 meters 0.0181771187658993 Centerline is valid? [True, True] Translation: X:-20.26, Y:6.85, Z:0.03 [[ 6.98836806e-01 7.14010873e-01 -4.26097705e-02 -2.02568152e+01] [-7.12875325e-01 7.00131144e-01 4.03131655e-02 6.85434691e+00] [ 5.86164659e-02 2.20313022e-03 9.98278146e-01 2.65183780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.189115932999997 meters 0.018662223635125423 Centerline is valid? [True, True] Translation: X:-20.26, Y:6.88, Z:0.04 [[ 6.96593206e-01 7.16180476e-01 -4.29351942e-02 -2.02595801e+01] [-7.15015643e-01 6.97911612e-01 4.08902522e-02 6.87808965e+00] [ 5.92497709e-02 2.21546357e-03 9.98240731e-01 4.29475119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.219115932999998 meters 0.02124081015645641 Centerline is valid? [True, True] Translation: X:-20.25, Y:6.92, Z:0.15 [[ 7.00300423e-01 7.12812608e-01 -3.84382961e-02 -2.02458074e+01] [-7.11861497e-01 7.01352799e-01 3.68437332e-02 6.92070766e+00] [ 5.32214841e-02 1.56106104e-03 9.98581512e-01 1.46711623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.249115933 meters 0.01769727124432715 Centerline is valid? [True, True] Translation: X:-20.30, Y:6.89, Z:0.01 [[ 6.89278569e-01 7.23229232e-01 -4.28314453e-02 -2.02999363e+01] [-7.22050187e-01 6.90603796e-01 4.13512416e-02 6.88712857e+00] [ 5.94859854e-02 2.42392837e-03 9.98226198e-01 1.05411200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.279115932999996 meters 0.017779022750306094 Centerline is valid? [True, True] Translation: X:-20.31, Y:6.91, Z:0.03 [[ 6.85593471e-01 7.26657679e-01 -4.39341699e-02 -2.03062661e+01] [-7.25406410e-01 6.86994831e-01 4.27041251e-02 6.90654704e+00] [ 6.12138280e-02 2.59245916e-03 9.98121308e-01 3.05456805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.309115932999998 meters 0.022591050244751457 Centerline is valid? [True, True] Translation: X:-20.27, Y:6.97, Z:0.18 [[ 6.95634697e-01 7.17620435e-01 -3.33658580e-02 -2.02740321e+01] [-7.16878169e-01 6.96433386e-01 3.26531849e-02 6.96653758e+00] [ 4.66696902e-02 1.20456684e-03 9.98909650e-01 1.76649483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.339115933 meters 0.022507264617896868 Centerline is valid? [True, True] Translation: X:-20.28, Y:6.99, Z:0.20 [[ 6.93959723e-01 7.19310419e-01 -3.18186281e-02 -2.02776849e+01] [-7.18626229e-01 6.94687946e-01 3.13847211e-02 6.98710943e+00] [ 4.46793743e-02 1.08596840e-03 9.99000788e-01 1.98905918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.369115932999996 meters 0.02429203309615531 Centerline is valid? [True, True] Translation: X:-20.29, Y:7.00, Z:0.23 [[ 6.75576900e-01 7.36328334e-01 -3.76355953e-02 -2.02885213e+01] [-7.35382438e-01 6.76620086e-01 3.73888850e-02 7.00255490e+00] [ 5.29954952e-02 2.41748880e-03 9.98591825e-01 2.25954480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.399115932999997 meters 0.02382215589769899 Centerline is valid? [True, True] Translation: X:-20.31, Y:7.00, Z:0.18 [[ 6.74299220e-01 7.37561655e-01 -3.63780966e-02 -2.03093605e+01] [-7.36665573e-01 6.75276069e-01 3.64151661e-02 7.00380338e+00] [ 5.14236882e-02 2.24377327e-03 9.98674406e-01 1.79595487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.429115933 meters 0.022445927451320423 Centerline is valid? [True, True] Translation: X:-18.90, Y:8.37, Z:-1.72 [[ 7.92171493e-01 -6.09921761e-01 -2.14422717e-02 -1.88998276e+01] [-6.09686720e-01 -7.92461563e-01 1.69344518e-02 8.36567324e+00] [-2.73208668e-02 -3.41921679e-04 -9.99626657e-01 -1.71567898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.459115932999996 meters 0.022445927451320423 Centerline is valid? [True, True] Translation: X:-20.23, Y:6.87, Z:0.12 [[ 7.26824124e-01 6.85702663e-01 -3.92243538e-02 -2.02322972e+01] [-6.84890594e-01 7.27877309e-01 3.34588845e-02 6.87114327e+00] [ 5.14933633e-02 2.54566660e-03 9.98670092e-01 1.19291301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.489115932999997 meters 0.024401614296859275 Centerline is valid? [True, True] Translation: X:-20.22, Y:6.92, Z:0.23 [[ 7.22707584e-01 6.90134244e-01 -3.75296328e-02 -2.02201252e+01] [-6.89388195e-01 7.23676661e-01 3.21870738e-02 6.91719336e+00] [ 4.93727212e-02 2.61064349e-03 9.98777012e-01 2.30585398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.519115933 meters 0.023043134132981796 Centerline is valid? [True, True] Translation: X:-20.24, Y:6.92, Z:0.17 [[ 7.19607103e-01 6.93438942e-01 -3.61669853e-02 -2.02440596e+01] [-6.92740738e-01 7.20510740e-01 3.12176787e-02 6.91589894e+00] [ 4.77062554e-02 2.58988082e-03 9.98858051e-01 1.71814371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.549115932999996 meters 0.024532137095461887 Centerline is valid? [True, True] Translation: X:-20.25, Y:6.94, Z:0.22 [[ 7.15947801e-01 6.97168815e-01 -3.70727553e-02 -2.02481952e+01] [-6.96430140e-01 7.16901674e-01 3.22032653e-02 6.93961729e+00] [ 4.90286326e-02 2.76272716e-03 9.98793553e-01 2.22633570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.579115932999997 meters 0.02521935323227489 Centerline is valid? [True, True] Translation: X:-20.26, Y:6.95, Z:0.22 [[ 7.11804496e-01 7.01360915e-01 -3.77786463e-02 -2.02622313e+01] [-7.00589315e-01 7.12800180e-01 3.30229445e-02 6.95070189e+00] [ 5.00896285e-02 2.96143554e-03 9.98740336e-01 2.19286334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.609115932999998 meters 0.0230325967042822 Centerline is valid? [True, True] Translation: X:-20.29, Y:6.95, Z:0.16 [[ 7.08943856e-01 7.04260720e-01 -3.76224405e-02 -2.02874751e+01] [-7.03489377e-01 7.09935059e-01 3.30894123e-02 6.94794418e+00] [ 5.00130628e-02 3.00845163e-03 9.98744033e-01 1.62821465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.639115932999996 meters 0.025290029568892498 Centerline is valid? [True, True] Translation: X:-20.29, Y:6.97, Z:0.20 [[ 7.08602379e-01 7.04575023e-01 -3.81668172e-02 -2.02925106e+01] [-7.03770827e-01 7.09623484e-01 3.37806666e-02 6.97108263e+00] [ 5.08850837e-02 2.92363181e-03 9.98700236e-01 1.99248806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.669115932999997 meters 0.02274775743779271 Centerline is valid? [True, True] Translation: X:-20.34, Y:6.94, Z:0.05 [[ 7.01792977e-01 7.11205825e-01 -4.09009931e-02 -2.03437647e+01] [-7.10280203e-01 7.02975232e-01 3.64397613e-02 6.93773696e+00] [ 5.46685557e-02 3.47799709e-03 9.98498499e-01 4.65187595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.699115932999998 meters 0.023232712725503746 Centerline is valid? [True, True] Translation: X:-20.35, Y:6.95, Z:0.06 [[ 6.92018024e-01 7.20477901e-01 -4.49738780e-02 -2.03530425e+01] [-7.19361674e-01 6.93463684e-01 4.03348669e-02 6.95405372e+00] [ 6.02481313e-02 4.44002926e-03 9.98173556e-01 5.85424538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.729115932999996 meters 0.02462904791495161 Centerline is valid? [True, True] Translation: X:-20.34, Y:7.00, Z:0.16 [[ 6.89715904e-01 7.22816089e-01 -4.27653173e-02 -2.03400656e+01] [-7.21797188e-01 6.91027409e-01 3.85997286e-02 6.99634193e+00] [ 5.74525113e-02 4.24503909e-03 9.98339215e-01 1.55918040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.759115932999997 meters 0.02527244298996545 Centerline is valid? [True, True] Translation: X:-20.34, Y:7.02, Z:0.21 [[ 6.90813234e-01 7.21898697e-01 -4.04888639e-02 -2.03393588e+01] [-7.20971380e-01 6.91988388e-01 3.67741764e-02 7.02483475e+00] [ 5.45650537e-02 3.78722439e-03 9.98503035e-01 2.11027559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.789115932999998 meters 0.02496877492806447 Centerline is valid? [True, True] Translation: X:-20.35, Y:7.03, Z:0.19 [[ 6.82630662e-01 7.29510492e-01 -4.27764119e-02 -2.03529573e+01] [-7.28469759e-01 6.83955459e-01 3.92012718e-02 7.03038396e+00] [ 5.78548996e-02 4.40133233e-03 9.98315300e-01 1.92023167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.819115932999996 meters 0.02358963079964013 Centerline is valid? [True, True] Translation: X:-20.37, Y:7.04, Z:0.18 [[ 6.91748708e-01 7.21115945e-01 -3.84124790e-02 -2.03709770e+01] [-7.20251047e-01 6.92807259e-01 3.54475783e-02 7.03609252e+00] [ 5.21742582e-02 3.14581167e-03 9.98633041e-01 1.82017967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.849115932999997 meters 0.023935504261482117 Centerline is valid? [True, True] Translation: X:-20.38, Y:7.06, Z:0.21 [[ 6.94401763e-01 7.18683605e-01 -3.60564536e-02 -2.03777565e+01] [-7.17907970e-01 6.95332252e-01 3.34844194e-02 7.05608940e+00] [ 4.91359183e-02 2.63357555e-03 9.98788629e-01 2.11154038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.879115932999998 meters 0.0247047944612854 Centerline is valid? [True, True] Translation: X:-20.40, Y:7.06, Z:0.18 [[ 6.82766117e-01 7.29479450e-01 -4.11115710e-02 -2.03993530e+01] [-7.28475518e-01 6.83992693e-01 3.84371680e-02 7.05797658e+00] [ 5.61591383e-02 3.70517706e-03 9.98414955e-01 1.79622029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.909115933 meters 0.024722162673744323 Centerline is valid? [True, True] Translation: X:-20.40, Y:7.08, Z:0.20 [[ 6.78647576e-01 7.33265302e-01 -4.19459768e-02 -2.04044910e+01] [-7.32210855e-01 6.79931432e-01 3.95033210e-02 7.07825216e+00] [ 5.74868026e-02 3.90446647e-03 9.98338631e-01 2.00812522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.939115932999997 meters 0.025202949558503055 Centerline is valid? [True, True] Translation: X:-20.42, Y:7.08, Z:0.18 [[ 6.86863222e-01 7.25906287e-01 -3.57627737e-02 -2.04223892e+01] [-7.25118886e-01 6.87788535e-01 3.39047441e-02 7.08426850e+00] [ 4.92088927e-02 2.64434083e-03 9.98785008e-01 1.81921969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.969115932999998 meters 0.022073567929624602 Centerline is valid? [True, True] Translation: X:-20.49, Y:7.04, Z:-0.00 [[ 6.72226983e-01 7.39048241e-01 -4.38016121e-02 -2.04856141e+01] [-7.37873598e-01 6.73639536e-01 4.18608149e-02 7.03698817e+00] [ 6.04436592e-02 4.18008384e-03 9.98162858e-01 -3.89054907e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.999115933 meters 0.02642265313826484 Centerline is valid? [True, True] Translation: X:-20.43, Y:7.12, Z:0.23 [[ 6.68986245e-01 7.42187651e-01 -4.01857561e-02 -2.04305419e+01] [-7.41190456e-01 6.70180652e-01 3.86600608e-02 7.12321957e+00] [ 5.56247359e-02 3.92225001e-03 9.98444042e-01 2.29283971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.029115933 meters 0.023570429146059682 Centerline is valid? [True, True] Translation: X:-20.48, Y:7.10, Z:0.12 [[ 6.69859732e-01 7.41423746e-01 -3.97337128e-02 -2.04753549e+01] [-7.40433181e-01 6.71027255e-01 3.84854180e-02 7.09910672e+00] [ 5.51964070e-02 3.64032757e-03 9.98468880e-01 1.16574187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.059115933 meters 0.02430562232006962 Centerline is valid? [True, True] Translation: X:-20.48, Y:7.12, Z:0.16 [[ 6.68143613e-01 7.43003670e-01 -3.91108602e-02 -2.04778693e+01] [-7.42033086e-01 6.69277954e-01 3.81303057e-02 7.12239648e+00] [ 5.45069935e-02 3.54503213e-03 9.98507096e-01 1.62289243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.089115933 meters 0.024314871641384964 Centerline is valid? [True, True] Translation: X:-20.50, Y:7.13, Z:0.13 [[ 6.61897663e-01 7.48493634e-01 -4.06049661e-02 -2.04961383e+01] [-7.47442800e-01 6.63130061e-01 3.98470014e-02 7.12719314e+00] [ 5.67516005e-02 3.97525246e-03 9.98380415e-01 1.33443661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.119115933 meters 0.02625202608456281 Centerline is valid? [True, True] Translation: X:-20.49, Y:7.16, Z:0.20 [[ 6.59223654e-01 7.50855455e-01 -4.05001186e-02 -2.04913397e+01] [-7.49799929e-01 6.60454465e-01 3.99995891e-02 7.15847464e+00] [ 5.67823938e-02 3.99831072e-03 9.98378572e-01 1.99757900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.149115933 meters 0.025218433575766717 Centerline is valid? [True, True] Translation: X:-20.51, Y:7.16, Z:0.17 [[ 6.51475057e-01 7.57473390e-01 -4.25947613e-02 -2.05104963e+01] [-7.56303264e-01 6.52849617e-01 4.23408933e-02 7.16343767e+00] [ 5.98800735e-02 4.63052111e-03 9.98194838e-01 1.70555822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.179115933 meters 0.024453546220393765 Centerline is valid? [True, True] Translation: X:-20.52, Y:7.18, Z:0.17 [[ 6.53905742e-01 7.55564660e-01 -3.91065872e-02 -2.05220880e+01] [-7.54561577e-01 6.55062293e-01 3.91180137e-02 7.17660367e+00] [ 5.51734394e-02 3.92883436e-03 9.98469056e-01 1.74134581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.209115933 meters 0.024609122901593415 Centerline is valid? [True, True] Translation: X:-19.11, Y:8.51, Z:-1.78 [[ 8.05799637e-01 -5.91689589e-01 -2.42976247e-02 -1.91063223e+01] [-5.91374332e-01 -8.06164953e-01 1.93511581e-02 8.51089783e+00] [-3.10377723e-02 -1.22416455e-03 -9.99517463e-01 -1.77771836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.239115933 meters 0.025081986471962307 Centerline is valid? [True, True] Translation: X:-20.41, Y:7.05, Z:0.19 [[ 7.08366785e-01 7.04523348e-01 -4.31665421e-02 -2.04091540e+01] [-7.03575872e-01 7.09667679e-01 3.67801302e-02 7.05223754e+00] [ 5.65463602e-02 4.31711486e-03 9.98390641e-01 1.91222221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.269115933 meters 0.024936374528093014 Centerline is valid? [True, True] Translation: X:-20.42, Y:7.06, Z:0.20 [[ 7.10618991e-01 7.02438318e-01 -4.00132445e-02 -2.04222000e+01] [-7.01611098e-01 7.11734942e-01 3.42817800e-02 7.06450213e+00] [ 5.25596601e-02 3.71245247e-03 9.98610885e-01 1.97499128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.299115933 meters 0.02650018353981537 Centerline is valid? [True, True] Translation: X:-20.43, Y:7.08, Z:0.23 [[ 7.11468140e-01 7.01567132e-01 -4.02075265e-02 -2.04311080e+01] [-7.00718828e-01 7.12594728e-01 3.46681024e-02 7.08198668e+00] [ 5.29736726e-02 3.50892053e-03 9.98589744e-01 2.33814706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.329115933000004 meters 0.022218213560340153 Centerline is valid? [True, True] Translation: X:-20.48, Y:7.05, Z:0.08 [[ 7.18075562e-01 6.94843186e-01 -3.95023276e-02 -2.04796907e+01] [-6.94002672e-01 7.19155835e-01 3.42808383e-02 7.05010656e+00] [ 5.22281363e-02 2.79848868e-03 9.98631258e-01 8.47066652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.359115933 meters 0.023670428283419365 Centerline is valid? [True, True] Translation: X:-20.49, Y:7.07, Z:0.12 [[ 7.17162643e-01 6.95801759e-01 -3.92129501e-02 -2.04868832e+01] [-6.94963400e-01 7.18228856e-01 3.42517525e-02 7.06984234e+00] [ 5.19963019e-02 2.68748779e-03 9.98643661e-01 1.16306443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.389115933 meters 0.02439858011820283 Centerline is valid? [True, True] Translation: X:-20.51, Y:7.07, Z:0.09 [[ 7.11782497e-01 7.01128781e-01 -4.22387229e-02 -2.05073890e+01] [-7.00151446e-01 7.13027759e-01 3.71398304e-02 7.07297936e+00] [ 5.61571860e-02 3.13802167e-03 9.98417009e-01 9.06599211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.419115933 meters 0.02249662562698115 Centerline is valid? [True, True] Translation: X:-20.54, Y:7.06, Z:0.02 [[ 7.15563463e-01 6.97413122e-01 -3.97978294e-02 -2.05419171e+01] [-6.96527681e-01 7.16664917e-01 3.52219672e-02 7.05938040e+00] [ 5.30859702e-02 2.51673702e-03 9.98586774e-01 1.72767612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.449115933 meters 0.026613796257823823 Centerline is valid? [True, True] Translation: X:-20.51, Y:7.12, Z:0.21 [[ 7.05036172e-01 7.08033745e-01 -4.01523710e-02 -2.05120439e+01] [-7.07136379e-01 7.06171489e-01 3.57766734e-02 7.12321964e+00] [ 5.36855516e-02 3.16935339e-03 9.98552861e-01 2.05898743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.479115933 meters 0.022503082565982706 Centerline is valid? [True, True] Translation: X:-20.57, Y:7.08, Z:0.02 [[ 7.15712749e-01 6.97491374e-01 -3.55111799e-02 -2.05716098e+01] [-6.96766645e-01 7.16590526e-01 3.18474433e-02 7.07998493e+00] [ 4.76602921e-02 1.94938445e-03 9.98861700e-01 2.37681966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.509115933000004 meters 0.025431411084183023 Centerline is valid? [True, True] Translation: X:-20.55, Y:7.14, Z:0.18 [[ 7.04717246e-01 7.08415014e-01 -3.90098995e-02 -2.05482349e+01] [-7.07544629e-01 7.05790634e-01 3.52161698e-02 7.13632305e+00] [ 5.24804851e-02 2.78380268e-03 9.98618070e-01 1.81028830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.539115933 meters 0.025461073025338513 Centerline is valid? [True, True] Translation: X:-20.56, Y:7.14, Z:0.17 [[ 7.02369310e-01 7.10525085e-01 -4.27955150e-02 -2.05634411e+01] [-7.09463725e-01 7.03665423e-01 3.89383552e-02 7.14360307e+00] [ 5.77804023e-02 3.01275982e-03 9.98324771e-01 1.66324243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.569115933 meters 0.024796188127219773 Centerline is valid? [True, True] Translation: X:-20.59, Y:7.14, Z:0.13 [[ 7.01631070e-01 7.11198355e-01 -4.37120280e-02 -2.05863932e+01] [-7.10076060e-01 7.02985243e-01 4.00466880e-02 7.14349673e+00] [ 5.92100492e-02 2.94086406e-03 9.98241214e-01 1.27777355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.599115933 meters 0.023714293264292946 Centerline is valid? [True, True] Translation: X:-20.61, Y:7.14, Z:0.08 [[ 7.03125972e-01 7.09827397e-01 -4.19396490e-02 -2.06100363e+01] [-7.08777485e-01 7.04371106e-01 3.86758391e-02 7.14312772e+00] [ 5.69942472e-02 2.53189201e-03 9.98371296e-01 8.09993644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.629115933 meters 0.026245927157202056 Centerline is valid? [True, True] Translation: X:-20.59, Y:7.19, Z:0.20 [[ 6.84263489e-01 7.27707722e-01 -4.71693731e-02 -2.05910875e+01] [-7.26400375e-01 6.85873971e-01 4.38108541e-02 7.19066063e+00] [ 6.42337420e-02 4.28568243e-03 9.97925678e-01 1.97373764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.659115933 meters 0.02176003692235226 Centerline is valid? [True, True] Translation: X:-20.65, Y:7.15, Z:0.04 [[ 6.93440237e-01 7.19301334e-01 -4.17879040e-02 -2.06474785e+01] [-7.18245524e-01 6.94692053e-01 3.90681171e-02 7.15281598e+00] [ 5.71314736e-02 2.92257064e-03 9.98362386e-01 3.73927797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.689115933000004 meters 0.02616340456142422 Centerline is valid? [True, True] Translation: X:-20.61, Y:7.22, Z:0.22 [[ 6.75452827e-01 7.35946195e-01 -4.63322337e-02 -2.06126373e+01] [-7.34667709e-01 6.77024487e-01 4.36027767e-02 7.21847035e+00] [ 6.34573544e-02 4.58717717e-03 9.97974009e-01 2.24219558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.719115933 meters 0.025391367973066074 Centerline is valid? [True, True] Translation: X:-20.63, Y:7.23, Z:0.21 [[ 6.79759296e-01 7.32263222e-01 -4.14472443e-02 -2.06269550e+01] [-7.31218491e-01 6.81012124e-01 3.92683786e-02 7.22769266e+00] [ 5.69808653e-02 3.61394603e-03 9.98368730e-01 2.14968820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.749115933 meters 0.025218931242212604 Centerline is valid? [True, True] Translation: X:-20.65, Y:7.23, Z:0.17 [[ 6.65883102e-01 7.44670071e-01 -4.54552579e-02 -2.06503334e+01] [-7.43422474e-01 6.67414659e-01 4.33670102e-02 7.22777602e+00] [ 6.26316200e-02 4.91510100e-03 9.98024610e-01 1.73072518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.779115933 meters 0.024223892094309637 Centerline is valid? [True, True] Translation: X:-20.66, Y:7.25, Z:0.21 [[ 6.81612091e-01 7.30877281e-01 -3.49765354e-02 -2.06555047e+01] [-7.30110266e-01 6.82503764e-01 3.35799290e-02 7.24824487e+00] [ 4.84144243e-02 2.64824195e-03 9.98823823e-01 2.09666848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.809115933 meters 0.023862373154471747 Centerline is valid? [True, True] Translation: X:-20.66, Y:7.27, Z:0.24 [[ 6.66256667e-01 7.44707561e-01 -3.88934718e-02 -2.06568551e+01] [-7.43768561e-01 6.67379618e-01 3.75868856e-02 7.27209586e+00] [ 5.39479482e-02 3.88522842e-03 9.98536191e-01 2.39747645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.839115933 meters 0.022839206202469254 Centerline is valid? [True, True] Translation: X:-20.70, Y:7.25, Z:0.14 [[ 6.73604359e-01 7.38151830e-01 -3.72698640e-02 -2.07005796e+01] [-7.37267459e-01 6.74627690e-01 3.62515362e-02 7.24997097e+00] [ 5.19024200e-02 3.05866516e-03 9.98647477e-01 1.35426952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.869115933 meters 0.02187425733487252 Centerline is valid? [True, True] Translation: X:-20.73, Y:7.25, Z:0.08 [[ 6.76565833e-01 7.35550803e-01 -3.49812778e-02 -2.07287075e+01] [-7.34757268e-01 6.77464845e-01 3.42511449e-02 7.24539961e+00] [ 4.88920431e-02 2.52959376e-03 9.98800866e-01 8.14426748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.899115933 meters 0.02452064272052137 Centerline is valid? [True, True] Translation: X:-20.70, Y:7.31, Z:0.24 [[ 6.70514905e-01 7.40950260e-01 -3.74496343e-02 -2.06959522e+01] [-7.40036180e-01 6.71553370e-01 3.69123826e-02 7.30691400e+00] [ 5.24996676e-02 2.96378162e-03 9.98616543e-01 2.44262514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.929115933 meters 0.024765140105881878 Centerline is valid? [True, True] Translation: X:-20.71, Y:7.31, Z:0.24 [[ 6.72274940e-01 7.39389382e-01 -3.67389089e-02 -2.07126246e+01] [-7.38495099e-01 6.73272930e-01 3.64492885e-02 7.31459998e+00] [ 5.16855297e-02 2.62756094e-03 9.98659953e-01 2.40999803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.959115933 meters 0.02280179688513399 Centerline is valid? [True, True] Translation: X:-20.75, Y:7.30, Z:0.15 [[ 6.75134772e-01 7.36854694e-01 -3.51880669e-02 -2.07514513e+01] [-7.36019447e-01 6.76047658e-01 3.51416808e-02 7.29866805e+00] [ 4.96831227e-02 2.17373094e-03 9.98762666e-01 1.46849256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.989115933 meters 0.021482362142304905 Centerline is valid? [True, True] Translation: X:-19.26, Y:8.74, Z:-1.71 [[ 7.88488304e-01 -6.14798364e-01 -1.75831446e-02 -1.92550571e+01] [-6.14647487e-01 -7.88684327e-01 1.36198422e-02 8.73646828e+00] [-2.22410072e-02 6.83493663e-05 -9.99752636e-01 -1.71481090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.019115933 meters 0.024152474686123016 Centerline is valid? [True, True] Translation: X:-20.62, Y:7.20, Z:0.26 [[ 7.30308816e-01 6.82203939e-01 -3.53103290e-02 -2.06205708e+01] [-6.81545801e-01 7.31158836e-01 3.00346075e-02 7.20219423e+00] [ 4.63071866e-02 2.13106784e-03 9.98924974e-01 2.58926128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.049115933 meters 0.02237286768641348 Centerline is valid? [True, True] Translation: X:-20.65, Y:7.19, Z:0.19 [[ 7.34027347e-01 6.78327676e-01 -3.27935570e-02 -2.06517391e+01] [-6.77749421e-01 7.34757707e-01 2.80505655e-02 7.19215841e+00] [ 4.31227936e-02 1.63593215e-03 9.99068440e-01 1.89774712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.079115933000004 meters 0.02392324208593337 Centerline is valid? [True, True] Translation: X:-20.66, Y:7.21, Z:0.21 [[ 7.22478873e-01 6.90458992e-01 -3.59257360e-02 -2.06589245e+01] [-6.89770007e-01 7.23367450e-01 3.09333139e-02 7.21331281e+00] [ 4.73456927e-02 2.43182944e-03 9.98875604e-01 2.12911082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.109115933 meters 0.02261507524071099 Centerline is valid? [True, True] Translation: X:-20.69, Y:7.20, Z:0.12 [[ 7.24175863e-01 6.88808795e-01 -3.33431232e-02 -2.06949364e+01] [-6.88205485e-01 7.24940241e-01 2.88939044e-02 7.19735066e+00] [ 4.40741472e-02 2.02265215e-03 9.99026215e-01 1.19653906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.139115933 meters 0.02315368050914607 Centerline is valid? [True, True] Translation: X:-20.69, Y:7.23, Z:0.19 [[ 7.24942384e-01 6.88072820e-01 -3.18485960e-02 -2.06925242e+01] [-6.87512783e-01 7.25639567e-01 2.78099301e-02 7.22622635e+00] [ 4.22458584e-02 1.73571979e-03 9.99105738e-01 1.87983430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.169115933 meters 0.022632050662855945 Centerline is valid? [True, True] Translation: X:-20.73, Y:7.21, Z:0.10 [[ 7.07229065e-01 7.05858947e-01 -3.98772667e-02 -2.07276513e+01] [-7.04994632e-01 7.08344701e-01 3.50763956e-02 7.21081034e+00] [ 5.30058382e-02 3.30621249e-03 9.98588729e-01 1.00097451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.199115933 meters 0.02212109650301201 Centerline is valid? [True, True] Translation: X:-20.73, Y:7.23, Z:0.13 [[ 7.15774221e-01 6.97459949e-01 -3.48838712e-02 -2.07324423e+01] [-6.96779135e-01 7.16620395e-01 3.08876532e-02 7.23298411e+00] [ 4.65413945e-02 2.19776768e-03 9.98913944e-01 1.27827106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.229115933 meters 0.017318153419824373 Centerline is valid? [True, True] Translation: X:-20.79, Y:7.19, Z:-0.04 [[ 7.15696196e-01 6.97611467e-01 -3.34244829e-02 -2.07922375e+01] [-6.96977818e-01 7.16473548e-01 2.97922116e-02 7.18964066e+00] [ 4.47311463e-02 1.97395065e-03 9.98997111e-01 -4.33111743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.259115933000004 meters 0.020438843610399087 Centerline is valid? [True, True] Translation: X:-20.78, Y:7.23, Z:0.05 [[ 7.02062484e-01 7.11021663e-01 -3.94520464e-02 -2.07774691e+01] [-7.10144460e-01 7.03163133e-01 3.54464901e-02 7.23082565e+00] [ 5.29444470e-02 3.13100133e-03 9.98592551e-01 4.75000069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.289115933 meters 0.020308694808241844 Centerline is valid? [True, True] Translation: X:-20.79, Y:7.24, Z:0.06 [[ 7.02111070e-01 7.11076679e-01 -3.75500083e-02 -2.07890443e+01] [-7.10270433e-01 7.03108812e-01 3.39692456e-02 7.24394836e+00] [ 5.05564801e-02 2.82047730e-03 9.98717221e-01 5.53801185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.319115933 meters 0.019563087400570105 Centerline is valid? [True, True] Translation: X:-20.80, Y:7.25, Z:0.05 [[ 7.02016614e-01 7.11285875e-01 -3.52856689e-02 -2.08009859e+01] [-7.10560535e-01 7.02898530e-01 3.22084045e-02 7.25019135e+00] [ 4.77116280e-02 2.46176874e-03 9.98858118e-01 5.04638989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.349115933 meters 0.016526512047481266 Centerline is valid? [True, True] Translation: X:-20.84, Y:7.23, Z:-0.05 [[ 7.07486874e-01 7.05946749e-01 -3.31889972e-02 -2.08391429e+01] [-7.05285743e-01 7.08262718e-01 3.05932042e-02 7.22820604e+00] [ 4.51037024e-02 1.76343610e-03 9.98980754e-01 -4.80742110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.379115933 meters 0.016526512047481266 Centerline is valid? [True, True] Translation: X:-20.85, Y:7.24, Z:-0.05 [[ 7.04773915e-01 7.08661158e-01 -3.30619351e-02 -2.08517208e+01] [-7.07996713e-01 7.05546810e-01 3.07303217e-02 7.24025474e+00] [ 4.51041282e-02 1.74981227e-03 9.98980758e-01 -4.82167110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.409115933 meters 0.018394733377028512 Centerline is valid? [True, True] Translation: X:-20.86, Y:7.26, Z:-0.01 [[ 6.98783612e-01 7.14503169e-01 -3.44482786e-02 -2.08586035e+01] [-7.13777162e-01 6.99629226e-01 3.22662280e-02 7.25908874e+00] [ 4.71553446e-02 2.04128320e-03 9.98885482e-01 -1.41493448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.439115933000004 meters 0.017527401864991903 Centerline is valid? [True, True] Translation: X:-20.88, Y:7.26, Z:-0.04 [[ 6.98151749e-01 7.15079131e-01 -3.52983202e-02 -2.08769592e+01] [-7.14304449e-01 6.99040817e-01 3.33330311e-02 7.26298141e+00] [ 4.85107215e-02 1.94223323e-03 9.98820774e-01 -4.27703222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.469115933 meters 0.021294778413667295 Centerline is valid? [True, True] Translation: X:-20.84, Y:7.33, Z:0.14 [[ 6.84881063e-01 7.27549487e-01 -4.01207367e-02 -2.08402068e+01] [-7.26554364e-01 6.86048577e-01 3.81589597e-02 7.33012823e+00] [ 5.52873059e-02 3.01554741e-03 9.98465933e-01 1.36026473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.499115933 meters 0.01746159352264179 Centerline is valid? [True, True] Translation: X:-20.89, Y:7.30, Z:-0.01 [[ 6.87713446e-01 7.24843585e-01 -4.06447292e-02 -2.08939478e+01] [-7.23801407e-01 6.88908433e-01 3.89447555e-02 7.29730888e+00] [ 5.62293529e-02 2.63588015e-03 9.98414399e-01 -1.17963343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.529115933 meters 0.017681039080274553 Centerline is valid? [True, True] Translation: X:-20.91, Y:7.31, Z:-0.00 [[ 6.92267398e-01 7.20828560e-01 -3.42350236e-02 -2.09076724e+01] [-7.20073240e-01 6.93111114e-01 3.30380493e-02 7.30848323e+00] [ 4.75434449e-02 1.78055991e-03 9.98867584e-01 -3.00996525e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.559115933 meters 0.015963894525967463 Centerline is valid? [True, True] Translation: X:-20.93, Y:7.31, Z:-0.05 [[ 6.90943162e-01 7.22163828e-01 -3.28169407e-02 -2.09304210e+01] [-7.21460248e-01 6.91720144e-01 3.19116314e-02 7.30959779e+00] [ 4.57455649e-02 1.62699472e-03 9.98951799e-01 -4.74384986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.589115933 meters 0.021613282668652724 Centerline is valid? [True, True] Translation: X:-20.87, Y:7.40, Z:0.20 [[ 6.68944176e-01 7.42159535e-01 -4.13873583e-02 -2.08697515e+01] [-7.41059411e-01 6.70213890e-01 4.05498672e-02 7.40168301e+00] [ 5.78328530e-02 3.54489384e-03 9.98319986e-01 2.03917785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.619115933 meters 0.020620656936021897 Centerline is valid? [True, True] Translation: X:-20.90, Y:7.39, Z:0.13 [[ 6.69555231e-01 7.41635212e-01 -4.09023782e-02 -2.09045343e+01] [-7.40544525e-01 6.70795389e-01 4.03404477e-02 7.38972437e+00] [ 5.73550232e-02 3.27987449e-03 9.98348458e-01 1.31989475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.649115933 meters 0.01690929532644442 Centerline is valid? [True, True] Translation: X:-20.97, Y:7.34, Z:-0.04 [[ 6.85347577e-01 7.27474317e-01 -3.28605581e-02 -2.09700736e+01] [-7.26743687e-01 6.86133234e-01 3.26312412e-02 7.34492393e+00] [ 4.62851109e-02 1.51746104e-03 9.98927117e-01 -4.42843508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.679115933 meters 0.015320932952400097 Centerline is valid? [True, True] Translation: X:-20.99, Y:7.35, Z:-0.08 [[ 6.88801207e-01 7.24332454e-01 -2.99231220e-02 -2.09935922e+01] [-7.23714157e-01 6.89450091e-01 2.99397809e-02 7.34662259e+00] [ 4.23168542e-02 1.03322975e-03 9.99103706e-01 -7.89674270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.709115933 meters 0.012497446794792692 Centerline is valid? [True, True] Translation: X:-19.33, Y:8.92, Z:-1.53 [[ 7.71610118e-01 -6.35989816e-01 -1.16094522e-02 -1.93311408e+01] [-6.35932509e-01 -7.71697067e-01 8.57205512e-03 8.91930037e+00] [-1.44107200e-02 7.68543626e-04 -9.99895865e-01 -1.52943846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.739115933 meters 0.014465344017570938 Centerline is valid? [True, True] Translation: X:-20.85, Y:7.19, Z:-0.07 [[ 7.44447094e-01 6.66929579e-01 -3.16774423e-02 -2.08519505e+01] [-6.66383420e-01 7.45120073e-01 2.70039542e-02 7.19490575e+00] [ 4.16132339e-02 1.00630710e-03 9.99133287e-01 -7.43292744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.769115933 meters 0.015070263599125921 Centerline is valid? [True, True] Translation: X:-20.86, Y:7.21, Z:-0.06 [[ 7.41328151e-01 6.70401759e-01 -3.15286210e-02 -2.08612146e+01] [-6.69857245e-01 7.41997521e-01 2.70360897e-02 7.21242357e+00] [ 4.15192007e-02 1.07706077e-03 9.99137126e-01 -6.06445587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.799115933 meters 0.016305504278832234 Centerline is valid? [True, True] Translation: X:-20.87, Y:7.23, Z:-0.05 [[ 7.38488546e-01 6.73426964e-01 -3.36272490e-02 -2.08717096e+01] [-6.72800328e-01 7.39252854e-01 2.90677891e-02 7.22645099e+00] [ 4.44340728e-02 1.15819484e-03 9.99011647e-01 -5.44778688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.829115933000004 meters 0.021246957749031403 Centerline is valid? [True, True] Translation: X:-20.84, Y:7.30, Z:0.09 [[ 6.98630186e-01 7.13479505e-01 -5.35056848e-02 -2.08382797e+01] [-7.11975914e-01 7.00654340e-01 4.66239564e-02 7.29534199e+00] [ 7.07542276e-02 5.52185548e-03 9.97478495e-01 8.60094361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.859115933 meters 0.021701066289796005 Centerline is valid? [True, True] Translation: X:-20.81, Y:7.36, Z:0.23 [[ 6.98571883e-01 7.13740653e-01 -5.07109901e-02 -2.08093822e+01] [-7.12369186e-01 7.00392010e-01 4.45104006e-02 7.35652836e+00] [ 6.72864546e-02 5.03123238e-03 9.97721013e-01 2.34584283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.889115933 meters 0.01880582259956577 Centerline is valid? [True, True] Translation: X:-20.87, Y:7.31, Z:0.05 [[ 7.11797118e-01 7.01074156e-01 -4.28939529e-02 -2.08732265e+01] [-7.00055132e-01 7.13081872e-01 3.79085193e-02 7.30668510e+00] [ 5.71635834e-02 3.04495708e-03 9.98360182e-01 5.28846723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.919115933 meters 0.021810272738832865 Centerline is valid? [True, True] Translation: X:-20.86, Y:7.35, Z:0.16 [[ 6.85433999e-01 7.26060861e-01 -5.49168427e-02 -2.08563326e+01] [-7.24441404e-01 6.87601719e-01 4.88725760e-02 7.35277652e+00] [ 7.32453801e-02 6.28510943e-03 9.97294145e-01 1.55245015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.949115933 meters 0.021310001891523312 Centerline is valid? [True, True] Translation: X:-20.85, Y:7.39, Z:0.21 [[ 6.88822999e-01 7.23025692e-01 -5.25045324e-02 -2.08514132e+01] [-7.21515183e-01 6.90799362e-01 4.70327833e-02 7.38532885e+00] [ 7.02760081e-02 5.48555446e-03 9.97512502e-01 2.08765821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.979115933 meters 0.016817309036495958 Centerline is valid? [True, True] Translation: X:-20.94, Y:7.31, Z:-0.04 [[ 7.09582439e-01 7.03425805e-01 -4.10475335e-02 -2.09393159e+01] [-7.02455323e-01 7.10764081e-01 3.70262068e-02 7.30921701e+00] [ 5.52203017e-02 2.56091229e-03 9.98470911e-01 -4.09021969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.009115933000004 meters 0.020416952604309018 Centerline is valid? [True, True] Translation: X:-20.87, Y:7.41, Z:0.20 [[ 6.83532477e-01 7.28067660e-01 -5.19695665e-02 -2.08739364e+01] [-7.26555226e-01 6.85483371e-01 4.72234220e-02 7.41154123e+00] [ 7.00061200e-02 5.48001755e-03 9.97531510e-01 2.00813230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.039115933 meters 0.021294523563752107 Centerline is valid? [True, True] Translation: X:-20.88, Y:7.43, Z:0.24 [[ 6.71615568e-01 7.38876621e-01 -5.47162489e-02 -2.08762896e+01] [-7.37210877e-01 6.73807135e-01 5.00406525e-02 7.43440179e+00] [ 7.38420672e-02 6.72933260e-03 9.97247244e-01 2.39224344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.069115933 meters 0.020843606426876108 Centerline is valid? [True, True] Translation: X:-20.89, Y:7.44, Z:0.22 [[ 6.73945917e-01 7.36858461e-01 -5.32589023e-02 -2.08939669e+01] [-7.35248879e-01 6.76019558e-01 4.90575491e-02 7.43884654e+00] [ 7.21525297e-02 6.09641333e-03 9.97374978e-01 2.20551961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.099115933 meters 0.02304628130276969 Centerline is valid? [True, True] Translation: X:-20.93, Y:7.43, Z:0.14 [[ 6.62130631e-01 7.47272916e-01 -5.62691500e-02 -2.09271892e+01] [-7.45485670e-01 6.64476074e-01 5.21791396e-02 7.42624156e+00] [ 7.63815617e-02 7.39843839e-03 9.97051212e-01 1.36483045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.129115933 meters 0.019917066894326964 Centerline is valid? [True, True] Translation: X:-20.92, Y:7.46, Z:0.20 [[ 6.65530383e-01 7.44454399e-01 -5.34505070e-02 -2.09160668e+01] [-7.42807925e-01 6.67641785e-01 4.99082550e-02 7.46330919e+00] [ 7.28402119e-02 6.48800013e-03 9.97322520e-01 2.04730933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.159115933 meters 0.021508127168068866 Centerline is valid? [True, True] Translation: X:-20.91, Y:7.49, Z:0.24 [[ 6.49952169e-01 7.57687730e-01 -5.89192734e-02 -2.09121723e+01] [-7.55708789e-01 6.52561558e-01 5.53862692e-02 7.49322511e+00] [ 8.04139495e-02 8.52738694e-03 9.96725078e-01 2.39134315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.189115933000004 meters 0.02034558567812713 Centerline is valid? [True, True] Translation: X:-20.99, Y:7.44, Z:0.05 [[ 6.69876896e-01 7.40810183e-01 -4.96509529e-02 -2.09858370e+01] [-7.39337170e-01 6.71694036e-01 4.69858649e-02 7.43571168e+00] [ 6.81578561e-02 5.23404966e-03 9.97660820e-01 5.03578259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.219115933 meters 0.02374473120090364 Centerline is valid? [True, True] Translation: X:-20.94, Y:7.51, Z:0.23 [[ 6.47499843e-01 7.59941783e-01 -5.68545466e-02 -2.09429050e+01] [-7.58050718e-01 6.49941660e-01 5.41751475e-02 7.50884328e+00] [ 7.81220967e-02 8.02023035e-03 9.96911538e-01 2.27229245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.249115933 meters 0.019916852279060815 Centerline is valid? [True, True] Translation: X:-20.95, Y:7.53, Z:0.22 [[ 6.56880545e-01 7.52220452e-01 -5.16946963e-02 -2.09496240e+01] [-7.50610133e-01 6.58882068e-01 4.95867787e-02 7.52593918e+00] [ 7.13608975e-02 6.22997268e-03 9.97431105e-01 2.23719455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.279115933 meters 0.019612324145744438 Centerline is valid? [True, True] Translation: X:-20.96, Y:7.54, Z:0.23 [[ 6.45632448e-01 7.61596305e-01 -5.59447086e-02 -2.09582247e+01] [-7.59716457e-01 6.48006877e-01 5.40184511e-02 7.54080770e+00] [ 7.73928086e-02 7.62605096e-03 9.96971512e-01 2.32755214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.309115933 meters 0.020421397815978126 Centerline is valid? [True, True] Translation: X:-20.97, Y:7.56, Z:0.24 [[ 6.50072846e-01 7.58204018e-01 -5.03186027e-02 -2.09652485e+01] [-7.56651997e-01 6.51987052e-01 4.88941544e-02 7.55860635e+00] [ 6.98788218e-02 6.28890913e-03 9.97535663e-01 2.44118222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.339115933 meters 0.021335173671333318 Centerline is valid? [True, True] Translation: X:-20.97, Y:7.57, Z:0.25 [[ 6.49038481e-01 7.59269653e-01 -4.75251948e-02 -2.09740188e+01] [-7.57868855e-01 6.50749792e-01 4.64704854e-02 7.57384499e+00] [ 6.62106400e-02 5.85673175e-03 9.97788480e-01 2.45943424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.369115933 meters 0.020442702266085685 Centerline is valid? [True, True] Translation: X:-20.98, Y:7.59, Z:0.24 [[ 6.37880321e-01 7.68501870e-01 -5.01355254e-02 -2.09838240e+01] [-7.66947608e-01 6.39809535e-01 4.93469888e-02 7.58756483e+00] [ 7.00004403e-02 6.97384823e-03 9.97522583e-01 2.40029403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.399115933 meters 0.020223069835299028 Centerline is valid? [True, True] Translation: X:-20.99, Y:7.60, Z:0.23 [[ 6.25146106e-01 7.78797581e-01 -5.16398527e-02 -2.09922026e+01] [-7.77155073e-01 6.27222719e-01 5.12020840e-02 7.60070055e+00] [ 7.22657479e-02 8.12339005e-03 9.97352331e-01 2.29220861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.429115933 meters 0.020177566722111025 Centerline is valid? [True, True] Translation: X:-20.99, Y:7.63, Z:0.26 [[ 6.08885357e-01 7.91402604e-01 -5.42267375e-02 -2.09866713e+01] [-7.89610396e-01 6.11215823e-01 5.41353911e-02 7.62900338e+00] [ 7.59871295e-02 9.85574875e-03 9.97060089e-01 2.57134831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.459115933 meters 0.01977614248495172 Centerline is valid? [True, True] Translation: X:-21.02, Y:7.61, Z:0.20 [[ 6.11466000e-01 7.89744467e-01 -4.91223787e-02 -2.10229408e+01] [-7.88247038e-01 6.13376487e-01 4.93547668e-02 7.61384327e+00] [ 6.91081660e-02 8.54180767e-03 9.97572603e-01 1.99470390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.489115933 meters 0.020440985801963244 Centerline is valid? [True, True] Translation: X:-19.60, Y:8.85, Z:-1.87 [[ 8.39493115e-01 -5.41926898e-01 -3.95796152e-02 -1.95964860e+01] [-5.40982933e-01 -8.40405069e-01 3.25082518e-02 8.84719185e+00] [-5.08800053e-02 -5.87855724e-03 -9.98687472e-01 -1.87436633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.519115933 meters 0.02011390607469853 Centerline is valid? [True, True] Translation: X:-20.84, Y:7.47, Z:0.25 [[ 6.63684196e-01 7.45790415e-01 -5.76189543e-02 -2.08354804e+01] [-7.44224635e-01 6.66103664e-01 4.93518124e-02 7.46726572e+00] [ 7.51863053e-02 1.01274273e-02 9.97118075e-01 2.48444795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.549115933 meters 0.019292932357797454 Centerline is valid? [True, True] Translation: X:-20.87, Y:7.46, Z:0.21 [[ 6.70177242e-01 7.40216563e-01 -5.42393105e-02 -2.08665468e+01] [-7.38791645e-01 6.72311572e-01 4.67338806e-02 7.45544378e+00] [ 7.10589086e-02 8.75156622e-03 9.97433728e-01 2.14532599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.579115933000004 meters 0.02095404258432506 Centerline is valid? [True, True] Translation: X:-20.87, Y:7.48, Z:0.25 [[ 6.65529992e-01 7.44269911e-01 -5.59654287e-02 -2.08665039e+01] [-7.42743014e-01 6.67814732e-01 4.85417267e-02 7.48129709e+00] [ 7.35026844e-02 9.26195625e-03 9.97252010e-01 2.49721245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.609115933 meters 0.02073695847556868 Centerline is valid? [True, True] Translation: X:-20.88, Y:7.49, Z:0.25 [[ 6.69963335e-01 7.40447683e-01 -5.37248457e-02 -2.08826500e+01] [-7.39008693e-01 6.72062808e-01 4.68799858e-02 7.48809625e+00] [ 7.08186476e-02 8.29525642e-03 9.97454715e-01 2.50457048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.639115933 meters 0.01732251372127473 Centerline is valid? [True, True] Translation: X:-20.97, Y:7.40, Z:-0.01 [[ 6.79193097e-01 7.32298003e-01 -4.93596057e-02 -2.09736936e+01] [-7.31043048e-01 6.80952021e-01 4.33636659e-02 7.40343560e+00] [ 6.53666492e-02 6.63169400e-03 9.97839277e-01 -7.60239972e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.669115933 meters 0.023533172507606247 Centerline is valid? [True, True] Translation: X:-20.92, Y:7.50, Z:0.21 [[ 6.56298106e-01 7.52155714e-01 -5.94523238e-02 -2.09184719e+01] [-7.50381270e-01 6.58908263e-01 5.26103625e-02 7.49618410e+00] [ 7.87448121e-02 1.00838290e-02 9.96843805e-01 2.05687609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.699115933 meters 0.0212112967662554 Centerline is valid? [True, True] Translation: X:-20.94, Y:7.50, Z:0.18 [[ 6.60261050e-01 7.48814669e-01 -5.77229368e-02 -2.09387870e+01] [-7.47105119e-01 6.62715744e-01 5.13982911e-02 7.49684728e+00] [ 7.67416933e-02 9.18881188e-03 9.97008665e-01 1.80894290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.729115933 meters 0.02069386041715097 Centerline is valid? [True, True] Translation: X:-20.95, Y:7.51, Z:0.18 [[ 6.57384100e-01 7.51399292e-01 -5.69670792e-02 -2.09518009e+01] [-7.49719630e-01 6.59784265e-01 5.10411561e-02 7.50579361e+00] [ 7.59382710e-02 9.15569310e-03 9.97070485e-01 1.77104709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.759115933000004 meters 0.019847514553132193 Centerline is valid? [True, True] Translation: X:-20.96, Y:7.51, Z:0.17 [[ 6.51986173e-01 7.55954088e-01 -5.87149632e-02 -2.09649371e+01] [-7.54157698e-01 6.54552260e-01 5.29858945e-02 7.51479505e+00] [ 7.84869154e-02 9.73427090e-03 9.96867618e-01 1.67497558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.789115933 meters 0.020682108143795657 Centerline is valid? [True, True] Translation: X:-20.98, Y:7.52, Z:0.14 [[ 6.48273900e-01 7.59322505e-01 -5.63052786e-02 -2.09810439e+01] [-7.57655451e-01 6.50645350e-01 5.11746627e-02 7.52154571e+00] [ 7.54928408e-02 9.48480309e-03 9.97101233e-01 1.38395727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.819115933 meters 0.02161424399974201 Centerline is valid? [True, True] Translation: X:-20.98, Y:7.55, Z:0.18 [[ 6.43009782e-01 7.63811111e-01 -5.59553934e-02 -2.09773884e+01] [-7.62154217e-01 6.45366703e-01 5.12129659e-02 7.55065653e+00] [ 7.52287801e-02 9.71620097e-03 9.97118963e-01 1.77339024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.849115933 meters 0.022322923441060703 Centerline is valid? [True, True] Translation: X:-20.99, Y:7.56, Z:0.17 [[ 6.26129327e-01 7.77169042e-01 -6.30106802e-02 -2.09895245e+01] [-7.75097325e-01 6.29168075e-01 5.80660762e-02 7.56032243e+00] [ 8.47714652e-02 1.24825364e-02 9.96322229e-01 1.66630324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.879115933 meters 0.022589076466884406 Centerline is valid? [True, True] Translation: X:-21.00, Y:7.57, Z:0.17 [[ 6.20431178e-01 7.81646361e-01 -6.39853118e-02 -2.09973750e+01] [-7.79497791e-01 6.23585463e-01 5.93663576e-02 7.57471419e+00] [ 8.63038076e-02 1.30436700e-02 9.96183475e-01 1.66769865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.909115933 meters 0.020441125403815055 Centerline is valid? [True, True] Translation: X:-21.04, Y:7.55, Z:0.09 [[ 6.35759897e-01 7.69795374e-01 -5.67841174e-02 -2.10360846e+01] [-7.68029945e-01 6.38214067e-01 5.30359186e-02 7.55415419e+00] [ 7.70672273e-02 9.89379249e-03 9.96976808e-01 8.82140809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.939115933000004 meters 0.021903845638561154 Centerline is valid? [True, True] Translation: X:-21.03, Y:7.58, Z:0.13 [[ 6.27113522e-01 7.76623267e-01 -5.98743023e-02 -2.10313377e+01] [-7.74657659e-01 6.29868139e-01 5.63172986e-02 7.58255100e+00] [ 8.14502397e-02 1.10647474e-02 9.96615989e-01 1.32160175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.969115933 meters 0.02040926126560959 Centerline is valid? [True, True] Translation: X:-21.06, Y:7.58, Z:0.08 [[ 6.28204106e-01 7.75640800e-01 -6.11633158e-02 -2.10577356e+01] [-7.73552555e-01 6.31079961e-01 5.79182853e-02 7.57615710e+00] [ 8.35227281e-02 1.09285346e-02 9.96445945e-01 8.49535457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.999115933 meters 0.019681849548319343 Centerline is valid? [True, True] Translation: X:-21.08, Y:7.57, Z:0.02 [[ 6.32166002e-01 7.72492968e-01 -6.01727466e-02 -2.10834620e+01] [-7.70423920e-01 6.34943360e-01 5.73926185e-02 7.57224641e+00] [ 8.25416802e-02 1.00768611e-02 9.96536667e-01 2.45747103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.029115933 meters 0.02237261563873489 Centerline is valid? [True, True] Translation: X:-21.08, Y:7.60, Z:0.09 [[ 6.10551170e-01 7.89039482e-01 -6.81466404e-02 -2.10771913e+01] [-7.86437837e-01 6.14191306e-01 6.54566151e-02 7.60258294e+00] [ 9.35029277e-02 1.36284835e-02 9.95525724e-01 8.55852261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.059115933 meters 0.018703509403590817 Centerline is valid? [True, True] Translation: X:-21.11, Y:7.59, Z:0.03 [[ 6.39819298e-01 7.66629041e-01 -5.39553453e-02 -2.11065266e+01] [-7.64889791e-01 6.42042076e-01 5.22070934e-02 7.59121496e+00] [ 7.46650758e-02 7.86678698e-03 9.97177637e-01 2.53282688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.089115933 meters 0.017390804559777276 Centerline is valid? [True, True] Translation: X:-21.13, Y:7.59, Z:-0.03 [[ 6.42286794e-01 7.64619624e-01 -5.31460619e-02 -2.11295418e+01] [-7.62895662e-01 6.44440971e-01 5.18270627e-02 7.58897899e+00] [ 7.38774889e-02 7.25706213e-03 9.97240920e-01 -2.54193339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.119115933 meters 0.016353914767754097 Centerline is valid? [True, True] Translation: X:-21.14, Y:7.60, Z:-0.04 [[ 6.41301961e-01 7.65554452e-01 -5.15574990e-02 -2.11436714e+01] [-7.63908266e-01 6.43334071e-01 5.06501171e-02 7.59837617e+00] [ 7.19441184e-02 6.90318024e-03 9.97384775e-01 -4.42864831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.149115933 meters 0.020703759619011046 Centerline is valid? [True, True] Translation: X:-21.12, Y:7.65, Z:0.08 [[ 6.19367576e-01 7.82902868e-01 -5.87103488e-02 -2.11167935e+01] [-7.80807059e-01 6.22065783e-01 5.80904369e-02 7.65070954e+00] [ 8.20008687e-02 9.86212162e-03 9.96583462e-01 7.65357497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.179115933 meters 0.018811410407659743 Centerline is valid? [True, True] Translation: X:-21.14, Y:7.65, Z:0.03 [[ 6.22017509e-01 7.80871241e-01 -5.77436017e-02 -2.11415891e+01] [-7.78803327e-01 6.24624458e-01 5.75296821e-02 7.64579904e+00] [ 8.09913402e-02 9.18643960e-03 9.96672470e-01 2.78563734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.209115933 meters 0.018240963051020673 Centerline is valid? [True, True] Translation: X:-21.15, Y:7.66, Z:0.02 [[ 6.20956158e-01 7.81744130e-01 -5.73547289e-02 -2.11542250e+01] [-7.79675352e-01 6.23534555e-01 5.75413322e-02 7.65627985e+00] [ 8.07452541e-02 8.98742390e-03 9.96694251e-01 2.45191162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.239115933 meters 0.016505399347916797 Centerline is valid? [True, True] Translation: X:-19.67, Y:9.06, Z:-1.57 [[ 8.20724873e-01 -5.69739856e-01 -4.25109245e-02 -1.96724378e+01] [-5.68685791e-01 -8.21812818e-01 3.49308447e-02 9.05707893e+00] [-5.48375171e-02 -4.49325434e-03 -9.98485181e-01 -1.57257205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.269115933 meters 0.016505399347916797 Centerline is valid? [True, True] Translation: X:-21.05, Y:7.50, Z:-0.05 [[ 6.89238678e-01 7.22053526e-01 -5.99061805e-02 -2.10502186e+01] [-7.20278400e-01 6.91792590e-01 5.12058458e-02 7.50183738e+00] [ 7.84160133e-02 7.85607834e-03 9.96889769e-01 -4.86832699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.299115933 meters 0.019108857147786866 Centerline is valid? [True, True] Translation: X:-21.05, Y:7.53, Z:0.00 [[ 6.76931022e-01 7.33585884e-01 -6.01343634e-02 -2.10506016e+01] [-7.31813340e-01 6.79537477e-01 5.17499169e-02 7.52854977e+00] [ 7.88265621e-02 8.97600518e-03 9.96847934e-01 2.07160034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.329115933 meters 0.01720341453558978 Centerline is valid? [True, True] Translation: X:-21.06, Y:7.54, Z:-0.01 [[ 6.75163837e-01 7.35459788e-01 -5.70323843e-02 -2.10645411e+01] [-7.33847925e-01 6.77515071e-01 4.94019370e-02 7.53744200e+00] [ 7.49734381e-02 8.49869556e-03 9.97149315e-01 -1.01910073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.359115933 meters 0.018199919590080164 Centerline is valid? [True, True] Translation: X:-21.07, Y:7.55, Z:-0.01 [[ 6.72340432e-01 7.37956009e-01 -5.81315007e-02 -2.10734146e+01] [-7.36265198e-01 6.74792426e-01 5.06827391e-02 7.55217052e+00] [ 7.66283282e-02 8.72414616e-03 9.97021559e-01 -1.11622055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.389115933 meters 0.017448087591267033 Centerline is valid? [True, True] Translation: X:-21.08, Y:7.57, Z:-0.00 [[ 6.68590838e-01 7.41331821e-01 -5.84245089e-02 -2.10834652e+01] [-7.39610213e-01 6.71079295e-01 5.12768256e-02 7.56625278e+00] [ 7.72206207e-02 8.92814769e-03 9.96974054e-01 -2.74850912e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.419115933 meters 0.016485108285900846 Centerline is valid? [True, True] Translation: X:-21.11, Y:7.56, Z:-0.06 [[ 6.61687741e-01 7.47369068e-01 -6.00733666e-02 -2.11093256e+01] [-7.45542479e-01 6.64339051e-01 5.31040343e-02 7.56172866e+00] [ 7.95973959e-02 9.64895812e-03 9.96780393e-01 -6.04558765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.449115933 meters 0.018440041970987 Centerline is valid? [True, True] Translation: X:-21.10, Y:7.59, Z:0.00 [[ 6.56457286e-01 7.52040443e-01 -5.91523824e-02 -2.11049576e+01] [-7.50260832e-01 6.59043672e-01 5.26319510e-02 7.59353669e+00] [ 7.85653590e-02 9.82908793e-03 9.96860508e-01 1.82971017e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.479115933 meters 0.015328873105217045 Centerline is valid? [True, True] Translation: X:-21.13, Y:7.59, Z:-0.06 [[ 6.58531425e-01 7.50341870e-01 -5.76492879e-02 -2.11284207e+01] [-7.48619974e-01 6.60986491e-01 5.16235637e-02 7.58969228e+00] [ 7.68407219e-02 9.16166946e-03 9.97001287e-01 -5.73416640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.509115933000004 meters 0.0188630435038787 Centerline is valid? [True, True] Translation: X:-21.13, Y:7.62, Z:-0.03 [[ 6.52006328e-01 7.56023866e-01 -5.75817843e-02 -2.11280477e+01] [-7.54298444e-01 6.54474084e-01 5.19377528e-02 7.61562969e+00] [ 7.69519662e-02 9.57010686e-03 9.96988871e-01 -2.54799610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.539115933 meters 0.018784348058501932 Centerline is valid? [True, True] Translation: X:-21.13, Y:7.63, Z:-0.01 [[ 6.48509641e-01 7.59218591e-01 -5.49761393e-02 -2.11346552e+01] [-7.57631565e-01 6.50769694e-01 4.99321265e-02 7.63430817e+00] [ 7.36862040e-02 9.27019301e-03 9.97238390e-01 -8.25035986e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.569115933 meters 0.01884166682017907 Centerline is valid? [True, True] Translation: X:-21.14, Y:7.66, Z:0.02 [[ 6.44111418e-01 7.62970951e-01 -5.47339773e-02 -2.11371224e+01] [-7.61387945e-01 6.46363656e-01 5.00242176e-02 7.65641012e+00] [ 7.35450785e-02 9.45262077e-03 9.97247095e-01 2.42072905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.599115933 meters 0.020927539293476287 Centerline is valid? [True, True] Translation: X:-21.14, Y:7.68, Z:0.07 [[ 6.35541802e-01 7.69986205e-01 -5.66379969e-02 -2.11374257e+01] [-7.68290765e-01 6.37975891e-01 5.21158655e-02 7.68096367e+00] [ 7.62621740e-02 1.03926389e-02 9.97033637e-01 6.51959359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.629115933 meters 0.018664310624442144 Centerline is valid? [True, True] Translation: X:-21.16, Y:7.67, Z:0.00 [[ 6.38496548e-01 7.67654836e-01 -5.50291905e-02 -2.11635127e+01] [-7.66017267e-01 6.40791970e-01 5.10215373e-02 7.67133199e+00] [ 7.44291932e-02 9.57623468e-03 9.97180320e-01 3.78890495e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.659115933 meters 0.019114358887724867 Centerline is valid? [True, True] Translation: X:-21.17, Y:7.68, Z:0.00 [[ 6.36771114e-01 7.69108757e-01 -5.47199034e-02 -2.11730774e+01] [-7.67469758e-01 6.39047679e-01 5.10708821e-02 7.68478480e+00] [ 7.42476900e-02 9.47540852e-03 9.97194814e-01 1.99481748e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.689115933000004 meters 0.018055061409631083 Centerline is valid? [True, True] Translation: X:-21.19, Y:7.69, Z:-0.03 [[ 6.35987552e-01 7.69666668e-01 -5.59736934e-02 -2.11940211e+01] [-7.67925423e-01 6.38374914e-01 5.26119137e-02 7.68697941e+00] [ 7.62258380e-02 9.52309997e-03 9.97045100e-01 -3.07244681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.719115933 meters 0.019885464121669638 Centerline is valid? [True, True] Translation: X:-21.20, Y:7.71, Z:-0.02 [[ 6.32425478e-01 7.72657447e-01 -5.51224481e-02 -2.11988371e+01] [-7.70952100e-01 6.34752126e-01 5.21785094e-02 7.70752640e+00] [ 7.53052050e-02 9.49774840e-03 9.97115299e-01 -1.86652457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.749115933 meters 0.017711854873380017 Centerline is valid? [True, True] Translation: X:-21.22, Y:7.71, Z:-0.03 [[ 6.35222719e-01 7.70467508e-01 -5.35902683e-02 -2.12158574e+01] [-7.68822773e-01 6.37419096e-01 5.10728892e-02 7.71218768e+00] [ 7.35094621e-02 8.75875915e-03 9.97256057e-01 -2.61334479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.779115933 meters 0.017864072023805463 Centerline is valid? [True, True] Translation: X:-21.23, Y:7.72, Z:-0.03 [[ 6.30146740e-01 7.74616535e-01 -5.37057688e-02 -2.12283613e+01] [-7.72951179e-01 6.32366868e-01 5.15618084e-02 7.72259041e+00] [ 7.39023782e-02 9.02043188e-03 9.97224684e-01 -3.35551622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.809115933 meters 0.01626386987198119 Centerline is valid? [True, True] Translation: X:-21.25, Y:7.73, Z:-0.07 [[ 6.29703966e-01 7.74966129e-01 -5.38554984e-02 -2.12453100e+01] [-7.73263112e-01 6.31941011e-01 5.21029553e-02 7.72664590e+00] [ 7.44115237e-02 8.83503276e-03 9.97188481e-01 -6.66608372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.839115933 meters 0.01848096315980451 Centerline is valid? [True, True] Translation: X:-21.24, Y:7.75, Z:-0.01 [[ 6.23676686e-01 7.79859111e-01 -5.33587627e-02 -2.12440480e+01] [-7.78176626e-01 6.25889061e-01 5.20002169e-02 7.75234589e+00] [ 7.39495088e-02 9.09121893e-03 9.97220547e-01 -9.77393685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.869115933 meters 0.01636914994187357 Centerline is valid? [True, True] Translation: X:-21.27, Y:7.75, Z:-0.07 [[ 6.24672599e-01 7.79091965e-01 -5.29136502e-02 -2.12664296e+01] [-7.77404666e-01 6.26849725e-01 5.19750768e-02 7.74906550e+00] [ 7.36622718e-02 8.66791221e-03 9.97245575e-01 -7.07176490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.899115933 meters 0.017391156375318035 Centerline is valid? [True, True] Translation: X:-21.27, Y:7.77, Z:-0.04 [[ 6.23234969e-01 7.80255477e-01 -5.27215716e-02 -2.12721296e+01] [-7.78559005e-01 6.25402410e-01 5.21315750e-02 7.76767329e+00] [ 7.36481449e-02 8.55663382e-03 9.97247579e-01 -4.24717249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.929115933 meters 0.016424501861512855 Centerline is valid? [True, True] Translation: X:-21.29, Y:7.77, Z:-0.08 [[ 6.21809163e-01 7.81432110e-01 -5.21269784e-02 -2.12906939e+01] [-7.79750920e-01 6.23934160e-01 5.19101799e-02 7.77274776e+00] [ 7.30880839e-02 8.36783386e-03 9.97290385e-01 -8.11789243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.959115933 meters 0.01658970480438115 Centerline is valid? [True, True] Translation: X:-21.30, Y:7.79, Z:-0.08 [[ 6.12820929e-01 7.88435274e-01 -5.31067635e-02 -2.12978935e+01] [-7.86687428e-01 6.15049823e-01 5.32598017e-02 7.78920257e+00] [ 7.46552118e-02 9.13970201e-03 9.97167521e-01 -7.77239164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.989115933 meters 0.018876120062556814 Centerline is valid? [True, True] Translation: X:-19.86, Y:9.15, Z:-1.60 [[ 8.36890185e-01 -5.45799537e-01 -4.14449342e-02 -1.98578724e+01] [-5.44769811e-01 -8.37895027e-01 3.40261141e-02 9.15459352e+00] [-5.32979416e-02 -5.89817197e-03 -9.98561235e-01 -1.60252655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.019115933 meters 0.017372124699815913 Centerline is valid? [True, True] Translation: X:-21.18, Y:7.66, Z:-0.06 [[ 6.71760173e-01 7.38574329e-01 -5.69756987e-02 -2.11802059e+01] [-7.37025601e-01 6.74108186e-01 4.86971914e-02 7.66447616e+00] [ 7.43742804e-02 9.27971486e-03 9.97187221e-01 -5.67050019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.049115933 meters 0.01862174930004307 Centerline is valid? [True, True] Translation: X:-21.19, Y:7.68, Z:-0.04 [[ 6.62038038e-01 7.47092278e-01 -5.96553759e-02 -2.11854903e+01] [-7.45400481e-01 6.64637658e-01 5.13313415e-02 7.68495607e+00] [ 7.79984582e-02 1.04838452e-02 9.96898355e-01 -3.80816393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.079115933 meters 0.01819640096275944 Centerline is valid? [True, True] Translation: X:-21.20, Y:7.69, Z:-0.04 [[ 6.60249040e-01 7.48655586e-01 -5.98833717e-02 -2.11995131e+01] [-7.46928106e-01 6.62876535e-01 5.18951330e-02 7.69455704e+00] [ 7.85468631e-02 1.04648616e-02 9.96855495e-01 -4.00952366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.109115933 meters 0.017604562459714295 Centerline is valid? [True, True] Translation: X:-21.21, Y:7.70, Z:-0.05 [[ 6.58501784e-01 7.50322594e-01 -5.82357765e-02 -2.12128896e+01] [-7.48667582e-01 6.60994255e-01 5.08276253e-02 7.70455901e+00] [ 7.66306294e-02 1.01291561e-02 9.97008098e-01 -5.45053151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.139115933 meters 0.019575060977656475 Centerline is valid? [True, True] Translation: X:-21.22, Y:7.73, Z:-0.03 [[ 6.47807800e-01 7.59383706e-01 -6.06748824e-02 -2.12150920e+01] [-7.57597484e-01 6.50542459e-01 5.32969227e-02 7.72741961e+00] [ 7.99444018e-02 1.14409760e-02 9.96733664e-01 -3.26779452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.169115933 meters 0.019439515858350662 Centerline is valid? [True, True] Translation: X:-21.23, Y:7.74, Z:-0.02 [[ 6.46990939e-01 7.60080856e-01 -6.06614961e-02 -2.12265999e+01] [-7.58271389e-01 6.49730158e-01 5.36211068e-02 7.73773691e+00] [ 8.01699802e-02 1.13055067e-02 9.96717091e-01 -2.25998923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.199115933 meters 0.01945390785043452 Centerline is valid? [True, True] Translation: X:-21.24, Y:7.75, Z:-0.05 [[ 6.49008436e-01 7.58482058e-01 -5.91017607e-02 -2.12399171e+01] [-7.56728647e-01 6.51608120e-01 5.26176058e-02 7.74591186e+00] [ 7.84206971e-02 1.05747254e-02 9.96864268e-01 -4.89180012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.229115933 meters 0.018333743867375393 Centerline is valid? [True, True] Translation: X:-21.25, Y:7.76, Z:-0.04 [[ 6.47588979e-01 7.59771300e-01 -5.81041023e-02 -2.12525600e+01] [-7.58056049e-01 6.50108303e-01 5.20597910e-02 7.75547617e+00] [ 7.73274944e-02 1.03328193e-02 9.96952201e-01 -4.32891550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.259115933000004 meters 0.019930274247917167 Centerline is valid? [True, True] Translation: X:-21.26, Y:7.77, Z:-0.03 [[ 6.39315615e-01 7.66409676e-01 -6.23839157e-02 -2.12582970e+01] [-7.64430371e-01 6.42245357e-01 5.62770655e-02 7.77436932e+00] [ 8.31970678e-02 1.17093531e-02 9.96464319e-01 -3.15912206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.289115933 meters 0.016866994872864388 Centerline is valid? [True, True] Translation: X:-21.29, Y:7.77, Z:-0.09 [[ 6.52062220e-01 7.56038408e-01 -5.67519725e-02 -2.12856161e+01] [-7.54336078e-01 6.54462512e-01 5.15354386e-02 7.76722926e+00] [ 7.61048094e-02 9.20574782e-03 9.97057326e-01 -8.56856796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.319115933 meters 0.018413824493336006 Centerline is valid? [True, True] Translation: X:-21.29, Y:7.79, Z:-0.06 [[ 6.46107849e-01 7.61021507e-01 -5.82315542e-02 -2.12916659e+01] [-7.59221936e-01 6.48652244e-01 5.32195266e-02 7.78664010e+00] [ 7.82732326e-02 9.82511954e-03 9.96883528e-01 -6.20237142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.349115933 meters 0.01699721069785766 Centerline is valid? [True, True] Translation: X:-21.31, Y:7.79, Z:-0.09 [[ 6.48780184e-01 7.58922168e-01 -5.58696281e-02 -2.13086101e+01] [-7.57230819e-01 6.51119919e-01 5.14231141e-02 7.79274124e+00] [ 7.54039690e-02 8.94390685e-03 9.97112956e-01 -9.08957497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.379115933 meters 0.019915635447484665 Centerline is valid? [True, True] Translation: X:-21.31, Y:7.82, Z:-0.04 [[ 6.39984487e-01 7.66242675e-01 -5.73761166e-02 -2.13075938e+01] [-7.64458419e-01 6.42476107e-01 5.31768587e-02 7.81954947e+00] [ 7.76091625e-02 9.82929071e-03 9.96935406e-01 -3.62097956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.409115933 meters 0.01696118267517745 Centerline is valid? [True, True] Translation: X:-21.33, Y:7.82, Z:-0.09 [[ 6.46335275e-01 7.61039468e-01 -5.54043375e-02 -2.13329797e+01] [-7.59331353e-01 6.48647766e-01 5.16911107e-02 7.81509950e+00] [ 7.52768751e-02 8.66046232e-03 9.97125062e-01 -9.21766171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.439115933000004 meters 0.021044161869717713 Centerline is valid? [True, True] Translation: X:-21.32, Y:7.85, Z:-0.02 [[ 6.38206220e-01 7.67680403e-01 -5.79622284e-02 -2.13224847e+01] [-7.65797428e-01 6.40761656e-01 5.45783736e-02 7.84593701e+00] [ 7.90387213e-02 9.55506789e-03 9.96825753e-01 -2.33425935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.469115933 meters 0.016736185058381745 Centerline is valid? [True, True] Translation: X:-21.35, Y:7.83, Z:-0.09 [[ 6.44075828e-01 7.62913109e-01 -5.59456492e-02 -2.13543838e+01] [-7.61112357e-01 6.46446358e-01 5.30573790e-02 7.83489432e+00] [ 7.66440311e-02 8.40794963e-03 9.97023068e-01 -8.80376512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.499115933 meters 0.016975719127059263 Centerline is valid? [True, True] Translation: X:-21.36, Y:7.85, Z:-0.07 [[ 6.49389305e-01 7.58697163e-01 -5.16928053e-02 -2.13621618e+01] [-7.57122706e-01 6.51404993e-01 4.93633907e-02 7.85193270e+00] [ 7.11248159e-02 7.08173863e-03 9.97442284e-01 -7.05292993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.529115933 meters 0.016866329193494786 Centerline is valid? [True, True] Translation: X:-21.38, Y:7.86, Z:-0.09 [[ 6.49938638e-01 7.58432766e-01 -4.85747399e-02 -2.13780438e+01] [-7.57021550e-01 6.51719600e-01 4.66897729e-02 7.85977593e+00] [ 6.70681637e-02 6.42663754e-03 9.97727698e-01 -8.67211309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.559115933 meters 0.017061101247986436 Centerline is valid? [True, True] Translation: X:-21.39, Y:7.87, Z:-0.09 [[ 6.50425786e-01 7.58172951e-01 -4.60442501e-02 -2.13914039e+01] [-7.56885474e-01 6.52027075e-01 4.45541474e-02 7.86988198e+00] [ 6.38018471e-02 5.87105775e-03 9.97945317e-01 -8.63380648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.589115933 meters 0.020554859375436003 Centerline is valid? [True, True] Translation: X:-21.38, Y:7.90, Z:-0.01 [[ 6.34270029e-01 7.71462293e-01 -5.04723736e-02 -2.13829611e+01] [-7.69929558e-01 6.36229039e-01 4.92045299e-02 7.90380941e+00] [ 7.00714292e-02 7.65121366e-03 9.97512633e-01 -8.88448094e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.619115933 meters 0.017491699986884518 Centerline is valid? [True, True] Translation: X:-21.41, Y:7.90, Z:-0.08 [[ 6.52627764e-01 7.56491876e-01 -4.23915403e-02 -2.14123696e+01] [-7.55361998e-01 6.53985020e-01 4.16154453e-02 7.89683313e+00] [ 5.92051786e-02 4.86156354e-03 9.98233997e-01 -8.41717823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.649115933 meters 0.01995840979584445 Centerline is valid? [True, True] Translation: X:-21.40, Y:7.94, Z:0.01 [[ 6.26712847e-01 7.77568936e-01 -5.11620715e-02 -2.13988799e+01] [-7.75962871e-01 6.28746853e-01 5.05867367e-02 7.93711670e+00] [ 7.15026665e-02 7.99651013e-03 9.97408354e-01 6.53733868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.679115933 meters 0.02009023701980043 Centerline is valid? [True, True] Translation: X:-21.40, Y:7.96, Z:0.03 [[ 6.32318217e-01 7.73207209e-01 -4.82108324e-02 -2.14036985e+01] [-7.71746651e-01 6.34116374e-01 4.79951240e-02 7.95737052e+00] [ 6.76814541e-02 6.85835719e-03 9.97683409e-01 3.49868220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.709115933 meters 0.022663281922911387 Centerline is valid? [True, True] Translation: X:-21.40, Y:7.98, Z:0.08 [[ 6.16292431e-01 7.85733313e-01 -5.29792354e-02 -2.14021590e+01] [-7.83986516e-01 6.18502664e-01 5.30998775e-02 7.98380730e+00] [ 7.44901409e-02 8.80995362e-03 9.97182834e-01 7.83894846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.739115933 meters 0.01952475846874021 Centerline is valid? [True, True] Translation: X:-20.03, Y:9.26, Z:-1.63 [[ 8.15419401e-01 -5.78152874e-01 -2.88176152e-02 -2.00307769e+01] [-5.77689545e-01 -8.15925172e-01 2.32573263e-02 9.26244348e+00] [-3.69593077e-02 -2.31684001e-03 -9.99314086e-01 -1.63439349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.769115933 meters 0.020975351953375323 Centerline is valid? [True, True] Translation: X:-21.30, Y:7.84, Z:0.04 [[ 6.89342950e-01 7.22800436e-01 -4.86397746e-02 -2.12957629e+01] [-7.21635622e-01 6.91026491e-01 4.15261132e-02 7.84317419e+00] [ 6.36264655e-02 6.47446057e-03 9.97952782e-01 4.18039001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.799115933 meters 0.02057795103286975 Centerline is valid? [True, True] Translation: X:-21.31, Y:7.85, Z:0.01 [[ 6.84960043e-01 7.26985271e-01 -4.81887524e-02 -2.13097401e+01] [-7.25836984e-01 6.86621008e-01 4.13795259e-02 7.85206951e+00] [ 6.31697156e-02 6.63385682e-03 9.97980751e-01 1.06939182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.829115933 meters 0.023157201062175357 Centerline is valid? [True, True] Translation: X:-21.29, Y:7.91, Z:0.18 [[ 6.76364287e-01 7.34857251e-01 -5.01614614e-02 -2.12850084e+01] [-7.33616952e-01 6.78180421e-01 4.33299361e-02 7.91066651e+00] [ 6.58598388e-02 7.49247712e-03 9.97800754e-01 1.82547021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.859115933 meters 0.02257656385175142 Centerline is valid? [True, True] Translation: X:-21.30, Y:7.92, Z:0.15 [[ 6.80241403e-01 7.31538858e-01 -4.60709545e-02 -2.13024116e+01] [-7.30470930e-01 6.81769504e-01 4.00320346e-02 7.91687968e+00] [ 6.06947607e-02 6.42204556e-03 9.98135714e-01 1.46711615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.889115933 meters 0.022558391112713173 Centerline is valid? [True, True] Translation: X:-21.32, Y:7.92, Z:0.13 [[ 6.76614028e-01 7.34864343e-01 -4.65602361e-02 -2.13203992e+01] [-7.33766453e-01 6.78181741e-01 4.06979012e-02 7.92262891e+00] [ 6.14837384e-02 6.62756849e-03 9.98086081e-01 1.25981808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.919115933 meters 0.022404585844228393 Centerline is valid? [True, True] Translation: X:-21.33, Y:7.94, Z:0.13 [[ 6.73387213e-01 7.37776206e-01 -4.72856337e-02 -2.13311208e+01] [-7.36635019e-01 6.75010829e-01 4.15840162e-02 7.93646446e+00] [ 6.25980125e-02 6.83010892e-03 9.98015450e-01 1.29337976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.949115933 meters 0.02240679563651558 Centerline is valid? [True, True] Translation: X:-21.34, Y:7.95, Z:0.14 [[ 6.76475085e-01 7.35191794e-01 -4.32953286e-02 -2.13426213e+01] [-7.34217014e-01 6.77833655e-01 3.83002982e-02 7.95001196e+00] [ 5.75050958e-02 5.87896946e-03 9.98327903e-01 1.36009480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.979115933 meters 0.021366070335470538 Centerline is valid? [True, True] Translation: X:-21.36, Y:7.95, Z:0.12 [[ 6.77722747e-01 7.34142377e-01 -4.15553566e-02 -2.13589221e+01] [-7.33228218e-01 6.78974235e-01 3.70184852e-02 7.95329749e+00] [ 5.53918552e-02 5.38129057e-03 9.98450191e-01 1.24427274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.009115933000004 meters 0.02316055759222592 Centerline is valid? [True, True] Translation: X:-21.36, Y:7.98, Z:0.18 [[ 6.72719626e-01 7.38659979e-01 -4.27754721e-02 -2.13557552e+01] [-7.37686223e-01 6.74053636e-01 3.83501182e-02 7.98385180e+00] [ 5.71606600e-02 5.75599934e-03 9.98348400e-01 1.82377336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.039115933 meters 0.02268656000098138 Centerline is valid? [True, True] Translation: X:-21.39, Y:7.98, Z:0.12 [[ 6.74249356e-01 7.37395783e-01 -4.04384066e-02 -2.13850127e+01] [-7.36511649e-01 6.75440960e-01 3.64705371e-02 7.97632212e+00] [ 5.42069764e-02 5.19312137e-03 9.98516217e-01 1.18382478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.069115933 meters 0.02256585114356608 Centerline is valid? [True, True] Translation: X:-21.39, Y:7.99, Z:0.14 [[ 6.72396480e-01 7.39082997e-01 -4.04882368e-02 -2.13944924e+01] [-7.38187638e-01 6.73594407e-01 3.67366980e-02 7.99227396e+00] [ 5.44241187e-02 5.18628950e-03 9.98504441e-01 1.39025243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.099115933 meters 0.021524462463454273 Centerline is valid? [True, True] Translation: X:-21.42, Y:7.99, Z:0.10 [[ 6.75869007e-01 7.36021281e-01 -3.83895904e-02 -2.14150037e+01] [-7.35200360e-01 6.76943199e-01 3.50476076e-02 7.99361473e+00] [ 5.17833571e-02 4.53644896e-03 9.98648038e-01 9.84511730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.129115933 meters 0.023352074048959396 Centerline is valid? [True, True] Translation: X:-21.41, Y:8.02, Z:0.17 [[ 6.71101550e-01 7.40351167e-01 -3.87667323e-02 -2.14113749e+01] [-7.39509492e-01 6.72203402e-01 3.56131746e-02 8.02488852e+00] [ 5.24253847e-02 4.76830989e-03 9.98613460e-01 1.69059649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.159115933 meters 0.02201461530893602 Centerline is valid? [True, True] Translation: X:-21.44, Y:8.02, Z:0.12 [[ 6.76721056e-01 7.35214752e-01 -3.88314355e-02 -2.14370410e+01] [-7.34350425e-01 6.77821058e-01 3.58896292e-02 8.02241126e+00] [ 5.27073495e-02 4.22861339e-03 9.98601049e-01 1.18558529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.189115933000004 meters 0.02201461530893602 Centerline is valid? [True, True] Translation: X:-21.45, Y:8.03, Z:0.12 [[ 6.74438288e-01 7.37315202e-01 -3.87206427e-02 -2.14492456e+01] [-7.36447518e-01 6.75535640e-01 3.60090511e-02 8.03399019e+00] [ 5.27071949e-02 4.22983842e-03 9.98601052e-01 1.18391458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.219115933 meters 0.023323804075301286 Centerline is valid? [True, True] Translation: X:-21.45, Y:8.06, Z:0.17 [[ 6.64720026e-01 7.45869349e-01 -4.27340789e-02 -2.14529787e+01] [-7.44814946e-01 6.66071614e-01 3.99912738e-02 8.05765804e+00] [ 5.82922223e-02 5.24598012e-03 9.98285779e-01 1.66419215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.249115933 meters 0.023513257095807538 Centerline is valid? [True, True] Translation: X:-21.47, Y:8.07, Z:0.16 [[ 6.61235104e-01 7.48869739e-01 -4.42973153e-02 -2.14673514e+01] [-7.47728020e-01 6.62694027e-01 4.17065354e-02 8.06857913e+00] [ 6.05883285e-02 5.54451862e-03 9.98147440e-01 1.61289634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.279115933 meters 0.02375958800954973 Centerline is valid? [True, True] Translation: X:-21.48, Y:8.08, Z:0.16 [[ 6.53987920e-01 7.55050943e-01 -4.68814941e-02 -2.14774229e+01] [-7.53769965e-01 6.55635926e-01 4.44114032e-02 8.08296006e+00] [ 6.42700637e-02 6.29334101e-03 9.97912698e-01 1.63080912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.309115933 meters 0.023073571029889172 Centerline is valid? [True, True] Translation: X:-21.49, Y:8.10, Z:0.18 [[ 6.50953234e-01 7.57664284e-01 -4.69544522e-02 -2.14884284e+01] [-7.56368301e-01 6.52613285e-01 4.47536947e-02 8.09635624e+00] [ 6.45513754e-02 6.38229697e-03 9.97893975e-01 1.75727890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.339115933 meters 0.02311993223179946 Centerline is valid? [True, True] Translation: X:-21.51, Y:8.10, Z:0.14 [[ 6.44844744e-01 7.62644224e-01 -5.04880556e-02 -2.15085893e+01] [-7.61139261e-01 6.46778116e-01 4.84261705e-02 8.09983913e+00] [ 6.95865088e-02 7.20107981e-03 9.97549930e-01 1.43955030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.369115933 meters 0.02270471323567062 Centerline is valid? [True, True] Translation: X:-21.52, Y:8.11, Z:0.14 [[ 6.37102190e-01 7.68942654e-01 -5.31788855e-02 -2.15203375e+01] [-7.67270731e-01 6.39266389e-01 5.13235783e-02 8.11157579e+00] [ 7.34603626e-02 8.10423816e-03 9.97265209e-01 1.42031850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.399115933 meters 0.021966782485829766 Centerline is valid? [True, True] Translation: X:-21.54, Y:8.11, Z:0.09 [[ 6.37419383e-01 7.68633408e-01 -5.38443638e-02 -2.15449518e+01] [-7.66894549e-01 6.39639913e-01 5.22831987e-02 8.10992273e+00] [ 7.46276173e-02 7.96662486e-03 9.97179649e-01 8.75699948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.429115933 meters 0.023186191659720138 Centerline is valid? [True, True] Translation: X:-21.54, Y:8.14, Z:0.18 [[ 6.30431930e-01 7.74324097e-01 -5.45689848e-02 -2.15362768e+01] [-7.72534110e-01 6.32731476e-01 5.33097385e-02 8.14459285e+00] [ 7.58065294e-02 8.54824077e-03 9.97085903e-01 1.83022856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.459115933 meters 0.02236206198350096 Centerline is valid? [True, True] Translation: X:-21.56, Y:8.14, Z:0.12 [[ 6.31381505e-01 7.73553584e-01 -5.45183325e-02 -2.15622761e+01] [-7.71738045e-01 6.33677457e-01 5.36028877e-02 8.14113401e+00] [ 7.60117442e-02 8.22999943e-03 9.97072957e-01 1.18220373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.489115933 meters 0.021557309626483303 Centerline is valid? [True, True] Translation: X:-21.58, Y:8.15, Z:0.11 [[ 6.32793712e-01 7.72396372e-01 -5.45523853e-02 -2.15754305e+01] [-7.70549025e-01 6.35091863e-01 5.39678243e-02 8.15109248e+00] [ 7.63303277e-02 7.88478741e-03 9.97051409e-01 1.14507108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.519115933 meters 0.021316511489394816 Centerline is valid? [True, True] Translation: X:-21.59, Y:8.16, Z:0.11 [[ 6.28171437e-01 7.76072994e-01 -5.57795142e-02 -2.15877904e+01] [-7.74124191e-01 6.30588925e-01 5.55818719e-02 8.16052914e+00] [ 7.83095337e-02 8.26532694e-03 9.96894830e-01 1.14185529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.549115933 meters 0.022148490925535703 Centerline is valid? [True, True] Translation: X:-21.59, Y:8.19, Z:0.17 [[ 6.24709100e-01 7.78701733e-01 -5.79840678e-02 -2.15877682e+01] [-7.76575126e-01 6.27334070e-01 5.81638894e-02 8.18626360e+00] [ 8.16677027e-02 8.69347376e-03 9.96621698e-01 1.72285500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.579115933 meters 0.02215243113745022 Centerline is valid? [True, True] Translation: X:-20.27, Y:9.37, Z:-1.82 [[ 8.20593413e-01 -5.69623556e-01 -4.64268738e-02 -2.02694703e+01] [-5.68356546e-01 -8.21890225e-01 3.83052722e-02 9.37409533e+00] [-5.99773791e-02 -5.04603636e-03 -9.98186982e-01 -1.81566613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.609115933 meters 0.02077171756406447 Centerline is valid? [True, True] Translation: X:-21.48, Y:8.03, Z:0.12 [[ 6.96709886e-01 7.14711943e-01 -6.14993800e-02 -2.14756330e+01] [-7.12811754e-01 6.99381811e-01 5.25783712e-02 8.03016185e+00] [ 8.05899377e-02 7.20560993e-03 9.96721296e-01 1.20295724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.639115933 meters 0.021286639394836007 Centerline is valid? [True, True] Translation: X:-21.48, Y:8.06, Z:0.20 [[ 6.86006653e-01 7.24490757e-01 -6.71417558e-02 -2.14750470e+01] [-7.22239269e-01 6.89227440e-01 5.77578988e-02 8.05852634e+00] [ 8.81210043e-02 8.87010980e-03 9.96070284e-01 1.98545701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.669115933 meters 0.021366814324481485 Centerline is valid? [True, True] Translation: X:-21.49, Y:8.07, Z:0.18 [[ 6.89827991e-01 7.21084546e-01 -6.46097597e-02 -2.14912952e+01] [-7.18956190e-01 6.92802304e-01 5.59192738e-02 8.06636447e+00] [ 8.50843145e-02 7.87690633e-03 9.96342619e-01 1.77964901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.699115933 meters 0.02104300670795018 Centerline is valid? [True, True] Translation: X:-21.50, Y:8.08, Z:0.19 [[ 6.87311134e-01 7.23411138e-01 -6.54196578e-02 -2.15029905e+01] [-7.21209587e-01 6.90370809e-01 5.69638202e-02 8.07990714e+00] [ 8.63720841e-02 8.02941660e-03 9.96230592e-01 1.94420542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.729115933 meters 0.020569498951520757 Centerline is valid? [True, True] Translation: X:-21.52, Y:8.09, Z:0.19 [[ 6.87947986e-01 7.22690878e-01 -6.66743083e-02 -2.15182165e+01] [-7.20368995e-01 6.91126875e-01 5.84136434e-02 8.08891522e+00] [ 8.82954136e-02 7.84455611e-03 9.96063443e-01 1.87587031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.759115933000004 meters 0.021389599631149888 Centerline is valid? [True, True] Translation: X:-21.53, Y:8.11, Z:0.22 [[ 6.76677386e-01 7.33087436e-01 -6.84874240e-02 -2.15251149e+01] [-7.30654039e-01 6.80072444e-01 6.03833259e-02 8.10841281e+00] [ 9.08426674e-02 9.18058184e-03 9.95822939e-01 2.16702340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.789115933 meters 0.02041692591197226 Centerline is valid? [True, True] Translation: X:-21.54, Y:8.11, Z:0.18 [[ 6.80718083e-01 7.29608314e-01 -6.55331936e-02 -2.15447973e+01] [-7.27332772e-01 6.83817477e-01 5.81437690e-02 8.11020730e+00] [ 8.72349203e-02 8.08492436e-03 9.96154959e-01 1.82596071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.819115933 meters 0.020023621114222453 Centerline is valid? [True, True] Translation: X:-21.56, Y:8.12, Z:0.17 [[ 6.73921743e-01 7.35613987e-01 -6.85678247e-02 -2.15601658e+01] [-7.33118672e-01 6.77340911e-01 6.12070511e-02 8.11793566e+00] [ 9.14685557e-02 9.01959005e-03 9.95767117e-01 1.73336509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.849115933 meters 0.020417994785470253 Centerline is valid? [True, True] Translation: X:-21.57, Y:8.14, Z:0.20 [[ 6.73061913e-01 7.36546759e-01 -6.69815912e-02 -2.15674369e+01] [-7.34137176e-01 6.76330896e-01 6.01591745e-02 8.13578847e+00] [ 8.96117646e-02 8.68282712e-03 9.95938924e-01 1.96226265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.879115933 meters 0.020867162397858567 Centerline is valid? [True, True] Translation: X:-21.58, Y:8.15, Z:0.21 [[ 6.63530308e-01 7.44913971e-01 -6.95032782e-02 -2.15769518e+01] [-7.42326720e-01 6.67086891e-01 6.28181592e-02 8.15040540e+00] [ 9.31588502e-02 9.91238795e-03 9.95601915e-01 2.05108892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.909115933 meters 0.020968556230196302 Centerline is valid? [True, True] Translation: X:-21.59, Y:8.17, Z:0.23 [[ 6.65181386e-01 7.43551747e-01 -6.82973117e-02 -2.15875237e+01] [-7.41010966e-01 6.68613843e-01 6.21150270e-02 8.16550769e+00] [ 9.18502649e-02 9.29129715e-03 9.95729482e-01 2.27654003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.939115933000004 meters 0.020999422925982936 Centerline is valid? [True, True] Translation: X:-21.60, Y:8.18, Z:0.22 [[ 6.64589884e-01 7.44307082e-01 -6.57818650e-02 -2.16009652e+01] [-7.41921025e-01 6.67779566e-01 6.01967134e-02 8.17630862e+00] [ 8.87326253e-02 8.79882191e-03 9.96016617e-01 2.20893472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.969115933 meters 0.020453806686431708 Centerline is valid? [True, True] Translation: X:-21.62, Y:8.18, Z:0.20 [[ 6.62355069e-01 7.46281451e-01 -6.59527012e-02 -2.16194631e+01] [-7.43859750e-01 6.65571800e-01 6.07194545e-02 8.18054737e+00] [ 8.92100606e-02 8.84172137e-03 9.95973589e-01 2.00431783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.999115933 meters 0.021014143126849332 Centerline is valid? [True, True] Translation: X:-21.63, Y:8.19, Z:0.20 [[ 6.56817919e-01 7.51048149e-01 -6.72078801e-02 -2.16320869e+01] [-7.48522887e-01 6.60180271e-01 6.22534868e-02 8.19228911e+00] [ 9.11246826e-02 9.41743078e-03 9.95794961e-01 2.00426637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.029115933 meters 0.02051744194455964 Centerline is valid? [True, True] Translation: X:-21.65, Y:8.20, Z:0.19 [[ 6.61485464e-01 7.47099029e-01 -6.54218743e-02 -2.16494979e+01] [-7.44653141e-01 6.64659955e-01 6.09823227e-02 8.19824877e+00] [ 8.90431341e-02 8.37768419e-03 9.95992537e-01 1.93930572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.059115933 meters 0.01988046718402936 Centerline is valid? [True, True] Translation: X:-21.66, Y:8.21, Z:0.19 [[ 6.62150192e-01 7.46548717e-01 -6.49779716e-02 -2.16635788e+01] [-7.44098668e-01 6.65282821e-01 6.09585120e-02 8.20793709e+00] [ 8.87372271e-02 7.98633167e-03 9.96023053e-01 1.89526196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.089115933 meters 0.02080650039866294 Centerline is valid? [True, True] Translation: X:-21.67, Y:8.23, Z:0.24 [[ 6.57829460e-01 7.50380671e-01 -6.47244096e-02 -2.16679894e+01] [-7.47933812e-01 6.60954900e-01 6.11034583e-02 8.22844692e+00] [ 8.86307697e-02 8.21391942e-03 9.96030681e-01 2.36344164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.119115933 meters 0.020750414712834852 Centerline is valid? [True, True] Translation: X:-21.68, Y:8.24, Z:0.24 [[ 6.54911290e-01 7.52816471e-01 -6.60194164e-02 -2.16784039e+01] [-7.50247322e-01 6.58176130e-01 6.27147281e-02 8.24264757e+00] [ 9.06650842e-02 8.45830685e-03 9.95845520e-01 2.43669051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.149115933 meters 0.021081798057055214 Centerline is valid? [True, True] Translation: X:-21.69, Y:8.26, Z:0.27 [[ 6.50146490e-01 7.56866942e-01 -6.67980120e-02 -2.16881737e+01] [-7.54221178e-01 6.53508810e-01 6.38486546e-02 8.25727286e+00] [ 9.19780253e-02 8.86949666e-03 9.95721535e-01 2.67520199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.179115933 meters 0.020531854569530102 Centerline is valid? [True, True] Translation: X:-21.71, Y:8.26, Z:0.22 [[ 6.52733230e-01 7.54588293e-01 -6.73486358e-02 -2.17119010e+01] [-7.51849537e-01 6.56145320e-01 6.47733962e-02 8.25585942e+00] [ 9.30677386e-02 8.35629251e-03 9.95624713e-01 2.17492386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.209115933 meters 0.021259382795011213 Centerline is valid? [True, True] Translation: X:-21.71, Y:8.28, Z:0.27 [[ 6.52264289e-01 7.55072272e-01 -6.64617273e-02 -2.17121322e+01] [-7.52362900e-01 6.55592834e-01 6.44057660e-02 8.27805819e+00] [ 9.22028402e-02 7.99375670e-03 9.95708158e-01 2.72081860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.239115933 meters 0.01992835139435382 Centerline is valid? [True, True] Translation: X:-21.73, Y:8.28, Z:0.22 [[ 6.56896351e-01 7.51220677e-01 -6.44567966e-02 -2.17347585e+01] [-7.48617852e-01 6.60014469e-01 6.28666256e-02 8.27891487e+00] [ 8.97691274e-02 6.95665163e-03 9.95938306e-01 2.21140188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.269115933 meters 0.0207122195915691 Centerline is valid? [True, True] Translation: X:-21.74, Y:8.30, Z:0.28 [[ 6.55572477e-01 7.52315616e-01 -6.51608874e-02 -2.17394069e+01] [-7.49624897e-01 6.58766476e-01 6.39471955e-02 8.29955822e+00] [ 9.10342819e-02 6.92420220e-03 9.95823687e-01 2.79852175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.299115933 meters 0.02009704476405602 Centerline is valid? [True, True] Translation: X:-21.76, Y:8.30, Z:0.23 [[ 6.51813599e-01 7.55549957e-01 -6.54468795e-02 -2.17599425e+01] [-7.52814029e-01 6.55052132e-01 6.46354536e-02 8.30238261e+00] [ 9.17064321e-02 7.13906146e-03 9.95760495e-01 2.33834319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.329115933 meters 0.020103069602835484 Centerline is valid? [True, True] Translation: X:-21.77, Y:8.32, Z:0.24 [[ 6.49774629e-01 7.57273749e-01 -6.57981740e-02 -2.17712186e+01] [-7.54479136e-01 6.53058410e-01 6.53907209e-02 8.31574449e+00] [ 9.24887273e-02 7.15411803e-03 9.95688030e-01 2.42632377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.359115933 meters 0.02011591995631613 Centerline is valid? [True, True] Translation: X:-21.78, Y:8.33, Z:0.27 [[ 6.48829991e-01 7.58278313e-01 -6.35109630e-02 -2.17789419e+01] [-7.55643599e-01 6.51895737e-01 6.35192844e-02 8.33382547e+00] [ 8.95678219e-02 6.77843592e-03 9.95957659e-01 2.72165475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.389115933 meters 0.02002475049045063 Centerline is valid? [True, True] Translation: X:-20.47, Y:9.56, Z:-1.91 [[ 8.03993311e-01 -5.92425822e-01 -5.12484380e-02 -2.04721087e+01] [-5.90928355e-01 -8.05616552e-01 4.22569542e-02 9.55865838e+00] [-6.63207007e-02 -3.69015332e-03 -9.97791535e-01 -1.90623068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.419115933 meters 0.020408252557187513 Centerline is valid? [True, True] Translation: X:-21.67, Y:8.22, Z:0.28 [[ 7.09436541e-01 7.01383818e-01 -6.89966276e-02 -2.16745117e+01] [-6.98947359e-01 7.12753901e-01 5.87746940e-02 8.21855383e+00] [ 9.04012348e-02 6.52809508e-03 9.95884030e-01 2.84987516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.449115933 meters 0.02010418158038113 Centerline is valid? [True, True] Translation: X:-21.70, Y:8.22, Z:0.25 [[ 7.05888417e-01 7.05025098e-01 -6.82726420e-02 -2.16950900e+01] [-7.02625639e-01 7.09150929e-01 5.84993207e-02 8.22190380e+00] [ 8.96590969e-02 6.67611588e-03 9.95950137e-01 2.50358931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.479115933 meters 0.020628879441364798 Centerline is valid? [True, True] Translation: X:-21.70, Y:8.24, Z:0.29 [[ 7.01124522e-01 7.09648633e-01 -6.94494192e-02 -2.17004633e+01] [-7.07152243e-01 7.04519815e-01 5.98960475e-02 8.24455255e+00] [ 9.14336402e-02 7.11672493e-03 9.95785741e-01 2.88693791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.509115933000004 meters 0.020509224893201807 Centerline is valid? [True, True] Translation: X:-21.71, Y:8.26, Z:0.28 [[ 6.95197830e-01 7.15546808e-01 -6.85035986e-02 -2.17139480e+01] [-7.13112903e-01 6.98524269e-01 5.94460482e-02 8.25530849e+00] [ 9.03878562e-02 7.52403637e-03 9.95878218e-01 2.80189116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.539115933 meters 0.020103965253157486 Centerline is valid? [True, True] Translation: X:-21.73, Y:8.27, Z:0.29 [[ 6.97646307e-01 7.13282212e-01 -6.72169367e-02 -2.17266435e+01] [-7.10896304e-01 7.00843581e-01 5.86917343e-02 8.26670808e+00] [ 8.89723287e-02 6.83820018e-03 9.96010624e-01 2.85790101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.569115933 meters 0.01984497275933112 Centerline is valid? [True, True] Translation: X:-21.75, Y:8.27, Z:0.24 [[ 6.99936146e-01 7.11264399e-01 -6.47483317e-02 -2.17465936e+01] [-7.09010572e-01 7.02898291e-01 5.69034373e-02 8.26948931e+00] [ 8.59848808e-02 6.07847907e-03 9.96277899e-01 2.42286490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.599115933 meters 0.019778837869521258 Centerline is valid? [True, True] Translation: X:-21.76, Y:8.28, Z:0.24 [[ 6.96669515e-01 7.14616178e-01 -6.30500235e-02 -2.17615742e+01] [-7.12464224e-01 6.99490335e-01 5.57494501e-02 8.28024195e+00] [ 8.39423410e-02 6.08194367e-03 9.96452053e-01 2.37736351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.629115933 meters 0.020524899573773923 Centerline is valid? [True, True] Translation: X:-21.77, Y:8.30, Z:0.26 [[ 6.89535985e-01 7.21486424e-01 -6.32255170e-02 -2.17692023e+01] [-7.19320979e-01 6.92396273e-01 5.62559426e-02 8.29775503e+00] [ 8.43650112e-02 6.68894395e-03 9.96412466e-01 2.56985291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.659115933 meters 0.020198526628671734 Centerline is valid? [True, True] Translation: X:-21.79, Y:8.30, Z:0.23 [[ 6.91717547e-01 7.19598903e-01 -6.08625908e-02 -2.17875015e+01] [-7.17557913e-01 6.94364197e-01 5.44885579e-02 8.30421022e+00] [ 8.14707105e-02 5.98174201e-03 9.96657786e-01 2.30572993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.689115933000004 meters 0.020228579877620518 Centerline is valid? [True, True] Translation: X:-21.79, Y:8.32, Z:0.27 [[ 6.84826647e-01 7.26106897e-01 -6.14917620e-02 -2.17925248e+01] [-7.24020198e-01 6.87550335e-01 5.54011763e-02 8.32439890e+00] [ 8.25058578e-02 6.58107584e-03 9.96568850e-01 2.71114719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.719115933 meters 0.020227674859714325 Centerline is valid? [True, True] Translation: X:-21.81, Y:8.33, Z:0.24 [[ 6.84750630e-01 7.26311592e-01 -5.99002962e-02 -2.18127342e+01] [-7.24305075e-01 6.87337639e-01 5.43058860e-02 8.32745066e+00] [ 8.06147227e-02 6.20009885e-03 9.96726053e-01 2.38600221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.749115933 meters 0.020305074851135137 Centerline is valid? [True, True] Translation: X:-21.82, Y:8.34, Z:0.25 [[ 6.79105371e-01 7.31729169e-01 -5.82092735e-02 -2.18225685e+01] [-7.29828404e-01 6.81565225e-01 5.30975028e-02 8.34324151e+00] [ 7.85264082e-02 6.42398186e-03 9.96891336e-01 2.52354240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.779115933 meters 0.019157560312348432 Centerline is valid? [True, True] Translation: X:-21.84, Y:8.35, Z:0.21 [[ 6.82826975e-01 7.28463938e-01 -5.55662962e-02 -2.18437889e+01] [-7.26697791e-01 6.85061616e-01 5.09990557e-02 8.34562592e+00] [ 7.52173096e-02 5.55637380e-03 9.97151685e-01 2.12144158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.809115933 meters 0.020008346514220017 Centerline is valid? [True, True] Translation: X:-21.85, Y:8.36, Z:0.23 [[ 6.74618633e-01 7.35883015e-01 -5.80162773e-02 -2.18503214e+01] [-7.33952424e-01 6.77078572e-01 5.36511510e-02 8.36125869e+00] [ 7.87625489e-02 6.38712125e-03 9.96872944e-01 2.28013558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.839115933 meters 0.020362123211492816 Centerline is valid? [True, True] Translation: X:-21.86, Y:8.37, Z:0.23 [[ 6.69580756e-01 7.40303608e-01 -6.01014128e-02 -2.18639887e+01] [-7.38218138e-01 6.72237267e-01 5.59556707e-02 8.37013944e+00] [ 8.18265944e-02 6.90111276e-03 9.96622688e-01 2.26679407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.869115933 meters 0.020723894804865063 Centerline is valid? [True, True] Translation: X:-21.87, Y:8.39, Z:0.29 [[ 6.67878023e-01 7.41970482e-01 -5.84700815e-02 -2.18657771e+01] [-7.39976063e-01 6.70399236e-01 5.47749107e-02 8.39455638e+00] [ 7.98396648e-02 6.68350165e-03 9.96785312e-01 2.86399005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.899115933 meters 0.020370824377779866 Centerline is valid? [True, True] Translation: X:-21.89, Y:8.40, Z:0.24 [[ 6.69666765e-01 7.40446155e-01 -5.73229134e-02 -2.18871751e+01] [-7.38497893e-01 6.72087537e-01 5.40296644e-02 8.39673367e+00] [ 7.85320729e-02 6.15098018e-03 9.96892612e-01 2.40847488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.929115933 meters 0.019563524980866016 Centerline is valid? [True, True] Translation: X:-21.90, Y:8.40, Z:0.23 [[ 6.73155961e-01 7.37406841e-01 -5.56075879e-02 -2.19048688e+01] [-7.35536388e-01 6.75427402e-01 5.27640700e-02 8.40247157e+00] [ 7.64674748e-02 5.38295607e-03 9.97057546e-01 2.29331298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.959115933 meters 0.020571816793910846 Centerline is valid? [True, True] Translation: X:-21.92, Y:8.41, Z:0.23 [[ 6.66359011e-01 7.43465996e-01 -5.67801224e-02 -2.19181803e+01] [-7.41509575e-01 6.68747121e-01 5.42294979e-02 8.41462844e+00] [ 7.82893310e-02 5.96668980e-03 9.96912824e-01 2.33440447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.989115933 meters 0.020858359948066996 Centerline is valid? [True, True] Translation: X:-21.92, Y:8.44, Z:0.29 [[ 6.64647992e-01 7.45087050e-01 -5.55727831e-02 -2.19233865e+01] [-7.43192438e-01 6.66942029e-01 5.34165675e-02 8.43537250e+00] [ 7.68638174e-02 5.79805781e-03 9.97024742e-01 2.92546170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.019115933 meters 0.020584094974364968 Centerline is valid? [True, True] Translation: X:-21.94, Y:8.45, Z:0.30 [[ 6.62147933e-01 7.47247622e-01 -5.64012995e-02 -2.19359865e+01] [-7.45277026e-01 6.64519406e-01 5.45537697e-02 8.44742285e+00] [ 7.82449327e-02 5.91192694e-03 9.96916636e-01 3.04948712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.049115933 meters 0.01971859473198485 Centerline is valid? [True, True] Translation: X:-21.96, Y:8.44, Z:0.24 [[ 6.65081479e-01 7.44611908e-01 -5.67426940e-02 -2.19626698e+01] [-7.42580082e-01 6.67475799e-01 5.52347678e-02 8.44335583e+00] [ 7.90028408e-02 5.40037332e-03 9.96859763e-01 2.40974888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.079115933 meters 0.01971859473198485 Centerline is valid? [True, True] Translation: X:-21.97, Y:8.45, Z:0.24 [[ 6.60985513e-01 7.48271856e-01 -5.64568913e-02 -2.19704791e+01] [-7.46228531e-01 6.63370012e-01 5.55266332e-02 8.45162849e+00] [ 7.90008255e-02 5.42744297e-03 9.96859776e-01 2.40876060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.109115933 meters 0.020634056006393228 Centerline is valid? [True, True] Translation: X:-21.97, Y:8.48, Z:0.29 [[ 6.52780909e-01 7.55209276e-01 -5.94645706e-02 -2.19712123e+01] [-7.52935694e-01 6.55453227e-01 5.88974264e-02 8.47591721e+00] [ 8.34561275e-02 6.32588227e-03 9.96491374e-01 2.91320085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.139115933 meters 0.021350252857039956 Centerline is valid? [True, True] Translation: X:-21.98, Y:8.49, Z:0.30 [[ 6.45195478e-01 7.61386656e-01 -6.33494668e-02 -2.19813341e+01] [-7.58798798e-01 6.48256648e-01 6.31482621e-02 8.49017579e+00] [ 8.91469571e-02 7.32652610e-03 9.95991537e-01 2.98948044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.169115933 meters 0.020429070843726194 Centerline is valid? [True, True] Translation: X:-21.99, Y:8.50, Z:0.29 [[ 6.41979754e-01 7.64114105e-01 -6.31793457e-02 -2.19937827e+01] [-7.61512482e-01 6.45038783e-01 6.34327017e-02 8.50072225e+00] [ 8.92229504e-02 7.38935015e-03 9.95984268e-01 2.90700508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.199115933 meters 0.02121970995690171 Centerline is valid? [True, True] Translation: X:-20.68, Y:9.74, Z:-1.95 [[ 8.15036303e-01 -5.76937799e-01 -5.34658916e-02 -2.06804958e+01] [-5.75257179e-01 -8.16770398e-01 4.43316520e-02 9.73889857e+00] [-6.92459632e-02 -5.37526777e-03 -9.97585136e-01 -1.94550518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.229115933 meters 0.021187289863050407 Centerline is valid? [True, True] Translation: X:-21.90, Y:8.38, Z:0.29 [[ 6.97446140e-01 7.13431249e-01 -6.77106699e-02 -2.18988643e+01] [-7.11117794e-01 7.00682391e-01 5.79281436e-02 8.38496183e+00] [ 8.87714219e-02 7.74850208e-03 9.96021885e-01 2.93621311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.259115933000004 meters 0.020875182130755694 Centerline is valid? [True, True] Translation: X:-21.92, Y:8.39, Z:0.27 [[ 6.93478488e-01 7.17398376e-01 -6.65368879e-02 -2.19181923e+01] [-7.15152453e-01 6.96618698e-01 5.72656912e-02 8.38863197e+00] [ 8.74331541e-02 7.87149370e-03 9.96139289e-01 2.65870203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.289115933 meters 0.020511979764405247 Centerline is valid? [True, True] Translation: X:-21.93, Y:8.40, Z:0.25 [[ 6.93875726e-01 7.17034295e-01 -6.63196558e-02 -2.19330895e+01] [-7.14769855e-01 6.96997022e-01 5.74387169e-02 8.39705599e+00] [ 8.74101325e-02 7.54795939e-03 9.96143813e-01 2.52816898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.319115933 meters 0.021800646739412698 Centerline is valid? [True, True] Translation: X:-21.93, Y:8.42, Z:0.33 [[ 6.85838668e-01 7.24650651e-01 -6.71323731e-02 -2.19327255e+01] [-7.22333147e-01 6.89065656e-01 5.85093673e-02 8.42448198e+00] [ 8.86574638e-02 8.36395181e-03 9.96027057e-01 3.30257238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.349115933 meters 0.020964691058916993 Centerline is valid? [True, True] Translation: X:-21.95, Y:8.43, Z:0.30 [[ 6.83236125e-01 7.27187144e-01 -6.62363560e-02 -2.19526096e+01] [-7.24911948e-01 6.86388674e-01 5.80797302e-02 8.42702423e+00] [ 8.76987177e-02 8.33335605e-03 9.96112188e-01 2.99538135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.379115933 meters 0.02120390065715455 Centerline is valid? [True, True] Translation: X:-21.96, Y:8.44, Z:0.31 [[ 6.79384186e-01 7.30663052e-01 -6.75916560e-02 -2.19630426e+01] [-7.28278017e-01 6.82682618e-01 5.96286268e-02 8.44113051e+00] [ 8.97120831e-02 8.71477109e-03 9.95929613e-01 3.14622608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.409115933 meters 0.021155530753280756 Centerline is valid? [True, True] Translation: X:-21.97, Y:8.45, Z:0.30 [[ 6.75133838e-01 7.34610206e-01 -6.73954437e-02 -2.19728058e+01] [-7.32216967e-01 6.78431032e-01 5.99136782e-02 8.45040932e+00] [ 8.97363599e-02 8.89833580e-03 9.95925803e-01 2.99596011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.439115933000004 meters 0.02128174867837995 Centerline is valid? [True, True] Translation: X:-21.99, Y:8.46, Z:0.30 [[ 6.69846475e-01 7.39247078e-01 -6.94223143e-02 -2.19855366e+01] [-7.36691979e-01 6.73367055e-01 6.21428816e-02 8.46069428e+00] [ 9.26856430e-02 9.51667201e-03 9.95649941e-01 2.96475504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.469115933 meters 0.020525413009564213 Centerline is valid? [True, True] Translation: X:-22.00, Y:8.47, Z:0.27 [[ 6.71340155e-01 7.38144641e-01 -6.66699699e-02 -2.20029599e+01] [-7.35750222e-01 6.74585859e-01 6.00460588e-02 8.46644860e+00] [ 8.92972954e-02 8.74111476e-03 9.95966659e-01 2.70402481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.499115933 meters 0.02095522690396193 Centerline is valid? [True, True] Translation: X:-22.01, Y:8.48, Z:0.28 [[ 6.64546716e-01 7.44038542e-01 -6.91687013e-02 -2.20138260e+01] [-7.41449962e-01 6.68067918e-01 6.27471969e-02 8.47746606e+00] [ 9.28957232e-02 9.58668725e-03 9.95629690e-01 2.81226175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.529115933 meters 0.021602382960838416 Centerline is valid? [True, True] Translation: X:-22.02, Y:8.49, Z:0.28 [[ 6.60006821e-01 7.48092475e-01 -6.89104172e-02 -2.20242811e+01] [-7.45508160e-01 6.63521303e-01 6.29051934e-02 8.49101865e+00] [ 9.27824316e-02 9.85542167e-03 9.95637630e-01 2.81213521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.559115933 meters 0.021765492366092553 Centerline is valid? [True, True] Translation: X:-22.03, Y:8.50, Z:0.29 [[ 6.56043710e-01 7.51462669e-01 -7.00750200e-02 -2.20345769e+01] [-7.48770472e-01 6.59696154e-01 6.43720762e-02 8.50302407e+00] [ 9.46014334e-02 1.02392102e-02 9.95462570e-01 2.92470036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.589115933 meters 0.021102590798062103 Centerline is valid? [True, True] Translation: X:-22.05, Y:8.51, Z:0.27 [[ 6.52852765e-01 7.54255870e-01 -6.98666576e-02 -2.20523285e+01] [-7.51558289e-01 6.56498950e-01 6.45698564e-02 8.50853096e+00] [ 9.45695806e-02 1.03542564e-02 9.95464406e-01 2.66606453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.619115933 meters 0.02113936620311622 Centerline is valid? [True, True] Translation: X:-22.06, Y:8.52, Z:0.29 [[ 6.52896339e-01 7.54441606e-01 -6.74109307e-02 -2.20624412e+01] [-7.51896786e-01 6.56294557e-01 6.26791586e-02 8.52223282e+00] [ 9.15291920e-02 9.76306897e-03 9.95754533e-01 2.88007156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.649115933 meters 0.021522709447744728 Centerline is valid? [True, True] Translation: X:-22.07, Y:8.54, Z:0.29 [[ 6.48295954e-01 7.58454546e-01 -6.67761773e-02 -2.20732887e+01] [-7.55944313e-01 6.51649422e-01 6.24598022e-02 8.53597649e+00] [ 9.08875783e-02 9.98663444e-03 9.95811084e-01 2.93964910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.679115933 meters 0.02149016638159887 Centerline is valid? [True, True] Translation: X:-22.08, Y:8.55, Z:0.32 [[ 6.44426373e-01 7.61802248e-01 -6.61209824e-02 -2.20823759e+01] [-7.59324710e-01 6.47730699e-01 6.22167689e-02 8.55153859e+00] [ 9.02254646e-02 1.01131690e-02 9.95870016e-01 3.16213818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.709115933 meters 0.020713214840844842 Centerline is valid? [True, True] Translation: X:-22.11, Y:8.55, Z:0.26 [[ 6.47363191e-01 7.59474288e-01 -6.41849217e-02 -2.21064186e+01] [-7.57096324e-01 6.50471429e-01 6.07624559e-02 8.54952136e+00] [ 8.78979807e-02 9.25879093e-03 9.96086452e-01 2.56599393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.739115933 meters 0.021551776768539494 Centerline is valid? [True, True] Translation: X:-22.10, Y:8.58, Z:0.32 [[ 6.34949961e-01 7.69600236e-01 -6.74835151e-02 -2.21041471e+01] [-7.66988009e-01 6.38432353e-01 6.42924890e-02 8.57708951e+00] [ 9.25631740e-02 1.09365335e-02 9.95646750e-01 3.19907659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.769115933 meters 0.02149819635805256 Centerline is valid? [True, True] Translation: X:-22.12, Y:8.58, Z:0.30 [[ 6.39834214e-01 7.65885341e-01 -6.34966343e-02 -2.21214870e+01] [-7.63520883e-01 6.42906619e-01 6.08846562e-02 8.58219430e+00] [ 8.74530722e-02 9.52492007e-03 9.96123103e-01 2.95106248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.799115933 meters 0.02054651396763102 Centerline is valid? [True, True] Translation: X:-22.14, Y:8.59, Z:0.29 [[ 6.36958522e-01 7.68465418e-01 -6.11942976e-02 -2.21352634e+01] [-7.66250853e-01 6.39823907e-01 5.90338632e-02 8.59171168e+00] [ 8.45190570e-02 9.28806055e-03 9.96378573e-01 2.89040840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.829115933 meters 0.021217834227304742 Centerline is valid? [True, True] Translation: X:-22.14, Y:8.61, Z:0.30 [[ 6.23409412e-01 7.79356077e-01 -6.29667425e-02 -2.21420937e+01] [-7.77028009e-01 6.26488171e-01 6.11559053e-02 8.60740156e+00] [ 8.71101457e-02 1.08017556e-02 9.96140123e-01 3.02941815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.859115933 meters 0.021755126421800285 Centerline is valid? [True, True] Translation: X:-22.15, Y:8.63, Z:0.32 [[ 6.19540274e-01 7.82488631e-01 -6.23008155e-02 -2.21458914e+01] [-7.80192851e-01 6.22569633e-01 6.08782991e-02 8.62735331e+00] [ 8.64231728e-02 1.08900928e-02 9.96198997e-01 3.23871107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.889115933 meters 0.02052443601226959 Centerline is valid? [True, True] Translation: X:-22.17, Y:8.62, Z:0.27 [[ 6.18995947e-01 7.82994743e-01 -6.13453323e-02 -2.21714753e+01] [-7.80740513e-01 6.21938569e-01 6.03047790e-02 8.62289008e+00] [ 8.53713532e-02 1.05663724e-02 9.96293172e-01 2.73096343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.919115933 meters 0.022256574882142416 Centerline is valid? [True, True] Translation: X:-22.17, Y:8.65, Z:0.32 [[ 6.12422347e-01 7.88038039e-01 -6.27289237e-02 -2.21729375e+01] [-7.85670317e-01 6.15523400e-01 6.20733287e-02 8.64523274e+00] [ 8.75272645e-02 1.12691597e-02 9.96098381e-01 3.18502026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.949115933 meters 0.021204325525282917 Centerline is valid? [True, True] Translation: X:-22.19, Y:8.65, Z:0.29 [[ 6.08491488e-01 7.91161172e-01 -6.16612541e-02 -2.21880150e+01] [-7.88857397e-01 6.11503457e-01 6.13801993e-02 8.65334363e+00] [ 8.62677005e-02 1.12926076e-02 9.96207991e-01 2.91946688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.979115933 meters 0.021819311422236524 Centerline is valid? [True, True] Translation: X:-22.20, Y:8.67, Z:0.29 [[ 5.96450679e-01 8.00126862e-01 -6.35892437e-02 -2.21986032e+01] [-7.97689105e-01 5.99695657e-01 6.36962335e-02 8.66578071e+00] [ 8.90992607e-02 1.27327851e-02 9.95941363e-01 2.92959196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.009115933000004 meters 0.021450542158241853 Centerline is valid? [True, True] Translation: X:-20.85, Y:9.89, Z:-1.96 [[ 8.40856677e-01 -5.39139088e-01 -4.78444651e-02 -2.08512944e+01] [-5.37743938e-01 -8.42183678e-01 3.94729058e-02 9.88820934e+00] [-6.15752140e-02 -7.46298529e-03 -9.98074545e-01 -1.95780285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.039115933 meters 0.021638938781799896 Centerline is valid? [True, True] Translation: X:-22.08, Y:8.52, Z:0.29 [[ 6.59318507e-01 7.49093141e-01 -6.44869968e-02 -2.20764684e+01] [-7.47160326e-01 6.62358301e-01 5.50720211e-02 8.52156262e+00] [ 8.39675709e-02 1.18721229e-02 9.96397762e-01 2.93009372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.069115933 meters 0.021279746996328234 Centerline is valid? [True, True] Translation: X:-22.09, Y:8.53, Z:0.29 [[ 6.57742277e-01 7.50487396e-01 -6.43720891e-02 -2.20920219e+01] [-7.48542661e-01 6.60778881e-01 5.52734598e-02 8.52891518e+00] [ 8.40177519e-02 1.18295636e-02 9.96394038e-01 2.89749067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.099115933 meters 0.021571254169947263 Centerline is valid? [True, True] Translation: X:-22.10, Y:8.55, Z:0.31 [[ 6.56760330e-01 7.51510591e-01 -6.24315655e-02 -2.20989424e+01] [-7.49660157e-01 6.59622713e-01 5.39214764e-02 8.54628443e+00] [ 8.17038391e-02 1.13889705e-02 9.96591578e-01 3.12653689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.129115933 meters 0.021029001242272062 Centerline is valid? [True, True] Translation: X:-22.12, Y:8.55, Z:0.29 [[ 6.53057204e-01 7.54764736e-01 -6.20200138e-02 -2.21150189e+01] [-7.52923197e-01 6.55895146e-01 5.39278839e-02 8.55116839e+00] [ 8.13814910e-02 1.14783140e-02 9.96616928e-01 2.87699621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.159115933 meters 0.021430012441462164 Centerline is valid? [True, True] Translation: X:-22.12, Y:8.57, Z:0.30 [[ 6.45524704e-01 7.61200802e-01 -6.22189298e-02 -2.21249063e+01] [-7.59349491e-01 6.48403089e-01 5.44222767e-02 8.56533739e+00] [ 8.17692270e-02 1.21149886e-02 9.96577654e-01 3.01916853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.189115933000004 meters 0.02126502795372212 Centerline is valid? [True, True] Translation: X:-22.14, Y:8.57, Z:0.27 [[ 6.45987355e-01 7.60967350e-01 -6.02414222e-02 -2.21436131e+01] [-7.59205199e-01 6.48688466e-01 5.30164236e-02 8.56847981e+00] [ 7.94216831e-02 1.14876617e-02 9.96774914e-01 2.69140960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.219115933 meters 0.020863262076809004 Centerline is valid? [True, True] Translation: X:-22.16, Y:8.58, Z:0.27 [[ 6.41712337e-01 7.64572787e-01 -6.02804301e-02 -2.21554556e+01] [-7.62793985e-01 6.44431181e-01 5.34208706e-02 8.57611649e+00] [ 7.96907326e-02 1.17007178e-02 9.96750962e-01 2.67929751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.249115933 meters 0.02159197435060068 Centerline is valid? [True, True] Translation: X:-22.16, Y:8.59, Z:0.28 [[ 6.32382173e-01 7.72244569e-01 -6.10828377e-02 -2.21625637e+01] [-7.70421648e-01 6.35200572e-01 5.45042868e-02 8.59105499e+00] [ 8.08904930e-02 1.25920011e-02 9.96643452e-01 2.77003404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.279115933 meters 0.02101490947886384 Centerline is valid? [True, True] Translation: X:-22.17, Y:8.61, Z:0.31 [[ 6.30415374e-01 7.73885031e-01 -6.06499412e-02 -2.21698040e+01] [-7.72065864e-01 6.33203124e-01 5.44803199e-02 8.60670534e+00] [ 8.05652362e-02 1.24805180e-02 9.96671199e-01 3.09772827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.309115933 meters 0.02128260073822531 Centerline is valid? [True, True] Translation: X:-22.18, Y:8.61, Z:0.31 [[ 6.32081314e-01 7.72577545e-01 -5.99762415e-02 -2.21845542e+01] [-7.70763708e-01 6.34808078e-01 5.42402999e-02 8.61265826e+00] [ 7.99782403e-02 1.19432302e-02 9.96725058e-01 3.06719668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.339115933 meters 0.02151941871023821 Centerline is valid? [True, True] Translation: X:-22.19, Y:8.62, Z:0.30 [[ 6.24578817e-01 7.78501656e-01 -6.19392646e-02 -2.21949143e+01] [-7.76562666e-01 6.27510516e-01 5.64001587e-02 8.62351017e+00] [ 8.27751569e-02 1.28733761e-02 9.96485098e-01 3.01204140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.369115933 meters 0.021295727884950183 Centerline is valid? [True, True] Translation: X:-22.21, Y:8.63, Z:0.30 [[ 6.28968562e-01 7.75071814e-01 -6.05163721e-02 -2.22092900e+01] [-7.73178832e-01 6.31760647e-01 5.54344586e-02 8.63104486e+00] [ 8.11975488e-02 1.19234461e-02 9.96626705e-01 3.03531823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.399115933 meters 0.021024611850562012 Centerline is valid? [True, True] Translation: X:-22.22, Y:8.64, Z:0.31 [[ 6.25787507e-01 7.77534857e-01 -6.18832978e-02 -2.22220210e+01] [-7.75539368e-01 6.28719275e-01 5.70154549e-02 8.64129364e+00] [ 8.32387257e-02 1.23133742e-02 9.96453559e-01 3.10938391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.429115933 meters 0.02114609475603209 Centerline is valid? [True, True] Translation: X:-22.23, Y:8.65, Z:0.31 [[ 6.21146650e-01 7.81170715e-01 -6.28422893e-02 -2.22338215e+01] [-7.79101719e-01 6.24186535e-01 5.82381412e-02 8.65214773e+00] [ 8.47192412e-02 1.27861093e-02 9.96322822e-01 3.07040974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.459115933 meters 0.021502735687219936 Centerline is valid? [True, True] Translation: X:-22.25, Y:8.66, Z:0.29 [[ 6.18749348e-01 7.82976857e-01 -6.40037967e-02 -2.22514980e+01] [-7.80806039e-01 6.21914291e-01 5.97038056e-02 8.65544337e+00] [ 8.65515739e-02 1.30328602e-02 9.96162120e-01 2.91461660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.489115933 meters 0.020590306883708914 Centerline is valid? [True, True] Translation: X:-22.26, Y:8.67, Z:0.30 [[ 6.18148825e-01 7.83441447e-01 -6.41211987e-02 -2.22631355e+01] [-7.81233386e-01 6.21331796e-01 6.01763812e-02 8.66597753e+00] [ 8.69852107e-02 1.28956618e-02 9.96126134e-01 2.96056316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.519115933 meters 0.020043341885374814 Centerline is valid? [True, True] Translation: X:-22.28, Y:8.67, Z:0.30 [[ 6.18934014e-01 7.82886675e-01 -6.33177724e-02 -2.22766543e+01] [-7.80699907e-01 6.22040115e-01 5.97808460e-02 8.67284043e+00] [ 8.61878222e-02 1.24317801e-02 9.96201340e-01 2.95576345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.549115933 meters 0.02031883214680376 Centerline is valid? [True, True] Translation: X:-22.29, Y:8.68, Z:0.31 [[ 6.20079490e-01 7.82074203e-01 -6.21398958e-02 -2.22870370e+01] [-7.79930237e-01 6.23072872e-01 5.90679448e-02 8.68468870e+00] [ 8.49131992e-02 1.18379626e-02 9.96318027e-01 3.06305363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.579115933 meters 0.0195311443630628 Centerline is valid? [True, True] Translation: X:-22.30, Y:8.69, Z:0.29 [[ 6.13733977e-01 7.87051791e-01 -6.22903145e-02 -2.23032193e+01] [-7.84888322e-01 6.16764067e-01 5.96020780e-02 8.68954546e+00] [ 8.53283500e-02 1.23111201e-02 9.96276823e-01 2.90554621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.609115933 meters 0.0197298929428812 Centerline is valid? [True, True] Translation: X:-22.32, Y:8.70, Z:0.28 [[ 6.14270133e-01 7.86725827e-01 -6.11119943e-02 -2.23163135e+01] [-7.84608776e-01 6.17190023e-01 5.88688719e-02 8.69818872e+00] [ 8.40313751e-02 1.17876172e-02 9.96393386e-01 2.80621955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.639115933 meters 0.019639867706915497 Centerline is valid? [True, True] Translation: X:-22.33, Y:8.71, Z:0.29 [[ 6.09537045e-01 7.90396518e-01 -6.11386506e-02 -2.23261315e+01] [-7.88260274e-01 6.12477195e-01 5.93078963e-02 8.71117542e+00] [ 8.43227840e-02 1.20428096e-02 9.96365715e-01 2.87585911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.669115933 meters 0.01922266972416093 Centerline is valid? [True, True] Translation: X:-22.34, Y:8.72, Z:0.28 [[ 6.09051396e-01 7.90791625e-01 -6.08687346e-02 -2.23406164e+01] [-7.88639530e-01 6.11972137e-01 5.94793765e-02 8.71586988e+00] [ 8.42857624e-02 1.17774929e-02 9.96372019e-01 2.78727199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.699115933 meters 0.018484724157797755 Centerline is valid? [True, True] Translation: X:-22.36, Y:8.72, Z:0.27 [[ 6.12232468e-01 7.88497630e-01 -5.86761666e-02 -2.23554427e+01] [-7.86454463e-01 6.14943081e-01 5.77441305e-02 8.72362768e+00] [ 8.16136127e-02 1.07933016e-02 9.96605600e-01 2.71258864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.729115933 meters 0.018578884500297085 Centerline is valid? [True, True] Translation: X:-22.37, Y:8.73, Z:0.27 [[ 6.05329405e-01 7.93717858e-01 -5.99022030e-02 -2.23710319e+01] [-7.91577655e-01 6.08177754e-01 5.93686461e-02 8.73076138e+00] [ 8.35531418e-02 1.14796582e-02 9.96437198e-01 2.65447166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.759115933000004 meters 0.019954219622793434 Centerline is valid? [True, True] Translation: X:-22.39, Y:8.74, Z:0.24 [[ 6.05692737e-01 7.93412942e-01 -6.02678304e-02 -2.23882731e+01] [-7.91209127e-01 6.08579803e-01 6.01559727e-02 8.73568337e+00] [ 8.44063116e-02 1.12484217e-02 9.96367928e-01 2.38262375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.789115933 meters 0.01780283236131417 Centerline is valid? [True, True] Translation: X:-22.40, Y:8.75, Z:0.26 [[ 6.11501611e-01 7.89165608e-01 -5.73011531e-02 -2.23976557e+01] [-7.87123976e-01 6.14100833e-01 5.75848357e-02 8.74793995e+00] [ 8.06326578e-02 9.88989166e-03 9.96694820e-01 2.58414854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.819115933 meters 0.018214835693431776 Centerline is valid? [True, True] Translation: X:-20.96, Y:10.07, Z:-1.91 [[ 8.36334178e-01 -5.46185285e-01 -4.71887350e-02 -2.09578593e+01] [-5.44834196e-01 -8.37635836e-01 3.90116102e-02 1.00671498e+01] [-6.08345429e-02 -6.91670643e-03 -9.98123899e-01 -1.90896936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.849115933 meters 0.017825701432028457 Centerline is valid? [True, True] Translation: X:-22.27, Y:8.60, Z:0.23 [[ 6.68398223e-01 7.41015763e-01 -6.43385887e-02 -2.22714051e+01] [-7.39042827e-01 6.71401964e-01 5.50917625e-02 8.59846095e+00] [ 8.40209193e-02 1.07257364e-02 9.96406264e-01 2.31694423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.879115933 meters 0.017702450729176877 Centerline is valid? [True, True] Translation: X:-22.29, Y:8.61, Z:0.22 [[ 6.67581994e-01 7.41833042e-01 -6.33878518e-02 -2.22850424e+01] [-7.39890482e-01 6.70503733e-01 5.46518044e-02 8.60656456e+00] [ 8.30443055e-02 1.04155077e-02 9.96491425e-01 2.19945769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.909115933 meters 0.01764602450743876 Centerline is valid? [True, True] Translation: X:-22.30, Y:8.62, Z:0.21 [[ 6.66629248e-01 7.42608088e-01 -6.43325237e-02 -2.22962748e+01] [-7.40576493e-01 6.69645494e-01 5.58692284e-02 8.61890795e+00] [ 8.45689255e-02 1.03990931e-02 9.96363365e-01 2.10862459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.939115933000004 meters 0.018137954287086117 Centerline is valid? [True, True] Translation: X:-22.31, Y:8.63, Z:0.19 [[ 6.58053141e-01 7.50206629e-01 -6.44676473e-02 -2.23072640e+01] [-7.48164120e-01 6.61110244e-01 5.64242445e-02 8.62744518e+00] [ 8.49500643e-02 1.11022293e-02 9.96323355e-01 1.93174627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.969115933 meters 0.017012410930134406 Centerline is valid? [True, True] Translation: X:-22.31, Y:8.64, Z:0.22 [[ 6.53667972e-01 7.54094528e-01 -6.37151869e-02 -2.23104510e+01] [-7.52072276e-01 6.56671781e-01 5.62979992e-02 8.64219575e+00] [ 8.42939784e-02 1.11182267e-02 9.96378899e-01 2.20328982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.999115933 meters 0.017012410930134406 Centerline is valid? [True, True] Translation: X:-22.32, Y:8.65, Z:0.22 [[ 6.51042430e-01 7.56379860e-01 -6.35079662e-02 -2.23224729e+01] [-7.54346038e-01 6.54038409e-01 5.65315352e-02 8.65376835e+00] [ 8.42959639e-02 1.11025546e-02 9.96378906e-01 2.20190382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.029115933 meters 0.017522452433718274 Centerline is valid? [True, True] Translation: X:-22.33, Y:8.67, Z:0.22 [[ 6.47837093e-01 7.59024143e-01 -6.47259691e-02 -2.23326269e+01] [-7.56887315e-01 6.50962871e-01 5.80425091e-02 8.66628718e+00] [ 8.61898684e-02 1.13881746e-02 9.96213640e-01 2.22256574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.059115933 meters 0.018417280139217836 Centerline is valid? [True, True] Translation: X:-22.34, Y:8.68, Z:0.22 [[ 6.37690532e-01 7.67483013e-01 -6.57313483e-02 -2.23387623e+01] [-7.65285892e-01 6.40948292e-01 5.93531030e-02 8.68349729e+00] [ 8.76828938e-02 1.24543617e-02 9.96070579e-01 2.23437816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.089115933 meters 0.01737217160139857 Centerline is valid? [True, True] Translation: X:-22.35, Y:8.69, Z:0.20 [[ 6.37943063e-01 7.67269816e-01 -6.57698906e-02 -2.23518207e+01] [-7.65023179e-01 6.41210313e-01 5.99071780e-02 8.68812535e+00] [ 8.81373015e-02 1.20981222e-02 9.96034865e-01 1.95217966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.119115933 meters 0.017300606300417482 Centerline is valid? [True, True] Translation: X:-22.36, Y:8.70, Z:0.19 [[ 6.31214278e-01 7.72754246e-01 -6.64786442e-02 -2.23639781e+01] [-7.70447959e-01 6.34577962e-01 6.09979790e-02 8.69846430e+00] [ 8.93223298e-02 1.27155405e-02 9.95921602e-01 1.91761710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.149115933 meters 0.017383815413506136 Centerline is valid? [True, True] Translation: X:-22.37, Y:8.71, Z:0.20 [[ 6.25898511e-01 7.77083948e-01 -6.62690756e-02 -2.23715554e+01] [-7.74777461e-01 6.29262257e-01 6.12282530e-02 8.71300270e+00] [ 8.92801206e-02 1.30211137e-02 9.95921438e-01 1.96081114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.179115933 meters 0.018072004437611963 Centerline is valid? [True, True] Translation: X:-22.38, Y:8.73, Z:0.18 [[ 6.22462197e-01 7.79840286e-01 -6.62566392e-02 -2.23801905e+01] [-7.77508326e-01 6.25840942e-01 6.16759115e-02 8.72503319e+00] [ 8.95634779e-02 1.31241653e-02 9.95894643e-01 1.82825323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.209115933 meters 0.017808054477656987 Centerline is valid? [True, True] Translation: X:-22.39, Y:8.74, Z:0.18 [[ 6.21510937e-01 7.80665532e-01 -6.54635956e-02 -2.23928824e+01] [-7.78355264e-01 6.24817686e-01 6.13672688e-02 8.73524512e+00] [ 8.88101239e-02 1.28135055e-02 9.95966152e-01 1.84960396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.239115933 meters 0.017155420712494002 Centerline is valid? [True, True] Translation: X:-22.41, Y:8.74, Z:0.16 [[ 6.17918966e-01 7.83449747e-01 -6.62015552e-02 -2.24066273e+01] [-7.81060882e-01 6.21317544e-01 6.25172650e-02 8.74184513e+00] [ 9.01113232e-02 1.30768414e-02 9.95845844e-01 1.62420771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.269115933 meters 0.017668448011171553 Centerline is valid? [True, True] Translation: X:-22.41, Y:8.76, Z:0.17 [[ 6.11235516e-01 7.88500812e-01 -6.82467124e-02 -2.24121478e+01] [-7.85948790e-01 6.14875162e-01 6.49078973e-02 8.75974658e+00] [ 9.31431381e-02 1.39644089e-02 9.95554796e-01 1.68278870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.299115933 meters 0.01833744366299341 Centerline is valid? [True, True] Translation: X:-22.41, Y:8.78, Z:0.19 [[ 6.02696452e-01 7.95124010e-01 -6.73408853e-02 -2.24142180e+01] [-7.92628830e-01 6.06274603e-01 6.45805271e-02 8.77736371e+00] [ 9.21765962e-02 1.44538725e-02 9.95637766e-01 1.90026151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.329115933 meters 0.018060765012488173 Centerline is valid? [True, True] Translation: X:-22.43, Y:8.79, Z:0.16 [[ 6.00938393e-01 7.96565656e-01 -6.60015383e-02 -2.24254370e+01] [-7.94135444e-01 6.04387537e-01 6.37542245e-02 8.78752199e+00] [ 9.06749329e-02 1.41017997e-02 9.95780697e-01 1.63203633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.359115933 meters 0.019043375185234475 Centerline is valid? [True, True] Translation: X:-22.43, Y:8.80, Z:0.16 [[ 5.90914025e-01 8.03961536e-01 -6.68316097e-02 -2.24320688e+01] [-8.01472375e-01 5.94488266e-01 6.50056444e-02 8.80233204e+00] [ 9.19926454e-02 1.51509420e-02 9.95644416e-01 1.57468997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.389115933 meters 0.018818345685835167 Centerline is valid? [True, True] Translation: X:-22.44, Y:8.82, Z:0.16 [[ 5.89384484e-01 8.05168740e-01 -6.57968912e-02 -2.24381254e+01] [-8.02722167e-01 5.92860308e-01 6.44498034e-02 8.81745727e+00] [ 9.09013322e-02 1.48309090e-02 9.95749462e-01 1.61928798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.419115933 meters 0.019713307715871913 Centerline is valid? [True, True] Translation: X:-22.44, Y:8.84, Z:0.17 [[ 5.81767446e-01 8.10581483e-01 -6.71140648e-02 -2.24408276e+01] [-8.08027579e-01 5.85414755e-01 6.61890914e-02 8.83657854e+00] [ 9.29412157e-02 1.57233567e-02 9.95547441e-01 1.66895851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.449115933 meters 0.019358856746498634 Centerline is valid? [True, True] Translation: X:-22.45, Y:8.85, Z:0.16 [[ 5.79307319e-01 8.12411376e-01 -6.62630066e-02 -2.24496945e+01] [-8.09891389e-01 5.82877402e-01 6.58017663e-02 8.84770580e+00] [ 9.20813127e-02 1.55463936e-02 9.95630123e-01 1.56182136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.479115933 meters 0.01972649065595145 Centerline is valid? [True, True] Translation: X:-22.46, Y:8.86, Z:0.14 [[ 5.74706058e-01 8.15713795e-01 -6.57567541e-02 -2.24574310e+01] [-8.13215858e-01 5.78242112e-01 6.56964890e-02 8.86144706e+00] [ 9.16128568e-02 1.57182650e-02 9.95670639e-01 1.41806620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.509115933000004 meters 0.019367741076305324 Centerline is valid? [True, True] Translation: X:-22.47, Y:8.87, Z:0.11 [[ 5.71750674e-01 8.17692496e-01 -6.69339065e-02 -2.24740746e+01] [-8.15075389e-01 5.75430950e-01 6.73151707e-02 8.86570825e+00] [ 9.35589514e-02 1.60686856e-02 9.95484063e-01 1.09788959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.539115933 meters 0.019911464776508327 Centerline is valid? [True, True] Translation: X:-21.07, Y:10.11, Z:-1.77 [[ 8.60937786e-01 -5.05248408e-01 -5.92467282e-02 -2.10741989e+01] [-5.02991408e-01 -8.62880510e-01 4.93646598e-02 1.01105948e+01] [-7.60642628e-02 -1.26993057e-02 -9.97022044e-01 -1.76733306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.569115933 meters 0.019863362411412882 Centerline is valid? [True, True] Translation: X:-22.32, Y:8.71, Z:0.13 [[ 6.30262686e-01 7.72780357e-01 -7.46958217e-02 -2.23232968e+01] [-7.70315329e-01 6.34440800e-01 6.40247300e-02 8.71385919e+00] [ 9.68671306e-02 1.71869381e-02 9.95148918e-01 1.27157810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.599115933 meters 0.019455870787484418 Centerline is valid? [True, True] Translation: X:-22.33, Y:8.72, Z:0.12 [[ 6.27681722e-01 7.74807803e-01 -7.54223136e-02 -2.23329272e+01] [-7.72265897e-01 6.31957430e-01 6.50783536e-02 8.72348707e+00] [ 9.80869076e-02 1.73975876e-02 9.95025770e-01 1.22269134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.629115933 meters 0.019758063036978957 Centerline is valid? [True, True] Translation: X:-22.34, Y:8.73, Z:0.10 [[ 6.24507694e-01 7.77302932e-01 -7.60939627e-02 -2.23445342e+01] [-7.74688582e-01 6.28878378e-01 6.61028455e-02 8.73345639e+00] [ 9.92357835e-02 1.76673884e-02 9.94907092e-01 1.03773869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.659115933 meters 0.020517810889021902 Centerline is valid? [True, True] Translation: X:-22.35, Y:8.75, Z:0.11 [[ 6.19152795e-01 7.81549494e-01 -7.63557777e-02 -2.23524441e+01] [-7.78902988e-01 6.23579691e-01 6.67720351e-02 8.74810781e+00] [ 9.97995625e-02 1.81316512e-02 9.94842345e-01 1.14245799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.689115933000004 meters 0.020034960128827592 Centerline is valid? [True, True] Translation: X:-22.37, Y:8.75, Z:0.10 [[ 6.19565844e-01 7.81174610e-01 -7.68400480e-02 -2.23666946e+01] [-7.78446071e-01 6.24055817e-01 6.76465280e-02 8.75432277e+00] [ 1.00796229e-01 1.79043552e-02 9.94745975e-01 9.53590717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.719115933 meters 0.020384601005321894 Centerline is valid? [True, True] Translation: X:-22.37, Y:8.77, Z:0.11 [[ 6.17794977e-01 7.82655824e-01 -7.60212304e-02 -2.23741267e+01] [-7.79951265e-01 6.22203765e-01 6.73683796e-02 8.76929499e+00] [ 1.00026951e-01 1.76730083e-02 9.94827761e-01 1.13739314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.749115933 meters 0.020221039498124614 Centerline is valid? [True, True] Translation: X:-22.39, Y:8.77, Z:0.07 [[ 6.15807092e-01 7.84022935e-01 -7.80362913e-02 -2.23925574e+01] [-7.81136014e-01 6.20468207e-01 6.96112879e-02 8.77168606e+00] [ 1.02995884e-01 1.80898328e-02 9.94517273e-01 7.31636467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.779115933 meters 0.019657825710111078 Centerline is valid? [True, True] Translation: X:-22.40, Y:8.78, Z:0.06 [[ 6.21791670e-01 7.79428759e-01 -7.65893511e-02 -2.24043349e+01] [-7.76566675e-01 6.26268186e-01 6.87921434e-02 8.78093390e+00] [ 1.01584049e-01 1.67023559e-02 9.94686741e-01 6.45462331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.809115933 meters 0.019834633169522678 Centerline is valid? [True, True] Translation: X:-22.40, Y:8.79, Z:0.08 [[ 6.21207479e-01 7.80063819e-01 -7.48445520e-02 -2.24048614e+01] [-7.77253635e-01 6.25497737e-01 6.80394554e-02 8.78579155e+00] [ 9.98902153e-02 1.59065816e-02 9.94871311e-01 7.61960451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.839115933 meters 0.019858781670599353 Centerline is valid? [True, True] Translation: X:-22.42, Y:8.80, Z:0.08 [[ 6.18769979e-01 7.81931455e-01 -7.55441086e-02 -2.24157264e+01] [-7.79029729e-01 6.23158006e-01 6.91865652e-02 8.79752097e+00] [ 1.01175068e-01 1.60405369e-02 9.94739316e-01 8.42325998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.869115933 meters 0.02011236180322906 Centerline is valid? [True, True] Translation: X:-22.42, Y:8.81, Z:0.09 [[ 6.16931712e-01 7.83467383e-01 -7.46600417e-02 -2.24217634e+01] [-7.80594983e-01 6.21232132e-01 6.88629844e-02 8.81172615e+00] [ 1.00333119e-01 1.57954951e-02 9.94828512e-01 8.78385334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.899115933 meters 0.020043349187405204 Centerline is valid? [True, True] Translation: X:-22.43, Y:8.82, Z:0.09 [[ 6.13494962e-01 7.86038729e-01 -7.59410796e-02 -2.24336283e+01] [-7.83036327e-01 6.17964962e-01 7.05224558e-02 8.82148929e+00] [ 1.02362308e-01 1.61994527e-02 9.94615270e-01 8.56333987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.929115933 meters 0.01966610941732927 Centerline is valid? [True, True] Translation: X:-22.44, Y:8.83, Z:0.08 [[ 6.14260013e-01 7.85548322e-01 -7.48229216e-02 -2.24443090e+01] [-7.82582312e-01 6.18604064e-01 6.99566814e-02 8.83267512e+00] [ 1.01240117e-01 1.55835029e-02 9.94739963e-01 8.29405460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.959115933 meters 0.018809354637315825 Centerline is valid? [True, True] Translation: X:-22.46, Y:8.84, Z:0.06 [[ 6.13877321e-01 7.85982472e-01 -7.33906616e-02 -2.24621155e+01] [-7.83087126e-01 6.18065015e-01 6.90665696e-02 8.83652088e+00] [ 9.96453135e-02 1.50728816e-02 9.94908850e-01 5.93377847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.989115933 meters 0.018165948808515922 Centerline is valid? [True, True] Translation: X:-22.48, Y:8.84, Z:0.03 [[ 6.10289116e-01 7.88796654e-01 -7.31234174e-02 -2.24772795e+01] [-7.85894096e-01 6.14466755e-01 6.92898025e-02 8.84254672e+00] [ 9.95874734e-02 1.51804497e-02 9.94913006e-01 3.38659457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.019115933 meters 0.01974942660215505 Centerline is valid? [True, True] Translation: X:-22.48, Y:8.86, Z:0.04 [[ 6.00703664e-01 7.96114041e-01 -7.31952260e-02 -2.24803238e+01] [-7.93207539e-01 6.04932371e-01 6.98471655e-02 8.86195267e+00] [ 9.98844708e-02 1.61015568e-02 9.94868751e-01 4.41840795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.049115933 meters 0.019707651052311224 Centerline is valid? [True, True] Translation: X:-22.49, Y:8.87, Z:0.04 [[ 5.94979049e-01 8.00264227e-01 -7.46799655e-02 -2.24915613e+01] [-7.97220844e-01 5.99410586e-01 7.17347620e-02 8.87290191e+00] [ 1.02170726e-01 1.68557446e-02 9.94624063e-01 4.29760821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.079115933 meters 0.01856587364285263 Centerline is valid? [True, True] Translation: X:-22.51, Y:8.88, Z:0.02 [[ 5.96385480e-01 7.99429421e-01 -7.23668454e-02 -2.25066232e+01] [-7.96519076e-01 6.00549459e-01 6.99836279e-02 8.87947588e+00] [ 9.94068410e-02 1.59043533e-02 9.94919761e-01 2.13153456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.109115933 meters 0.018969521998536243 Centerline is valid? [True, True] Translation: X:-22.51, Y:8.90, Z:0.04 [[ 6.01383998e-01 7.95869804e-01 -7.02035750e-02 -2.25141684e+01] [-7.93064702e-01 6.05292220e-01 6.83352489e-02 8.89504014e+00] [ 9.68796389e-02 1.45802521e-02 9.95189305e-01 4.24961274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.139115933 meters 0.01940835514075738 Centerline is valid? [True, True] Translation: X:-22.53, Y:8.90, Z:0.03 [[ 5.93908962e-01 8.01305630e-01 -7.19821603e-02 -2.25268076e+01] [-7.98346136e-01 5.98052571e-01 7.05448055e-02 8.90472541e+00] [ 9.95770659e-02 1.55694873e-02 9.94908035e-01 2.71169945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.169115933 meters 0.01872811319680249 Centerline is valid? [True, True] Translation: X:-22.54, Y:8.91, Z:0.02 [[ 5.98376121e-01 7.97894569e-01 -7.28716329e-02 -2.25437757e+01] [-7.94784347e-01 6.02613530e-01 7.19359154e-02 8.90725632e+00] [ 1.01310708e-01 1.48724991e-02 9.94743660e-01 1.91767399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.199115933 meters 0.019527183406553135 Centerline is valid? [True, True] Translation: X:-22.55, Y:8.92, Z:0.02 [[ 5.95848738e-01 7.99940151e-01 -7.11339390e-02 -2.25515313e+01] [-7.96940036e-01 5.99903457e-01 7.07277963e-02 8.92116977e+00] [ 9.92514999e-02 1.45464158e-02 9.94956050e-01 2.34177114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.229115933 meters 0.018009601317058376 Centerline is valid? [True, True] Translation: X:-22.57, Y:8.93, Z:0.00 [[ 5.96794788e-01 7.99183271e-01 -7.17083039e-02 -2.25670742e+01] [-7.96078403e-01 6.00918880e-01 7.18030408e-02 8.92809326e+00] [ 1.00474663e-01 1.42337516e-02 9.94837797e-01 1.66214946e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.259115933 meters 0.017781484852975725 Centerline is valid? [True, True] Translation: X:-21.18, Y:10.23, Z:-1.65 [[ 8.40879660e-01 -5.38017883e-01 -5.88060792e-02 -2.11810017e+01] [-5.35888218e-01 -8.42880080e-01 4.87543726e-02 1.02305081e+01] [-7.57971970e-02 -9.48307535e-03 -9.97078160e-01 -1.64674624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.289115933 meters 0.018063778336053157 Centerline is valid? [True, True] Translation: X:-22.45, Y:8.79, Z:-0.01 [[ 6.64414848e-01 7.43454029e-01 -7.63479959e-02 -2.24548600e+01] [-7.40714153e-01 6.68655280e-01 6.51356996e-02 8.79481569e+00] [ 9.94758889e-02 1.32749152e-02 9.94951418e-01 -5.98318925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.319115933 meters 0.01770702794828108 Centerline is valid? [True, True] Translation: X:-22.47, Y:8.80, Z:-0.01 [[ 6.64872008e-01 7.43240329e-01 -7.44246397e-02 -2.24694676e+01] [-7.40594091e-01 6.68905496e-01 6.39204990e-02 8.80396793e+00] [ 9.72913432e-02 1.26194979e-02 9.95175936e-01 -8.92424393e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.349115933 meters 0.017968214094014105 Centerline is valid? [True, True] Translation: X:-22.48, Y:8.81, Z:-0.02 [[ 6.65543128e-01 7.42478543e-01 -7.60128787e-02 -2.24842458e+01] [-7.39666139e-01 6.69753927e-01 6.57546989e-02 8.81238344e+00] [ 9.97313770e-02 1.24615645e-02 9.94936361e-01 -2.43692062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.379115933 meters 0.016752976342799496 Centerline is valid? [True, True] Translation: X:-22.50, Y:8.82, Z:-0.05 [[ 6.70907052e-01 7.37940580e-01 -7.29892308e-02 -2.25016238e+01] [-7.35280188e-01 6.74775712e-01 6.35671564e-02 8.81772399e+00] [ 9.61601445e-02 1.10198818e-02 9.95304872e-01 -4.84118681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.409115933 meters 0.016577947824402105 Centerline is valid? [True, True] Translation: X:-22.52, Y:8.83, Z:-0.06 [[ 6.65653927e-01 7.42385674e-01 -7.59497201e-02 -2.25164036e+01] [-7.39490158e-01 6.69867912e-01 6.65679038e-02 8.82551091e+00] [ 1.00295339e-01 1.18528839e-02 9.94887106e-01 -5.96519049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.439115933000004 meters 0.016319285732170258 Centerline is valid? [True, True] Translation: X:-22.53, Y:8.83, Z:-0.06 [[ 6.70676088e-01 7.38100391e-01 -7.34942018e-02 -2.25308618e+01] [-7.35324518e-01 6.74608125e-01 6.48207561e-02 8.83407330e+00] [ 9.74240111e-02 1.05683575e-02 9.95186853e-01 -6.16378429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.469115933 meters 0.01635532759961492 Centerline is valid? [True, True] Translation: X:-22.54, Y:8.85, Z:-0.06 [[ 6.67779375e-01 7.40670102e-01 -7.40169328e-02 -2.25411109e+01] [-7.37828946e-01 6.71783022e-01 6.56964087e-02 8.84806744e+00] [ 9.83826845e-02 1.07411288e-02 9.95090687e-01 -5.71233674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.499115933 meters 0.015985572796997662 Centerline is valid? [True, True] Translation: X:-22.56, Y:8.86, Z:-0.06 [[ 6.71233847e-01 7.37870777e-01 -7.06529521e-02 -2.25556713e+01] [-7.35228306e-01 6.74874065e-01 6.31215813e-02 8.85621442e+00] [ 9.42574152e-02 9.57670850e-03 9.95501796e-01 -5.74172404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.529115933 meters 0.015882162768158986 Centerline is valid? [True, True] Translation: X:-22.57, Y:8.87, Z:-0.07 [[ 6.68316019e-01 7.40622256e-01 -6.95152750e-02 -2.25695692e+01] [-7.38036452e-01 6.71854532e-01 6.25594310e-02 8.86617296e+00] [ 9.30370595e-02 9.49533706e-03 9.95617368e-01 -6.69250348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.559115933 meters 0.0166184808569349 Centerline is valid? [True, True] Translation: X:-22.58, Y:8.88, Z:-0.07 [[ 6.67591884e-01 7.41315247e-01 -6.90853089e-02 -2.25798494e+01] [-7.38726999e-01 6.71093154e-01 6.25811532e-02 8.87994371e+00] [ 9.27550409e-02 9.25651285e-03 9.95645931e-01 -6.66153490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.589115933 meters 0.019094746194958087 Centerline is valid? [True, True] Translation: X:-22.59, Y:8.89, Z:-0.06 [[ 6.68864877e-01 7.40315028e-01 -6.74791444e-02 -2.25923688e+01] [-7.37799572e-01 6.72205132e-01 6.15796323e-02 8.88930695e+00] [ 9.09481544e-02 8.59763069e-03 9.95818515e-01 -6.45715745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.619115933 meters 0.016154232644890156 Centerline is valid? [True, True] Translation: X:-22.60, Y:8.90, Z:-0.06 [[ 6.75922899e-01 7.34206646e-01 -6.37874262e-02 -2.26047459e+01] [-7.31899173e-01 6.78889131e-01 5.85930691e-02 8.90057901e+00] [ 8.63240111e-02 7.08156744e-03 9.96241947e-01 -6.26327248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.649115933 meters 0.01663953543017144 Centerline is valid? [True, True] Translation: X:-22.62, Y:8.91, Z:-0.06 [[ 6.71748856e-01 7.37857535e-01 -6.57246641e-02 -2.26156515e+01] [-7.35382816e-01 6.74915222e-01 6.08404279e-02 8.91042700e+00] [ 8.92501444e-02 7.46330068e-03 9.95981280e-01 -6.36381236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.679115933 meters 0.016302470878757115 Centerline is valid? [True, True] Translation: X:-22.63, Y:8.92, Z:-0.06 [[ 6.74481275e-01 7.35501676e-01 -6.41271724e-02 -2.26270369e+01] [-7.33099938e-01 6.77489775e-01 5.97669329e-02 8.92413736e+00] [ 8.74041829e-02 6.69994899e-03 9.96150400e-01 -6.30934747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.709115933 meters 0.016870124339510094 Centerline is valid? [True, True] Translation: X:-22.64, Y:8.94, Z:-0.04 [[ 6.72961343e-01 7.37098307e-01 -6.17180370e-02 -2.26364642e+01] [-7.34849086e-01 6.75755287e-01 5.78931213e-02 8.93833028e+00] [ 8.43792114e-02 6.39361040e-03 9.96413203e-01 -4.47760096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.739115933 meters 0.017001789226650858 Centerline is valid? [True, True] Translation: X:-22.65, Y:8.95, Z:-0.06 [[ 6.69394365e-01 7.40275501e-01 -6.24769311e-02 -2.26509837e+01] [-7.37950543e-01 6.72271112e-01 5.89961647e-02 8.94728626e+00] [ 8.56748513e-02 6.61318509e-03 9.96301202e-01 -6.01585948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.769115933 meters 0.017320475475509835 Centerline is valid? [True, True] Translation: X:-22.66, Y:8.97, Z:-0.04 [[ 6.65001580e-01 7.44119444e-01 -6.37114775e-02 -2.26568079e+01] [-7.41683801e-01 6.68010122e-01 6.05608446e-02 8.96673885e+00] [ 8.76244139e-02 6.98071350e-03 9.96129124e-01 -3.55777010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.799115933 meters 0.017458678914139478 Centerline is valid? [True, True] Translation: X:-22.67, Y:8.98, Z:-0.04 [[ 6.64935371e-01 7.44320548e-01 -6.20312366e-02 -2.26689279e+01] [-7.41979793e-01 6.67790268e-01 5.93476568e-02 8.97858648e+00] [ 8.55975365e-02 6.56356789e-03 9.96308176e-01 -4.32503953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.829115933 meters 0.016240931457408146 Centerline is valid? [True, True] Translation: X:-22.69, Y:8.98, Z:-0.08 [[ 6.66901142e-01 7.42706644e-01 -6.02470558e-02 -2.26868501e+01] [-7.40460063e-01 6.69590829e-01 5.80259943e-02 8.98475103e+00] [ 8.34371675e-02 5.91293686e-03 9.96495497e-01 -7.93426805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.859115933 meters 0.018669910041084172 Centerline is valid? [True, True] Translation: X:-22.68, Y:9.02, Z:0.00 [[ 6.54730401e-01 7.53206558e-01 -6.33086303e-02 -2.26785322e+01] [-7.50738159e-01 6.57743034e-01 6.13703343e-02 9.02014467e+00] [ 8.78653489e-02 7.34718103e-03 9.96105265e-01 3.38978513e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.889115933 meters 0.018669910041084172 Centerline is valid? [True, True] Translation: X:-22.69, Y:9.03, Z:0.00 [[ 6.52370833e-01 7.55267343e-01 -6.31152728e-02 -2.26905670e+01] [-7.52789465e-01 6.55375669e-01 6.15690905e-02 9.03219377e+00] [ 8.78653375e-02 7.34663359e-03 9.96105270e-01 3.22795799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.919115933 meters 0.01752915165817464 Centerline is valid? [True, True] Translation: X:-22.71, Y:9.03, Z:-0.03 [[ 6.52222491e-01 7.55574034e-01 -6.09401420e-02 -2.27111082e+01] [-7.53233191e-01 6.55027114e-01 5.98267518e-02 9.03405199e+00] [ 8.51209856e-02 6.88178447e-03 9.96346857e-01 -3.26978117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.949115933 meters 0.017478007035889656 Centerline is valid? [True, True] Translation: X:-22.72, Y:9.04, Z:-0.04 [[ 6.51706959e-01 7.56071645e-01 -6.02802293e-02 -2.27215153e+01] [-7.53736370e-01 6.54456518e-01 5.97339973e-02 9.04301162e+00] [ 8.46139706e-02 6.50633944e-03 9.96392565e-01 -4.34829913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.979115933 meters 0.019367742263333394 Centerline is valid? [True, True] Translation: X:-22.71, Y:9.08, Z:0.04 [[ 6.35205709e-01 7.69425247e-01 -6.70708226e-02 -2.27137016e+01] [-7.66561096e-01 6.38674799e-01 6.69222471e-02 9.07513363e+00] [ 9.43281106e-02 8.90448982e-03 9.95501340e-01 3.62649852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.009115933 meters 0.01743634105086169 Centerline is valid? [True, True] Translation: X:-22.75, Y:9.07, Z:-0.05 [[ 6.52117098e-01 7.55799576e-01 -5.92477072e-02 -2.27462362e+01] [-7.53474470e-01 6.54777116e-01 5.95243763e-02 9.06643799e+00] [ 8.37825413e-02 5.82477122e-03 9.96467038e-01 -4.65813735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.039115933 meters 0.018869792621636537 Centerline is valid? [True, True] Translation: X:-21.38, Y:10.38, Z:-1.68 [[ 8.11489556e-01 -5.81940444e-01 -5.31979349e-02 -2.13771368e+01] [-5.80282663e-01 -8.13216168e-01 4.41757244e-02 1.03771542e+01] [-6.89690615e-02 -4.97829969e-03 -9.97606378e-01 -1.67991702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.069115933 meters 0.019399600581191882 Centerline is valid? [True, True] Translation: X:-22.63, Y:8.97, Z:0.01 [[ 6.98603384e-01 7.12222649e-01 -6.84997081e-02 -2.26347262e+01] [-7.09843063e-01 7.01912089e-01 5.86706455e-02 8.96952343e+00] [ 8.98673358e-02 7.63653121e-03 9.95924468e-01 1.32967333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.099115933 meters 0.019133807898040714 Centerline is valid? [True, True] Translation: X:-22.65, Y:8.98, Z:0.00 [[ 7.04015241e-01 7.07220645e-01 -6.48189737e-02 -2.26508999e+01] [-7.05040087e-01 7.06964158e-01 5.58583482e-02 8.97795233e+00] [ 8.53288682e-02 6.37484637e-03 9.96332447e-01 4.45944496e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.129115933 meters 0.017044951435696037 Centerline is valid? [True, True] Translation: X:-22.68, Y:8.98, Z:-0.05 [[ 7.12237933e-01 6.99306447e-01 -6.07257812e-02 -2.26768275e+01] [-6.97336029e-01 7.14805716e-01 5.26806526e-02 8.97559990e+00] [ 8.02470555e-02 4.82511603e-03 9.96763326e-01 -4.71114050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.159115933 meters 0.017653570320923653 Centerline is valid? [True, True] Translation: X:-22.68, Y:9.00, Z:-0.02 [[ 7.08565003e-01 7.02964978e-01 -6.14481531e-02 -2.26826466e+01] [-7.00932910e-01 7.11206492e-01 5.36505474e-02 8.99697193e+00] [ 8.14167813e-02 5.05613247e-03 9.96667318e-01 -1.53465327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.189115933000004 meters 0.018123880588207335 Centerline is valid? [True, True] Translation: X:-22.69, Y:9.01, Z:-0.00 [[ 7.04150968e-01 7.07312488e-01 -6.22933337e-02 -2.26925623e+01] [-7.05212561e-01 7.06880447e-01 5.47291304e-02 9.01255089e+00] [ 8.27445369e-02 5.39247123e-03 9.96556202e-01 -1.06192344e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.219115933 meters 0.018823461750616083 Centerline is valid? [True, True] Translation: X:-22.71, Y:9.02, Z:-0.00 [[ 7.02640332e-01 7.08843526e-01 -6.19469088e-02 -2.27080093e+01] [-7.06744188e-01 7.05345875e-01 5.47708791e-02 9.02214639e+00] [ 8.25179797e-02 5.29638909e-03 9.96575502e-01 -2.89521018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.249115933 meters 0.018944255036685967 Centerline is valid? [True, True] Translation: X:-22.71, Y:9.04, Z:0.02 [[ 7.05691324e-01 7.06051198e-01 -5.90885789e-02 -2.27135090e+01] [-7.04099177e-01 7.08146828e-01 5.26537640e-02 9.04076170e+00] [ 7.90196429e-02 4.44691534e-03 9.96863141e-01 2.21608592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.279115933 meters 0.01650964010768406 Centerline is valid? [True, True] Translation: X:-22.75, Y:9.03, Z:-0.07 [[ 7.16641491e-01 6.95301253e-01 -5.45998240e-02 -2.27495563e+01] [-6.93578664e-01 7.18713119e-01 4.89907110e-02 9.02574000e+00] [ 7.33049125e-02 2.76049679e-03 9.97305755e-01 -7.15370345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.309115933 meters 0.016301561374687523 Centerline is valid? [True, True] Translation: X:-22.76, Y:9.04, Z:-0.07 [[ 7.15272795e-01 6.96844392e-01 -5.28462078e-02 -2.27616597e+01] [-6.95212782e-01 7.17217633e-01 4.77289778e-02 9.04012736e+00] [ 7.11619026e-02 2.60011975e-03 9.97461389e-01 -6.94021077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.339115933 meters 0.016790338040141375 Centerline is valid? [True, True] Translation: X:-22.78, Y:9.05, Z:-0.07 [[ 7.18757456e-01 6.93445327e-01 -5.02125248e-02 -2.27765991e+01] [-6.91943148e-01 7.20506676e-01 4.56597296e-02 9.04881639e+00] [ 6.78409854e-02 1.92594130e-03 9.97694288e-01 -7.01707063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.369115933 meters 0.018182915471741938 Centerline is valid? [True, True] Translation: X:-22.77, Y:9.08, Z:-0.01 [[ 7.07444995e-01 7.04683853e-01 -5.42424684e-02 -2.27730697e+01] [-7.02939223e-01 7.09515065e-01 4.96469804e-02 9.08123376e+00] [ 7.34712739e-02 3.00665073e-03 9.97292802e-01 -7.89154852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.399115933 meters 0.017283280554029744 Centerline is valid? [True, True] Translation: X:-22.79, Y:9.09, Z:-0.02 [[ 7.12411571e-01 6.99896135e-01 -5.11385683e-02 -2.27901946e+01] [-6.98312372e-01 7.14241397e-01 4.71068838e-02 9.08945556e+00] [ 6.94952083e-02 2.15120588e-03 9.97579966e-01 -1.53378248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.429115933 meters 0.01596898741566965 Centerline is valid? [True, True] Translation: X:-22.81, Y:9.09, Z:-0.05 [[ 7.20820765e-01 6.91506768e-01 -4.72843976e-02 -2.28108969e+01] [-6.90116470e-01 7.22369245e-01 4.38398390e-02 9.09366697e+00] [ 6.44723400e-02 1.03107525e-03 9.97918962e-01 -5.34488612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.459115933 meters 0.017384978561005654 Centerline is valid? [True, True] Translation: X:-22.81, Y:9.12, Z:-0.00 [[ 7.14977545e-01 6.97490001e-01 -4.81124599e-02 -2.28102057e+01] [-6.96044328e-01 7.16593182e-01 4.49055073e-02 9.12179815e+00] [ 6.57982031e-02 1.38197550e-03 9.97831993e-01 -2.03029470e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.489115933 meters 0.01576438528859171 Centerline is valid? [True, True] Translation: X:-22.84, Y:9.12, Z:-0.05 [[ 7.24292595e-01 6.88175637e-01 -4.25972890e-02 -2.28382544e+01] [-6.87011367e-01 7.25544080e-01 4.00146038e-02 9.11857806e+00] [ 5.84432863e-02 2.82540488e-04 9.98290690e-01 -5.40121764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.519115933 meters 0.01799057656575604 Centerline is valid? [True, True] Translation: X:-22.83, Y:9.16, Z:0.03 [[ 7.11399752e-01 7.01199571e-01 -4.72181624e-02 -2.28268967e+01] [-6.99777694e-01 7.12963904e-01 4.46503212e-02 9.15891536e+00] [ 6.49736314e-02 1.27798937e-03 9.97886163e-01 3.25662463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.549115933 meters 0.0156364774416954 Centerline is valid? [True, True] Translation: X:-22.86, Y:9.15, Z:-0.05 [[ 7.25116808e-01 6.87320592e-01 -4.23794548e-02 -2.28592784e+01] [-6.86136154e-01 7.26354166e-01 4.03336425e-02 9.15042603e+00] [ 5.85046366e-02 -1.68525972e-04 9.98287123e-01 -4.85740443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.579115933 meters 0.016908265717707226 Centerline is valid? [True, True] Translation: X:-22.85, Y:9.19, Z:0.03 [[ 7.20886931e-01 6.91868410e-01 -4.04985944e-02 -2.28526703e+01] [-6.90780166e-01 7.22023617e-01 3.87899316e-02 9.18638651e+00] [ 5.60784699e-02 1.24710422e-05 9.98426364e-01 2.91353557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.609115933 meters 0.015751775103151597 Centerline is valid? [True, True] Translation: X:-22.88, Y:9.19, Z:-0.01 [[ 7.21407826e-01 6.91396174e-01 -3.92693227e-02 -2.28771013e+01] [-6.90359132e-01 7.22475807e-01 3.78546844e-02 9.18760442e+00] [ 5.45437195e-02 -1.98730032e-04 9.98511364e-01 -1.01962477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.639115933 meters 0.016886134395696514 Centerline is valid? [True, True] Translation: X:-22.88, Y:9.21, Z:0.01 [[ 7.22816344e-01 6.89997382e-01 -3.79492376e-02 -2.28828453e+01] [-6.89014461e-01 7.23811712e-01 3.68195209e-02 9.20945153e+00] [ 5.28734757e-02 -4.66177937e-04 9.98601111e-01 1.00608433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.669115933 meters 0.016096245879841792 Centerline is valid? [True, True] Translation: X:-22.90, Y:9.22, Z:0.00 [[ 7.22828539e-01 6.90139438e-01 -3.50208432e-02 -2.29000475e+01] [-6.89291951e-01 7.23676185e-01 3.41962722e-02 9.21890407e+00] [ 4.89439462e-02 -5.78456120e-04 9.98801359e-01 2.77647404e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.699115933 meters 0.016243635768953008 Centerline is valid? [True, True] Translation: X:-22.91, Y:9.24, Z:0.02 [[ 7.17546781e-01 6.95607015e-01 -3.54612039e-02 -2.29055110e+01] [-6.94733837e-01 7.18422401e-01 3.48446430e-02 9.24189390e+00] [ 4.97143014e-02 -3.66563175e-04 9.98763412e-01 1.51797578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.729115933 meters 0.01907359583140693 Centerline is valid? [True, True] Translation: X:-22.90, Y:9.27, Z:0.08 [[ 7.07975977e-01 7.05251382e-01 -3.72894582e-02 -2.29012186e+01] [-7.04286887e-01 7.08957307e-01 3.68716473e-02 9.27473203e+00] [ 5.24404141e-02 1.58235883e-04 9.98624042e-01 8.05638135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.759115933 meters 0.01712402024477798 Centerline is valid? [True, True] Translation: X:-22.92, Y:9.29, Z:0.06 [[ 7.12576725e-01 7.00803584e-01 -3.32978478e-02 -2.29170331e+01] [-7.00020025e-01 7.13354222e-01 3.31318400e-02 9.28522939e+00] [ 4.69720725e-02 -2.99817783e-04 9.98896158e-01 5.60698516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.789115933 meters 0.017757582862758182 Centerline is valid? [True, True] Translation: X:-22.91, Y:9.31, Z:0.10 [[ 7.00436253e-01 7.12857568e-01 -3.49734587e-02 -2.29061091e+01] [-7.11987659e-01 7.01308797e-01 3.52071500e-02 9.31030070e+00] [ 4.96248776e-02 2.40306815e-04 9.98767898e-01 1.03316775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.819115933 meters 0.017726687743481476 Centerline is valid? [True, True] Translation: X:-21.62, Y:10.46, Z:-1.82 [[ 7.58271463e-01 -6.51682224e-01 -1.82939076e-02 -2.16246599e+01] [-6.51522919e-01 -7.58491490e-01 1.44410910e-02 1.04631805e+01] [-2.32867755e-02 9.68632867e-04 -9.99728357e-01 -1.82195555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.849115933 meters 0.017553769757473452 Centerline is valid? [True, True] Translation: X:-22.78, Y:9.19, Z:0.12 [[ 7.55817305e-01 6.53874706e-01 -3.44683884e-02 -2.27785603e+01] [-6.53205227e-01 7.56602831e-01 2.95818633e-02 9.19277769e+00] [ 4.54217124e-02 1.56447276e-04 9.98967889e-01 1.15483834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.879115933 meters 0.015807660462716346 Centerline is valid? [True, True] Translation: X:-22.78, Y:9.22, Z:0.15 [[ 7.57111129e-01 6.52460723e-01 -3.28289977e-02 -2.27791323e+01] [-6.51843619e-01 7.57822538e-01 2.83707233e-02 9.21612563e+00] [ 4.33893370e-02 -8.04177538e-05 9.99058236e-01 1.45472742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.909115933 meters 0.017421342926407308 Centerline is valid? [True, True] Translation: X:-22.80, Y:9.22, Z:0.13 [[ 7.48341028e-01 6.62334702e-01 -3.60339895e-02 -2.27979907e+01] [-6.61592962e-01 7.49207977e-01 3.13394334e-02 9.22490121e+00] [ 4.77541467e-02 3.87250021e-04 9.98859045e-01 1.29988088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.939115933000004 meters 0.016887378703170426 Centerline is valid? [True, True] Translation: X:-22.80, Y:9.25, Z:0.15 [[ 7.39797263e-01 6.71693814e-01 -3.90823580e-02 -2.28009759e+01] [-6.70823040e-01 7.40828310e-01 3.42032791e-02 9.25059197e+00] [ 5.19274482e-02 9.13853952e-04 9.98650442e-01 1.54981662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.969115933 meters 0.016627474932832467 Centerline is valid? [True, True] Translation: X:-22.82, Y:9.26, Z:0.15 [[ 7.35687864e-01 6.76147095e-01 -3.98556592e-02 -2.28150995e+01] [-6.75236943e-01 7.36765838e-01 3.50880432e-02 9.26452229e+00] [ 5.30889666e-02 1.09816588e-03 9.98589183e-01 1.53640172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.999115933 meters 0.016180081239513477 Centerline is valid? [True, True] Translation: X:-22.83, Y:9.28, Z:0.15 [[ 7.34595181e-01 6.77311781e-01 -4.02327112e-02 -2.28258071e+01] [-6.76374443e-01 7.35695373e-01 3.56360871e-02 9.28196872e+00] [ 5.37357611e-02 1.03427982e-03 9.98554655e-01 1.53353354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.029115933 meters 0.015786568095357438 Centerline is valid? [True, True] Translation: X:-22.84, Y:9.30, Z:0.17 [[ 7.26815090e-01 6.85473387e-01 -4.31979209e-02 -2.28363216e+01] [-6.84393307e-01 7.28095960e-01 3.84977059e-02 9.30007142e+00] [ 5.78413845e-02 1.58365436e-03 9.98324530e-01 1.66678823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.059115933 meters 0.015600472072943747 Centerline is valid? [True, True] Translation: X:-22.85, Y:9.32, Z:0.16 [[ 7.26118988e-01 6.86312865e-01 -4.15435507e-02 -2.28475904e+01] [-6.85303267e-01 7.27305032e-01 3.72400688e-02 9.31722337e+00] [ 5.57731717e-02 1.42920993e-03 9.98442442e-01 1.63699223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.089115933 meters 0.015339388443427943 Centerline is valid? [True, True] Translation: X:-22.87, Y:9.32, Z:0.14 [[ 7.28887088e-01 6.83630849e-01 -3.70469420e-02 -2.28668087e+01] [-6.82814703e-01 7.29827355e-01 3.34082782e-02 9.32368441e+00] [ 4.98768013e-02 9.45334115e-04 9.98754930e-01 1.35194772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.119115933 meters 0.013358161438879673 Centerline is valid? [True, True] Translation: X:-22.86, Y:9.36, Z:0.19 [[ 7.32339208e-01 6.80149935e-01 -3.27925322e-02 -2.28601465e+01] [-6.79499950e-01 7.33072852e-01 2.97323163e-02 9.36196541e+00] [ 4.42617481e-02 5.08383098e-04 9.99019839e-01 1.85432997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.149115933 meters 0.014598368189051832 Centerline is valid? [True, True] Translation: X:-22.88, Y:9.37, Z:0.18 [[ 7.29031238e-01 6.83700877e-01 -3.26583122e-02 -2.28794237e+01] [-6.83052225e-01 7.29762122e-01 2.97809199e-02 9.37062113e+00] [ 4.41940403e-02 5.96111937e-04 9.99022788e-01 1.79427659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.179115933 meters 0.013003930193949539 Centerline is valid? [True, True] Translation: X:-22.89, Y:9.39, Z:0.18 [[ 7.27802998e-01 6.85120698e-01 -3.02063813e-02 -2.28858107e+01] [-6.84561390e-01 7.28429371e-01 2.76831187e-02 9.39388765e+00] [ 4.09694929e-02 5.30265624e-04 9.99160257e-01 1.82701511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.209115933 meters 0.012973734855964742 Centerline is valid? [True, True] Translation: X:-22.90, Y:9.41, Z:0.20 [[ 7.29256832e-01 6.83653921e-01 -2.83158677e-02 -2.28958024e+01] [-6.83155776e-01 7.29806288e-01 2.60953812e-02 9.41313717e+00] [ 3.85053080e-02 3.13913544e-04 9.99258346e-01 1.96810004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.239115933 meters 0.012752745390408009 Centerline is valid? [True, True] Translation: X:-22.91, Y:9.43, Z:0.20 [[ 7.34360965e-01 6.78340325e-01 -2.38406612e-02 -2.29072491e+01] [-6.77980355e-01 7.34747848e-01 2.20961349e-02 9.43028329e+00] [ 3.25055738e-02 -6.30389843e-05 9.99471552e-01 1.97716798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.269115933 meters 0.012786294558245426 Centerline is valid? [True, True] Translation: X:-22.93, Y:9.44, Z:0.19 [[ 7.29522099e-01 6.83476360e-01 -2.56431595e-02 -2.29263983e+01] [-6.83058550e-01 7.29972642e-01 2.38947583e-02 9.44016221e+00] [ 3.50503074e-02 8.40251198e-05 9.99385546e-01 1.90736088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.299115933 meters 0.013083317701761386 Centerline is valid? [True, True] Translation: X:-22.94, Y:9.45, Z:0.20 [[ 7.20695700e-01 6.92623024e-01 -2.95136348e-02 -2.29399986e+01] [-6.92071066e-01 7.21299590e-01 2.76503422e-02 9.45463933e+00] [ 4.04394363e-02 4.98049975e-04 9.99181867e-01 1.98673205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.329115933 meters 0.012529455518943631 Centerline is valid? [True, True] Translation: X:-22.96, Y:9.47, Z:0.19 [[ 7.22565636e-01 6.90706408e-01 -2.86977289e-02 -2.29564379e+01] [-6.90176949e-01 7.23135248e-01 2.70405872e-02 9.46629831e+00] [ 3.94294462e-02 2.67911874e-04 9.99222321e-01 1.93010661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.359115933 meters 0.013486675204069083 Centerline is valid? [True, True] Translation: X:-22.97, Y:9.48, Z:0.20 [[ 7.19464944e-01 6.93929100e-01 -2.88547705e-02 -2.29707018e+01] [-6.93390828e-01 7.20043252e-01 2.73290100e-02 9.48118848e+00] [ 3.97410781e-02 3.45368534e-04 9.99209952e-01 1.99923795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.389115933 meters 0.013170024402569735 Centerline is valid? [True, True] Translation: X:-22.98, Y:9.50, Z:0.19 [[ 7.18995434e-01 6.94412947e-01 -2.89175419e-02 -2.29845885e+01] [-6.93866481e-01 7.19576675e-01 2.75447825e-02 9.49646397e+00] [ 3.99358422e-02 2.60340171e-04 9.99202212e-01 1.93894183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.419115933 meters 0.013706752339731494 Centerline is valid? [True, True] Translation: X:-23.01, Y:9.49, Z:0.15 [[ 7.23946916e-01 6.89363151e-01 -2.60635557e-02 -2.30138584e+01] [-6.88910729e-01 7.24415924e-01 2.49715176e-02 9.49415720e+00] [ 3.60952988e-02 -1.22589953e-04 9.99348345e-01 1.48375037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.449115933 meters 0.013286749562673639 Centerline is valid? [True, True] Translation: X:-23.01, Y:9.53, Z:0.20 [[ 7.17154792e-01 6.96339434e-01 -2.82912889e-02 -2.30105594e+01] [-6.95805179e-01 7.17712601e-01 2.72722614e-02 9.52793928e+00] [ 3.92957656e-02 1.26792375e-04 9.99227615e-01 1.98564405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.479115933 meters 0.015769802263235246 Centerline is valid? [True, True] Translation: X:-23.03, Y:9.53, Z:0.18 [[ 7.09128393e-01 7.04354767e-01 -3.19575509e-02 -2.30315781e+01] [-7.03672710e-01 7.09847944e-01 3.09937728e-02 9.53422681e+00] [ 4.45156134e-02 5.09092148e-04 9.99008559e-01 1.79467945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.509115933 meters 0.012819355732064042 Centerline is valid? [True, True] Translation: X:-23.04, Y:9.56, Z:0.20 [[ 7.12441161e-01 7.01184331e-01 -2.77150900e-02 -2.30350282e+01] [-7.00662811e-01 7.12980021e-01 2.70391324e-02 9.55838930e+00] [ 3.87197214e-02 1.55141944e-04 9.99250098e-01 1.99504308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.539115933 meters 0.01279813568939221 Centerline is valid? [True, True] Translation: X:-23.05, Y:9.58, Z:0.20 [[ 7.15004798e-01 6.98738981e-01 -2.30646091e-02 -2.30472595e+01] [-6.98372773e-01 7.15376707e-01 2.26194119e-02 9.57571759e+00] [ 3.23049489e-02 -6.52930151e-05 9.99478057e-01 2.00123333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.569115933 meters 0.012903108086177194 Centerline is valid? [True, True] Translation: X:-23.06, Y:9.59, Z:0.20 [[ 7.10872711e-01 7.02906881e-01 -2.41226957e-02 -2.30613839e+01] [-7.02504635e-01 7.11281881e-01 2.37765301e-02 9.59118725e+00] [ 3.38707230e-02 4.42190769e-05 9.99426221e-01 2.01152312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.599115933 meters 0.014241272500863652 Centerline is valid? [True, True] Translation: X:-23.09, Y:9.59, Z:0.16 [[ 7.03396354e-01 7.10244693e-01 -2.80365049e-02 -2.30948852e+01] [-7.09701050e-01 7.03954794e-01 2.77861045e-02 9.58510953e+00] [ 3.94713653e-02 3.52892382e-04 9.99220640e-01 1.64145094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.629115933 meters 0.012904556158899901 Centerline is valid? [True, True] Translation: X:-23.11, Y:9.60, Z:0.16 [[ 7.01830188e-01 7.11801266e-01 -2.78090815e-02 -2.31064005e+01] [-7.11261358e-01 7.02380846e-01 2.77205326e-02 9.60143332e+00] [ 3.92640764e-02 3.24418467e-04 9.99228816e-01 1.58035010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.659115933 meters 0.011924469768126073 Centerline is valid? [True, True] Translation: X:-23.17, Y:9.57, Z:0.03 [[ 7.04302469e-01 7.09427287e-01 -2.59028211e-02 -2.31682801e+01] [-7.08951531e-01 7.04778632e-01 2.59770561e-02 9.56567943e+00] [ 3.66845873e-02 6.81399027e-05 9.99326892e-01 2.73843091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.689115933000004 meters 0.013243563867560213 Centerline is valid? [True, True] Translation: X:-21.99, Y:10.68, Z:-1.86 [[ 7.63374668e-01 -6.45817259e-01 -1.33859781e-02 -2.19932515e+01] [-6.45737505e-01 -7.63491529e-01 1.01862855e-02 1.06803233e+01] [-1.67985598e-02 8.67875799e-04 -9.99858518e-01 -1.85884396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.719115933 meters 0.012785320039420744 Centerline is valid? [True, True] Translation: X:-23.03, Y:9.54, Z:0.20 [[ 7.59522170e-01 6.49820520e-01 -2.93149262e-02 -2.30309603e+01] [-6.49338218e-01 7.60087686e-01 2.50317303e-02 9.54235753e+00] [ 3.85480464e-02 2.31478055e-05 9.99256748e-01 1.98742265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.749115933 meters 0.012877208988102047 Centerline is valid? [True, True] Translation: X:-23.05, Y:9.55, Z:0.17 [[ 7.59056993e-01 6.50371037e-01 -2.91546808e-02 -2.30526002e+01] [-6.49889783e-01 7.59616688e-01 2.50151282e-02 9.54756273e+00] [ 3.84154969e-02 -4.05788146e-05 9.99261852e-01 1.74267996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.779115933 meters 0.014476636250548213 Centerline is valid? [True, True] Translation: X:-23.07, Y:9.55, Z:0.16 [[ 7.52884553e-01 6.57402052e-01 -3.14228024e-02 -2.30741676e+01] [-6.56843025e-01 7.53539971e-01 2.71063166e-02 9.55353857e+00] [ 4.14980858e-02 2.31921554e-04 9.99138557e-01 1.62425540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.809115933 meters 0.014476636250548213 Centerline is valid? [True, True] Translation: X:-23.09, Y:9.57, Z:0.16 [[ 7.51287569e-01 6.59229651e-01 -3.13569287e-02 -2.30894103e+01] [-6.58669037e-01 7.51941629e-01 2.71824418e-02 9.56666195e+00] [ 4.14980517e-02 2.32007407e-04 9.99138558e-01 1.62217156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.839115933 meters 0.013193988625669065 Centerline is valid? [True, True] Translation: X:-23.10, Y:9.58, Z:0.17 [[ 7.56215659e-01 6.53678747e-01 -2.90167726e-02 -2.31034651e+01] [-6.53189921e-01 7.56772139e-01 2.52756064e-02 9.58183245e+00] [ 3.84812118e-02 -1.60345962e-04 9.99259311e-01 1.67745108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.869115933 meters 0.012142358863541258 Centerline is valid? [True, True] Translation: X:-23.17, Y:9.54, Z:0.03 [[ 7.54585075e-01 6.55438060e-01 -3.16593386e-02 -2.31653361e+01] [-6.54850772e-01 7.55248906e-01 2.77408881e-02 9.53930450e+00] [ 4.20931147e-02 -2.00717810e-04 9.99113672e-01 2.75162266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.899115933 meters 0.014146465092832124 Centerline is valid? [True, True] Translation: X:-23.13, Y:9.62, Z:0.18 [[ 7.56567101e-01 6.53274134e-01 -2.89677151e-02 -2.31269767e+01] [-6.52775955e-01 7.57121360e-01 2.55107514e-02 9.61703213e+00] [ 3.85975899e-02 -3.91167373e-04 9.99254759e-01 1.83962537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.929115933 meters 0.011942384557881961 Centerline is valid? [True, True] Translation: X:-23.20, Y:9.57, Z:0.02 [[ 7.55923589e-01 6.54064135e-01 -2.79219620e-02 -2.31965120e+01] [-6.53596652e-01 7.56438967e-01 2.47286235e-02 9.56605112e+00] [ 3.72953659e-02 -4.43248924e-04 9.99304188e-01 1.87754355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.959115933 meters 0.01415094951371305 Centerline is valid? [True, True] Translation: X:-23.22, Y:9.57, Z:-0.01 [[ 7.57190141e-01 6.52701245e-01 -2.53806173e-02 -2.32196654e+01] [-6.52309569e-01 7.57615181e-01 2.26155786e-02 9.56861493e+00] [ 3.39899572e-02 -5.68273653e-04 9.99422013e-01 -9.34550281e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.989115933 meters 0.015335966543640518 Centerline is valid? [True, True] Translation: X:-23.20, Y:9.63, Z:0.10 [[ 7.42532660e-01 6.69064820e-01 -3.15834832e-02 -2.31964972e+01] [-6.68465590e-01 7.43204049e-01 2.83107203e-02 9.62811625e+00] [ 4.24146795e-02 9.08372826e-05 9.99100088e-01 9.97844754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.019115933 meters 0.015918920318576623 Centerline is valid? [True, True] Translation: X:-23.20, Y:9.65, Z:0.11 [[ 7.37854843e-01 6.74170164e-01 -3.26315858e-02 -2.32044491e+01] [-6.73527980e-01 7.38576006e-01 2.94201279e-02 9.65042209e+00] [ 4.39350788e-02 2.70502267e-04 9.99034352e-01 1.14328568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.049115933 meters 0.012872140818045249 Centerline is valid? [True, True] Translation: X:-23.26, Y:9.61, Z:-0.02 [[ 7.38976329e-01 6.73068476e-01 -2.98799515e-02 -2.32649847e+01] [-6.72522569e-01 7.39580166e-01 2.71029865e-02 9.60989986e+00] [ 4.03407853e-02 6.64762533e-05 9.99185977e-01 -2.43147950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.079115933 meters 0.013646051585446932 Centerline is valid? [True, True] Translation: X:-23.28, Y:9.62, Z:-0.04 [[ 7.29353355e-01 6.83273491e-01 -3.43659747e-02 -2.32834746e+01] [-6.82553093e-01 7.30162315e-01 3.13730618e-02 9.61925468e+00] [ 4.65291211e-02 5.74554455e-04 9.98916769e-01 -3.81996166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.109115933 meters 0.013513781269356557 Centerline is valid? [True, True] Translation: X:-23.28, Y:9.65, Z:-0.00 [[ 7.17023878e-01 6.95925553e-01 -3.95522952e-02 -2.32836048e+01] [-6.94977593e-01 7.18112509e-01 3.63396348e-02 9.64786305e+00] [ 5.36926784e-02 1.43157310e-03 9.98556482e-01 -1.80699880e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.139115933 meters 0.01304078948102498 Centerline is valid? [True, True] Translation: X:-23.29, Y:9.68, Z:0.02 [[ 7.16543937e-01 6.96485568e-01 -3.83749900e-02 -2.32855058e+01] [-6.95582702e-01 7.17569670e-01 3.54749572e-02 9.67517611e+00] [ 5.22445246e-02 1.27361374e-03 9.98633510e-01 1.97006341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.169115933 meters 0.013680824751502311 Centerline is valid? [True, True] Translation: X:-23.30, Y:9.69, Z:0.01 [[ 7.09504211e-01 7.03543864e-01 -4.03708490e-02 -2.33017291e+01] [-7.02543161e-01 7.10649753e-01 3.75504252e-02 9.68582912e+00] [ 5.51079052e-02 1.72007911e-03 9.98478923e-01 9.31237374e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.199115933 meters 0.01344354797755658 Centerline is valid? [True, True] Translation: X:-23.32, Y:9.70, Z:0.00 [[ 7.03026244e-01 7.09942015e-01 -4.16705631e-02 -2.33157262e+01] [-7.08873190e-01 7.04256938e-01 3.89995622e-02 9.69872648e+00] [ 5.70342109e-02 2.12142928e-03 9.98369971e-01 2.49123758e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.229115933 meters 0.014732793293889315 Centerline is valid? [True, True] Translation: X:-23.33, Y:9.72, Z:0.02 [[ 7.00689497e-01 7.12179890e-01 -4.28256158e-02 -2.33256580e+01] [-7.11040397e-01 7.01993591e-01 4.03305416e-02 9.71645383e+00] [ 5.87859085e-02 2.19155596e-03 9.98268207e-01 1.67845129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.259115933 meters 0.013306681794558137 Centerline is valid? [True, True] Translation: X:-23.35, Y:9.72, Z:-0.02 [[ 6.89077457e-01 7.23283610e-01 -4.50896770e-02 -2.33486735e+01] [-7.22027301e-01 6.90544074e-01 4.27253874e-02 9.71894264e+00] [ 6.20389817e-02 3.11487655e-03 9.98068867e-01 -1.99105878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.289115933 meters 0.014228639350976974 Centerline is valid? [True, True] Translation: X:-23.36, Y:9.73, Z:-0.03 [[ 6.87767569e-01 7.24612509e-01 -4.37319380e-02 -2.33627342e+01] [-7.23414077e-01 6.89150355e-01 4.17595638e-02 9.72888803e+00] [ 6.03973828e-02 2.91542592e-03 9.98170154e-01 -2.85879336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.319115933 meters 0.014870586215405213 Centerline is valid? [True, True] Translation: X:-23.38, Y:9.74, Z:-0.03 [[ 6.84531806e-01 7.27688734e-01 -4.34201910e-02 -2.33761809e+01] [-7.26496993e-01 6.85901053e-01 4.17356607e-02 9.74229853e+00] [ 6.01525248e-02 2.97525098e-03 9.98184763e-01 -2.86076766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.349115933 meters 0.014382149141892888 Centerline is valid? [True, True] Translation: X:-23.39, Y:9.76, Z:-0.03 [[ 6.75722081e-01 7.35696014e-01 -4.63793452e-02 -2.33889618e+01] [-7.34336549e-01 6.77301522e-01 4.48606773e-02 9.75612267e+00] [ 6.44166225e-02 3.74469807e-03 9.97916067e-01 -2.83934350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.379115933 meters 0.014562652991239907 Centerline is valid? [True, True] Translation: X:-23.41, Y:9.76, Z:-0.05 [[ 6.76968788e-01 7.34692695e-01 -4.40443401e-02 -2.34101403e+01] [-7.33448341e-01 6.78392113e-01 4.28680662e-02 9.76084077e+00] [ 6.13741881e-02 3.28390539e-03 9.98109425e-01 -4.73703037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.409115933 meters 0.01462094565153688 Centerline is valid? [True, True] Translation: X:-23.42, Y:9.77, Z:-0.05 [[ 6.73677620e-01 7.37718724e-01 -4.39266330e-02 -2.34232890e+01] [-7.36468177e-01 6.75099950e-01 4.30660074e-02 9.77195353e+00] [ 6.14254678e-02 3.33796196e-03 9.98106092e-01 -5.25161681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.439115933000004 meters 0.014527869310391205 Centerline is valid? [True, True] Translation: X:-23.44, Y:9.78, Z:-0.05 [[ 6.65895306e-01 7.44612527e-01 -4.62128409e-02 -2.34368634e+01] [-7.43225298e-01 6.67485098e-01 4.56048357e-02 9.78428044e+00] [ 6.48043146e-02 3.97850647e-03 9.97890060e-01 -5.39286956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.469115933 meters 0.014388281695393308 Centerline is valid? [True, True] Translation: X:-23.44, Y:9.80, Z:-0.03 [[ 6.68850671e-01 7.42038351e-01 -4.49206593e-02 -2.34429255e+01] [-7.40703421e-01 6.70348669e-01 4.46217913e-02 9.80413558e+00] [ 6.32235846e-02 3.42757093e-03 9.97993502e-01 -3.38001156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.499115933 meters 0.0158664111425437 Centerline is valid? [True, True] Translation: X:-23.45, Y:9.82, Z:-0.02 [[ 6.65628729e-01 7.44814369e-01 -4.67969172e-02 -2.34542286e+01] [-7.43352138e-01 6.67261788e-01 4.67900163e-02 9.81851211e+00] [ 6.60756711e-02 3.64180938e-03 9.97807969e-01 -1.97295019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.529115933 meters 0.014074665716094958 Centerline is valid? [True, True] Translation: X:-22.23, Y:10.97, Z:-1.67 [[ 7.99493755e-01 -5.99680298e-01 -3.45438341e-02 -2.22253676e+01] [-5.99023280e-01 -8.00237676e-01 2.81206852e-02 1.09740917e+01] [-4.45066984e-02 -1.78975139e-03 -9.99007483e-01 -1.66543325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.559115933 meters 0.017922886001629338 Centerline is valid? [True, True] Translation: X:-23.37, Y:9.70, Z:-0.04 [[ 7.19534427e-01 6.92464506e-01 -5.25653620e-02 -2.33662625e+01] [-6.91026909e-01 7.21440297e-01 4.47851432e-02 9.69718207e+00] [ 6.89348924e-02 4.09962733e-03 9.97612737e-01 -3.94437816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.589115933 meters 0.014685423335126761 Centerline is valid? [True, True] Translation: X:-23.38, Y:9.71, Z:-0.04 [[ 7.15558988e-01 6.96570359e-01 -5.25839210e-02 -2.33797133e+01] [-6.95124811e-01 7.17475547e-01 4.50592679e-02 9.70980224e+00] [ 6.91146279e-02 4.30982396e-03 9.97599415e-01 -3.85799212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.619115933 meters 0.014617846673138472 Centerline is valid? [True, True] Translation: X:-23.40, Y:9.72, Z:-0.04 [[ 7.15920423e-01 6.96306366e-01 -5.11409115e-02 -2.33968376e+01] [-6.94919400e-01 7.17733753e-01 4.41054197e-02 9.71776341e+00] [ 6.74164429e-02 3.96284083e-03 9.97717054e-01 -4.37315098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.649115933 meters 0.014926636223904962 Centerline is valid? [True, True] Translation: X:-23.41, Y:9.73, Z:-0.04 [[ 7.13138399e-01 6.99182944e-01 -5.07625273e-02 -2.34108362e+01] [-6.97805831e-01 7.14931542e-01 4.40444371e-02 9.73153747e+00] [ 6.70868511e-02 4.01260819e-03 9.97739071e-01 -3.60631065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.679115933 meters 0.015515127801178029 Centerline is valid? [True, True] Translation: X:-23.43, Y:9.74, Z:-0.04 [[ 7.05957844e-01 7.06222568e-01 -5.36022970e-02 -2.34256269e+01] [-7.04684979e-01 7.07974137e-01 4.68156148e-02 9.74073493e+00] [ 7.10112837e-02 4.72288301e-03 9.97464331e-01 -4.11954208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.709115933 meters 0.014757181430563064 Centerline is valid? [True, True] Translation: X:-23.45, Y:9.74, Z:-0.06 [[ 7.05037688e-01 7.07311436e-01 -5.13068322e-02 -2.34471233e+01] [-7.05885826e-01 7.06888260e-01 4.51019804e-02 9.74353957e+00] [ 6.81693439e-02 4.41816954e-03 9.97663982e-01 -5.69339728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.739115933 meters 0.01500494449265858 Centerline is valid? [True, True] Translation: X:-23.46, Y:9.75, Z:-0.06 [[ 6.96818486e-01 7.15316406e-01 -5.25969262e-02 -2.34610475e+01] [-7.13819594e-01 6.98781962e-01 4.65334002e-02 9.75481914e+00] [ 7.00398879e-02 5.11938304e-03 9.97531055e-01 -6.37046204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.769115933 meters 0.0154258327946635 Centerline is valid? [True, True] Translation: X:-23.48, Y:9.76, Z:-0.07 [[ 6.95679062e-01 7.16407182e-01 -5.28336263e-02 -2.34797725e+01] [-7.14879443e-01 6.97664139e-01 4.70332909e-02 9.76148395e+00] [ 7.05551138e-02 5.04959764e-03 9.97495101e-01 -6.77409293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.799115933 meters 0.015750685387664175 Centerline is valid? [True, True] Translation: X:-23.49, Y:9.78, Z:-0.05 [[ 6.95440306e-01 7.16794777e-01 -5.06757092e-02 -2.34888348e+01] [-7.15370958e-01 6.97268490e-01 4.53987483e-02 9.77904993e+00] [ 6.78761609e-02 4.67981113e-03 9.97682778e-01 -5.17631566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.829115933 meters 0.01562569851991799 Centerline is valid? [True, True] Translation: X:-23.51, Y:9.79, Z:-0.06 [[ 6.91024617e-01 7.20914922e-01 -5.25989894e-02 -2.35050222e+01] [-7.19371136e-01 6.93005057e-01 4.74253135e-02 9.78708786e+00] [ 7.06409819e-02 5.06613567e-03 9.97488940e-01 -5.97175005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.859115933 meters 0.01529656723022711 Centerline is valid? [True, True] Translation: X:-23.52, Y:9.80, Z:-0.06 [[ 6.89880438e-01 7.22051277e-01 -5.20282008e-02 -2.35205455e+01] [-7.20523445e-01 6.91822032e-01 4.72042420e-02 9.79696546e+00] [ 7.00781389e-02 4.92225534e-03 9.97529361e-01 -6.06190963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.889115933 meters 0.014667442431956857 Centerline is valid? [True, True] Translation: X:-23.54, Y:9.81, Z:-0.07 [[ 6.87891839e-01 7.23933804e-01 -5.21983224e-02 -2.35375291e+01] [-7.22380030e-01 6.89851882e-01 4.76599643e-02 9.80501785e+00] [ 7.05117702e-02 4.92212525e-03 9.97498803e-01 -6.58216473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.919115933 meters 0.014844069086249365 Centerline is valid? [True, True] Translation: X:-23.56, Y:9.81, Z:-0.08 [[ 6.83853059e-01 7.27746095e-01 -5.22552894e-02 -2.35560245e+01] [-7.26177683e-01 6.85827650e-01 4.80250672e-02 9.80978777e+00] [ 7.07881775e-02 5.10453587e-03 9.97478309e-01 -7.82582188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.949115933 meters 0.015322756685183354 Centerline is valid? [True, True] Translation: X:-23.57, Y:9.82, Z:-0.08 [[ 6.80482701e-01 7.30860270e-01 -5.27878724e-02 -2.35678514e+01] [-7.29246695e-01 6.82506760e-01 4.88239730e-02 9.82321870e+00] [ 7.17115818e-02 5.27151242e-03 9.97411480e-01 -7.55507927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.979115933 meters 0.016500785196939947 Centerline is valid? [True, True] Translation: X:-23.58, Y:9.83, Z:-0.07 [[ 6.74141495e-01 7.36414065e-01 -5.68116994e-02 -2.35838543e+01] [-7.34538066e-01 6.76503770e-01 5.28817447e-02 9.83283119e+00] [ 7.73761894e-02 6.08057742e-03 9.96983426e-01 -7.32179732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.009115933 meters 0.015444753386924142 Centerline is valid? [True, True] Translation: X:-23.60, Y:9.84, Z:-0.07 [[ 6.78834281e-01 7.32498063e-01 -5.12894378e-02 -2.35987026e+01] [-7.30937395e-01 6.80751632e-01 4.80389490e-02 9.84295364e+00] [ 7.01038056e-02 4.87888266e-03 9.97527771e-01 -7.16465031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.039115933 meters 0.01535379512400938 Centerline is valid? [True, True] Translation: X:-23.61, Y:9.85, Z:-0.07 [[ 6.75319715e-01 7.35677537e-01 -5.21712986e-02 -2.36127165e+01] [-7.34049026e-01 6.77312894e-01 4.91860947e-02 9.85318640e+00] [ 7.15213982e-02 5.07995146e-03 9.97426129e-01 -7.35006892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.069115933 meters 0.01502182272574785 Centerline is valid? [True, True] Translation: X:-23.63, Y:9.87, Z:-0.07 [[ 6.71502659e-01 7.39100039e-01 -5.30595065e-02 -2.36265340e+01] [-7.37402642e-01 6.73574665e-01 5.03439536e-02 9.86505572e+00] [ 7.29487573e-02 5.32012162e-03 9.97321500e-01 -6.91581377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.099115933 meters 0.014796418637325233 Centerline is valid? [True, True] Translation: X:-23.64, Y:9.87, Z:-0.07 [[ 6.67902826e-01 7.42311004e-01 -5.36673866e-02 -2.36421388e+01] [-7.40560725e-01 6.70032776e-01 5.12434486e-02 9.87487246e+00] [ 7.39974839e-02 5.51831464e-03 9.97243160e-01 -6.66009348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.129115933 meters 0.015868302681756735 Centerline is valid? [True, True] Translation: X:-23.65, Y:9.89, Z:-0.06 [[ 6.63517041e-01 7.46104522e-01 -5.54362471e-02 -2.36548291e+01] [-7.44224047e-01 6.65802584e-01 5.32680563e-02 9.88829452e+00] [ 7.66531343e-02 5.91272506e-03 9.97040288e-01 -6.23308919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.159115933 meters 0.014968230284842465 Centerline is valid? [True, True] Translation: X:-23.67, Y:9.90, Z:-0.07 [[ 6.58715840e-01 7.50284681e-01 -5.62702376e-02 -2.36729869e+01] [-7.48335445e-01 6.61085173e-01 5.44100726e-02 9.89535206e+00] [ 7.80224638e-02 6.26823659e-03 9.96931896e-01 -6.75760284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.189115933000004 meters 0.014766084410820482 Centerline is valid? [True, True] Translation: X:-23.69, Y:9.90, Z:-0.08 [[ 6.59312964e-01 7.49869004e-01 -5.47986494e-02 -2.36888519e+01] [-7.47993047e-01 6.61560655e-01 5.33282498e-02 9.90393015e+00] [ 7.62418319e-02 5.82900228e-03 9.97072317e-01 -7.75330933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.219115933 meters 0.014895899268627654 Centerline is valid? [True, True] Translation: X:-23.70, Y:9.92, Z:-0.06 [[ 6.57251362e-01 7.51664516e-01 -5.49645624e-02 -2.37001953e+01] [-7.49756897e-01 6.59519897e-01 5.38340035e-02 9.91801821e+00] [ 7.67153327e-02 5.82758768e-03 9.97036006e-01 -6.39061681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.249115933 meters 0.019110559398429726 Centerline is valid? [True, True] Translation: X:-23.70, Y:9.94, Z:-0.01 [[ 6.46435824e-01 7.60787440e-01 -5.76471775e-02 -2.37006976e+01] [-7.58695001e-01 6.48963316e-01 5.68199882e-02 9.94292481e+00] [ 8.06388368e-02 7.00614948e-03 9.96718763e-01 -1.24555666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.279115933 meters 0.018304804138669063 Centerline is valid? [True, True] Translation: X:-23.71, Y:9.96, Z:0.00 [[ 6.47922308e-01 7.59656689e-01 -5.58426117e-02 -2.37085667e+01] [-7.57662169e-01 6.50292584e-01 5.53858484e-02 9.95974917e+00] [ 7.83882665e-02 6.42410761e-03 9.96902207e-01 1.54182391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.309115933 meters 0.019695728021958844 Centerline is valid? [True, True] Translation: X:-23.71, Y:9.98, Z:0.04 [[ 6.37854263e-01 7.67953631e-01 -5.82164925e-02 -2.37120184e+01] [-7.65788944e-01 6.40461331e-01 5.81083169e-02 9.98001312e+00] [ 8.19099052e-02 7.51690870e-03 9.96611390e-01 3.65684166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.339115933 meters 0.018335400793114937 Centerline is valid? [True, True] Translation: X:-23.74, Y:9.98, Z:-0.00 [[ 6.40911972e-01 7.65557223e-01 -5.61603311e-02 -2.37376780e+01] [-7.63505099e-01 6.43332716e-01 5.64179062e-02 9.97884273e+00] [ 7.93209139e-02 6.71978766e-03 9.96826483e-01 -1.76561479e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.369115933 meters 0.017518807486824578 Centerline is valid? [True, True] Translation: X:-22.41, Y:11.22, Z:-1.69 [[ 8.04787731e-01 -5.92080255e-01 -4.19246854e-02 -2.24054197e+01] [-5.91079165e-01 -8.05873335e-01 3.45483610e-02 1.12176392e+01] [-5.42413884e-02 -3.02328903e-03 -9.98523275e-01 -1.68549758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.399115933 meters 0.01872668752598736 Centerline is valid? [True, True] Translation: X:-23.63, Y:9.85, Z:0.02 [[ 6.99316019e-01 7.12063515e-01 -6.26311118e-02 -2.36281858e+01] [-7.10080277e-01 7.02080044e-01 5.35687661e-02 9.85150836e+00] [ 8.21164175e-02 7.01162098e-03 9.96598079e-01 2.47631283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.429115933 meters 0.019744481169630134 Centerline is valid? [True, True] Translation: X:-23.63, Y:9.88, Z:0.09 [[ 6.91230548e-01 7.19693504e-01 -6.51274910e-02 -2.36296757e+01] [-7.17554534e-01 6.94245718e-01 5.60211960e-02 9.87858997e+00] [ 8.55325725e-02 8.00896441e-03 9.96303185e-01 8.70225154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.459115933 meters 0.02032310073858635 Centerline is valid? [True, True] Translation: X:-23.65, Y:9.88, Z:0.06 [[ 6.90782965e-01 7.20018682e-01 -6.62721099e-02 -2.36512861e+01] [-7.17774328e-01 6.93909188e-01 5.73589784e-02 9.87897602e+00] [ 8.72863620e-02 7.94581391e-03 9.96151572e-01 5.82273300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.489115933 meters 0.01925364237051234 Centerline is valid? [True, True] Translation: X:-23.67, Y:9.88, Z:0.05 [[ 6.95666048e-01 7.15671729e-01 -6.21508267e-02 -2.36700951e+01] [-7.13653540e-01 6.98404663e-01 5.41253391e-02 9.88302044e+00] [ 8.21424022e-02 6.70099671e-03 9.96598075e-01 5.45071969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.519115933 meters 0.01943335844562771 Centerline is valid? [True, True] Translation: X:-23.68, Y:9.90, Z:0.05 [[ 6.90539304e-01 7.20426967e-01 -6.43463675e-02 -2.36832345e+01] [-7.18253016e-01 6.93492671e-01 5.63961001e-02 9.89511058e+00] [ 8.52530056e-02 7.27324884e-03 9.96332788e-01 4.81689468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.549115933 meters 0.019907446862366736 Centerline is valid? [True, True] Translation: X:-23.69, Y:9.91, Z:0.08 [[ 6.83800813e-01 7.26484649e-01 -6.80918662e-02 -2.36912727e+01] [-7.24045774e-01 6.87133268e-01 6.00465522e-02 9.91360593e+00] [ 9.04110849e-02 8.24174674e-03 9.95870428e-01 8.31342306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.579115933 meters 0.01959679631880841 Centerline is valid? [True, True] Translation: X:-23.71, Y:9.92, Z:0.06 [[ 6.80576313e-01 7.29446632e-01 -6.87276687e-02 -2.37102748e+01] [-7.26942152e-01 6.83985446e-01 6.09837434e-02 9.91772486e+00] [ 9.14931114e-02 8.45694818e-03 9.95769798e-01 5.68577023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.609115933 meters 0.019651602562789906 Centerline is valid? [True, True] Translation: X:-23.72, Y:9.93, Z:0.08 [[ 6.80587567e-01 7.29386384e-01 -6.92536398e-02 -2.37200023e+01] [-7.26807877e-01 6.84052179e-01 6.18298210e-02 9.93335052e+00] [ 9.24709327e-02 8.25348345e-03 9.95681177e-01 8.44308161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.639115933 meters 0.01855445687732535 Centerline is valid? [True, True] Translation: X:-23.75, Y:9.92, Z:0.03 [[ 6.86652562e-01 7.23876938e-01 -6.71597948e-02 -2.37511983e+01] [-7.21391433e-01 6.89893467e-01 6.03440593e-02 9.92264444e+00] [ 9.00147765e-02 7.01309766e-03 9.95915738e-01 2.91203726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.669115933 meters 0.019170841625785803 Centerline is valid? [True, True] Translation: X:-23.75, Y:9.95, Z:0.07 [[ 6.80235268e-01 7.29813556e-01 -6.82066948e-02 -2.37525029e+01] [-7.27242168e-01 6.83603516e-01 6.16851836e-02 9.94780904e+00] [ 9.16450196e-02 7.64234723e-03 9.95762414e-01 7.36967331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.699115933 meters 0.019170841625785803 Centerline is valid? [True, True] Translation: X:-23.76, Y:9.96, Z:0.07 [[ 6.77903738e-01 7.31998195e-01 -6.80085654e-02 -2.37648904e+01] [-7.29416011e-01 6.81263711e-01 6.19034687e-02 9.95947813e+00] [ 9.16449949e-02 7.64194364e-03 9.95762419e-01 7.35374078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.729115933 meters 0.01917209063033008 Centerline is valid? [True, True] Translation: X:-23.78, Y:9.96, Z:0.05 [[ 6.80503044e-01 7.29779876e-01 -6.58554359e-02 -2.37845530e+01] [-7.27314015e-01 6.83647947e-01 6.03308260e-02 9.96315954e+00] [ 8.90501563e-02 6.84227074e-03 9.96003641e-01 4.82487886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.759115933 meters 0.019343018868221134 Centerline is valid? [True, True] Translation: X:-23.79, Y:9.98, Z:0.07 [[ 6.74422629e-01 7.35273384e-01 -6.72842304e-02 -2.37934602e+01] [-7.32689363e-01 6.77729616e-01 6.20392271e-02 9.97940371e+00] [ 9.12163081e-02 7.45778121e-03 9.95803177e-01 7.05213443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.789115933 meters 0.01863139312929981 Centerline is valid? [True, True] Translation: X:-23.82, Y:9.98, Z:0.02 [[ 6.80558606e-01 7.30041374e-01 -6.22862468e-02 -2.38174081e+01] [-7.27774228e-01 6.83376671e-01 5.78013676e-02 9.97822695e+00] [ 8.47623578e-02 5.99310703e-03 9.96383172e-01 2.19289068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.819115933 meters 0.01864774918952759 Centerline is valid? [True, True] Translation: X:-23.83, Y:9.99, Z:0.03 [[ 6.77689211e-01 7.32709979e-01 -6.22368042e-02 -2.38305310e+01] [-7.30425751e-01 6.80513988e-01 5.81286087e-02 9.99030539e+00] [ 8.49444275e-02 6.06623345e-03 9.96367224e-01 2.90081980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.849115933 meters 0.017682039705066436 Centerline is valid? [True, True] Translation: X:-23.85, Y:9.99, Z:-0.01 [[ 6.79613087e-01 7.31034736e-01 -6.09447839e-02 -2.38546646e+01] [-7.28806902e-01 6.82318236e-01 5.72915845e-02 9.98944371e+00] [ 8.34658758e-02 5.48086849e-03 9.96495563e-01 -1.30401569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.879115933 meters 0.018196351153485085 Centerline is valid? [True, True] Translation: X:-23.86, Y:10.01, Z:0.01 [[ 6.81115309e-01 7.29801634e-01 -5.89195295e-02 -2.38620788e+01] [-7.27685890e-01 6.83641367e-01 5.57469920e-02 1.00082148e+01] [ 8.09640735e-02 4.90478050e-03 9.96704952e-01 1.26063831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.909115933 meters 0.018199077921428036 Centerline is valid? [True, True] Translation: X:-23.88, Y:10.02, Z:0.01 [[ 6.80095143e-01 7.30797084e-01 -5.83628105e-02 -2.38752917e+01] [-7.28691285e-01 6.82578655e-01 5.56362330e-02 1.00195505e+01] [ 8.04960055e-02 4.69053949e-03 9.96743895e-01 1.16255774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.939115933000004 meters 0.014454087432394081 Centerline is valid? [True, True] Translation: X:-23.91, Y:10.00, Z:-0.09 [[ 6.83541195e-01 7.27785372e-01 -5.56766277e-02 -2.39130876e+01] [-7.25831817e-01 6.85793935e-01 5.34308049e-02 1.00038162e+01] [ 7.70688519e-02 3.88971161e-03 9.97018185e-01 -8.58871426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.969115933 meters 0.017228702012912843 Centerline is valid? [True, True] Translation: X:-23.91, Y:10.04, Z:-0.02 [[ 6.76641754e-01 7.34202054e-01 -5.57070964e-02 -2.39066247e+01] [-7.32236015e-01 6.78917156e-01 5.38694215e-02 1.00357917e+01] [ 7.73715434e-02 4.34044246e-03 9.96992881e-01 -1.85148095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.999115933 meters 0.01811215343686181 Centerline is valid? [True, True] Translation: X:-23.91, Y:10.06, Z:0.01 [[ 6.64203386e-01 7.45168762e-01 -5.96437620e-02 -2.39095433e+01] [-7.42924976e-01 6.66851220e-01 5.80683280e-02 1.00586713e+01] [ 8.30442195e-02 5.74166043e-03 9.96529323e-01 1.20337829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.029115933 meters 0.01874516923515789 Centerline is valid? [True, True] Translation: X:-23.92, Y:10.07, Z:0.01 [[ 6.61428278e-01 7.47727411e-01 -5.84495622e-02 -2.39225258e+01] [-7.45548706e-01 6.63981651e-01 5.73192363e-02 1.00700455e+01] [ 8.16686010e-02 5.66443168e-03 9.96643444e-01 9.99081453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.059115933 meters 0.018409108233189964 Centerline is valid? [True, True] Translation: X:-23.93, Y:10.08, Z:0.02 [[ 6.55346745e-01 7.52975875e-01 -5.95648887e-02 -2.39342008e+01] [-7.50701240e-01 6.58019146e-01 5.88086035e-02 1.00836614e+01] [ 8.34762968e-02 6.17540891e-03 9.96490628e-01 1.94716274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.089115933 meters 0.01603177172782516 Centerline is valid? [True, True] Translation: X:-23.96, Y:10.08, Z:-0.04 [[ 6.65566469e-01 7.44359305e-01 -5.43185177e-02 -2.39620617e+01] [-7.42413089e-01 6.67764797e-01 5.39720446e-02 1.00782553e+01] [ 7.64465875e-02 4.40479543e-03 9.97063948e-01 -4.20458045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.119115933 meters 0.017482532484859724 Centerline is valid? [True, True] Translation: X:-23.97, Y:10.09, Z:-0.03 [[ 6.66894667e-01 7.43405190e-01 -5.09924195e-02 -2.39721900e+01] [-7.41663692e-01 6.68830482e-01 5.09975883e-02 1.00934964e+01] [ 7.20171563e-02 3.80920647e-03 9.97396119e-01 -2.98206459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.149115933 meters 0.01476124808384557 Centerline is valid? [True, True] Translation: X:-22.53, Y:11.41, Z:-1.61 [[ 7.90326980e-01 -6.11453716e-01 -3.88280618e-02 -2.25254331e+01] [-6.10629878e-01 -7.91278975e-01 3.17606068e-02 1.14140752e+01] [-5.01439701e-02 -1.39168984e-03 -9.98741030e-01 -1.61294258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.179115933 meters 0.015800756313852027 Centerline is valid? [True, True] Translation: X:-23.84, Y:9.93, Z:-0.07 [[ 7.22613403e-01 6.88802750e-01 -5.81432859e-02 -2.38398975e+01] [-6.87032898e-01 7.24936860e-01 4.95211664e-02 9.92980230e+00] [ 7.62605267e-02 4.16169165e-03 9.97079241e-01 -6.66978391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.209115933 meters 0.014744351232022264 Centerline is valid? [True, True] Translation: X:-23.86, Y:9.94, Z:-0.08 [[ 7.21674283e-01 6.89837786e-01 -5.75331081e-02 -2.38578777e+01] [-6.88085312e-01 7.23952882e-01 4.93034245e-02 9.93585109e+00] [ 7.56626246e-02 4.00667316e-03 9.97125425e-01 -8.14393914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.239115933 meters 0.014895008018301324 Centerline is valid? [True, True] Translation: X:-23.87, Y:9.95, Z:-0.09 [[ 7.22217179e-01 6.89426923e-01 -5.56135221e-02 -2.38721224e+01] [-6.87765203e-01 7.24346289e-01 4.79737352e-02 9.94656051e+00] [ 7.33578330e-02 3.60158958e-03 9.97299181e-01 -8.55049349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.269115933 meters 0.01511492339055101 Centerline is valid? [True, True] Translation: X:-23.88, Y:9.96, Z:-0.07 [[ 7.23254277e-01 6.88471263e-01 -5.39497084e-02 -2.38811069e+01] [-6.86883137e-01 7.25256662e-01 4.68436884e-02 9.96398055e+00] [ 7.13779187e-02 3.17724697e-03 9.97444283e-01 -6.78725211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.299115933 meters 0.015634148675310346 Centerline is valid? [True, True] Translation: X:-23.89, Y:9.98, Z:-0.06 [[ 7.15420621e-01 6.96355568e-01 -5.71161791e-02 -2.38930073e+01] [-6.94575488e-01 7.17686032e-01 4.99164493e-02 9.97788217e+00] [ 7.57510812e-02 3.96024078e-03 9.97118895e-01 -6.24342593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.329115933 meters 0.015650496766872725 Centerline is valid? [True, True] Translation: X:-23.90, Y:9.99, Z:-0.05 [[ 7.16583504e-01 6.95409972e-01 -5.39727057e-02 -2.39008872e+01] [-6.93791496e-01 7.18605273e-01 4.75375699e-02 9.99372149e+00] [ 7.18431711e-02 3.38116587e-03 9.97410210e-01 -5.28694447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.359115933 meters 0.014766045469444232 Centerline is valid? [True, True] Translation: X:-23.92, Y:10.00, Z:-0.09 [[ 7.17224765e-01 6.94737329e-01 -5.41172844e-02 -2.39230829e+01] [-6.93084989e-01 7.19256902e-01 4.79865360e-02 9.99572153e+00] [ 7.22622681e-02 3.09074549e-03 9.97380876e-01 -8.92635640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.389115933 meters 0.015203149647110078 Centerline is valid? [True, True] Translation: X:-23.94, Y:10.01, Z:-0.10 [[ 7.18872472e-01 6.93219476e-01 -5.16635895e-02 -2.39367659e+01] [-6.91689187e-01 7.20721899e-01 4.61087079e-02 1.00075282e+01] [ 6.91985346e-02 2.58886536e-03 9.97599549e-01 -9.72269303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.419115933 meters 0.014488465986564291 Centerline is valid? [True, True] Translation: X:-23.95, Y:10.02, Z:-0.11 [[ 7.11714865e-01 7.00362014e-01 -5.43599145e-02 -2.39540830e+01] [-6.98664387e-01 7.13780561e-01 4.88404134e-02 1.00154705e+01] [ 7.30070205e-02 3.21888804e-03 9.97326232e-01 -1.10361043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.449115933 meters 0.014507721175408632 Centerline is valid? [True, True] Translation: X:-23.97, Y:10.03, Z:-0.11 [[ 7.11063399e-01 7.01135456e-01 -5.28953200e-02 -2.39673165e+01] [-6.99508367e-01 7.13021835e-01 4.78320667e-02 1.00284873e+01] [ 7.12522761e-02 2.98908704e-03 9.97453848e-01 -1.07801041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.479115933 meters 0.014605123554514552 Centerline is valid? [True, True] Translation: X:-23.98, Y:10.04, Z:-0.11 [[ 7.07330327e-01 7.04847861e-01 -5.36031819e-02 -2.39783819e+01] [-7.03160654e-01 7.09351538e-01 4.88414936e-02 1.00418867e+01] [ 7.24493218e-02 3.14457881e-03 9.97367138e-01 -1.08659481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.509115933 meters 0.01466353867365798 Centerline is valid? [True, True] Translation: X:-23.99, Y:10.05, Z:-0.11 [[ 7.01713199e-01 7.10394572e-01 -5.42046036e-02 -2.39906614e+01] [-7.08661183e-01 7.03794815e-01 4.97210835e-02 1.00548318e+01] [ 7.34705068e-02 3.52275794e-03 9.97291169e-01 -1.10901367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.539115933 meters 0.01669186071829402 Centerline is valid? [True, True] Translation: X:-23.99, Y:10.08, Z:-0.08 [[ 6.96415440e-01 7.15505097e-01 -5.52991048e-02 -2.39918754e+01] [-7.13684927e-01 6.98596927e-01 5.11483944e-02 1.00755790e+01] [ 7.52287216e-02 3.84560596e-03 9.97158889e-01 -7.73603838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.569115933 meters 0.0159637601188658 Centerline is valid? [True, True] Translation: X:-24.01, Y:10.08, Z:-0.10 [[ 6.91599605e-01 7.20011818e-01 -5.72098604e-02 -2.40077028e+01] [-7.18045774e-01 6.93949144e-01 5.33371555e-02 1.00835343e+01] [ 7.81041160e-02 4.19134281e-03 9.96936397e-01 -9.71530461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.599115933 meters 0.014770961722596138 Centerline is valid? [True, True] Translation: X:-24.02, Y:10.09, Z:-0.12 [[ 6.90001795e-01 7.21516576e-01 -5.75443625e-02 -2.40248080e+01] [-7.19504132e-01 6.92384807e-01 5.40100209e-02 1.00913132e+01] [ 7.88119677e-02 4.13639523e-03 9.96880918e-01 -1.17834651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.629115933 meters 0.016899637067145167 Centerline is valid? [True, True] Translation: X:-24.02, Y:10.12, Z:-0.07 [[ 6.80760620e-01 7.30105038e-01 -5.92588432e-02 -2.40238859e+01] [-7.27972895e-01 6.83316438e-01 5.59831166e-02 1.01187843e+01] [ 8.13660972e-02 5.02773045e-03 9.96671601e-01 -7.45377567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.659115933 meters 0.014775692154907457 Centerline is valid? [True, True] Translation: X:-24.05, Y:10.11, Z:-0.13 [[ 6.86322294e-01 7.25218053e-01 -5.49589243e-02 -2.40479562e+01] [-7.23328201e-01 6.88509041e-01 5.24558332e-02 1.01106604e+01] [ 7.58816335e-02 3.75173200e-03 9.97109774e-01 -1.32540968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.689115933000004 meters 0.015920146754233935 Centerline is valid? [True, True] Translation: X:-24.05, Y:10.14, Z:-0.10 [[ 6.77208456e-01 7.33529200e-01 -5.76508452e-02 -2.40499156e+01] [-7.31447445e-01 6.79642110e-01 5.54187530e-02 1.01355596e+01] [ 7.98332156e-02 4.63851525e-03 9.96797443e-01 -9.64206709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.719115933 meters 0.01598803411434974 Centerline is valid? [True, True] Translation: X:-24.06, Y:10.15, Z:-0.10 [[ 6.74379473e-01 7.36017876e-01 -5.90763252e-02 -2.40608477e+01] [-7.33805830e-01 6.76945343e-01 5.72189425e-02 1.01493098e+01] [ 8.21056078e-02 4.76327154e-03 9.96612252e-01 -1.00048817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.749115933 meters 0.01654309191344468 Centerline is valid? [True, True] Translation: X:-24.07, Y:10.16, Z:-0.09 [[ 6.70424454e-01 7.39778175e-01 -5.70903153e-02 -2.40704322e+01] [-7.37696061e-01 6.72833774e-01 5.56707718e-02 1.01647629e+01] [ 7.95963142e-02 4.79225392e-03 9.96815661e-01 -9.04570331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.779115933 meters 0.016343527938129418 Centerline is valid? [True, True] Translation: X:-24.08, Y:10.18, Z:-0.10 [[ 6.62635793e-01 7.46495873e-01 -6.04790726e-02 -2.40838628e+01] [-7.44153118e-01 6.65365908e-01 5.93662018e-02 1.01766989e+01] [ 8.45573376e-02 5.66752030e-03 9.96402497e-01 -9.92576804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.809115933 meters 0.015170647749254569 Centerline is valid? [True, True] Translation: X:-24.10, Y:10.18, Z:-0.14 [[ 6.61650114e-01 7.47381667e-01 -6.03305039e-02 -2.41038992e+01] [-7.45020692e-01 6.64372148e-01 5.96139105e-02 1.01802368e+01] [ 8.46362503e-02 5.50392308e-03 9.96396714e-01 -1.35275426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.839115933 meters 0.016662822729780247 Centerline is valid? [True, True] Translation: X:-24.10, Y:10.21, Z:-0.10 [[ 6.56693976e-01 7.51763562e-01 -6.00380601e-02 -2.41035483e+01] [-7.49410629e-01 6.59407412e-01 5.97124373e-02 1.02062941e+01] [ 8.44791763e-02 5.78036249e-03 9.96408479e-01 -1.04446129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.869115933 meters 0.014753945948344664 Centerline is valid? [True, True] Translation: X:-24.13, Y:10.20, Z:-0.16 [[ 6.54650827e-01 7.53511773e-01 -6.04342936e-02 -2.41306150e+01] [-7.51102067e-01 6.57408904e-01 6.04914696e-02 1.02033793e+01] [ 8.53110772e-02 5.79153228e-03 9.96337532e-01 -1.62290945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.899115933 meters 0.017549763565322823 Centerline is valid? [True, True] Translation: X:-22.75, Y:11.53, Z:-1.66 [[ 8.04931054e-01 -5.91356352e-01 -4.88227774e-02 -2.27457866e+01] [-5.89992542e-01 -8.06402159e-01 4.03033282e-02 1.15270976e+01] [-6.32044223e-02 -3.63632592e-03 -9.97993977e-01 -1.65703509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.929115933 meters 0.014522874613825522 Centerline is valid? [True, True] Translation: X:-24.02, Y:10.09, Z:-0.15 [[ 7.20285804e-01 6.90972610e-01 -6.11981427e-02 -2.40234412e+01] [-6.89013820e-01 7.22866474e-01 5.21921185e-02 1.00864202e+01] [ 8.03014100e-02 4.57312402e-03 9.96760137e-01 -1.52989158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.959115933 meters 0.018880238005873316 Centerline is valid? [True, True] Translation: X:-24.01, Y:10.13, Z:-0.06 [[ 7.04019636e-01 7.07193525e-01 -6.50666578e-02 -2.40112210e+01] [-7.05017395e-01 7.06989484e-01 5.58242124e-02 1.01304784e+01] [ 8.54799644e-02 6.57178390e-03 9.96318216e-01 -5.70239732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.989115933 meters 0.017241515794384217 Centerline is valid? [True, True] Translation: X:-24.03, Y:10.13, Z:-0.09 [[ 7.01297277e-01 7.09907547e-01 -6.49107314e-02 -2.40259382e+01] [-7.07699297e-01 7.04265430e-01 5.63197030e-02 1.01275239e+01] [ 8.56961664e-02 6.44042464e-03 9.96300501e-01 -9.15383824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.019115933 meters 0.015067857557047775 Centerline is valid? [True, True] Translation: X:-24.06, Y:10.12, Z:-0.16 [[ 7.08297724e-01 7.03219441e-01 -6.16177900e-02 -2.40563042e+01] [-7.01173314e-01 7.10954813e-01 5.38445712e-02 1.01187379e+01] [ 8.16720136e-02 5.06676278e-03 9.96646382e-01 -1.62434573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.049115933 meters 0.014699265958432493 Centerline is valid? [True, True] Translation: X:-24.07, Y:10.13, Z:-0.16 [[ 7.08720571e-01 7.02837440e-01 -6.11120692e-02 -2.40685620e+01] [-7.00794364e-01 7.11334796e-01 5.37593466e-02 1.01314410e+01] [ 8.12552228e-02 4.72663877e-03 9.96682120e-01 -1.62517422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.079115933 meters 0.014600546336746347 Centerline is valid? [True, True] Translation: X:-24.08, Y:10.14, Z:-0.17 [[ 6.97641594e-01 7.13612050e-01 -6.36714060e-02 -2.40820565e+01] [-7.11399751e-01 7.00516189e-01 5.64576330e-02 1.01402360e+01] [ 8.48916978e-02 5.90862925e-03 9.96372665e-01 -1.74447749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.109115933 meters 0.016009908140640232 Centerline is valid? [True, True] Translation: X:-24.09, Y:10.16, Z:-0.15 [[ 6.96732800e-01 7.14740977e-01 -6.08994306e-02 -2.40874108e+01] [-7.12692012e-01 6.99367426e-01 5.43626743e-02 1.01617414e+01] [ 8.14463089e-02 5.52627940e-03 9.96662410e-01 -1.49217774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.139115933 meters 0.01771313278917965 Centerline is valid? [True, True] Translation: X:-24.09, Y:10.18, Z:-0.12 [[ 6.90382405e-01 7.20845731e-01 -6.12663676e-02 -2.40909803e+01] [-7.18766381e-01 6.93069272e-01 5.50442826e-02 1.01844400e+01] [ 8.21402729e-02 6.03460112e-03 9.96602508e-01 -1.16690777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.169115933 meters 0.01458726131702884 Centerline is valid? [True, True] Translation: X:-24.12, Y:10.18, Z:-0.19 [[ 6.91351756e-01 7.19988494e-01 -6.04095839e-02 -2.41207161e+01] [-7.17934830e-01 6.93963391e-01 5.46295951e-02 1.01768795e+01] [ 8.12547195e-02 5.60187784e-03 9.96677626e-01 -1.89848696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.199115933 meters 0.017025171069074876 Centerline is valid? [True, True] Translation: X:-24.12, Y:10.21, Z:-0.14 [[ 6.78893476e-01 7.31569608e-01 -6.25264433e-02 -2.41173467e+01] [-7.29386379e-01 6.81731092e-01 5.69054216e-02 1.02076546e+01] [ 8.42564975e-02 6.97321657e-03 9.96419699e-01 -1.38573806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.229115933 meters 0.016439859431998143 Centerline is valid? [True, True] Translation: X:-24.14, Y:10.21, Z:-0.17 [[ 6.75190360e-01 7.34946656e-01 -6.30189751e-02 -2.41380868e+01] [-7.32711691e-01 6.78086697e-01 5.77235585e-02 1.02087751e+01] [ 8.51560649e-02 7.20034964e-03 9.96341608e-01 -1.69449630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.259115933 meters 0.017283498093060734 Centerline is valid? [True, True] Translation: X:-24.14, Y:10.24, Z:-0.13 [[ 6.66897252e-01 7.42543916e-01 -6.22622561e-02 -2.41380741e+01] [-7.40363060e-01 6.69751790e-01 5.74027844e-02 1.02354392e+01] [ 8.43243458e-02 7.81491525e-03 9.96407714e-01 -1.31562758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.289115933 meters 0.018980765169366125 Centerline is valid? [True, True] Translation: X:-24.14, Y:10.26, Z:-0.08 [[ 6.53303466e-01 7.54313147e-01 -6.48556629e-02 -2.41352860e+01] [-7.51966504e-01 6.56446901e-01 6.01983622e-02 1.02643781e+01] [ 8.79827150e-02 9.44148737e-03 9.96077256e-01 -7.67058324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.319115933 meters 0.015358853144690774 Centerline is valid? [True, True] Translation: X:-24.17, Y:10.25, Z:-0.16 [[ 6.64582328e-01 7.44883108e-01 -5.89871543e-02 -2.41670968e+01] [-7.42874915e-01 6.67156336e-01 5.51296994e-02 1.02524230e+01] [ 8.04188356e-02 7.18185328e-03 9.96735287e-01 -1.57914795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.349115933 meters 0.017725773516970158 Centerline is valid? [True, True] Translation: X:-24.17, Y:10.28, Z:-0.12 [[ 6.53695929e-01 7.54331259e-01 -6.05473724e-02 -2.41656586e+01] [-7.52223892e-01 6.56441346e-01 5.69559090e-02 1.02799422e+01] [ 8.27094211e-02 8.31333428e-03 9.96539031e-01 -1.15122555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.379115933 meters 0.016577413781103487 Centerline is valid? [True, True] Translation: X:-24.19, Y:10.28, Z:-0.16 [[ 6.54612162e-01 7.53640694e-01 -5.92336199e-02 -2.41892940e+01] [-7.51592215e-01 6.57240200e-01 5.60755062e-02 1.02791337e+01] [ 8.11914995e-02 7.81181918e-03 9.96667907e-01 -1.55212735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.409115933 meters 0.018713243746269263 Centerline is valid? [True, True] Translation: X:-24.18, Y:10.31, Z:-0.09 [[ 6.45070795e-01 7.61559157e-01 -6.25405515e-02 -2.41834041e+01] [-7.59276891e-01 6.48032395e-01 5.96038380e-02 1.03116833e+01] [ 8.59201520e-02 9.03690036e-03 9.96261041e-01 -8.71582740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.439115933000004 meters 0.013847578427419505 Centerline is valid? [True, True] Translation: X:-24.23, Y:10.28, Z:-0.21 [[ 6.60347471e-01 7.48798531e-01 -5.69383715e-02 -2.42305223e+01] [-7.46830246e-01 6.62766359e-01 5.46382397e-02 1.02849578e+01] [ 7.86498708e-02 6.44307459e-03 9.96881480e-01 -2.08904801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.469115933 meters 0.018070901110810215 Centerline is valid? [True, True] Translation: X:-24.22, Y:10.32, Z:-0.14 [[ 6.45917189e-01 7.60953276e-01 -6.11645059e-02 -2.42226404e+01] [-7.58699622e-01 6.48754442e-01 5.90978602e-02 1.03190808e+01] [ 8.46514552e-02 8.23316374e-03 9.96376609e-01 -1.44926390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.499115933 meters 0.01702103634586802 Centerline is valid? [True, True] Translation: X:-24.24, Y:10.32, Z:-0.16 [[ 6.53796245e-01 7.54505141e-01 -5.72054422e-02 -2.42434254e+01] [-7.52480890e-01 6.56260208e-01 5.56331692e-02 1.03213754e+01] [ 7.95171675e-02 6.67324492e-03 9.96811160e-01 -1.63695444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.529115933 meters 0.015832850783406523 Centerline is valid? [True, True] Translation: X:-24.26, Y:10.33, Z:-0.17 [[ 6.57803316e-01 7.51102703e-01 -5.60314875e-02 -2.42564569e+01] [-7.49116350e-01 6.60159376e-01 5.49025752e-02 1.03327112e+01] [ 7.82271844e-02 5.85900736e-03 9.96918342e-01 -1.69982510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.559115933 meters 0.014400607324771516 Centerline is valid? [True, True] Translation: X:-24.28, Y:10.33, Z:-0.21 [[ 6.59441014e-01 7.49724139e-01 -5.52382598e-02 -2.42834862e+01] [-7.47756392e-01 6.61728982e-01 5.45447704e-02 1.03287744e+01] [ 7.74462884e-02 5.33570317e-03 9.96982248e-01 -2.13080249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.589115933 meters 0.014305267930855863 Centerline is valid? [True, True] Translation: X:-24.29, Y:10.34, Z:-0.21 [[ 6.60149524e-01 7.49250171e-01 -5.31675363e-02 -2.42948573e+01] [-7.47399209e-01 6.62269363e-01 5.28555931e-02 1.03424285e+01] [ 7.48132926e-02 4.84477997e-03 9.97185790e-01 -2.07040969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.619115933 meters 0.014305267930855863 Centerline is valid? [True, True] Translation: X:-24.31, Y:10.35, Z:-0.21 [[ 6.57693929e-01 7.51418911e-01 -5.29935585e-02 -2.43068729e+01] [-7.49560987e-01 6.59807663e-01 5.30299378e-02 1.03548084e+01] [ 7.48132541e-02 4.84443587e-03 9.97185794e-01 -2.07198682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.649115933 meters 0.014572392502772901 Centerline is valid? [True, True] Translation: X:-22.88, Y:11.70, Z:-1.50 [[ 8.00812617e-01 -5.97514610e-01 -4.09321762e-02 -2.28840089e+01] [-5.96575628e-01 -8.01854224e-01 3.35756404e-02 1.17038404e+01] [-5.28835741e-02 -2.46865775e-03 -9.98597633e-01 -1.50299081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.679115933 meters 0.014263762563801448 Centerline is valid? [True, True] Translation: X:-24.19, Y:10.22, Z:-0.22 [[ 7.17299597e-01 6.94440085e-01 -5.68705164e-02 -2.41930334e+01] [-6.92761060e-01 7.19535690e-01 4.84819981e-02 1.02225683e+01] [ 7.45882092e-02 4.62156158e-03 9.97203710e-01 -2.18372277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.709115933 meters 0.014461564511619285 Centerline is valid? [True, True] Translation: X:-24.21, Y:10.24, Z:-0.22 [[ 7.09232177e-01 7.02472613e-01 -5.93459934e-02 -2.42061522e+01] [-7.00645572e-01 7.11689812e-01 5.09253711e-02 1.02355917e+01] [ 7.80096174e-02 5.46259566e-03 9.96937641e-01 -2.19498396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.739115933 meters 0.01422804795782076 Centerline is valid? [True, True] Translation: X:-24.22, Y:10.25, Z:-0.22 [[ 6.97369934e-01 7.14051103e-01 -6.16943845e-02 -2.42196566e+01] [-7.12090197e-01 7.00061002e-01 5.33117643e-02 1.02477028e+01] [ 8.12571567e-02 6.75394484e-03 9.96670286e-01 -2.18782455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.769115933 meters 0.01407764468983677 Centerline is valid? [True, True] Translation: X:-24.24, Y:10.26, Z:-0.22 [[ 6.99324381e-01 7.12582252e-01 -5.63200165e-02 -2.42355008e+01] [-7.10920327e-01 7.01564729e-01 4.89818214e-02 1.02566647e+01] [ 7.44157138e-02 5.78486264e-03 9.97210528e-01 -2.21598336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.799115933 meters 0.013032280228477576 Centerline is valid? [True, True] Translation: X:-24.25, Y:10.27, Z:-0.22 [[ 6.93703599e-01 7.18234473e-01 -5.39866426e-02 -2.42478043e+01] [-7.16702356e-01 6.95776062e-01 4.72589074e-02 1.02693802e+01] [ 7.15055901e-02 5.90867972e-03 9.97422698e-01 -2.19380546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.829115933 meters 0.014093346805674586 Centerline is valid? [True, True] Translation: X:-24.26, Y:10.28, Z:-0.22 [[ 6.90958542e-01 7.20878409e-01 -5.39500982e-02 -2.42600054e+01] [-7.19334090e-01 6.93035907e-01 4.75362931e-02 1.02818383e+01] [ 7.16572426e-02 5.96253698e-03 9.97411494e-01 -2.21326124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.859115933 meters 0.013460809081136674 Centerline is valid? [True, True] Translation: X:-24.27, Y:10.29, Z:-0.22 [[ 6.85061504e-01 7.26415201e-01 -5.48788837e-02 -2.42742783e+01] [-7.24802802e-01 6.87226739e-01 4.87883945e-02 1.02884212e+01] [ 7.31548677e-02 6.35331782e-03 9.97300356e-01 -2.24818064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.889115933 meters 0.013429546900235461 Centerline is valid? [True, True] Translation: X:-24.29, Y:10.30, Z:-0.22 [[ 6.83630267e-01 7.27891027e-01 -5.31442461e-02 -2.42869323e+01] [-7.26359992e-01 6.85665892e-01 4.75756893e-02 1.03002517e+01] [ 7.10691142e-02 6.07767300e-03 9.97452878e-01 -2.22785764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.919115933 meters 0.014170720643503434 Centerline is valid? [True, True] Translation: X:-24.30, Y:10.31, Z:-0.22 [[ 6.82030384e-01 7.29467178e-01 -5.20787106e-02 -2.42995438e+01] [-7.27979996e-01 6.83990327e-01 4.69292857e-02 1.03126216e+01] [ 6.98547078e-02 5.90506082e-03 9.97539698e-01 -2.19660363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.949115933 meters 0.013819747774159976 Centerline is valid? [True, True] Translation: X:-24.31, Y:10.32, Z:-0.23 [[ 6.79085132e-01 7.32208121e-01 -5.21023122e-02 -2.43145604e+01] [-7.30705933e-01 6.81054709e-01 4.72580461e-02 1.03221484e+01] [ 7.00872502e-02 5.97923219e-03 9.97522945e-01 -2.28087266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.979115933 meters 0.014240872137730266 Centerline is valid? [True, True] Translation: X:-24.32, Y:10.33, Z:-0.22 [[ 6.77009910e-01 7.34028095e-01 -5.34821176e-02 -2.43196944e+01] [-7.32412471e-01 6.79092855e-01 4.90394479e-02 1.03317371e+01] [ 7.23156564e-02 5.97077771e-03 9.97363923e-01 -2.24431521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.009115933 meters 0.013607338466684618 Centerline is valid? [True, True] Translation: X:-24.33, Y:10.34, Z:-0.22 [[ 6.78439561e-01 7.32585907e-01 -5.51148874e-02 -2.43327145e+01] [-7.30837886e-01 6.80650335e-01 5.09029067e-02 1.03428810e+01] [ 7.48047187e-02 5.74550211e-03 9.97181650e-01 -2.20788585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.039115933 meters 0.013681749514696796 Centerline is valid? [True, True] Translation: X:-24.34, Y:10.35, Z:-0.21 [[ 6.84659092e-01 7.26978928e-01 -5.23790554e-02 -2.43445401e+01] [-7.25361494e-01 6.86643974e-01 4.86904144e-02 1.03547817e+01] [ 7.13626681e-02 4.65741495e-03 9.97439561e-01 -2.12936609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.069115933 meters 0.015493263108456907 Centerline is valid? [True, True] Translation: X:-24.35, Y:10.37, Z:-0.21 [[ 6.74734876e-01 7.35815018e-01 -5.75248336e-02 -2.43549461e+01] [-7.33865706e-01 6.77157033e-01 5.38467916e-02 1.03696067e+01] [ 7.85746236e-02 5.88319432e-03 9.96890875e-01 -2.14849190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.099115933 meters 0.015104805199292679 Centerline is valid? [True, True] Translation: X:-24.36, Y:10.39, Z:-0.20 [[ 6.83455034e-01 7.28626961e-01 -4.46314774e-02 -2.43640791e+01] [-7.27421445e-01 6.84900664e-01 4.20609346e-02 1.03854193e+01] [ 6.12148594e-02 3.71913628e-03 9.98117683e-01 -2.02802866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.129115933 meters 0.015966086421743395 Centerline is valid? [True, True] Translation: X:-24.37, Y:10.40, Z:-0.19 [[ 6.82648652e-01 7.29593440e-01 -4.10393706e-02 -2.43723511e+01] [-7.28559600e-01 6.83873181e-01 3.89664140e-02 1.04017529e+01] [ 5.64953650e-02 3.29925739e-03 9.98397410e-01 -1.92705452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.159115933 meters 0.01638945304208132 Centerline is valid? [True, True] Translation: X:-24.38, Y:10.41, Z:-0.19 [[ 6.84364861e-01 7.28277140e-01 -3.54562361e-02 -2.43847313e+01] [-7.27492995e-01 6.85277776e-01 3.38867491e-02 1.04149364e+01] [ 4.89763154e-02 2.60326299e-03 9.98796548e-01 -1.94811448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.189115933000004 meters 0.01680884343220185 Centerline is valid? [True, True] Translation: X:-24.39, Y:10.43, Z:-0.18 [[ 6.79043162e-01 7.33286846e-01 -3.45077618e-02 -2.43929506e+01] [-7.32540120e-01 6.79913903e-01 3.31972381e-02 1.04310626e+01] [ 4.78054051e-02 2.73596243e-03 9.98852921e-01 -1.84742796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.219115933 meters 0.016584501609461826 Centerline is valid? [True, True] Translation: X:-24.40, Y:10.45, Z:-0.18 [[ 6.81152285e-01 7.31507552e-01 -3.04674593e-02 -2.44027457e+01] [-7.30915875e-01 6.81829861e-01 2.94961847e-02 1.04471022e+01] [ 4.23503054e-02 2.17775603e-03 9.99100450e-01 -1.80097187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.249115933 meters 0.01653505187870478 Centerline is valid? [True, True] Translation: X:-24.41, Y:10.47, Z:-0.16 [[ 6.79234842e-01 7.33405628e-01 -2.74993581e-02 -2.44080646e+01] [-7.32918836e-01 6.79788458e-01 2.67886557e-02 1.04679842e+01] [ 3.83406971e-02 1.95900920e-03 9.99262805e-01 -1.60761585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.279115933 meters 0.01626502751561841 Centerline is valid? [True, True] Translation: X:-24.42, Y:10.48, Z:-0.15 [[ 6.83294650e-01 7.29824867e-01 -2.15426235e-02 -2.44178414e+01] [-7.29520628e-01 6.83632940e-01 2.11105830e-02 1.04839091e+01] [ 3.01342755e-02 1.29103975e-03 9.99545026e-01 -1.54837609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.309115933 meters 0.017099811090512607 Centerline is valid? [True, True] Translation: X:-24.43, Y:10.50, Z:-0.15 [[ 6.85396653e-01 7.27963390e-01 -1.73415719e-02 -2.44262404e+01] [-7.27763201e-01 6.85615406e-01 1.70949578e-02 1.05021565e+01] [ 2.43341524e-02 9.03731031e-04 9.99703472e-01 -1.45718719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.339115933 meters 0.017139412758660415 Centerline is valid? [True, True] Translation: X:-24.44, Y:10.52, Z:-0.14 [[ 6.82730749e-01 7.30439541e-01 -1.83521430e-02 -2.44376405e+01] [-7.30213119e-01 6.82976677e-01 1.82115444e-02 1.05169346e+01] [ 2.58365177e-02 9.67394270e-04 9.99665713e-01 -1.39895029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.369115933 meters 0.0171792253794533 Centerline is valid? [True, True] Translation: X:-24.45, Y:10.53, Z:-0.13 [[ 6.85827854e-01 7.27640240e-01 -1.34102618e-02 -2.44491098e+01] [-7.27517441e-01 6.85958705e-01 1.33801513e-02 1.05316540e+01] [ 1.89348223e-02 5.79718949e-04 9.99820552e-01 -1.34807182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.399115933 meters 0.01649902005447864 Centerline is valid? [True, True] Translation: X:-23.10, Y:11.83, Z:-1.59 [[ 7.78938720e-01 -6.27085704e-01 4.24150414e-03 -2.30979601e+01] [-6.27068203e-01 -7.78949511e-01 -4.80914130e-03 1.18257240e+01] [ 6.31966133e-03 1.08631399e-03 -9.99979441e-01 -1.58704218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.429115933 meters 0.016140309343638234 Centerline is valid? [True, True] Translation: X:-24.35, Y:10.42, Z:-0.12 [[ 7.46529147e-01 6.65308544e-01 -7.66640659e-03 -2.43453255e+01] [-6.65276685e-01 7.46568473e-01 6.51514939e-03 1.04244225e+01] [ 1.00580820e-02 2.36532647e-04 9.99949388e-01 -1.19954636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.459115933 meters 0.015672589579143255 Centerline is valid? [True, True] Translation: X:-24.36, Y:10.44, Z:-0.11 [[ 7.54774898e-01 6.55983542e-01 -6.68389809e-04 -2.43596649e+01] [-6.55983331e-01 7.54775193e-01 5.27306039e-04 1.04379141e+01] [ 8.50388129e-04 4.04552115e-05 9.99999638e-01 -1.13382000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.489115933 meters 0.01567136124857907 Centerline is valid? [True, True] Translation: X:-24.38, Y:10.44, Z:-0.13 [[ 7.56091540e-01 6.54465831e-01 -2.44531811e-04 -2.43799990e+01] [-6.54465809e-01 7.56091579e-01 1.70930336e-04 1.04444793e+01] [ 2.96756507e-04 3.07987279e-05 9.99999955e-01 -1.31231759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.519115933 meters 0.015599857959597998 Centerline is valid? [True, True] Translation: X:-24.39, Y:10.46, Z:-0.12 [[ 7.53777319e-01 6.57129342e-01 8.83820764e-04 -2.43897646e+01] [-6.57128838e-01 7.53777836e-01 -8.15068016e-04 1.04616663e+01] [-1.20180961e-03 3.35956726e-05 9.99999277e-01 -1.22903477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.549115933 meters 0.01605201175903024 Centerline is valid? [True, True] Translation: X:-24.41, Y:10.47, Z:-0.14 [[ 7.54725169e-01 6.56031179e-01 3.60711747e-03 -2.44071684e+01] [-6.56023404e-01 7.54733787e-01 -3.19436581e-03 1.04713039e+01] [-4.81801700e-03 4.45147979e-05 9.99988392e-01 -1.35916613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.579115933 meters 0.015609467970297077 Centerline is valid? [True, True] Translation: X:-24.42, Y:10.48, Z:-0.14 [[ 7.53153566e-01 6.57831108e-01 4.23544167e-03 -2.44235566e+01] [-6.57820347e-01 7.53165474e-01 -3.76305235e-03 1.04837709e+01] [-5.66544133e-03 4.79965951e-05 9.99983950e-01 -1.36880519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.609115933 meters 0.015930559972076246 Centerline is valid? [True, True] Translation: X:-24.44, Y:10.50, Z:-0.13 [[ 7.56775684e-01 6.53623673e-01 8.16443482e-03 -2.44358270e+01] [-6.53583380e-01 7.56819707e-01 -7.25920598e-03 1.05002687e+01] [-1.09237940e-02 1.57451661e-04 9.99940321e-01 -1.29343966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.639115933 meters 0.01630076248279645 Centerline is valid? [True, True] Translation: X:-24.45, Y:10.51, Z:-0.14 [[ 7.56006402e-01 6.54481381e-01 1.04135707e-02 -2.44537355e+01] [-6.54415322e-01 7.56078088e-01 -9.30113337e-03 1.05104090e+01] [-1.39608912e-02 2.16916136e-04 9.99902518e-01 -1.36809610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.669115933 meters 0.015387900010280113 Centerline is valid? [True, True] Translation: X:-24.47, Y:10.52, Z:-0.14 [[ 7.57366115e-01 6.52915596e-01 9.88902839e-03 -2.44688806e+01] [-6.52855133e-01 7.57430623e-01 -8.88970892e-03 1.05233590e+01] [-1.32944825e-02 2.76661360e-04 9.99911586e-01 -1.42240944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.699115933 meters 0.01640968504680722 Centerline is valid? [True, True] Translation: X:-24.49, Y:10.53, Z:-0.15 [[ 7.57564300e-01 6.52698297e-01 9.01465167e-03 -2.44868106e+01] [-6.52647380e-01 7.57617875e-01 -8.15793418e-03 1.05336175e+01] [-1.21543310e-02 2.96770901e-04 9.99926089e-01 -1.46258429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.729115933 meters 0.015816665873044818 Centerline is valid? [True, True] Translation: X:-24.50, Y:10.55, Z:-0.14 [[ 7.59371134e-01 6.50574923e-01 1.03803309e-02 -2.45026648e+01] [-6.50506506e-01 7.59441962e-01 -9.44415124e-03 1.05458799e+01] [-1.40273868e-02 4.19143055e-04 9.99901524e-01 -1.44843055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.759115933 meters 0.01586773350886261 Centerline is valid? [True, True] Translation: X:-24.52, Y:10.56, Z:-0.14 [[ 7.54318811e-01 6.56445326e-01 9.09205117e-03 -2.45176605e+01] [-6.56392624e-01 7.54373539e-01 -8.32385065e-03 1.05598560e+01] [-1.23229557e-02 3.10881802e-04 9.99924021e-01 -1.38826103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.789115933 meters 0.015551286449716822 Centerline is valid? [True, True] Translation: X:-24.53, Y:10.57, Z:-0.15 [[ 7.59938692e-01 6.49849394e-01 1.37458689e-02 -2.45344402e+01] [-6.49726930e-01 7.60062706e-01 -1.26332491e-02 1.05706779e+01] [-1.86574316e-02 6.69433620e-04 9.99825711e-01 -1.50305550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.819115933 meters 0.018220305612650502 Centerline is valid? [True, True] Translation: X:-24.53, Y:10.60, Z:-0.09 [[ 7.48327204e-01 6.63279346e-01 8.17953795e-03 -2.45344231e+01] [-6.63235981e-01 7.48371862e-01 -7.58877782e-03 1.05994769e+01] [-1.11548156e-02 2.53925011e-04 9.99937751e-01 -9.29137244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.849115933 meters 0.01847364263823766 Centerline is valid? [True, True] Translation: X:-24.55, Y:10.61, Z:-0.10 [[ 7.45171699e-01 6.66828892e-01 7.63982997e-03 -2.45483162e+01] [-6.66790786e-01 7.45210829e-01 -7.13223442e-03 1.06140819e+01] [-1.04492640e-02 2.20571011e-04 9.99945381e-01 -9.72703857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.879115933 meters 0.020182797947614285 Centerline is valid? [True, True] Translation: X:-24.54, Y:10.66, Z:-0.01 [[ 7.40018651e-01 6.72542096e-01 7.71534790e-03 -2.45393744e+01] [-6.72503128e-01 7.40058850e-01 -7.24167581e-03 1.06556882e+01] [-1.05801433e-02 1.70379567e-04 9.99944014e-01 -1.11136105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.909115933 meters 0.016811268768800434 Centerline is valid? [True, True] Translation: X:-24.60, Y:10.62, Z:-0.17 [[ 7.39789319e-01 6.72794674e-01 7.68699186e-03 -2.46019948e+01] [-6.72755515e-01 7.39829228e-01 -7.26158378e-03 1.06154789e+01] [-1.05726161e-02 2.00575956e-04 9.99944088e-01 -1.73613161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.939115933000004 meters 0.01606498800751743 Centerline is valid? [True, True] Translation: X:-24.62, Y:10.63, Z:-0.17 [[ 7.27281851e-01 6.86337401e-01 1.44279055e-03 -2.46193820e+01] [-6.86335955e-01 7.27283281e-01 -1.40943384e-03 1.06260902e+01] [-2.01666461e-03 3.48166244e-05 9.99997966e-01 -1.74092675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.969115933 meters 0.017162850876320218 Centerline is valid? [True, True] Translation: X:-24.63, Y:10.65, Z:-0.15 [[ 7.21630800e-01 6.92270403e-01 -3.26758138e-03 -2.46274068e+01] [-6.92263659e-01 7.21638196e-01 3.05633535e-03 1.06454996e+01] [ 4.47382204e-03 5.64821170e-05 9.99989991e-01 -1.50271681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.999115933 meters 0.019932302239212784 Centerline is valid? [True, True] Translation: X:-24.62, Y:10.68, Z:-0.08 [[ 7.07744177e-01 7.06387903e-01 -1.06916025e-02 -2.46231889e+01] [-7.06314688e-01 7.07824843e-01 1.01760951e-02 1.06786655e+01] [ 1.47560523e-02 3.49563806e-04 9.99891062e-01 -7.82515676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.029115933 meters 0.02078331525014389 Centerline is valid? [True, True] Translation: X:-24.63, Y:10.70, Z:-0.06 [[ 7.02575535e-01 7.11488831e-01 -1.30867201e-02 -2.46316847e+01] [-7.11378410e-01 7.02697230e-01 1.25443453e-02 1.06973763e+01] [ 1.81211636e-02 4.96260010e-04 9.99835675e-01 -5.65957454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.059115933 meters 0.02040506969670152 Centerline is valid? [True, True] Translation: X:-24.64, Y:10.71, Z:-0.05 [[ 6.96823525e-01 7.17024268e-01 -1.76967282e-02 -2.46427400e+01] [-7.16820716e-01 6.97047780e-01 1.71012711e-02 1.07113637e+01] [ 2.45974915e-02 7.68813374e-04 9.99697140e-01 -4.68694421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.089115933 meters 0.020517893194567205 Centerline is valid? [True, True] Translation: X:-24.65, Y:10.73, Z:-0.03 [[ 6.99043073e-01 7.14864672e-01 -1.75294770e-02 -2.46532981e+01] [-7.14661340e-01 6.99262567e-01 1.70596561e-02 1.07284286e+01] [ 2.44530526e-02 6.02205073e-04 9.99700798e-01 -3.13622363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.119115933 meters 0.016173924829584643 Centerline is valid? [True, True] Translation: X:-24.70, Y:10.70, Z:-0.16 [[ 6.96875212e-01 7.16908951e-01 -2.01617387e-02 -2.47039573e+01] [-7.16636998e-01 6.97166474e-01 1.97565258e-02 1.07012842e+01] [ 2.82197184e-02 6.80814810e-04 9.99601513e-01 -1.56222368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.149115933 meters 0.014910857487491328 Centerline is valid? [True, True] Translation: X:-24.73, Y:10.70, Z:-0.18 [[ 7.02115743e-01 7.11831563e-01 -1.81469056e-02 -2.47264937e+01] [-7.11606713e-01 7.02350129e-01 1.78936414e-02 1.07047585e+01] [ 2.54827402e-02 3.50052521e-04 9.99675201e-01 -1.82782915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.179115933 meters 0.019596761891952596 Centerline is valid? [True, True] Translation: X:-24.69, Y:10.77, Z:-0.01 [[ 6.82680680e-01 7.30171829e-01 -2.82168271e-02 -2.46874268e+01] [-7.29634771e-01 6.83262033e-01 2.80373933e-02 1.07723989e+01] [ 3.97516014e-02 1.44739149e-03 9.99208544e-01 -1.48633230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.209115933 meters 0.016172452319097384 Centerline is valid? [True, True] Translation: X:-24.73, Y:10.76, Z:-0.10 [[ 6.92971311e-01 7.20447909e-01 -2.73051658e-02 -2.47276077e+01] [-7.19930272e-01 6.93508672e-01 2.73152825e-02 1.07564071e+01] [ 3.86156075e-02 7.29108314e-04 9.99253873e-01 -9.81625031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.239115933 meters 0.0167972679246462 Centerline is valid? [True, True] Translation: X:-23.37, Y:12.05, Z:-1.67 [[ 7.73736320e-01 -6.33327645e-01 -1.51063066e-02 -2.33739999e+01] [-6.33220866e-01 -7.73883572e-01 1.16426705e-02 1.20510664e+01] [-1.90641476e-02 5.57271502e-04 -9.99818107e-01 -1.66526875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.269115933 meters 0.013265701565595762 Centerline is valid? [True, True] Translation: X:-24.64, Y:10.63, Z:-0.12 [[ 7.55019314e-01 6.54879528e-01 -3.28426288e-02 -2.46354943e+01] [-6.54281855e-01 7.55733199e-01 2.79747390e-02 1.06344960e+01] [ 4.31403488e-02 3.66867793e-04 9.99068954e-01 -1.17823522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.299115933 meters 0.011555375501006632 Centerline is valid? [True, True] Translation: X:-24.66, Y:10.64, Z:-0.14 [[ 7.59286273e-01 6.50055740e-01 -3.01975236e-02 -2.46558996e+01] [-6.49541155e-01 7.59886527e-01 2.58602773e-02 1.06402994e+01] [ 3.97573131e-02 -2.08192001e-05 9.99209365e-01 -1.35146113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.329115933 meters 0.014729514696930754 Centerline is valid? [True, True] Translation: X:-24.65, Y:10.68, Z:-0.05 [[ 7.56685913e-01 6.53120693e-01 -2.93221565e-02 -2.46492488e+01] [-6.52631633e-01 7.57253828e-01 2.52703763e-02 1.06802868e+01] [ 3.87089209e-02 1.48291277e-05 9.99250529e-01 -5.23849741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.359115933 meters 0.012129528641101376 Centerline is valid? [True, True] Translation: X:-24.68, Y:10.67, Z:-0.12 [[ 7.64040012e-01 6.44534550e-01 -2.86019919e-02 -2.46827644e+01] [-6.44057229e-01 7.64575000e-01 2.48063568e-02 1.06712508e+01] [ 3.78569220e-02 -5.31729465e-04 9.99283028e-01 -1.17093725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.389115933 meters 0.011412909022492515 Centerline is valid? [True, True] Translation: X:-24.70, Y:10.68, Z:-0.11 [[ 7.60023782e-01 6.49294896e-01 -2.79282831e-02 -2.46978825e+01] [-6.48837159e-01 7.60536634e-01 2.43797018e-02 1.06835583e+01] [ 3.70700983e-02 -4.08245316e-04 9.99312584e-01 -1.13283572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.419115933 meters 0.013198558842047335 Centerline is valid? [True, True] Translation: X:-24.71, Y:10.70, Z:-0.09 [[ 7.66504119e-01 6.41774866e-01 -2.44224719e-02 -2.47097037e+01] [-6.41416674e-01 7.66892701e-01 2.14530900e-02 1.07003230e+01] [ 3.24974694e-02 -7.78901146e-04 9.99471514e-01 -9.46674761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.449115933 meters 0.014668084216488722 Centerline is valid? [True, True] Translation: X:-24.71, Y:10.73, Z:-0.05 [[ 7.65721518e-01 6.42606878e-01 -2.69621355e-02 -2.47092011e+01] [-6.42164911e-01 7.66195474e-01 2.38479037e-02 1.07298619e+01] [ 3.59830932e-02 -9.46715679e-04 9.99351950e-01 -4.74194632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.479115933 meters 0.01640310829007376 Centerline is valid? [True, True] Translation: X:-24.70, Y:10.77, Z:0.03 [[ 7.65314531e-01 6.43211899e-01 -2.39190681e-02 -2.47001594e+01] [-6.42860576e-01 7.65687686e-01 2.12755233e-02 1.07711977e+01] [ 3.19992057e-02 -9.05841180e-04 9.99487484e-01 3.28948566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.509115933 meters 0.01640310829007376 Centerline is valid? [True, True] Translation: X:-24.72, Y:10.78, Z:0.03 [[ 7.63417701e-01 6.45464329e-01 -2.38581972e-02 -2.47151484e+01] [-6.45111977e-01 7.63789882e-01 2.13436927e-02 1.07844492e+01] [ 3.19992420e-02 -9.02944060e-04 9.99487485e-01 3.26985110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.539115933 meters 0.01652738212474238 Centerline is valid? [True, True] Translation: X:-24.75, Y:10.78, Z:-0.02 [[ 7.62554857e-01 6.46426899e-01 -2.53447111e-02 -2.47484419e+01] [-6.46024973e-01 7.62975239e-01 2.28148924e-02 1.07761195e+01] [ 3.40855472e-02 -1.02429074e-03 9.99418394e-01 -2.29634129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.569115933 meters 0.016519263573989813 Centerline is valid? [True, True] Translation: X:-24.76, Y:10.79, Z:-0.01 [[ 7.60516116e-01 6.48847446e-01 -2.47432628e-02 -2.47566180e+01] [-6.48460693e-01 7.60917852e-01 2.24221445e-02 1.07941287e+01] [ 3.33761416e-02 -1.00736890e-03 9.99442354e-01 -7.40001873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.599115933 meters 0.013703415389280282 Centerline is valid? [True, True] Translation: X:-24.81, Y:10.76, Z:-0.12 [[ 7.59171201e-01 6.50384063e-01 -2.56838279e-02 -2.48084390e+01] [-6.49962865e-01 7.59604751e-01 2.34285425e-02 1.07647060e+01] [ 3.47471084e-02 -1.09274037e-03 9.99395540e-01 -1.19231168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.629115933 meters 0.01695009105104484 Centerline is valid? [True, True] Translation: X:-24.79, Y:10.81, Z:-0.02 [[ 7.57145535e-01 6.52830576e-01 -2.32997118e-02 -2.47917107e+01] [-6.52481042e-01 7.57503309e-01 2.13828367e-02 1.08136613e+01] [ 3.16089784e-02 -9.87299060e-04 9.99499824e-01 -1.82433258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.659115933 meters 0.015253042503665468 Centerline is valid? [True, True] Translation: X:-24.82, Y:10.81, Z:-0.06 [[ 7.53578626e-01 6.56845322e-01 -2.59514370e-02 -2.48189657e+01] [-6.56408561e-01 7.54024643e-01 2.39716236e-02 1.08125446e+01] [ 3.53136719e-02 -1.02975775e-03 9.99375747e-01 -6.21348692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.689115933 meters 0.015964728187474114 Centerline is valid? [True, True] Translation: X:-24.83, Y:10.83, Z:-0.04 [[ 7.51607797e-01 6.59131484e-01 -2.51277994e-02 -2.48272914e+01] [-6.58718368e-01 7.52027050e-01 2.33543905e-02 1.08333664e+01] [ 3.42903989e-02 -1.00119896e-03 9.99411410e-01 -3.94280707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.719115933 meters 0.01283202694835759 Centerline is valid? [True, True] Translation: X:-24.87, Y:10.81, Z:-0.12 [[ 7.47244114e-01 6.63980585e-01 -2.74957538e-02 -2.48678985e+01] [-6.63481522e-01 7.47749138e-01 2.57584216e-02 1.08126440e+01] [ 3.76630180e-02 -1.00490434e-03 9.99289992e-01 -1.24202659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.749115933 meters 0.017016587913088257 Centerline is valid? [True, True] Translation: X:-24.86, Y:10.85, Z:-0.05 [[ 7.41939130e-01 6.69916332e-01 -2.71741778e-02 -2.48571519e+01] [-6.69426250e-01 7.42436141e-01 2.56334272e-02 1.08536330e+01] [ 3.73473432e-02 -8.27334728e-04 9.99302002e-01 -5.03796901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.779115933 meters 0.013632674220629791 Centerline is valid? [True, True] Translation: X:-24.89, Y:10.84, Z:-0.12 [[ 7.37729175e-01 6.74534844e-01 -2.75392172e-02 -2.48935587e+01] [-6.74028267e-01 7.38242653e-01 2.61472725e-02 1.08413292e+01] [ 3.79678711e-02 -7.27394949e-04 9.99278696e-01 -1.23867498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.809115933 meters 0.016825539913649483 Centerline is valid? [True, True] Translation: X:-24.85, Y:10.92, Z:0.05 [[ 7.31762928e-01 6.81034884e-01 -2.67302056e-02 -2.48513515e+01] [-6.80556085e-01 7.32250804e-01 2.55377148e-02 1.09172700e+01] [ 3.69652892e-02 -4.96148881e-04 9.99316427e-01 4.83322633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.839115933 meters 0.017631089315056362 Centerline is valid? [True, True] Translation: X:-24.88, Y:10.92, Z:0.02 [[ 7.28350856e-01 6.84678064e-01 -2.68510668e-02 -2.48770635e+01] [-6.84191418e-01 7.28845501e-01 2.58135554e-02 1.09180419e+01] [ 3.72442543e-02 -4.30055699e-04 9.99306100e-01 2.06358934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.869115933 meters 0.01637656500788475 Centerline is valid? [True, True] Translation: X:-24.91, Y:10.91, Z:-0.03 [[ 7.22017520e-01 6.91319709e-01 -2.77084762e-02 -2.49050535e+01] [-6.90799528e-01 7.22548968e-01 2.68141920e-02 1.09141338e+01] [ 3.85579103e-02 -2.19314142e-04 9.99256343e-01 -2.81047924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.899115933 meters 0.013676697822528922 Centerline is valid? [True, True] Translation: X:-24.94, Y:10.90, Z:-0.12 [[ 7.18367323e-01 6.95006760e-01 -3.02323232e-02 -2.49408854e+01] [-6.94382202e-01 7.19003182e-01 2.94581469e-02 1.09026588e+01] [ 4.22107478e-02 -1.68982982e-04 9.99108715e-01 -1.15542989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.929115933 meters 0.018302219435580847 Centerline is valid? [True, True] Translation: X:-24.90, Y:10.97, Z:0.06 [[ 7.11256633e-01 7.02313513e-01 -2.94912239e-02 -2.48998363e+01] [-7.01717440e-01 7.11867766e-01 2.89295392e-02 1.09730827e+01] [ 4.13114580e-02 1.18179503e-04 9.99146310e-01 6.36317638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.959115933 meters 0.017777725782826322 Centerline is valid? [True, True] Translation: X:-24.93, Y:10.96, Z:0.00 [[ 7.09610282e-01 7.04024416e-01 -2.83349279e-02 -2.49320752e+01] [-7.03468256e-01 7.10175763e-01 2.79785162e-02 1.09649108e+01] [ 3.98203376e-02 7.88795684e-05 9.99206853e-01 1.93957302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.989115933 meters 0.018667479172381467 Centerline is valid? [True, True] Translation: X:-24.93, Y:11.00, Z:0.06 [[ 7.01486284e-01 7.12070294e-01 -2.95447104e-02 -2.49268889e+01] [-7.11464725e-01 7.02108054e-01 2.93636829e-02 1.09975778e+01] [ 4.16525854e-02 4.21798456e-04 9.99132065e-01 5.99829401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.019115933 meters 0.01897536737006282 Centerline is valid? [True, True] Translation: X:-24.93, Y:11.02, Z:0.08 [[ 6.87647489e-01 7.25264838e-01 -3.36429102e-02 -2.49301345e+01] [-7.24482189e-01 6.88468942e-01 3.37057072e-02 1.10174246e+01] [ 4.76076631e-02 1.19604430e-03 9.98865396e-01 8.30536533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.049115933 meters 0.01696843444870259 Centerline is valid? [True, True] Translation: X:-23.61, Y:12.23, Z:-1.71 [[ 7.63701364e-01 -6.45445537e-01 -1.26603675e-02 -2.36139912e+01] [-6.45374996e-01 -7.63805819e-01 9.58044007e-03 1.22262036e+01] [-1.58537146e-02 8.54089453e-04 -9.99873957e-01 -1.70949087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.079115933 meters 0.0176017491717387 Centerline is valid? [True, True] Translation: X:-24.83, Y:10.87, Z:0.02 [[ 7.53068454e-01 6.57286699e-01 -2.93615266e-02 -2.48308787e+01] [-6.56809987e-01 7.53640503e-01 2.50326456e-02 1.08693473e+01] [ 3.85816606e-02 4.33648177e-04 9.99255356e-01 2.12484063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.109115933 meters 0.01892324715336299 Centerline is valid? [True, True] Translation: X:-24.84, Y:10.89, Z:0.04 [[ 7.46538999e-01 6.64549851e-01 -3.24502445e-02 -2.48409657e+01] [-6.63968969e-01 7.47243506e-01 2.77911959e-02 1.08886890e+01] [ 4.27168696e-02 7.98743846e-04 9.99086899e-01 4.16879515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.139115933 meters 0.016699788666166407 Centerline is valid? [True, True] Translation: X:-24.87, Y:10.88, Z:-0.03 [[ 7.56504548e-01 6.53416766e-01 -2.73386070e-02 -2.48723543e+01] [-6.52992171e-01 7.56998368e-01 2.35519872e-02 1.08815241e+01] [ 3.60845442e-02 3.47108914e-05 9.99348740e-01 -2.68564949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.169115933 meters 0.017877351299006024 Centerline is valid? [True, True] Translation: X:-24.86, Y:10.93, Z:0.06 [[ 7.46524000e-01 6.64718437e-01 -2.91773440e-02 -2.48609509e+01] [-6.64237493e-01 7.47093800e-01 2.52864925e-02 1.09274566e+01] [ 3.86066106e-02 5.03712320e-04 9.99254360e-01 6.08522815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.199115933 meters 0.01744286832941394 Centerline is valid? [True, True] Translation: X:-24.88, Y:10.93, Z:0.03 [[ 7.48468200e-01 6.62585461e-01 -2.78542684e-02 -2.48848791e+01] [-6.62140299e-01 7.48986272e-01 2.42855646e-02 1.09301705e+01] [ 3.69537266e-02 2.66460796e-04 9.99316942e-01 3.13512183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.229115933 meters 0.01855345535365641 Centerline is valid? [True, True] Translation: X:-24.89, Y:10.96, Z:0.08 [[ 7.44977162e-01 6.66487234e-01 -2.83512700e-02 -2.48859799e+01] [-6.66023126e-01 7.45516359e-01 2.48707479e-02 1.09610823e+01] [ 3.77123716e-02 3.54462244e-04 9.99288573e-01 8.43535247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.259115933 meters 0.01679215371402298 Centerline is valid? [True, True] Translation: X:-24.93, Y:10.94, Z:-0.01 [[ 7.41859890e-01 6.69868769e-01 -3.03271457e-02 -2.49281997e+01] [-6.69333743e-01 7.42479387e-01 2.67712588e-02 1.09418099e+01] [ 4.04505107e-02 4.38458864e-04 9.99181447e-01 -9.30648258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.289115933 meters 0.01778334770864857 Centerline is valid? [True, True] Translation: X:-24.93, Y:10.97, Z:0.05 [[ 7.32068781e-01 6.80446502e-01 -3.26780971e-02 -2.49262471e+01] [-6.79827696e-01 7.32797126e-01 2.90288690e-02 1.09745758e+01] [ 4.36990080e-02 9.64346724e-04 9.99044277e-01 4.99367725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.319115933 meters 0.018124301864858593 Centerline is valid? [True, True] Translation: X:-24.94, Y:10.99, Z:0.05 [[ 7.31845235e-01 6.80749785e-01 -3.13413843e-02 -2.49398554e+01] [-6.80173712e-01 7.32515571e-01 2.80117795e-02 1.09892367e+01] [ 4.20270649e-02 8.17298329e-04 9.99116138e-01 5.05662295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.349115933 meters 0.01823956774872715 Centerline is valid? [True, True] Translation: X:-24.95, Y:11.01, Z:0.07 [[ 7.28862351e-01 6.83942151e-01 -3.13497580e-02 -2.49529415e+01] [-6.83361387e-01 7.29535722e-01 2.81929978e-02 1.10050367e+01] [ 4.21531479e-02 8.74399490e-04 9.99110778e-01 6.81065497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.379115933 meters 0.018734840072754638 Centerline is valid? [True, True] Translation: X:-24.95, Y:11.04, Z:0.13 [[ 7.25173786e-01 6.87757867e-01 -3.33481021e-02 -2.49467860e+01] [-6.87095965e-01 7.25939437e-01 3.01839102e-02 1.10414495e+01] [ 4.49679242e-02 1.02476595e-03 9.98987906e-01 1.34825313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.409115933 meters 0.01853497577436932 Centerline is valid? [True, True] Translation: X:-24.98, Y:11.03, Z:0.08 [[ 7.23401026e-01 6.89660259e-01 -3.25527696e-02 -2.49770598e+01] [-6.89023177e-01 7.24132425e-01 2.96528639e-02 1.10349009e+01] [ 4.40229178e-02 9.78700522e-04 9.99030042e-01 8.37294364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.439115933 meters 0.01853068617331492 Centerline is valid? [True, True] Translation: X:-24.99, Y:11.05, Z:0.11 [[ 7.18536999e-01 6.94702859e-01 -3.30532794e-02 -2.49864224e+01] [-6.94042738e-01 7.19295887e-01 3.03002500e-02 1.10535814e+01] [ 4.48247582e-02 1.16853786e-03 9.98994182e-01 1.05677214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.469115933 meters 0.018703851982291367 Centerline is valid? [True, True] Translation: X:-24.99, Y:11.08, Z:0.13 [[ 7.17329729e-01 6.95889648e-01 -3.42878657e-02 -2.49915527e+01] [-6.95171404e-01 7.18147814e-01 3.16296790e-02 1.10779830e+01] [ 4.66345220e-02 1.14703464e-03 9.98911360e-01 1.34538341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.499115933 meters 0.019004131237657075 Centerline is valid? [True, True] Translation: X:-25.02, Y:11.08, Z:0.11 [[ 7.08951564e-01 7.04308909e-01 -3.65600995e-02 -2.50172836e+01] [-7.03492105e-01 7.09891707e-01 3.39502860e-02 1.10759178e+01] [ 4.98652004e-02 1.65063306e-03 9.98754593e-01 1.05372080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.529115933 meters 0.017757416605558525 Centerline is valid? [True, True] Translation: X:-25.04, Y:11.08, Z:0.06 [[ 7.14980266e-01 6.98316645e-01 -3.40159107e-02 -2.50408765e+01] [-6.97593655e-01 7.15788275e-01 3.17842534e-02 1.10780466e+01] [ 4.65436632e-02 1.00416951e-03 9.98915752e-01 5.89679504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.559115933 meters 0.0185388212922326 Centerline is valid? [True, True] Translation: X:-25.04, Y:11.10, Z:0.12 [[ 7.03316527e-01 7.09878979e-01 -3.76523428e-02 -2.50432887e+01] [-7.08997817e-01 7.04321386e-01 3.54045382e-02 1.11043428e+01] [ 5.16522876e-02 1.79483198e-03 9.98663517e-01 1.17095545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.589115933 meters 0.018305246316676984 Centerline is valid? [True, True] Translation: X:-25.06, Y:11.11, Z:0.10 [[ 7.04265936e-01 7.09102381e-01 -3.43992036e-02 -2.50624928e+01] [-7.08356565e-01 7.05104051e-01 3.25461811e-02 1.11113283e+01] [ 4.73335923e-02 1.44573498e-03 9.98878091e-01 9.69443284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.619115933 meters 0.01723549129218311 Centerline is valid? [True, True] Translation: X:-25.09, Y:11.11, Z:0.05 [[ 7.06335164e-01 7.07148450e-01 -3.21201661e-02 -2.50882422e+01] [-7.06487646e-01 7.07064269e-01 3.05831023e-02 1.11111123e+01] [ 4.43378152e-02 1.09057994e-03 9.99016000e-01 4.94752337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.649115933 meters 0.018776920084447007 Centerline is valid? [True, True] Translation: X:-25.09, Y:11.14, Z:0.11 [[ 7.06497561e-01 7.07088952e-01 -2.97726489e-02 -2.50887764e+01] [-7.06513521e-01 7.07124068e-01 2.85341197e-02 1.11384955e+01] [ 4.12291174e-02 8.75493023e-04 9.99149335e-01 1.11503498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.679115933 meters 0.01930480711364364 Centerline is valid? [True, True] Translation: X:-25.10, Y:11.16, Z:0.14 [[ 7.03630484e-01 7.09946656e-01 -2.96628895e-02 -2.50971991e+01] [-7.09370417e-01 7.04254868e-01 2.86127907e-02 1.11578420e+01] [ 4.12037894e-02 9.09144550e-04 9.99150350e-01 1.35825535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.709115933 meters 0.019012281164218 Centerline is valid? [True, True] Translation: X:-25.10, Y:11.18, Z:0.17 [[ 7.13454789e-01 7.00291345e-01 -2.39644679e-02 -2.51017359e+01] [-6.99905185e-01 7.13857128e-01 2.32536804e-02 1.11817310e+01] [ 3.33915574e-02 1.82405652e-04 9.99442330e-01 1.68874314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.739115933 meters 0.019165432932257528 Centerline is valid? [True, True] Translation: X:-25.11, Y:11.20, Z:0.18 [[ 7.12960865e-01 7.00797075e-01 -2.38802202e-02 -2.51139284e+01] [-7.00409036e-01 7.13360673e-01 2.33180784e-02 1.11970494e+01] [ 3.33764510e-02 1.01044655e-04 9.99442846e-01 1.83612843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.769115933 meters 0.019526571321752565 Centerline is valid? [True, True] Translation: X:-25.13, Y:11.21, Z:0.16 [[ 7.08021758e-01 7.05735317e-01 -2.53545236e-02 -2.51318889e+01] [-7.05295390e-01 7.08475549e-01 2.49160430e-02 1.12063773e+01] [ 3.55471916e-02 2.41328025e-04 9.99367970e-01 1.62797623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.799115933 meters 0.018863906825353022 Centerline is valid? [True, True] Translation: X:-25.16, Y:11.20, Z:0.12 [[ 7.05421281e-01 7.08303209e-01 -2.62179411e-02 -2.51604567e+01] [-7.07828406e-01 7.05908276e-01 2.59317135e-02 1.12042063e+01] [ 3.68749775e-02 2.65020894e-04 9.99319852e-01 1.24809859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.829115933 meters 0.018546543509037484 Centerline is valid? [True, True] Translation: X:-25.18, Y:11.21, Z:0.09 [[ 7.02410386e-01 7.11312599e-01 -2.55741210e-02 -2.51808582e+01] [-7.10855684e-01 7.02875744e-01 2.54928466e-02 1.12062102e+01] [ 3.61088123e-02 2.73069068e-04 9.99347827e-01 8.91334691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.859115933 meters 0.019760466861858946 Centerline is valid? [True, True] Translation: X:-25.18, Y:11.23, Z:0.14 [[ 6.87185332e-01 7.25937054e-01 -2.81373853e-02 -2.51825533e+01] [-7.25385436e-01 6.87760481e-01 2.83105911e-02 1.12250183e+01] [ 3.99034888e-02 9.55826598e-04 9.99203081e-01 1.37683433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.889115933 meters 0.02083678030691407 Centerline is valid? [True, True] Translation: X:-23.92, Y:12.40, Z:-1.95 [[ 7.76052381e-01 -6.30508854e-01 -1.41875773e-02 -2.39235765e+01] [-6.30413894e-01 -7.76181929e-01 1.09514689e-02 1.24010724e+01] [-1.79171393e-02 4.45132354e-04 -9.99839376e-01 -1.94576031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.919115933 meters 0.018754851154137765 Centerline is valid? [True, True] Translation: X:-25.11, Y:11.09, Z:0.03 [[ 7.42967096e-01 6.68461755e-01 -3.40407949e-02 -2.51113014e+01] [-6.67824791e-01 7.43745785e-01 2.91934184e-02 1.10864314e+01] [ 4.48323814e-02 1.04353737e-03 9.98993978e-01 3.37830480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.949115933 meters 0.017599705365203208 Centerline is valid? [True, True] Translation: X:-25.13, Y:11.10, Z:0.03 [[ 7.39765516e-01 6.72011463e-01 -3.38758623e-02 -2.51277864e+01] [-6.71377530e-01 7.40539868e-01 2.92047145e-02 1.10979394e+01] [ 4.47123295e-02 1.13885206e-03 9.98999255e-01 2.86715696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.979115933 meters 0.01988374650915704 Centerline is valid? [True, True] Translation: X:-25.13, Y:11.13, Z:0.11 [[ 7.27779160e-01 6.84580206e-01 -4.10784082e-02 -2.51268897e+01] [-6.83655137e-01 7.28934389e-01 3.56414076e-02 1.11309565e+01] [ 5.43428665e-02 2.14439108e-03 9.98520032e-01 1.07736850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.009115933 meters 0.019679935737642172 Centerline is valid? [True, True] Translation: X:-25.15, Y:11.13, Z:0.07 [[ 7.24167772e-01 6.88303433e-01 -4.26546921e-02 -2.51495320e+01] [-6.87299265e-01 7.25419100e-01 3.72404390e-02 1.11334507e+01] [ 5.65752503e-02 2.34821278e-03 9.98395576e-01 7.04710613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.039115933 meters 0.017755758506797004 Centerline is valid? [True, True] Translation: X:-25.18, Y:11.13, Z:0.01 [[ 7.25866437e-01 6.86728646e-01 -3.90087382e-02 -2.51758057e+01] [-6.85875455e-01 7.26911439e-01 3.42727183e-02 1.11312304e+01] [ 5.18919555e-02 1.87772015e-03 9.98650940e-01 1.36385280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.069115933 meters 0.017328605370542382 Centerline is valid? [True, True] Translation: X:-25.19, Y:11.14, Z:-0.00 [[ 7.23159575e-01 6.89535387e-01 -3.97640462e-02 -2.51937394e+01] [-6.88641035e-01 7.24249355e-01 3.51624397e-02 1.11394671e+01] [ 5.30448313e-02 1.95509901e-03 9.98590218e-01 -8.13646996e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.099115933 meters 0.02009410218483108 Centerline is valid? [True, True] Translation: X:-25.17, Y:11.19, Z:0.14 [[ 6.93122555e-01 7.19005446e-01 -5.11105965e-02 -2.51728394e+01] [-7.17582892e-01 6.94985427e-01 4.54977961e-02 1.11935244e+01] [ 6.82342830e-02 5.14054098e-03 9.97656082e-01 1.37437082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.129115933 meters 0.019588601014471792 Centerline is valid? [True, True] Translation: X:-25.19, Y:11.20, Z:0.11 [[ 6.92570229e-01 7.19491866e-01 -5.17487436e-02 -2.51924559e+01] [-7.18011450e-01 6.94482735e-01 4.64035433e-02 1.11959581e+01] [ 6.93255810e-02 5.01847777e-03 9.97581465e-01 1.06177309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.159115933 meters 0.018653179582760755 Centerline is valid? [True, True] Translation: X:-25.21, Y:11.20, Z:0.10 [[ 6.89183360e-01 7.22730565e-01 -5.18346055e-02 -2.52094441e+01] [-7.21233814e-01 6.91110711e-01 4.67736062e-02 1.12032546e+01] [ 6.96281659e-02 5.14927913e-03 9.97559724e-01 9.59793688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.189115933 meters 0.01722623198836505 Centerline is valid? [True, True] Translation: X:-25.24, Y:11.20, Z:0.03 [[ 7.03044827e-01 7.09716665e-01 -4.50580455e-02 -2.52388224e+01] [-7.08542522e-01 7.04480183e-01 4.09287991e-02 1.11962337e+01] [ 6.07903509e-02 3.15076068e-03 9.98145584e-01 3.30325907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.219115933 meters 0.01781589002857798 Centerline is valid? [True, True] Translation: X:-25.24, Y:11.22, Z:0.07 [[ 6.91466475e-01 7.20790463e-01 -4.83241415e-02 -2.52425036e+01] [-7.19446273e-01 6.93140271e-01 4.41998322e-02 1.12196615e+01] [ 6.53542260e-02 4.20392129e-03 9.97853272e-01 7.44030761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.249115933 meters 0.01721966738238803 Centerline is valid? [True, True] Translation: X:-25.26, Y:11.22, Z:0.04 [[ 6.92801889e-01 7.19564935e-01 -4.74536398e-02 -2.52602137e+01] [-7.18243145e-01 6.94414937e-01 4.37570610e-02 1.12218339e+01] [ 6.44385631e-02 3.76827699e-03 9.97914561e-01 3.51081484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.279115933 meters 0.01658894552512885 Centerline is valid? [True, True] Translation: X:-25.28, Y:11.23, Z:0.02 [[ 6.93085669e-01 7.19300996e-01 -4.73110257e-02 -2.52764836e+01] [-7.17967087e-01 6.94689621e-01 4.39271275e-02 1.12288469e+01] [ 6.44633050e-02 3.52249679e-03 9.97913861e-01 1.98409758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.309115933 meters 0.01847431849407147 Centerline is valid? [True, True] Translation: X:-25.26, Y:11.27, Z:0.11 [[ 6.63119305e-01 7.46260227e-01 -5.80384344e-02 -2.52589131e+01] [-7.44318075e-01 6.65615358e-01 5.42844290e-02 1.12742459e+01] [ 7.91415836e-02 7.20200295e-03 9.96837369e-01 1.12139500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.339115933 meters 0.01596796506769193 Centerline is valid? [True, True] Translation: X:-25.30, Y:11.26, Z:0.03 [[ 6.84808979e-01 7.27233678e-01 -4.65600562e-02 -2.52976565e+01] [-7.25921614e-01 6.86379526e-01 4.38287224e-02 1.12568433e+01] [ 6.38315923e-02 3.78464850e-03 9.97953508e-01 2.88107396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.369115933 meters 0.015602967201341324 Centerline is valid? [True, True] Translation: X:-25.30, Y:11.28, Z:0.04 [[ 6.77539431e-01 7.33879275e-01 -4.85955684e-02 -2.53048034e+01] [-7.32446479e-01 6.79265699e-01 4.60463509e-02 1.12759824e+01] [ 6.68017654e-02 4.39543461e-03 9.97756586e-01 4.41166921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.399115933 meters 0.01810387482558712 Centerline is valid? [True, True] Translation: X:-25.28, Y:11.33, Z:0.16 [[ 6.58562051e-01 7.50518023e-01 -5.49428967e-02 -2.52835267e+01] [-7.48716911e-01 6.60816652e-01 5.23864485e-02 1.13263336e+01] [ 7.56241549e-02 6.63694892e-03 9.97114305e-01 1.60259732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.429115933 meters 0.01810387482558712 Centerline is valid? [True, True] Translation: X:-25.30, Y:11.34, Z:0.16 [[ 6.56342216e-01 7.52471442e-01 -5.47870771e-02 -2.52959995e+01] [-7.50663628e-01 6.58591442e-01 5.25493166e-02 1.13385245e+01] [ 7.56241602e-02 6.63633118e-03 9.97114309e-01 1.60095064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.459115933 meters 0.016097483166499168 Centerline is valid? [True, True] Translation: X:-25.32, Y:11.33, Z:0.10 [[ 6.65414875e-01 7.44766155e-01 -5.04620491e-02 -2.53237095e+01] [-7.43187459e-01 6.67306234e-01 4.87318229e-02 1.13322646e+01] [ 6.99674523e-02 5.07588218e-03 9.97536361e-01 1.01441726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.489115933 meters 0.016008913485094544 Centerline is valid? [True, True] Translation: X:-25.33, Y:11.35, Z:0.13 [[ 6.65333070e-01 7.44752648e-01 -5.17242588e-02 -2.53286394e+01] [-7.43071688e-01 6.67321911e-01 5.02586656e-02 1.13535725e+01] [ 7.19470054e-02 4.99608002e-03 9.97395943e-01 1.32426800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.519115933 meters 0.01640443544777184 Centerline is valid? [True, True] Translation: X:-25.34, Y:11.37, Z:0.14 [[ 6.62493218e-01 7.47404129e-01 -4.98979434e-02 -2.53367695e+01] [-7.45826487e-01 6.64351630e-01 4.87828123e-02 1.13710504e+01] [ 6.96102553e-02 4.89692549e-03 9.97562245e-01 1.42993760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.549115933 meters 0.015894894625080647 Centerline is valid? [True, True] Translation: X:-25.34, Y:11.39, Z:0.16 [[ 6.58860082e-01 7.50595701e-01 -5.00947776e-02 -2.53402453e+01] [-7.48994033e-01 6.60742384e-01 4.92690678e-02 1.13948820e+01] [ 7.00808932e-02 5.05926744e-03 9.97528482e-01 1.63632655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.579115933 meters 0.015467227515200875 Centerline is valid? [True, True] Translation: X:-25.35, Y:11.41, Z:0.17 [[ 6.70006778e-01 7.41075229e-01 -4.35708923e-02 -2.53513567e+01] [-7.39827744e-01 6.71413646e-01 4.31117649e-02 1.14090523e+01] [ 6.12031527e-02 3.34978020e-03 9.98119709e-01 1.74252788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.609115933 meters 0.015788631382143543 Centerline is valid? [True, True] Translation: X:-25.36, Y:11.43, Z:0.20 [[ 6.61669636e-01 7.48423864e-01 -4.53322561e-02 -2.53561016e+01] [-7.47072878e-01 6.63208611e-01 4.51270820e-02 1.14315020e+01] [ 6.38389276e-02 4.00727910e-03 9.97952170e-01 2.02893717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.639115933 meters 0.014723595047593309 Centerline is valid? [True, True] Translation: X:-25.38, Y:11.44, Z:0.18 [[ 6.63583883e-01 7.46931873e-01 -4.18235263e-02 -2.53764110e+01] [-7.45764211e-01 6.64891909e-01 4.18866456e-02 1.14371990e+01] [ 5.90945948e-02 3.39518615e-03 9.98246614e-01 1.77884849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.669115933 meters 0.014612038187086042 Centerline is valid? [True, True] Translation: X:-24.14, Y:12.55, Z:-1.95 [[ 7.92847589e-01 -6.08845649e-01 -2.64513853e-02 -2.41439443e+01] [-6.08472713e-01 -7.93288295e-01 2.13222564e-02 1.25542501e+01] [-3.39655374e-02 -8.10353444e-04 -9.99422676e-01 -1.94773348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.699115933 meters 0.014665162843114232 Centerline is valid? [True, True] Translation: X:-25.25, Y:11.33, Z:0.22 [[ 7.30569723e-01 6.81695359e-01 -3.94881981e-02 -2.52486215e+01] [-6.80867420e-01 7.31632550e-01 3.36655415e-02 1.13317381e+01] [ 5.18404945e-02 2.29120223e-03 9.98652749e-01 2.22570112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.729115933 meters 0.014733399543090473 Centerline is valid? [True, True] Translation: X:-25.27, Y:11.34, Z:0.20 [[ 7.24176235e-01 6.88441908e-01 -4.02059754e-02 -2.52705983e+01] [-6.87584653e-01 7.25286474e-01 3.44510613e-02 1.13353764e+01] [ 5.28784044e-02 2.69637178e-03 9.98597318e-01 2.01867526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.759115933 meters 0.014598849172310963 Centerline is valid? [True, True] Translation: X:-25.28, Y:11.35, Z:0.21 [[ 7.24730000e-01 6.88026716e-01 -3.72245314e-02 -2.52830983e+01] [-6.87281499e-01 7.25681645e-01 3.20981510e-02 1.13474383e+01] [ 4.90975446e-02 2.32123874e-03 9.98791291e-01 2.10083465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.789115933 meters 0.01384710772659507 Centerline is valid? [True, True] Translation: X:-25.30, Y:11.36, Z:0.21 [[ 7.25866727e-01 6.86947470e-01 -3.49380562e-02 -2.52969363e+01] [-6.86281230e-01 7.26704391e-01 3.03117280e-02 1.13606108e+01] [ 4.62122037e-02 1.97505738e-03 9.98929693e-01 2.05594002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.819115933 meters 0.014315927301545104 Centerline is valid? [True, True] Translation: X:-25.31, Y:11.37, Z:0.20 [[ 7.14975655e-01 6.97990633e-01 -4.02354299e-02 -2.53111261e+01] [-6.97112741e-01 7.16100858e-01 3.51196132e-02 1.13734409e+01] [ 5.33257869e-02 2.93896242e-03 9.98572843e-01 1.97691087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.849115933 meters 0.014239577572035101 Centerline is valid? [True, True] Translation: X:-25.32, Y:11.39, Z:0.21 [[ 7.17526761e-01 6.95544092e-01 -3.70643141e-02 -2.53232052e+01] [-6.94786797e-01 7.18479388e-01 3.25373067e-02 1.13891904e+01] [ 4.92610772e-02 2.40540782e-03 9.98783040e-01 2.09452054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.879115933 meters 0.013850681479594692 Centerline is valid? [True, True] Translation: X:-25.34, Y:11.40, Z:0.20 [[ 7.15295100e-01 6.97742222e-01 -3.88421291e-02 -2.53425803e+01] [-6.96903347e-01 7.16344443e-01 3.42981722e-02 1.13957193e+01] [ 5.17556262e-02 2.53589521e-03 9.98656560e-01 1.98365079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.909115933 meters 0.014048493633812411 Centerline is valid? [True, True] Translation: X:-25.36, Y:11.41, Z:0.20 [[ 7.08443843e-01 7.04666927e-01 -3.93934357e-02 -2.53569700e+01] [-7.03803578e-01 7.09532181e-01 3.49944131e-02 1.14079093e+01] [ 5.26103159e-02 2.93366447e-03 9.98610809e-01 1.96617378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.939115933 meters 0.01425968226845168 Centerline is valid? [True, True] Translation: X:-25.38, Y:11.41, Z:0.18 [[ 7.09663361e-01 7.03542903e-01 -3.74873023e-02 -2.53794394e+01] [-7.02749605e-01 7.10648137e-01 3.34995168e-02 1.14113521e+01] [ 5.02086288e-02 2.57080720e-03 9.98735443e-01 1.79479211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.969115933 meters 0.013687351678583766 Centerline is valid? [True, True] Translation: X:-25.39, Y:11.43, Z:0.19 [[ 7.10807451e-01 7.02383321e-01 -3.75557866e-02 -2.53920113e+01] [-7.01575313e-01 7.11795020e-01 3.37628466e-02 1.14263771e+01] [ 5.04464822e-02 2.34932982e-03 9.98724002e-01 1.87285899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.999115933 meters 0.016226184767714237 Centerline is valid? [True, True] Translation: X:-25.41, Y:11.43, Z:0.18 [[ 7.04890902e-01 7.08097883e-01 -4.15476156e-02 -2.54106744e+01] [-7.07105513e-01 7.06108397e-01 3.75862362e-02 1.14334986e+01] [ 5.59518545e-02 2.88435217e-03 9.98429302e-01 1.82639814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.029115933 meters 0.013106074296911983 Centerline is valid? [True, True] Translation: X:-25.43, Y:11.44, Z:0.18 [[ 7.07778827e-01 7.05336176e-01 -3.93701828e-02 -2.54277173e+01] [-7.04429081e-01 7.08869009e-01 3.58384925e-02 1.14426865e+01] [ 5.31864877e-02 2.36777555e-03 9.98581790e-01 1.76825575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.059115933 meters 0.014355918051162946 Centerline is valid? [True, True] Translation: X:-25.44, Y:11.46, Z:0.19 [[ 7.07942945e-01 7.05172678e-01 -3.93481941e-02 -2.54374711e+01] [-7.04254736e-01 7.09032197e-01 3.60362540e-02 1.14605649e+01] [ 5.33109182e-02 2.19954027e-03 9.98575539e-01 1.89753121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.089115933 meters 0.01396993512001726 Centerline is valid? [True, True] Translation: X:-25.45, Y:11.47, Z:0.19 [[ 7.07055512e-01 7.06031697e-01 -3.98966907e-02 -2.54526737e+01] [-7.05077062e-01 7.08177014e-01 3.67648380e-02 1.14723151e+01] [ 5.42110602e-02 2.13546010e-03 9.98527216e-01 1.94738561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.119115933 meters 0.013337759894695232 Centerline is valid? [True, True] Translation: X:-25.47, Y:11.48, Z:0.19 [[ 7.12712700e-01 7.00502680e-01 -3.65595656e-02 -2.54686496e+01] [-6.99683714e-01 7.13648349e-01 3.38929704e-02 1.14821543e+01] [ 4.98327903e-02 1.42418213e-03 9.98756559e-01 1.85573824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.149115933 meters 0.013338003926143403 Centerline is valid? [True, True] Translation: X:-25.51, Y:11.46, Z:0.10 [[ 7.08227088e-01 7.04982506e-01 -3.76039733e-02 -2.55114463e+01] [-7.04110834e-01 7.09222822e-01 3.50844943e-02 1.14619621e+01] [ 5.14035507e-02 1.62957575e-03 9.98676634e-01 1.00997400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.179115933 meters 0.01415273448978893 Centerline is valid? [True, True] Translation: X:-25.50, Y:11.51, Z:0.19 [[ 7.03249597e-01 7.09867220e-01 -3.90964727e-02 -2.54969659e+01] [-7.08920096e-01 7.04332955e-01 3.67067660e-02 1.15072169e+01] [ 5.35938641e-02 1.90225681e-03 9.98561004e-01 1.88890252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.209115933 meters 0.01332059992726525 Centerline is valid? [True, True] Translation: X:-25.52, Y:11.50, Z:0.15 [[ 7.05459383e-01 7.07852647e-01 -3.56607560e-02 -2.55242864e+01] [-7.07052252e-01 7.06358636e-01 3.36836725e-02 1.15049664e+01] [ 4.90323597e-02 1.45155505e-03 9.98796136e-01 1.45879568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.239115933 meters 0.013507673647978802 Centerline is valid? [True, True] Translation: X:-25.53, Y:11.53, Z:0.17 [[ 6.97235523e-01 7.15809353e-01 -3.84655272e-02 -2.55286863e+01] [-7.14877789e-01 6.98292881e-01 3.65622612e-02 1.15290768e+01] [ 5.30318124e-02 2.00564375e-03 9.98590809e-01 1.72576858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.269115933 meters 0.014854937039243463 Centerline is valid? [True, True] Translation: X:-25.55, Y:11.53, Z:0.15 [[ 6.92058236e-01 7.20855205e-01 -3.77249386e-02 -2.55520965e+01] [-7.19954936e-01 6.93082231e-01 3.60819984e-02 1.15317437e+01] [ 5.21563810e-02 2.18941158e-03 9.98636530e-01 1.49089813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.299115933 meters 0.013291845872128474 Centerline is valid? [True, True] Translation: X:-25.55, Y:11.56, Z:0.19 [[ 6.92997701e-01 7.20036920e-01 -3.60696605e-02 -2.55519552e+01] [-7.19202228e-01 6.93933192e-01 3.47113847e-02 1.15603047e+01] [ 5.00234132e-02 1.88647045e-03 9.98746264e-01 1.91379573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.329115933 meters 0.014040760975245674 Centerline is valid? [True, True] Translation: X:-25.56, Y:11.58, Z:0.20 [[ 6.87919541e-01 7.24970278e-01 -3.44209381e-02 -2.55611043e+01] [-7.24204607e-01 6.88777325e-01 3.33688916e-02 1.15755509e+01] [ 4.78998163e-02 1.97268942e-03 9.98850197e-01 2.01435064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.359115933 meters 0.013569905217475201 Centerline is valid? [True, True] Translation: X:-25.57, Y:11.59, Z:0.21 [[ 6.84958939e-01 7.27822774e-01 -3.32454711e-02 -2.55695697e+01] [-7.27101936e-01 6.85762499e-01 3.24433312e-02 1.15941901e+01] [ 4.64114926e-02 1.95049664e-03 9.98920502e-01 2.13833135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.389115933 meters 0.013045362859236138 Centerline is valid? [True, True] Translation: X:-25.59, Y:11.60, Z:0.20 [[ 6.75788420e-01 7.36341549e-01 -3.33336777e-02 -2.55851639e+01] [-7.35617615e-01 6.76605763e-01 3.27317274e-02 1.16042509e+01] [ 4.66554893e-02 2.40111813e-03 9.98908154e-01 2.00362150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.419115933 meters 0.013841198503692654 Centerline is valid? [True, True] Translation: X:-25.60, Y:11.62, Z:0.22 [[ 6.72065162e-01 7.39808773e-01 -3.18024860e-02 -2.55952138e+01] [-7.39145353e-01 6.72812938e-01 3.14149134e-02 1.16205870e+01] [ 4.46381526e-02 2.39379095e-03 9.99000353e-01 2.16375574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.449115933 meters 0.014333507704869438 Centerline is valid? [True, True] Translation: X:-25.61, Y:11.63, Z:0.20 [[ 6.61423816e-01 7.49224240e-01 -3.43740274e-02 -2.56100251e+01] [-7.48448624e-01 6.62309203e-01 3.42224653e-02 1.16262844e+01] [ 4.84065353e-02 3.09163992e-03 9.98822932e-01 1.95765389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.479115933 meters 0.013144931486453229 Centerline is valid? [True, True] Translation: X:-25.64, Y:11.63, Z:0.16 [[ 6.55734737e-01 7.54225077e-01 -3.40071828e-02 -2.56359986e+01] [-7.53461759e-01 6.56607806e-01 3.40817731e-02 1.16253210e+01] [ 4.80347096e-02 3.27450919e-03 9.98840300e-01 1.62739334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.509115933 meters 0.0137301869797993 Centerline is valid? [True, True] Translation: X:-24.39, Y:12.78, Z:-1.97 [[ 8.02644792e-01 -5.96117604e-01 -2.01280991e-02 -2.43862986e+01] [-5.95904070e-01 -8.02896704e-01 1.59756902e-02 1.27848235e+01] [-2.56841746e-02 -8.28388355e-04 -9.99669764e-01 -1.96903726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.539115933 meters 0.014320463249638895 Centerline is valid? [True, True] Translation: X:-25.53, Y:11.52, Z:0.20 [[ 7.07938236e-01 7.05395848e-01 -3.52157834e-02 -2.55311956e+01] [-7.04763664e-01 7.08804775e-01 3.00660538e-02 1.15171961e+01] [ 4.61695849e-02 3.53389548e-03 9.98927365e-01 1.95927879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.569115933 meters 0.013596105007093667 Centerline is valid? [True, True] Translation: X:-25.56, Y:11.51, Z:0.15 [[ 7.06981115e-01 7.06538519e-01 -3.13212991e-02 -2.55612277e+01] [-7.06033966e-01 7.07667744e-01 2.68775436e-02 1.15091299e+01] [ 4.11550929e-02 3.11198525e-03 9.99147924e-01 1.45829763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.599115933 meters 0.013590568419260443 Centerline is valid? [True, True] Translation: X:-25.56, Y:11.53, Z:0.19 [[ 7.03503447e-01 7.10043683e-01 -3.03458134e-02 -2.55643047e+01] [-7.09565805e-01 7.04150890e-01 2.62277045e-02 1.15316093e+01] [ 3.99908474e-02 3.08107107e-03 9.99195296e-01 1.90754368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.629115933 meters 0.012830392699879801 Centerline is valid? [True, True] Translation: X:-25.58, Y:11.54, Z:0.18 [[ 7.02265260e-01 7.11242838e-01 -3.09375273e-02 -2.55840694e+01] [-7.10740064e-01 7.02939613e-01 2.69158365e-02 1.15371262e+01] [ 4.08909094e-02 3.08648327e-03 9.99158850e-01 1.76276203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.659115933 meters 0.012641757943442416 Centerline is valid? [True, True] Translation: X:-25.61, Y:11.54, Z:0.14 [[ 6.97213849e-01 7.16182384e-01 -3.12352431e-02 -2.56080730e+01] [-7.15667741e-01 6.97905419e-01 2.73442983e-02 1.15374900e+01] [ 4.13827502e-02 3.28923245e-03 9.99137953e-01 1.43007717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.689115933 meters 0.012515919747230382 Centerline is valid? [True, True] Translation: X:-25.63, Y:11.54, Z:0.11 [[ 6.97400716e-01 7.16014444e-01 -3.09121090e-02 -2.56312792e+01] [-7.15502944e-01 6.98078487e-01 2.72389958e-02 1.15360945e+01] [ 4.10825927e-02 3.12120980e-03 9.99150879e-01 1.12667802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.719115933 meters 0.013507773259531125 Centerline is valid? [True, True] Translation: X:-25.63, Y:11.56, Z:0.16 [[ 6.98359548e-01 7.15101163e-01 -3.04017819e-02 -2.56344274e+01] [-7.14598872e-01 6.99014957e-01 2.69544626e-02 1.15611674e+01] [ 4.05264678e-02 2.90117273e-03 9.99174253e-01 1.55489170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.749115933 meters 0.012424688643574827 Centerline is valid? [True, True] Translation: X:-25.67, Y:11.55, Z:0.10 [[ 7.02667001e-01 7.10941483e-01 -2.86582098e-02 -2.56682379e+01] [-7.10485726e-01 7.03247083e-01 2.55650804e-02 1.15496122e+01] [ 3.83290786e-02 2.39751064e-03 9.99262295e-01 1.01990900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.779115933 meters 0.009579289677014914 Centerline is valid? [True, True] Translation: X:-25.74, Y:11.49, Z:-0.07 [[ 7.07481921e-01 7.06197190e-01 -2.74747341e-02 -2.57388137e+01] [-7.05769009e-01 7.08012543e-01 2.46646397e-02 1.14943222e+01] [ 3.68705556e-02 1.94102919e-03 9.99318165e-01 -7.34641350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.809115933 meters 0.009364608274693625 Centerline is valid? [True, True] Translation: X:-25.76, Y:11.50, Z:-0.07 [[ 7.02081833e-01 7.11435176e-01 -3.06771825e-02 -2.57551175e+01] [-7.10897965e-01 7.02747857e-01 2.77404384e-02 1.15023714e+01] [ 4.12938479e-02 2.33228876e-03 9.99144323e-01 -6.87181078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.839115933 meters 0.012144393559345655 Centerline is valid? [True, True] Translation: X:-25.71, Y:11.59, Z:0.13 [[ 7.05067876e-01 7.08572669e-01 -2.83560182e-02 -2.57069739e+01] [-7.08105040e-01 7.05635336e-01 2.58074431e-02 1.15865234e+01] [ 3.82954572e-02 1.88304035e-03 9.99264686e-01 1.30725824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.869115933 meters 0.011115881476549067 Centerline is valid? [True, True] Translation: X:-25.76, Y:11.55, Z:0.01 [[ 7.05260938e-01 7.08340853e-01 -2.93299349e-02 -2.57589261e+01] [-7.07833499e-01 7.05868223e-01 2.68661229e-02 1.15543793e+01] [ 3.97334414e-02 1.81308344e-03 9.99208670e-01 1.19931502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.899115933 meters 0.011137215690646062 Centerline is valid? [True, True] Translation: X:-25.78, Y:11.56, Z:-0.00 [[ 7.06344826e-01 7.07298298e-01 -2.83919542e-02 -2.57759370e+01] [-7.06815585e-01 7.06913447e-01 2.61745392e-02 1.15629709e+01] [ 3.85838612e-02 1.57962539e-03 9.99254117e-01 -8.24396649e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.929115933 meters 0.013138253414920167 Centerline is valid? [True, True] Translation: X:-25.76, Y:11.61, Z:0.13 [[ 7.03805049e-01 7.09718774e-01 -3.09469662e-02 -2.57569744e+01] [-7.09139847e-01 7.04482961e-01 2.87129610e-02 1.16137777e+01] [ 4.21797378e-02 1.73739997e-03 9.99108528e-01 1.29516384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.959115933 meters 0.012774461183644508 Centerline is valid? [True, True] Translation: X:-25.78, Y:11.62, Z:0.10 [[ 7.09649469e-01 7.03997448e-01 -2.80218571e-02 -2.57797743e+01] [-7.03512134e-01 7.10201573e-01 2.61610915e-02 1.16160694e+01] [ 3.83185086e-02 1.14851180e-03 9.99264916e-01 1.03979242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.989115933 meters 0.011455134631258357 Centerline is valid? [True, True] Translation: X:-25.81, Y:11.61, Z:0.05 [[ 7.04389512e-01 7.09132706e-01 -3.10840746e-02 -2.58103570e+01] [-7.08532061e-01 7.05073556e-01 2.92164240e-02 1.16081727e+01] [ 4.26348808e-02 1.44432084e-03 9.99089676e-01 5.26922732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.019115933 meters 0.011836913034568334 Centerline is valid? [True, True] Translation: X:-25.84, Y:11.60, Z:-0.00 [[ 7.12318810e-01 7.01290955e-01 -2.81586437e-02 -2.58440259e+01] [-7.00785265e-01 7.12874758e-01 2.66381568e-02 1.15984332e+01] [ 3.87546847e-02 7.58302436e-04 9.99248467e-01 -2.01189077e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.049115933 meters 0.012490475941550228 Centerline is valid? [True, True] Translation: X:-25.85, Y:11.62, Z:0.01 [[ 7.08672550e-01 7.04878916e-01 -3.04783685e-02 -2.58534878e+01] [-7.04281660e-01 7.09327082e-01 2.90247156e-02 1.16151155e+01] [ 4.20780423e-02 8.96336726e-04 9.99113925e-01 1.19107680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.079115933 meters 0.012571248812905318 Centerline is valid? [True, True] Translation: X:-25.87, Y:11.63, Z:0.01 [[ 7.11822032e-01 7.01707535e-01 -3.02643410e-02 -2.58686912e+01] [-7.01107921e-01 7.12464884e-01 2.90081519e-02 1.16264169e+01] [ 4.19175190e-02 5.69927563e-04 9.99120912e-01 1.16376052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.109115933 meters 0.011203971483106468 Centerline is valid? [True, True] Translation: X:-25.90, Y:11.62, Z:-0.05 [[ 7.08575922e-01 7.04952440e-01 -3.10196789e-02 -2.58999086e+01] [-7.04317230e-01 7.09254287e-01 2.99264885e-02 1.16199147e+01] [ 4.30975914e-02 6.42505141e-04 9.99070661e-01 -4.70392493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.139115933 meters 0.011817134414414916 Centerline is valid? [True, True] Translation: X:-25.91, Y:11.64, Z:-0.03 [[ 7.06663654e-01 7.06909154e-01 -3.00986445e-02 -2.59086414e+01] [-7.06304783e-01 7.07304097e-01 2.92312922e-02 1.16368529e+01] [ 4.19527626e-02 6.02124809e-04 9.99119414e-01 -2.63728511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.169115933 meters 0.012174074782714815 Centerline is valid? [True, True] Translation: X:-25.92, Y:11.65, Z:-0.02 [[ 7.03123925e-01 7.10375074e-01 -3.13687855e-02 -2.59218241e+01] [-7.09713157e-01 7.03822964e-01 3.06670839e-02 1.16504535e+01] [ 4.38632036e-02 7.00079416e-04 9.99037301e-01 -2.42778404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.199115933 meters 0.011046875469252279 Centerline is valid? [True, True] Translation: X:-25.94, Y:11.66, Z:-0.04 [[ 7.00417533e-01 7.12959742e-01 -3.32217591e-02 -2.59369466e+01] [-7.12210160e-01 7.01204554e-01 3.26934541e-02 1.16614581e+01] [ 4.66043654e-02 7.61805870e-04 9.98913136e-01 -3.62713631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.229115933 meters 0.011157682645966225 Centerline is valid? [True, True] Translation: X:-25.95, Y:11.68, Z:-0.03 [[ 6.91773694e-01 7.21347185e-01 -3.32775556e-02 -2.59468346e+01] [-7.20594637e-01 6.92572634e-01 3.29623403e-02 1.16772977e+01] [ 4.68244157e-02 1.17714822e-03 9.98902442e-01 -3.30028608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.259115933 meters 0.011744866280378165 Centerline is valid? [True, True] Translation: X:-25.96, Y:11.69, Z:-0.03 [[ 6.88823596e-01 7.24221209e-01 -3.20264644e-02 -2.59577330e+01] [-7.23518155e-01 6.89566709e-01 3.19254274e-02 1.16933073e+01] [ 4.52054553e-02 1.18074079e-03 9.98977013e-01 -3.32074136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.289115933 meters 0.011695243242896433 Centerline is valid? [True, True] Translation: X:-25.98, Y:11.70, Z:-0.06 [[ 6.81426086e-01 7.31138666e-01 -3.30868520e-02 -2.59770995e+01] [-7.30386018e-01 6.82227143e-01 3.32022454e-02 1.16989405e+01] [ 4.68481939e-02 1.54129794e-03 9.98900831e-01 -5.71052122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.319115933 meters 0.011695243242896433 Centerline is valid? [True, True] Translation: X:-24.49, Y:13.11, Z:-1.71 [[ 7.81135708e-01 -6.24055406e-01 -1.95411418e-02 -2.44929130e+01] [-6.23863429e-01 -7.81380087e-01 1.54784420e-02 1.31137249e+01] [-2.49284644e-02 1.00239984e-04 -9.99689233e-01 -1.70864672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.349115933 meters 0.011846310911991547 Centerline is valid? [True, True] Translation: X:-25.86, Y:11.58, Z:-0.03 [[ 7.41849347e-01 6.69721803e-01 -3.36489532e-02 -2.58568551e+01] [-6.69105752e-01 7.42611128e-01 2.87437901e-02 1.15805406e+01] [ 4.42384300e-02 1.19114619e-03 9.99020291e-01 -3.28699069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.379115933 meters 0.012577362430832859 Centerline is valid? [True, True] Translation: X:-25.87, Y:11.60, Z:-0.02 [[ 7.42160212e-01 6.69356610e-01 -3.40580145e-02 -2.58659071e+01] [-6.68716185e-01 7.42940546e-01 2.92917783e-02 1.15963956e+01] [ 4.49097253e-02 1.03595314e-03 9.98990512e-01 -2.28495473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.409115933 meters 0.012329239374810175 Centerline is valid? [True, True] Translation: X:-25.88, Y:11.61, Z:-0.02 [[ 7.35811512e-01 6.76127456e-01 -3.78560770e-02 -2.58810455e+01] [-6.75333596e-01 7.36783270e-01 3.27863794e-02 1.16076306e+01] [ 5.00594955e-02 1.44088524e-03 9.98745198e-01 -2.40793616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.439115933 meters 0.011927981323817324 Centerline is valid? [True, True] Translation: X:-25.90, Y:11.62, Z:-0.04 [[ 7.34623643e-01 6.77455937e-01 -3.71692915e-02 -2.58984323e+01] [-6.76681833e-01 7.35562125e-01 3.24045764e-02 1.16150596e+01] [ 4.92929957e-02 1.34661629e-03 9.98783454e-01 -4.25901123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.469115933 meters 0.011535481177736564 Centerline is valid? [True, True] Translation: X:-25.91, Y:11.63, Z:-0.05 [[ 7.37267451e-01 6.74683526e-01 -3.51972223e-02 -2.59131054e+01] [-6.73976782e-01 7.38106522e-01 3.08878599e-02 1.16258169e+01] [ 4.68188295e-02 9.49496872e-04 9.98902946e-01 -4.67359570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.499115933 meters 0.012664879653700964 Centerline is valid? [True, True] Translation: X:-25.92, Y:11.65, Z:-0.02 [[ 7.32626499e-01 6.79725262e-01 -3.50995893e-02 -2.59170093e+01] [-6.79018766e-01 7.33465960e-01 3.10032314e-02 1.16500463e+01] [ 4.68180335e-02 1.11949096e-03 9.98902807e-01 -1.80322580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.529115933 meters 0.013208157712035198 Centerline is valid? [True, True] Translation: X:-25.92, Y:11.68, Z:0.04 [[ 7.28495667e-01 6.84164995e-01 -3.48184305e-02 -2.59165822e+01] [-6.83465872e-01 7.29326190e-01 3.09468962e-02 1.16798188e+01] [ 4.65667763e-02 1.25252921e-03 9.98914394e-01 4.08330244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.559115933 meters 0.013110163053137176 Centerline is valid? [True, True] Translation: X:-25.93, Y:11.69, Z:0.03 [[ 7.26363040e-01 6.86430465e-01 -3.47843562e-02 -2.59309627e+01] [-6.85726053e-01 7.27194368e-01 3.11148007e-02 1.16906178e+01] [ 4.66531350e-02 1.25189809e-03 9.98910365e-01 3.37386992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.589115933 meters 0.012098230520336435 Centerline is valid? [True, True] Translation: X:-25.96, Y:11.68, Z:-0.04 [[ 7.25532989e-01 6.87233487e-01 -3.62217616e-02 -2.59636715e+01] [-6.86460258e-01 7.26435605e-01 3.26132874e-02 1.16810731e+01] [ 4.87257206e-02 1.20278392e-03 9.98811472e-01 -4.13179606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.619115933 meters 0.013622742245588505 Centerline is valid? [True, True] Translation: X:-25.95, Y:11.73, Z:0.06 [[ 7.22133880e-01 6.90893953e-01 -3.44703686e-02 -2.59468882e+01] [-6.90188636e-01 7.22955061e-01 3.12350111e-02 1.17285027e+01] [ 4.65006077e-02 1.23519699e-03 9.98917498e-01 6.43610225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.649115933 meters 0.013190310059042757 Centerline is valid? [True, True] Translation: X:-25.98, Y:11.72, Z:0.00 [[ 7.20666238e-01 6.92415634e-01 -3.46520442e-02 -2.59789845e+01] [-6.91694977e-01 7.21497865e-01 3.16051936e-02 1.17192756e+01] [ 4.68853061e-02 1.19184896e-03 9.98899568e-01 1.50226902e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.679115933 meters 0.012108955251988303 Centerline is valid? [True, True] Translation: X:-26.00, Y:11.72, Z:-0.03 [[ 7.14519030e-01 6.98770005e-01 -3.43953033e-02 -2.59993623e+01] [-6.98057889e-01 7.15344935e-01 3.15722747e-02 1.17234967e+01] [ 4.66662646e-02 1.45092172e-03 9.98909483e-01 -3.33145739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.709115933 meters 0.01383744946577705 Centerline is valid? [True, True] Translation: X:-25.99, Y:11.76, Z:0.03 [[ 7.06140671e-01 7.07242827e-01 -3.42481616e-02 -2.59937410e+01] [-7.06535588e-01 7.06968337e-01 3.16738557e-02 1.17559347e+01] [ 4.66134731e-02 1.83134726e-03 9.98911323e-01 3.37811738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.739115933 meters 0.012392135078236432 Centerline is valid? [True, True] Translation: X:-26.03, Y:11.74, Z:-0.05 [[ 6.98372710e-01 7.14852148e-01 -3.55241394e-02 -2.60278527e+01] [-7.14089942e-01 6.99271961e-01 3.30799039e-02 1.17437838e+01] [ 4.84882749e-02 2.26532845e-03 9.98821183e-01 -5.12748748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.769115933 meters 0.01678720017226815 Centerline is valid? [True, True] Translation: X:-25.99, Y:11.81, Z:0.11 [[ 6.88383846e-01 7.24475330e-01 -3.55411835e-02 -2.59946154e+01] [-7.23714762e-01 6.89295064e-01 3.33055153e-02 1.18093585e+01] [ 4.86273866e-02 2.79470043e-03 9.98813079e-01 1.13243279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.799115933 meters 0.016754064041982524 Centerline is valid? [True, True] Translation: X:-26.02, Y:11.81, Z:0.07 [[ 6.82455297e-01 7.30132284e-01 -3.40824835e-02 -2.60208150e+01] [-7.29430355e-01 6.83299560e-01 3.21413821e-02 1.18057089e+01] [ 4.67560067e-02 2.92574159e-03 9.98902055e-01 6.90222116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.829115933 meters 0.015972926376972316 Centerline is valid? [True, True] Translation: X:-26.03, Y:11.82, Z:0.06 [[ 6.80825790e-01 7.31805601e-01 -3.06073005e-02 -2.60326760e+01] [-7.31233450e-01 6.81508462e-01 2.90492338e-02 1.18175573e+01] [ 4.21175263e-02 2.60361439e-03 9.99109271e-01 6.33928642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.859115933 meters 0.017410776432635024 Centerline is valid? [True, True] Translation: X:-26.04, Y:11.84, Z:0.10 [[ 6.72925268e-01 7.38976731e-01 -3.29389541e-02 -2.60366446e+01] [-7.38313131e-01 6.73723613e-01 3.14676628e-02 1.18400609e+01] [ 4.54456218e-02 3.14387692e-03 9.98961867e-01 1.01749625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.889115933 meters 0.014027301954937663 Centerline is valid? [True, True] Translation: X:-26.08, Y:11.81, Z:-0.04 [[ 6.73067907e-01 7.38667696e-01 -3.67372847e-02 -2.60830626e+01] [-7.37829833e-01 6.74061546e-01 3.53294540e-02 1.18148260e+01] [ 5.08599173e-02 3.32674300e-03 9.98700256e-01 -3.95155822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.919115933 meters 0.015587473011877991 Centerline is valid? [True, True] Translation: X:-26.09, Y:11.83, Z:0.00 [[ 6.73778031e-01 7.38037200e-01 -3.63903371e-02 -2.60885274e+01] [-7.37202683e-01 6.74752930e-01 3.52233906e-02 1.18348275e+01] [ 5.05506591e-02 3.09430741e-03 9.98716705e-01 1.56257374e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.949115933 meters 0.0170717500220659 Centerline is valid? [True, True] Translation: X:-26.09, Y:11.86, Z:0.06 [[ 6.69141631e-01 7.42229460e-01 -3.66729809e-02 -2.60864054e+01] [-7.41376393e-01 6.70137789e-01 3.57265717e-02 1.18637269e+01] [ 5.10932644e-02 3.28234583e-03 9.98688492e-01 6.26400078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.979115933 meters 0.01593671629118248 Centerline is valid? [True, True] Translation: X:-26.11, Y:11.86, Z:0.01 [[ 6.69360355e-01 7.41959094e-01 -3.81237172e-02 -2.61111941e+01] [-7.41023865e-01 6.70437377e-01 3.73812250e-02 1.18626084e+01] [ 5.32949048e-02 3.22907420e-03 9.98573596e-01 9.82935684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.009115933 meters 0.0187098934199748 Centerline is valid? [True, True] Translation: X:-26.10, Y:11.90, Z:0.13 [[ 6.67181334e-01 7.43907143e-01 -3.83566313e-02 -2.60978872e+01] [-7.42950571e-01 6.68275129e-01 3.78523602e-02 1.19028103e+01] [ 5.37914239e-02 3.24269297e-03 9.98546928e-01 1.28034627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.039115933 meters 0.017926435132142683 Centerline is valid? [True, True] Translation: X:-26.12, Y:11.91, Z:0.10 [[ 6.66904282e-01 7.44140658e-01 -3.86440188e-02 -2.61186709e+01] [-7.43157003e-01 6.68015655e-01 3.83764776e-02 1.19065382e+01] [ 5.43723069e-02 3.12513597e-03 9.98515842e-01 9.51422211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.069115933 meters 0.017319142061428542 Centerline is valid? [True, True] Translation: X:-26.15, Y:11.90, Z:0.04 [[ 6.70589992e-01 7.40904226e-01 -3.70133747e-02 -2.61458938e+01] [-7.39984614e-01 6.71605733e-01 3.69933783e-02 1.19037312e+01] [ 5.22669450e-02 2.58193852e-03 9.98629811e-01 3.87235237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.099115933 meters 0.01682774210217426 Centerline is valid? [True, True] Translation: X:-24.73, Y:13.25, Z:-1.83 [[ 7.88602766e-01 -6.14502764e-01 -2.21817386e-02 -2.47317359e+01] [-6.14249164e-01 -7.88914611e-01 1.76550267e-02 1.32457419e+01] [-2.83485604e-02 -2.97688527e-04 -9.99598054e-01 -1.82567784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.129115933 meters 0.015499988669384538 Centerline is valid? [True, True] Translation: X:-26.05, Y:11.76, Z:-0.01 [[ 7.35390521e-01 6.76634058e-01 -3.69747583e-02 -2.60514719e+01] [-6.75905001e-01 7.36317118e-01 3.14568229e-02 1.17597849e+01] [ 4.85099052e-02 1.85837467e-03 9.98820973e-01 -1.38643254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.159115933 meters 0.014570467783252446 Centerline is valid? [True, True] Translation: X:-26.07, Y:11.76, Z:-0.03 [[ 7.36465860e-01 6.75528316e-01 -3.57705273e-02 -2.60692618e+01] [-6.74834852e-01 7.37332368e-01 3.06415169e-02 1.17635111e+01] [ 4.70739799e-02 1.57276739e-03 9.98890168e-01 -3.18748286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.189115933 meters 0.015643282415529414 Centerline is valid? [True, True] Translation: X:-26.08, Y:11.78, Z:-0.03 [[ 7.29977106e-01 6.82462204e-01 -3.71317189e-02 -2.60809358e+01] [-6.81712797e-01 7.30918335e-01 3.20320107e-02 1.17773616e+01] [ 4.90008908e-02 1.93053348e-03 9.98796869e-01 -2.87843125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.219115933 meters 0.016181381253642445 Centerline is valid? [True, True] Translation: X:-26.09, Y:11.79, Z:-0.01 [[ 7.36547489e-01 6.75635057e-01 -3.18601072e-02 -2.60937112e+01] [-6.75069147e-01 7.37235376e-01 2.76703356e-02 1.17898645e+01] [ 4.21834469e-02 1.12725923e-03 9.99109246e-01 -1.20497199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.249115933 meters 0.01702250456135115 Centerline is valid? [True, True] Translation: X:-26.11, Y:11.80, Z:-0.01 [[ 7.39875280e-01 6.72237473e-01 -2.61026667e-02 -2.61081045e+01] [-6.71850597e-01 7.40335293e-01 2.28129115e-02 1.18024776e+01] [ 3.46604194e-02 6.58382920e-04 9.99398930e-01 -5.83757050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.279115933 meters 0.02060343643090541 Centerline is valid? [True, True] Translation: X:-26.12, Y:11.82, Z:0.02 [[ 7.43713569e-01 6.68093393e-01 -2.32668295e-02 -2.61197473e+01] [-6.67779981e-01 7.44077360e-01 2.04640848e-02 1.18179216e+01] [ 3.09842409e-02 3.17705402e-04 9.99519823e-01 1.55532002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.309115933 meters 0.019244355384547066 Centerline is valid? [True, True] Translation: X:-26.14, Y:11.82, Z:-0.01 [[ 7.41814766e-01 6.70201545e-01 -2.32538724e-02 -2.61405329e+01] [-6.69885413e-01 7.42179086e-01 2.05848930e-02 1.18234236e+01] [ 3.10545648e-02 3.07252319e-04 9.99517643e-01 -5.54786767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.339115933 meters 0.0201942007215436 Centerline is valid? [True, True] Translation: X:-26.15, Y:11.84, Z:0.04 [[ 7.37158247e-01 6.75365583e-01 -2.18871741e-02 -2.61487611e+01] [-6.75084184e-01 7.37482995e-01 1.94981392e-02 1.18425253e+01] [ 2.93097908e-02 4.02470937e-04 9.99570295e-01 4.03392851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.369115933 meters 0.020834706236357803 Centerline is valid? [True, True] Translation: X:-26.16, Y:11.86, Z:0.08 [[ 7.37794389e-01 6.74754613e-01 -1.91219955e-02 -2.61557004e+01] [-6.74536928e-01 7.38042104e-01 1.71401546e-02 1.18634265e+01] [ 2.56782362e-02 2.52582211e-04 9.99670228e-01 7.56777786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.399115933 meters 0.01976864232157843 Centerline is valid? [True, True] Translation: X:-26.17, Y:11.88, Z:0.08 [[ 7.38460182e-01 6.74092019e-01 -1.66285480e-02 -2.61700768e+01] [-6.73925215e-01 7.38647366e-01 1.49957718e-02 1.18766480e+01] [ 2.23911633e-02 1.32617388e-04 9.99749278e-01 8.02010774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.429115933 meters 0.019794576865254678 Centerline is valid? [True, True] Translation: X:-26.18, Y:11.89, Z:0.09 [[ 7.28426018e-01 6.84877636e-01 -1.83891647e-02 -2.61832996e+01] [-6.84674232e-01 7.28657972e-01 1.66959792e-02 1.18906238e+01] [ 2.48341142e-02 4.28801570e-04 9.99691494e-01 9.40047109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.459115933 meters 0.020631567070580937 Centerline is valid? [True, True] Translation: X:-26.20, Y:11.91, Z:0.12 [[ 7.22836037e-01 6.90764027e-01 -1.87915735e-02 -2.61952041e+01] [-6.90550822e-01 7.23080037e-01 1.71704022e-02 1.19068712e+01] [ 2.54485078e-02 5.65151061e-04 9.99675975e-01 1.18091296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.489115933 meters 0.02168011390199038 Centerline is valid? [True, True] Translation: X:-26.20, Y:11.93, Z:0.17 [[ 7.15185736e-01 6.98644608e-01 -2.01264725e-02 -2.61974941e+01] [-6.98399839e-01 7.15468408e-01 1.85100734e-02 1.19325701e+01] [ 2.73318182e-02 8.18184655e-04 9.99626081e-01 1.73513114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.519115933 meters 0.02176675443464939 Centerline is valid? [True, True] Translation: X:-26.21, Y:11.95, Z:0.19 [[ 7.10488336e-01 7.03369118e-01 -2.18679570e-02 -2.62079827e+01] [-7.03078379e-01 7.10824101e-01 2.02457587e-02 1.19490063e+01] [ 2.97845124e-02 9.90512352e-04 9.99555852e-01 1.85967885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.549115933 meters 0.02118148678614345 Centerline is valid? [True, True] Translation: X:-26.23, Y:11.96, Z:0.17 [[ 7.14888744e-01 6.99052656e-01 -1.61079952e-02 -2.62254570e+01] [-6.98891956e-01 7.15069994e-01 1.49979206e-02 1.19563983e+01] [ 2.20026803e-02 5.35903641e-04 9.99757768e-01 1.74284157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.579115933 meters 0.020710449318433913 Centerline is valid? [True, True] Translation: X:-26.24, Y:11.96, Z:0.15 [[ 7.10901858e-01 7.03099073e-01 -1.64390084e-02 -2.62431756e+01] [-7.02930545e-01 7.11091646e-01 1.54052025e-02 1.19647848e+01] [ 2.25210251e-02 6.03894041e-04 9.99746187e-01 1.54649044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.609115933 meters 0.019909669391923433 Centerline is valid? [True, True] Translation: X:-26.26, Y:11.97, Z:0.14 [[ 7.16310058e-01 6.97648476e-01 -1.36566794e-02 -2.62618990e+01] [-6.97529799e-01 7.16440165e-01 1.28712942e-02 1.19715858e+01] [ 1.87638325e-02 3.06103355e-04 9.99823897e-01 1.42424028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.639115933 meters 0.02009513531145688 Centerline is valid? [True, True] Translation: X:-26.28, Y:11.98, Z:0.15 [[ 7.15691826e-01 6.98283578e-01 -1.36108524e-02 -2.62764497e+01] [-6.98164109e-01 7.15821192e-01 1.29188935e-02 1.19828685e+01] [ 1.87639878e-02 2.56662164e-04 9.99823908e-01 1.50019285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.669115933 meters 0.021310183459194113 Centerline is valid? [True, True] Translation: X:-26.29, Y:12.00, Z:0.16 [[ 7.12650527e-01 7.01334761e-01 -1.60866192e-02 -2.62905849e+01] [-7.01166014e-01 7.12831996e-01 1.53872152e-02 1.19956538e+01] [ 2.22586458e-02 3.13683595e-04 9.99752196e-01 1.58741400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.699115933 meters 0.021333154095354027 Centerline is valid? [True, True] Translation: X:-26.29, Y:12.03, Z:0.24 [[ 7.15229875e-01 6.98782973e-01 -1.21894210e-02 -2.62850098e+01] [-6.98684664e-01 7.15333725e-01 1.17218272e-02 1.20310223e+01] [ 1.69105172e-02 1.32760517e-04 9.99856998e-01 2.36687353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.729115933 meters 0.020810238354560064 Centerline is valid? [True, True] Translation: X:-26.31, Y:12.03, Z:0.20 [[ 7.07129339e-01 7.06914588e-01 -1.54875201e-02 -2.63115952e+01] [-7.06755225e-01 7.07298845e-01 1.50131825e-02 1.20282846e+01] [ 2.15673428e-02 3.29623887e-04 9.99767343e-01 1.97654701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.759115933 meters 0.02087549074240193 Centerline is valid? [True, True] Translation: X:-26.33, Y:12.04, Z:0.18 [[ 6.96216511e-01 7.17569830e-01 -1.93935295e-02 -2.63290401e+01] [-7.17320060e-01 6.96486194e-01 1.89449781e-02 1.20369156e+01] [ 2.71016703e-02 7.21561210e-04 9.99632422e-01 1.81754708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.789115933 meters 0.020537229997064897 Centerline is valid? [True, True] Translation: X:-26.35, Y:12.04, Z:0.16 [[ 6.97071933e-01 7.16793634e-01 -1.72512860e-02 -2.63456600e+01] [-7.16592908e-01 6.97285166e-01 1.69705953e-02 1.20437571e+01] [ 2.41934805e-02 5.32423553e-04 9.99707153e-01 1.63815097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.819115933 meters 0.020909483375219237 Centerline is valid? [True, True] Translation: X:-26.36, Y:12.06, Z:0.17 [[ 6.95157672e-01 7.18663394e-01 -1.66954506e-02 -2.63562903e+01] [-7.18473185e-01 6.95357951e-01 1.65409342e-02 1.20588684e+01] [ 2.34966782e-02 4.96676291e-04 9.99723792e-01 1.74989438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.849115933 meters 0.021966050092229683 Centerline is valid? [True, True] Translation: X:-26.36, Y:12.08, Z:0.21 [[ 6.90562124e-01 7.23051739e-01 -1.78923642e-02 -2.63642977e+01] [-7.22831786e-01 6.90793609e-01 1.78437484e-02 1.20773020e+01] [ 2.52618841e-02 6.10952750e-04 9.99680681e-01 2.08179402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.879115933 meters 0.0211739095347201 Centerline is valid? [True, True] Translation: X:-24.92, Y:13.41, Z:-1.97 [[ 7.72185504e-01 -6.35397096e-01 -2.79936367e-04 -2.49165450e+01] [-6.35397045e-01 -7.72185030e-01 -9.35205947e-04 1.34133187e+01] [ 3.78064471e-04 9.00023216e-04 -9.99999524e-01 -1.97234241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.909115933 meters 0.021387002836097964 Centerline is valid? [True, True] Translation: X:-26.24, Y:11.93, Z:0.21 [[ 7.52502949e-01 6.58412590e-01 -1.52372269e-02 -2.62363898e+01] [-6.58285508e-01 7.52657143e-01 1.29388906e-02 1.19340380e+01] [ 1.99875362e-02 2.93892293e-04 9.99800186e-01 2.09463077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.939115933 meters 0.0217264515326657 Centerline is valid? [True, True] Translation: X:-26.27, Y:11.93, Z:0.15 [[ 7.43713403e-01 6.68211409e-01 -1.95930378e-02 -2.62652111e+01] [-6.68002452e-01 7.43971161e-01 1.67222937e-02 1.19276913e+01] [ 2.57506825e-02 6.51603350e-04 9.99668184e-01 1.48695094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.969115933 meters 0.020848348864462216 Centerline is valid? [True, True] Translation: X:-26.27, Y:11.95, Z:0.19 [[ 7.45003128e-01 6.66832233e-01 -1.74674829e-02 -2.62705552e+01] [-6.66663672e-01 7.45207724e-01 1.49998654e-02 1.19511983e+01] [ 2.30192969e-02 4.69989615e-04 9.99734910e-01 1.93813777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.999115933 meters 0.022521360706609247 Centerline is valid? [True, True] Translation: X:-26.29, Y:11.95, Z:0.18 [[ 7.34688443e-01 6.78032429e-01 -2.24703526e-02 -2.62913419e+01] [-6.77754593e-01 7.35031372e-01 1.94318032e-02 1.19547779e+01] [ 2.96918068e-02 9.53063383e-04 9.99558647e-01 1.80345990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.029115933 meters 0.02187087491621449 Centerline is valid? [True, True] Translation: X:-26.30, Y:11.97, Z:0.18 [[ 7.28500758e-01 6.84595662e-01 -2.48077430e-02 -2.63046805e+01] [-6.84256068e-01 7.28921969e-01 2.15962221e-02 1.19676529e+01] [ 3.28675889e-02 1.24198447e-03 9.99458943e-01 1.84528049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.059115933 meters 0.021979447865607994 Centerline is valid? [True, True] Translation: X:-26.32, Y:11.98, Z:0.17 [[ 7.25243515e-01 6.87990031e-01 -2.62975473e-02 -2.63220828e+01] [-6.87605386e-01 7.25718843e-01 2.30433097e-02 1.19755240e+01] [ 3.49381930e-02 1.37032423e-03 9.99388535e-01 1.73946870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.089115933 meters 0.021924875216682398 Centerline is valid? [True, True] Translation: X:-26.34, Y:11.98, Z:0.17 [[ 7.11164135e-01 7.02347449e-01 -3.08809703e-02 -2.63389280e+01] [-7.01821893e-01 7.11830624e-01 2.72615641e-02 1.19829318e+01] [ 4.11291104e-02 2.28549439e-03 9.99151226e-01 1.66756448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.119115933 meters 0.02262971612642037 Centerline is valid? [True, True] Translation: X:-26.34, Y:12.00, Z:0.21 [[ 7.05902668e-01 7.07622066e-01 -3.11838960e-02 -2.63380470e+01] [-7.07080776e-01 7.06586909e-01 2.77797955e-02 1.20049668e+01] [ 4.16917289e-02 2.43970165e-03 9.99127543e-01 2.13832973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.149115933 meters 0.022309736232133757 Centerline is valid? [True, True] Translation: X:-26.35, Y:12.01, Z:0.20 [[ 6.95546684e-01 7.17618653e-01 -3.51891971e-02 -2.63525239e+01] [-7.16929149e-01 6.96428739e-01 3.16165692e-02 1.20121924e+01] [ 4.71954080e-02 3.23736133e-03 9.98880430e-01 2.00152150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.179115933 meters 0.02203037985402127 Centerline is valid? [True, True] Translation: X:-26.37, Y:12.02, Z:0.18 [[ 6.91299639e-01 7.21698921e-01 -3.54327139e-02 -2.63690441e+01] [-7.20994901e-01 6.92198793e-01 3.20497019e-02 1.20196127e+01] [ 4.76567171e-02 3.39085872e-03 9.98858018e-01 1.84569499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.209115933 meters 0.020614817785063883 Centerline is valid? [True, True] Translation: X:-26.39, Y:12.02, Z:0.14 [[ 6.91975060e-01 7.21163033e-01 -3.30816466e-02 -2.63946850e+01] [-7.20540335e-01 6.92758891e-01 3.01122080e-02 1.20164953e+01] [ 4.46334161e-02 2.99976374e-03 9.98998929e-01 1.39128624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.239115933 meters 0.020614817785063883 Centerline is valid? [True, True] Translation: X:-26.41, Y:12.03, Z:0.14 [[ 6.89684458e-01 7.23358342e-01 -3.29857330e-02 -2.64072430e+01] [-7.22733153e-01 6.90466301e-01 3.02171626e-02 1.20283748e+01] [ 4.46333737e-02 2.99957547e-03 9.98998931e-01 1.38976340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.269115933 meters 0.0216095159929772 Centerline is valid? [True, True] Translation: X:-26.41, Y:12.05, Z:0.17 [[ 6.79928037e-01 7.32450509e-01 -3.48441637e-02 -2.64146346e+01] [-7.31754127e-01 6.80810521e-01 3.21392678e-02 1.20468159e+01] [ 4.72626964e-02 3.64497131e-03 9.98875844e-01 1.73824929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.299115933 meters 0.020576155045632323 Centerline is valid? [True, True] Translation: X:-26.43, Y:12.06, Z:0.17 [[ 6.85412600e-01 7.27395682e-01 -3.32428968e-02 -2.64282327e+01] [-7.26745998e-01 6.86211752e-01 3.08818066e-02 1.20581411e+01] [ 4.52749592e-02 2.99236290e-03 9.98970082e-01 1.72676135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.329115933 meters 0.01992117870249689 Centerline is valid? [True, True] Translation: X:-26.46, Y:12.05, Z:0.10 [[ 6.78803774e-01 7.33439703e-01 -3.59393712e-02 -2.64550819e+01] [-7.32676724e-01 6.79745482e-01 3.36288145e-02 1.20539018e+01] [ 4.90943329e-02 3.50457459e-03 9.98787998e-01 9.99426789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.359115933 meters 0.019397737840520544 Centerline is valid? [True, True] Translation: X:-26.47, Y:12.07, Z:0.12 [[ 6.72103861e-01 7.39425149e-01 -3.90749133e-02 -2.64661863e+01] [-7.38518313e-01 6.73226300e-01 3.68381575e-02 1.20676759e+01] [ 5.35453194e-02 4.09847113e-03 9.98557010e-01 1.21252953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.389115933 meters 0.019336866369170272 Centerline is valid? [True, True] Translation: X:-26.48, Y:12.08, Z:0.13 [[ 6.67127990e-01 7.43774467e-01 -4.17107653e-02 -2.64790379e+01] [-7.42732737e-01 6.68415154e-01 3.96139264e-02 1.20793903e+01] [ 5.73439346e-02 4.55239177e-03 9.98344103e-01 1.31324910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.419115933 meters 0.018482235397290745 Centerline is valid? [True, True] Translation: X:-26.49, Y:12.09, Z:0.15 [[ 6.66816973e-01 7.43970895e-01 -4.31558937e-02 -2.64887758e+01] [-7.42837655e-01 6.68196728e-01 4.12958866e-02 1.20937523e+01] [ 5.95595647e-02 4.52102476e-03 9.98214515e-01 1.47188500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.449115933 meters 0.01726985883979563 Centerline is valid? [True, True] Translation: X:-26.51, Y:12.10, Z:0.10 [[ 6.62616195e-01 7.47601967e-01 -4.50674718e-02 -2.65107584e+01] [-7.46355038e-01 6.64129288e-01 4.34332366e-02 1.20954728e+01] [ 6.24014011e-02 4.85676871e-03 9.98039316e-01 1.03891614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.479115933 meters 0.017213300452775745 Centerline is valid? [True, True] Translation: X:-26.52, Y:12.11, Z:0.12 [[ 6.60143634e-01 7.49791180e-01 -4.49840891e-02 -2.65195177e+01] [-7.48534080e-01 6.61656800e-01 4.36693232e-02 1.21123716e+01] [ 6.25069019e-02 4.84409805e-03 9.98032776e-01 1.21433245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.509115933 meters 0.01698589388520017 Centerline is valid? [True, True] Translation: X:-26.53, Y:12.12, Z:0.11 [[ 6.63481839e-01 7.46895498e-01 -4.40336688e-02 -2.65346536e+01] [-7.45665128e-01 6.64927780e-01 4.30646579e-02 1.21217215e+01] [ 6.14440088e-02 4.26175285e-03 9.98101433e-01 1.10335577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.539115933 meters 0.017182691915647457 Centerline is valid? [True, True] Translation: X:-26.54, Y:12.14, Z:0.14 [[ 6.57377327e-01 7.52278779e-01 -4.39509788e-02 -2.65408166e+01] [-7.51044414e-01 6.58829322e-01 4.33152789e-02 1.21390041e+01] [ 6.15413587e-02 4.53465482e-03 9.98094233e-01 1.36247283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.569115933 meters 0.017614404527175012 Centerline is valid? [True, True] Translation: X:-26.55, Y:12.15, Z:0.13 [[ 6.56128864e-01 7.53303371e-01 -4.50438164e-02 -2.65531211e+01] [-7.51987997e-01 6.57657623e-01 4.47269826e-02 1.21510185e+01] [ 6.33163960e-02 4.52574493e-03 9.97983242e-01 1.28978632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.599115933 meters 0.016765574386591205 Centerline is valid? [True, True] Translation: X:-26.56, Y:12.17, Z:0.14 [[ 6.50057700e-01 7.58426128e-01 -4.70616120e-02 -2.65626416e+01] [-7.56980050e-01 6.51739681e-01 4.70806982e-02 1.21654204e+01] [ 6.63791516e-02 5.01953097e-03 9.97781846e-01 1.35873381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.629115933 meters 0.01792386029311528 Centerline is valid? [True, True] Translation: X:-25.06, Y:13.59, Z:-1.96 [[ 8.09564809e-01 -5.85945744e-01 -3.56707880e-02 -2.50645598e+01] [-5.85227002e-01 -8.10345737e-01 2.91400585e-02 1.35892879e+01] [-4.59801642e-02 -2.71525753e-03 -9.98938663e-01 -1.96015339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.659115933 meters 0.01679033156600216 Centerline is valid? [True, True] Translation: X:-26.45, Y:12.03, Z:0.13 [[ 7.09427876e-01 7.03047709e-01 -4.93559307e-02 -2.64457315e+01] [-7.01804054e-01 7.11126548e-01 4.20725866e-02 1.20330431e+01] [ 6.46773482e-02 4.79072652e-03 9.97894729e-01 1.32789915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.689115933 meters 0.01770917398610954 Centerline is valid? [True, True] Translation: X:-26.45, Y:12.05, Z:0.16 [[ 7.03312804e-01 7.09135956e-01 -4.97724384e-02 -2.64535282e+01] [-7.07869145e-01 7.05052519e-01 4.26874542e-02 1.20508611e+01] [ 6.53633917e-02 5.20974036e-03 9.97847927e-01 1.57297424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.719115933 meters 0.016152068975210574 Centerline is valid? [True, True] Translation: X:-26.48, Y:12.05, Z:0.11 [[ 7.10223660e-01 7.02344821e-01 -4.78968208e-02 -2.64762616e+01] [-7.01139308e-01 7.11824402e-01 4.13484116e-02 1.20497776e+01] [ 6.31349686e-02 4.21572359e-03 9.97996094e-01 1.12117820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.749115933 meters 0.01621941380665712 Centerline is valid? [True, True] Translation: X:-26.49, Y:12.07, Z:0.13 [[ 7.06539101e-01 7.05938828e-01 -4.95264675e-02 -2.64854517e+01] [-7.04637989e-01 7.08258712e-01 4.30685614e-02 1.20665679e+01] [ 6.54813218e-02 4.46860788e-03 9.97843789e-01 1.30480602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.779115933 meters 0.015830984849808157 Centerline is valid? [True, True] Translation: X:-26.50, Y:12.08, Z:0.13 [[ 7.00661999e-01 7.11723129e-01 -5.02289853e-02 -2.64984595e+01] [-7.10380147e-01 7.02443203e-01 4.39726380e-02 1.20776053e+01] [ 6.65793529e-02 4.87171759e-03 9.97769240e-01 1.30350127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.809115933 meters 0.015742462046132995 Centerline is valid? [True, True] Translation: X:-26.52, Y:12.08, Z:0.10 [[ 7.03231892e-01 7.09301758e-01 -4.85378399e-02 -2.65156643e+01] [-7.08023252e-01 7.04891978e-01 4.27828740e-02 1.20846638e+01] [ 6.45599017e-02 4.27963781e-03 9.97904657e-01 1.03105095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.839115933 meters 0.016144554440410894 Centerline is valid? [True, True] Translation: X:-26.53, Y:12.10, Z:0.11 [[ 6.99322246e-01 7.13073344e-01 -4.97473873e-02 -2.65259594e+01] [-7.11718080e-01 7.01074909e-01 4.41740552e-02 1.20990908e+01] [ 6.63759863e-02 4.51421548e-03 9.97784471e-01 1.13738737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.869115933 meters 0.014852899215983673 Centerline is valid? [True, True] Translation: X:-26.55, Y:12.10, Z:0.08 [[ 7.07809944e-01 7.04841400e-01 -4.69434132e-02 -2.65454913e+01] [-7.03598957e-01 7.09357127e-01 4.19639635e-02 1.21025127e+01] [ 6.28775835e-02 3.32682589e-03 9.98015702e-01 8.26871953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.899115933 meters 0.016393817361841086 Centerline is valid? [True, True] Translation: X:-26.54, Y:12.13, Z:0.15 [[ 6.95406567e-01 7.16947185e-01 -4.89534614e-02 -2.65439149e+01] [-7.15606175e-01 6.97113611e-01 4.40501458e-02 1.21310003e+01] [ 6.57077523e-02 4.39863862e-03 9.97829215e-01 1.48010125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.929115933 meters 0.016550581255128226 Centerline is valid? [True, True] Translation: X:-26.55, Y:12.14, Z:0.15 [[ 6.90518378e-01 7.21594212e-01 -4.98614375e-02 -2.65527663e+01] [-7.20189167e-01 6.92300542e-01 4.52495695e-02 1.21426987e+01] [ 6.71709277e-02 4.66400780e-03 9.97730582e-01 1.52594190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.959115933 meters 0.016247656830998807 Centerline is valid? [True, True] Translation: X:-26.57, Y:12.15, Z:0.13 [[ 6.92335469e-01 7.19909785e-01 -4.90050968e-02 -2.65670314e+01] [-7.18527965e-01 6.94054894e-01 4.47813290e-02 1.21517121e+01] [ 6.62507442e-02 4.20783014e-03 9.97794134e-01 1.29649248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.989115933 meters 0.0166842794663821 Centerline is valid? [True, True] Translation: X:-26.58, Y:12.17, Z:0.14 [[ 6.92369301e-01 7.19933070e-01 -4.81780568e-02 -2.65783477e+01] [-7.18576417e-01 6.94032463e-01 4.43494397e-02 1.21653040e+01] [ 6.53657637e-02 3.91342485e-03 9.97853698e-01 1.40567142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.019115933 meters 0.016325693654560502 Centerline is valid? [True, True] Translation: X:-26.59, Y:12.17, Z:0.12 [[ 6.88384931e-01 7.23582626e-01 -5.05407863e-02 -2.65923013e+01] [-7.22077447e-01 6.90224689e-01 4.68405752e-02 1.21749803e+01] [ 6.87775249e-02 4.25001584e-03 9.97622970e-01 1.21367163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.049115933 meters 0.01681958727938045 Centerline is valid? [True, True] Translation: X:-26.60, Y:12.19, Z:0.13 [[ 6.80034111e-01 7.31459982e-01 -5.01986278e-02 -2.65985107e+01] [-7.29973302e-01 6.81867618e-01 4.68564819e-02 1.21930467e+01] [ 6.85024601e-02 4.77965207e-03 9.97639498e-01 1.31735994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.079115933 meters 0.01681790350187679 Centerline is valid? [True, True] Translation: X:-26.61, Y:12.21, Z:0.14 [[ 6.83297367e-01 7.28449786e-01 -4.96549858e-02 -2.66066135e+01] [-7.26965408e-01 6.85086274e-01 4.66700378e-02 1.22103812e+01] [ 6.80147283e-02 4.20794315e-03 9.97675443e-01 1.44387196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.109115933 meters 0.015720997355755523 Centerline is valid? [True, True] Translation: X:-26.63, Y:12.21, Z:0.11 [[ 6.79664781e-01 7.31760765e-01 -5.08130603e-02 -2.66256939e+01] [-7.30193117e-01 6.81547199e-01 4.80772979e-02 1.22142663e+01] [ 6.98125793e-02 4.42690073e-03 9.97550303e-01 1.14703756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.139115933 meters 0.01626091734004483 Centerline is valid? [True, True] Translation: X:-26.63, Y:12.23, Z:0.11 [[ 6.79041091e-01 7.32414461e-01 -4.97217685e-02 -2.66340671e+01] [-7.30889590e-01 6.80846459e-01 4.74184174e-02 1.22275031e+01] [ 6.85828246e-02 4.14206911e-03 9.97636827e-01 1.13671681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.169115933 meters 0.016320769658656226 Centerline is valid? [True, True] Translation: X:-26.64, Y:12.24, Z:0.12 [[ 6.71326252e-01 7.39359777e-01 -5.16544636e-02 -2.66436779e+01] [-7.37710205e-01 6.73293376e-01 4.95951990e-02 1.22426982e+01] [ 7.14473034e-02 4.81146585e-03 9.97432771e-01 1.19467069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.199115933 meters 0.016140124632035478 Centerline is valid? [True, True] Translation: X:-26.65, Y:12.26, Z:0.14 [[ 6.73584586e-01 7.37391131e-01 -5.03798100e-02 -2.66548552e+01] [-7.35794382e-01 6.75452484e-01 4.86884869e-02 1.22557382e+01] [ 6.99316262e-02 4.27336690e-03 9.97542634e-01 1.36784823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.229115933 meters 0.01591133986616547 Centerline is valid? [True, True] Translation: X:-26.67, Y:12.26, Z:0.12 [[ 6.69994949e-01 7.40505592e-01 -5.25189169e-02 -2.66678826e+01] [-7.38746263e-01 6.72035221e-01 5.12115211e-02 1.22627687e+01] [ 7.32169796e-02 4.48669315e-03 9.97305943e-01 1.18308680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.259115933 meters 0.015898989380383977 Centerline is valid? [True, True] Translation: X:-26.68, Y:12.28, Z:0.13 [[ 6.71462768e-01 7.39111983e-01 -5.33968902e-02 -2.66764678e+01] [-7.37261888e-01 6.73569701e-01 5.24286780e-02 1.22787849e+01] [ 7.47171915e-02 4.16358679e-03 9.97196072e-01 1.27935810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.289115933 meters 0.015925567179876452 Centerline is valid? [True, True] Translation: X:-26.69, Y:12.29, Z:0.13 [[ 6.70923335e-01 7.39584554e-01 -5.36336300e-02 -2.66856210e+01] [-7.37693423e-01 6.73051762e-01 5.30069672e-02 1.22945825e+01] [ 7.53013434e-02 4.00156494e-03 9.97152794e-01 1.33315798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.319115933 meters 0.015838946374738136 Centerline is valid? [True, True] Translation: X:-26.70, Y:12.31, Z:0.13 [[ 6.61453383e-01 7.47883648e-01 -5.61201453e-02 -2.66974111e+01] [-7.45809760e-01 6.63811765e-01 5.58725496e-02 1.23065967e+01] [ 7.90393790e-02 4.89786517e-03 9.96859462e-01 1.29611126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.349115933 meters 0.016037501007999413 Centerline is valid? [True, True] Translation: X:-26.71, Y:12.31, Z:0.11 [[ 6.66199496e-01 7.43785316e-01 -5.44209179e-02 -2.67126248e+01] [-7.41791538e-01 6.68406534e-01 5.45712300e-02 1.23149029e+01] [ 7.69645767e-02 4.01365052e-03 9.97025749e-01 1.07365652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.379115933 meters 0.015641644474136275 Centerline is valid? [True, True] Translation: X:-25.24, Y:13.72, Z:-1.89 [[ 7.89725660e-01 -6.12038425e-01 -4.17414448e-02 -2.52373383e+01] [-6.11074774e-01 -7.90826333e-01 3.43705057e-02 1.37213017e+01] [-5.40463039e-02 -1.63612635e-03 -9.98537090e-01 -1.89402056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.409115933 meters 0.015773363882530735 Centerline is valid? [True, True] Translation: X:-26.60, Y:12.19, Z:0.12 [[ 7.22927822e-01 6.88339750e-01 -5.96971721e-02 -2.65978096e+01] [-6.86460931e-01 7.25376752e-01 5.09897819e-02 1.21929041e+01] [ 7.84012345e-02 4.11784435e-03 9.96913381e-01 1.15311356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.439115933 meters 0.01576763924247708 Centerline is valid? [True, True] Translation: X:-26.61, Y:12.20, Z:0.11 [[ 7.22372919e-01 6.88861107e-01 -6.03965383e-02 -2.66122150e+01] [-6.86914181e-01 7.24882373e-01 5.19081309e-02 1.22036924e+01] [ 7.95378785e-02 3.99021061e-03 9.96823858e-01 1.07991762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.469115933 meters 0.016465212442130627 Centerline is valid? [True, True] Translation: X:-26.62, Y:12.22, Z:0.11 [[ 7.21188379e-01 6.90012250e-01 -6.14037238e-02 -2.66215376e+01] [-6.87975753e-01 7.23786995e-01 5.31201486e-02 1.22205691e+01] [ 8.10967700e-02 3.93463927e-03 9.96698466e-01 1.13566522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.499115933 meters 0.016035804599609974 Centerline is valid? [True, True] Translation: X:-26.63, Y:12.23, Z:0.11 [[ 7.19196332e-01 6.92043077e-01 -6.19113545e-02 -2.66314402e+01] [-6.89945429e-01 7.21845713e-01 5.39821359e-02 1.22326988e+01] [ 8.20484093e-02 3.89170192e-03 9.96620747e-01 1.08613741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.529115933 meters 0.016145750997009222 Centerline is valid? [True, True] Translation: X:-26.64, Y:12.25, Z:0.12 [[ 7.15163877e-01 6.96225789e-01 -6.17274658e-02 -2.66402652e+01] [-6.94125232e-01 7.17811217e-01 5.41961231e-02 1.22480754e+01] [ 8.20414059e-02 4.08748196e-03 9.96620540e-01 1.15641864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.559115933 meters 0.01617621193442932 Centerline is valid? [True, True] Translation: X:-26.65, Y:12.26, Z:0.11 [[ 7.18162333e-01 6.93267186e-01 -6.01952899e-02 -2.66521854e+01] [-6.91229433e-01 7.20672704e-01 5.32233575e-02 1.22605315e+01] [ 8.02791096e-02 3.38574550e-03 9.96766673e-01 1.14615551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.589115933 meters 0.016112026887785895 Centerline is valid? [True, True] Translation: X:-26.67, Y:12.27, Z:0.10 [[ 7.18921971e-01 6.92499864e-01 -5.99594692e-02 -2.66670904e+01] [-6.90447236e-01 7.21411629e-01 5.33654992e-02 1.22707309e+01] [ 8.02110592e-02 3.03321990e-03 9.96773287e-01 9.83407246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.619115932999996 meters 0.017041092032785848 Centerline is valid? [True, True] Translation: X:-26.67, Y:12.29, Z:0.12 [[ 7.11662086e-01 6.99827902e-01 -6.14652928e-02 -2.66744375e+01] [-6.97667244e-01 7.14301969e-01 5.50737153e-02 1.22900055e+01] [ 8.24469023e-02 3.68844627e-03 9.96588633e-01 1.23062414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.649115933 meters 0.016466425180479645 Centerline is valid? [True, True] Translation: X:-26.69, Y:12.30, Z:0.09 [[ 7.08523538e-01 7.02936912e-01 -6.22422147e-02 -2.66896665e+01] [-7.00702174e-01 7.11241848e-01 5.61381907e-02 1.22987715e+01] [ 8.37308743e-02 3.83802570e-03 9.96481013e-01 9.40706362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.679115933 meters 0.01639546896979864 Centerline is valid? [True, True] Translation: X:-26.70, Y:12.31, Z:0.10 [[ 7.05473706e-01 7.06031564e-01 -6.18569297e-02 -2.67018200e+01] [-7.03805730e-01 7.08169521e-01 5.61553581e-02 1.23120006e+01] [ 8.34526476e-02 3.91913295e-03 9.96504037e-01 9.81535867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.709115933 meters 0.01659626192537759 Centerline is valid? [True, True] Translation: X:-26.72, Y:12.32, Z:0.08 [[ 6.99770306e-01 7.11660448e-01 -6.21363500e-02 -2.67164064e+01] [-7.09405168e-01 7.02510144e-01 5.67785632e-02 1.23216206e+01] [ 8.40584739e-02 4.34789527e-03 9.96451338e-01 7.62596394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.739115933 meters 0.01894822926219396 Centerline is valid? [True, True] Translation: X:-26.71, Y:12.35, Z:0.15 [[ 6.92461722e-01 7.18782945e-01 -6.20309773e-02 -2.67142949e+01] [-7.16531802e-01 6.95217016e-01 5.70567991e-02 1.23505122e+01] [ 8.41364450e-02 4.93751852e-03 9.96442010e-01 1.46133718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.769115933 meters 0.01764648750518912 Centerline is valid? [True, True] Translation: X:-26.74, Y:12.35, Z:0.07 [[ 6.94417291e-01 7.16947646e-01 -6.14060171e-02 -2.67407001e+01] [-7.14703082e-01 6.97113103e-01 5.68579446e-02 1.23468741e+01] [ 8.35711086e-02 4.40392980e-03 9.96492085e-01 6.83114819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.799115933 meters 0.017506266511764113 Centerline is valid? [True, True] Translation: X:-26.75, Y:12.36, Z:0.05 [[ 6.92307858e-01 7.19016928e-01 -6.10285701e-02 -2.67524438e+01] [-7.16770421e-01 6.94979184e-01 5.69569806e-02 1.23584898e+01] [ 8.33666191e-02 4.31170860e-03 9.96509617e-01 5.39425883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.829115933 meters 0.016054761896680248 Centerline is valid? [True, True] Translation: X:-26.77, Y:12.37, Z:0.02 [[ 6.91510432e-01 7.19969925e-01 -5.87931034e-02 -2.67696871e+01] [-7.17858515e-01 6.93993717e-01 5.52437654e-02 1.23652969e+01] [ 8.05758939e-02 4.00348982e-03 9.96740436e-01 1.68571869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.859115933 meters 0.016256973563493378 Centerline is valid? [True, True] Translation: X:-26.78, Y:12.38, Z:0.02 [[ 6.83984066e-01 7.26990408e-01 -6.04213825e-02 -2.67800850e+01] [-7.24755467e-01 6.86631543e-01 5.71545065e-02 1.23789581e+01] [ 8.30380051e-02 4.69795555e-03 9.96535307e-01 1.98381862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.889115933 meters 0.015408230379057577 Centerline is valid? [True, True] Translation: X:-26.80, Y:12.39, Z:-0.02 [[ 6.85682166e-01 7.25530504e-01 -5.86980050e-02 -2.67970875e+01] [-7.23386373e-01 6.88177568e-01 5.58908721e-02 1.23856255e+01] [ 8.09451829e-02 4.13796265e-03 9.96709965e-01 -1.54111401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.919115933 meters 0.01834789465182602 Centerline is valid? [True, True] Translation: X:-26.80, Y:12.41, Z:0.04 [[ 6.75062955e-01 7.35369440e-01 -5.93447093e-02 -2.67967615e+01] [-7.33182595e-01 6.77647236e-01 5.68990853e-02 1.24114543e+01] [ 8.20566267e-02 5.10004330e-03 9.96614619e-01 3.94993308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.949115933 meters 0.01960550642863773 Centerline is valid? [True, True] Translation: X:-26.80, Y:12.43, Z:0.06 [[ 6.64905986e-01 7.44512482e-01 -6.00099414e-02 -2.68009849e+01] [-7.42281251e-01 6.67581236e-01 5.79123282e-02 1.24320864e+01] [ 8.31779620e-02 6.03800067e-03 9.96516417e-01 6.32924967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.979115933 meters 0.01958789188663203 Centerline is valid? [True, True] Translation: X:-26.81, Y:12.45, Z:0.08 [[ 6.56599451e-01 7.51787899e-01 -6.07627891e-02 -2.68052481e+01] [-7.49498416e-01 6.59370045e-01 5.90192184e-02 1.24531745e+01] [ 8.44350971e-02 6.78962778e-03 9.96405849e-01 8.26352932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.009115933 meters 0.017813010840721934 Centerline is valid? [True, True] Translation: X:-26.83, Y:12.45, Z:-0.00 [[ 6.58113363e-01 7.50546023e-01 -5.97282954e-02 -2.68343196e+01] [-7.48294890e-01 6.60788659e-01 5.84217947e-02 1.24458879e+01] [ 8.33160259e-02 6.24621445e-03 9.96503600e-01 -4.60214993e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.039115933 meters 0.018651325551689704 Centerline is valid? [True, True] Translation: X:-26.83, Y:12.47, Z:0.03 [[ 6.53535862e-01 7.54577357e-01 -5.91936586e-02 -2.68333993e+01] [-7.52347406e-01 6.56179717e-01 5.83228931e-02 1.24711212e+01] [ 8.28508126e-02 6.41809322e-03 9.96541294e-01 3.02720596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.069115933 meters 0.01996184660163259 Centerline is valid? [True, True] Translation: X:-26.83, Y:12.50, Z:0.08 [[ 6.43475361e-01 7.63082081e-01 -6.03754649e-02 -2.68303067e+01] [-7.60763705e-01 6.46259330e-01 5.98954397e-02 1.24998193e+01] [ 8.47233443e-02 7.39022257e-03 9.96377107e-01 7.81746742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.099115933 meters 0.018993541354319163 Centerline is valid? [True, True] Translation: X:-26.86, Y:12.50, Z:0.01 [[ 6.42814108e-01 7.63697926e-01 -5.96280214e-02 -2.68574771e+01] [-7.61405092e-01 6.45534551e-01 5.95602975e-02 1.24956721e+01] [ 8.39780237e-02 7.11487964e-03 9.96442206e-01 1.45603439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.129115933 meters 0.018993541354319163 Centerline is valid? [True, True] Translation: X:-26.87, Y:12.51, Z:0.01 [[ 6.40006567e-01 7.66069203e-01 -5.94101835e-02 -2.68690583e+01] [-7.63766545e-01 6.42718692e-01 5.97774871e-02 1.25078197e+01] [ 8.39777273e-02 7.11752626e-03 9.96442212e-01 1.44152831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.159115933 meters 0.01614647038129379 Centerline is valid? [True, True] Translation: X:-25.40, Y:13.82, Z:-1.72 [[ 8.10138164e-01 -5.84214051e-01 -4.86836525e-02 -2.54031033e+01] [-5.82830048e-01 -8.11587815e-01 4.04271294e-02 1.38231889e+01] [-6.31291562e-02 -4.37726491e-03 -9.97995766e-01 -1.72487164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.189115933 meters 0.02039949662440342 Centerline is valid? [True, True] Translation: X:-26.71, Y:12.36, Z:0.05 [[ 6.86807390e-01 7.23849760e-01 -6.58569288e-02 -2.67060142e+01] [-7.21697686e-01 6.89902104e-01 5.64582786e-02 1.23626944e+01] [ 8.63021451e-02 8.75283013e-03 9.96230560e-01 5.10355959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.219115933 meters 0.01851389165394879 Centerline is valid? [True, True] Translation: X:-26.73, Y:12.36, Z:-0.00 [[ 6.89075165e-01 7.21851070e-01 -6.40815832e-02 -2.67295246e+01] [-7.19776212e-01 6.92001804e-01 5.52784545e-02 1.23593854e+01] [ 8.42473827e-02 8.03338900e-03 9.96412486e-01 -3.98998159e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.249115933 meters 0.018804191202669723 Centerline is valid? [True, True] Translation: X:-26.74, Y:12.37, Z:-0.01 [[ 6.80832236e-01 7.29571353e-01 -6.47542078e-02 -2.67407544e+01] [-7.27451985e-01 6.83848076e-01 5.62620533e-02 1.23727222e+01] [ 8.53292228e-02 8.80055754e-03 9.96313943e-01 -1.12899732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.279115933 meters 0.019904774400842706 Centerline is valid? [True, True] Translation: X:-26.75, Y:12.39, Z:-0.01 [[ 6.78659555e-01 7.31575233e-01 -6.49529505e-02 -2.67515296e+01] [-7.29421361e-01 6.81703429e-01 5.67883194e-02 1.23864440e+01] [ 8.58235771e-02 8.83813392e-03 9.96271148e-01 -5.92485680e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.309115933 meters 0.02062957965005378 Centerline is valid? [True, True] Translation: X:-26.76, Y:12.40, Z:0.00 [[ 6.69793812e-01 7.39666010e-01 -6.53486246e-02 -2.67571748e+01] [-7.37485559e-01 6.72905136e-01 5.75649936e-02 1.24024289e+01] [ 8.65522943e-02 9.63699045e-03 9.96200697e-01 3.98705983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.339115933 meters 0.02038232846986601 Centerline is valid? [True, True] Translation: X:-26.77, Y:12.42, Z:0.01 [[ 6.70864943e-01 7.38839399e-01 -6.36912174e-02 -2.67658266e+01] [-7.36733821e-01 6.73820901e-01 5.64683181e-02 1.24185777e+01] [ 8.46374917e-02 9.04085893e-03 9.96370793e-01 9.93994033e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.369115932999996 meters 0.020256964666611848 Centerline is valid? [True, True] Translation: X:-26.78, Y:12.43, Z:0.02 [[ 6.63762703e-01 7.45189738e-01 -6.41196418e-02 -2.67757895e+01] [-7.43054225e-01 6.66782276e-01 5.71997791e-02 1.24331790e+01] [ 8.53785291e-02 9.67729071e-03 9.96301589e-01 1.96585705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.399115933 meters 0.019635366340078675 Centerline is valid? [True, True] Translation: X:-26.79, Y:12.44, Z:-0.03 [[ 6.59245838e-01 7.49080266e-01 -6.53733951e-02 -2.67949552e+01] [-7.46847339e-01 6.62401633e-01 5.86781773e-02 1.24363529e+01] [ 8.72581083e-02 1.01406020e-02 9.96134123e-01 -2.59233731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.429115933 meters 0.020663924600185575 Centerline is valid? [True, True] Translation: X:-26.80, Y:12.46, Z:0.00 [[ 6.51905413e-01 7.55566773e-01 -6.43287118e-02 -2.67978061e+01] [-7.53404567e-01 6.54985974e-01 5.80941717e-02 1.24586665e+01] [ 8.60284297e-02 1.05936403e-02 9.96236360e-01 1.43539333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.459115933 meters 0.02004241572662237 Centerline is valid? [True, True] Translation: X:-26.82, Y:12.46, Z:-0.04 [[ 6.47577484e-01 7.59189359e-01 -6.53828671e-02 -2.68173453e+01] [-7.56938454e-01 6.50776920e-01 5.94439045e-02 1.24612657e+01] [ 8.76788406e-02 1.09962722e-02 9.96088100e-01 -3.77510257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.489115933 meters 0.016077699778068333 Centerline is valid? [True, True] Translation: X:-26.85, Y:12.45, Z:-0.11 [[ 6.54939356e-01 7.53051861e-01 -6.29867864e-02 -2.68452595e+01] [-7.50902341e-01 6.57892024e-01 5.76520534e-02 1.24528995e+01] [ 8.48534905e-02 9.53832663e-03 9.96347783e-01 -1.06863544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.519115933 meters 0.015600202505574397 Centerline is valid? [True, True] Translation: X:-26.86, Y:12.46, Z:-0.12 [[ 6.49552219e-01 7.57772005e-01 -6.21570859e-02 -2.68598949e+01] [-7.55663292e-01 6.52446804e-01 5.73250060e-02 1.24598838e+01] [ 8.39934768e-02 9.73424340e-03 9.96418758e-01 -1.24259284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.549115933 meters 0.01592931189549633 Centerline is valid? [True, True] Translation: X:-26.87, Y:12.47, Z:-0.12 [[ 6.46267664e-01 7.60595101e-01 -6.19128360e-02 -2.68701031e+01] [-7.58480088e-01 6.49152778e-01 5.75206655e-02 1.24743428e+01] [ 8.39408259e-02 9.78590714e-03 9.96422688e-01 -1.21465997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.579115933 meters 0.01956427517686675 Centerline is valid? [True, True] Translation: X:-26.86, Y:12.51, Z:-0.05 [[ 6.35651794e-01 7.69553245e-01 -6.11113796e-02 -2.68630805e+01] [-7.67498411e-01 6.38495416e-01 5.71821111e-02 1.25076033e+01] [ 8.30240149e-02 1.05549753e-02 9.96491648e-01 -5.42711200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.609115933 meters 0.01922953929641232 Centerline is valid? [True, True] Translation: X:-26.88, Y:12.51, Z:-0.09 [[ 6.35222487e-01 7.69992514e-01 -6.00326666e-02 -2.68826890e+01] [-7.67979636e-01 6.37971795e-01 5.65620725e-02 1.25106536e+01] [ 8.18515204e-02 1.01743651e-02 9.96592600e-01 -9.29832143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.639115933 meters 0.020917636747807233 Centerline is valid? [True, True] Translation: X:-26.88, Y:12.53, Z:-0.06 [[ 6.26610527e-01 7.76844998e-01 -6.22181331e-02 -2.68849798e+01] [-7.74680685e-01 6.29591997e-01 5.90233307e-02 1.25321950e+01] [ 8.50240179e-02 1.12145456e-02 9.96315788e-01 -5.89923388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.669115933 meters 0.021858027147800083 Centerline is valid? [True, True] Translation: X:-26.89, Y:12.55, Z:-0.05 [[ 6.21317870e-01 7.81108575e-01 -6.19152521e-02 -2.68928749e+01] [-7.78951313e-01 6.24289585e-01 5.91385428e-02 1.25472198e+01] [ 8.48466699e-02 1.14851335e-02 9.96327825e-01 -5.03136221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.699115933 meters 0.020797755911914264 Centerline is valid? [True, True] Translation: X:-26.91, Y:12.55, Z:-0.10 [[ 6.21533126e-01 7.81008064e-01 -6.10162011e-02 -2.69137754e+01] [-7.78878993e-01 6.24423122e-01 5.86794622e-02 1.25474000e+01] [ 8.39290599e-02 1.10530076e-02 9.96410429e-01 -9.54249698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.729115933 meters 0.022122073807824372 Centerline is valid? [True, True] Translation: X:-26.92, Y:12.57, Z:-0.07 [[ 6.17169866e-01 7.84479369e-01 -6.07739789e-02 -2.69179028e+01] [-7.82350900e-01 6.20053100e-01 5.88321570e-02 1.25664377e+01] [ 8.38357074e-02 1.12371426e-02 9.96416229e-01 -7.36605175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.759115933 meters 0.015756684287509065 Centerline is valid? [True, True] Translation: X:-26.96, Y:12.55, Z:-0.17 [[ 6.24268220e-01 7.79130375e-01 -5.69653237e-02 -2.69587138e+01] [-7.77209625e-01 6.26788122e-01 5.55144013e-02 1.25451595e+01] [ 7.89581446e-02 9.61812142e-03 9.96831532e-01 -1.68771653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.789115933 meters 0.02342012415386016 Centerline is valid? [True, True] Translation: X:-26.93, Y:12.60, Z:-0.06 [[ 6.00956427e-01 7.96868092e-01 -6.20694475e-02 -2.69339032e+01] [-7.94638125e-01 6.04019508e-01 6.09153839e-02 1.25955262e+01] [ 8.60326829e-02 1.27152579e-02 9.96211172e-01 -5.75851616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.819115933 meters 0.01585100497112641 Centerline is valid? [True, True] Translation: X:-26.98, Y:12.57, Z:-0.18 [[ 6.17680372e-01 7.84368281e-01 -5.68977895e-02 -2.69797899e+01] [-7.82409954e-01 6.20218400e-01 5.62476703e-02 1.25669639e+01] [ 7.94079444e-02 9.77431495e-03 9.96794282e-01 -1.76375953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.849115933 meters 0.02131387890323364 Centerline is valid? [True, True] Translation: X:-26.97, Y:12.60, Z:-0.11 [[ 6.00601366e-01 7.97344116e-01 -5.93326118e-02 -2.69692679e+01] [-7.95239275e-01 6.03411399e-01 5.90692743e-02 1.26017709e+01] [ 8.29005126e-02 1.17065363e-02 9.96489068e-01 -1.11757436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.879115933 meters 0.01603741797543684 Centerline is valid? [True, True] Translation: X:-27.00, Y:12.59, Z:-0.20 [[ 6.09700615e-01 7.90685813e-01 -5.55077019e-02 -2.70049257e+01] [-7.88787463e-01 6.12142716e-01 5.56384129e-02 1.25866919e+01] [ 7.79711392e-02 9.86100476e-03 9.96906847e-01 -1.98347205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.909115933 meters 0.02189658496945011 Centerline is valid? [True, True] Translation: X:-25.52, Y:13.89, Z:-1.64 [[ 8.45632460e-01 -5.31685725e-01 -4.70747509e-02 -2.55230742e+01] [-5.30318862e-01 -8.46904438e-01 3.89201519e-02 1.38875751e+01] [-6.05611046e-02 -7.94751548e-03 -9.98132852e-01 -1.64383948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.939115933 meters 0.016689764258469766 Centerline is valid? [True, True] Translation: X:-26.83, Y:12.40, Z:-0.20 [[ 6.59831225e-01 7.48765077e-01 -6.30366063e-02 -2.68319685e+01] [-7.46913149e-01 6.62735141e-01 5.38783793e-02 1.24038009e+01] [ 8.21188230e-02 1.15322331e-02 9.96555822e-01 -1.97326555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.969115933 meters 0.020602444467505986 Centerline is valid? [True, True] Translation: X:-26.83, Y:12.43, Z:-0.17 [[ 6.54270198e-01 7.53756647e-01 -6.14932862e-02 -2.68312226e+01] [-7.51985240e-01 6.57051105e-01 5.29343403e-02 1.24287351e+01] [ 8.03038425e-02 1.16086823e-02 9.96702830e-01 -1.67512611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.999115933 meters 0.02326371195844704 Centerline is valid? [True, True] Translation: X:-26.83, Y:12.45, Z:-0.13 [[ 6.43376907e-01 7.62860284e-01 -6.41119622e-02 -2.68341163e+01] [-7.60947467e-01 6.46431647e-01 5.55434923e-02 1.24509396e+01] [ 8.38159256e-02 1.30504349e-02 9.96395793e-01 -1.28465648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.029115933 meters 0.022566320017306924 Centerline is valid? [True, True] Translation: X:-26.85, Y:12.46, Z:-0.15 [[ 6.42389575e-01 7.63691568e-01 -6.41156968e-02 -2.68498701e+01] [-7.61751628e-01 6.45451936e-01 5.59129246e-02 1.24577242e+01] [ 8.40838297e-02 1.29223566e-02 9.96374890e-01 -1.52890573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.059115933 meters 0.015735311211490768 Centerline is valid? [True, True] Translation: X:-26.88, Y:12.44, Z:-0.22 [[ 6.50080269e-01 7.57429960e-01 -6.07906201e-02 -2.68812277e+01] [-7.55624415e-01 6.52820573e-01 5.34513069e-02 1.24388001e+01] [ 8.01709887e-02 1.11872368e-02 9.96718345e-01 -2.15604138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.089115933 meters 0.01644577726999287 Centerline is valid? [True, True] Translation: X:-26.89, Y:12.46, Z:-0.21 [[ 6.41078633e-01 7.64879483e-01 -6.30679243e-02 -2.68890460e+01] [-7.62939182e-01 6.44055415e-01 5.58249605e-02 1.24552729e+01] [ 8.33186051e-02 1.23288012e-02 9.96446692e-01 -2.14540659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.119115932999996 meters 0.01600442179025609 Centerline is valid? [True, True] Translation: X:-26.90, Y:12.46, Z:-0.21 [[ 6.40069239e-01 7.65803103e-01 -6.21045620e-02 -2.69024276e+01] [-7.63897248e-01 6.42962520e-01 5.53190049e-02 1.24644690e+01] [ 8.22943713e-02 1.20335107e-02 9.96535414e-01 -2.09844943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.149115933 meters 0.022541781197026153 Centerline is valid? [True, True] Translation: X:-26.89, Y:12.50, Z:-0.15 [[ 6.21554996e-01 7.80624361e-01 -6.55361973e-02 -2.68923642e+01] [-7.78543887e-01 6.24832399e-01 5.87698030e-02 1.25010215e+01] [ 8.68262793e-02 1.44941411e-02 9.96118024e-01 -1.48832228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.179115933 meters 0.021389255185924994 Centerline is valid? [True, True] Translation: X:-26.91, Y:12.51, Z:-0.16 [[ 6.20961050e-01 7.81180888e-01 -6.45274732e-02 -2.69065913e+01] [-7.79133662e-01 6.24145422e-01 5.82514279e-02 1.25089644e+01] [ 8.57794291e-02 1.41036587e-02 9.96214322e-01 -1.58380583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.209115933 meters 0.0206982699948716 Centerline is valid? [True, True] Translation: X:-26.92, Y:12.52, Z:-0.17 [[ 6.18645052e-01 7.82983694e-01 -6.49217518e-02 -2.69207146e+01] [-7.80887112e-01 6.21880138e-01 5.89950207e-02 1.25167482e+01] [ 8.65656872e-02 1.41995815e-02 9.96144946e-01 -1.68022928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.239115933 meters 0.021560471940619916 Centerline is valid? [True, True] Translation: X:-26.93, Y:12.53, Z:-0.16 [[ 6.12754753e-01 7.87516812e-01 -6.59460687e-02 -2.69300198e+01] [-7.85343351e-01 6.16114735e-01 6.03195980e-02 1.25303477e+01] [ 8.81330421e-02 1.48291863e-02 9.95998324e-01 -1.62001981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.269115933 meters 0.02007882640855112 Centerline is valid? [True, True] Translation: X:-26.95, Y:12.53, Z:-0.19 [[ 6.16270853e-01 7.84971767e-01 -6.34788221e-02 -2.69485623e+01] [-7.82913687e-01 6.19380286e-01 5.84313263e-02 1.25322445e+01] [ 8.51844725e-02 1.36889154e-02 9.96271157e-01 -1.88568779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.299115933 meters 0.02158868944044234 Centerline is valid? [True, True] Translation: X:-26.95, Y:12.55, Z:-0.14 [[ 6.14508782e-01 7.86516578e-01 -6.14054478e-02 -2.69508923e+01] [-7.84566935e-01 6.17427838e-01 5.68998187e-02 1.25534605e+01] [ 8.26660836e-02 1.32112457e-02 9.96489730e-01 -1.40421459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.329115933 meters 0.021848278288962783 Centerline is valid? [True, True] Translation: X:-26.96, Y:12.57, Z:-0.13 [[ 6.07449771e-01 7.91887770e-01 -6.25982104e-02 -2.69587542e+01] [-7.89855499e-01 6.10506778e-01 5.83931851e-02 1.25685359e+01] [ 8.44574808e-02 1.39726139e-02 9.96329112e-01 -1.32235333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.359115933 meters 0.022260311812399448 Centerline is valid? [True, True] Translation: X:-26.97, Y:12.58, Z:-0.12 [[ 6.03471899e-01 7.95009773e-01 -6.14908808e-02 -2.69656157e+01] [-7.93026116e-01 6.06437939e-01 5.78152761e-02 1.25803673e+01] [ 8.32541125e-02 1.38739799e-02 9.96431767e-01 -1.16716128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.389115933 meters 0.020309681360030578 Centerline is valid? [True, True] Translation: X:-26.99, Y:12.58, Z:-0.15 [[ 6.07194545e-01 7.92285084e-01 -5.99927438e-02 -2.69874888e+01] [-7.90352603e-01 6.10014062e-01 5.67944251e-02 1.25796788e+01] [ 8.15937933e-02 1.29301561e-02 9.96581790e-01 -1.46314063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.419115933 meters 0.021891137038682486 Centerline is valid? [True, True] Translation: X:-26.99, Y:12.61, Z:-0.11 [[ 5.98279603e-01 7.98933357e-01 -6.13759556e-02 -2.69857658e+01] [-7.96910478e-01 6.01258588e-01 5.84961542e-02 1.26053727e+01] [ 8.36373493e-02 1.39140862e-02 9.96399113e-01 -1.06745087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.449115933 meters 0.01915639952014361 Centerline is valid? [True, True] Translation: X:-27.01, Y:12.60, Z:-0.14 [[ 6.05348545e-01 7.93806278e-01 -5.85212064e-02 -2.70101360e+01] [-7.91915379e-01 6.08045043e-01 5.61360681e-02 1.26013490e+01] [ 8.01446928e-02 1.23619562e-02 9.96706582e-01 -1.38554202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.479115933 meters 0.019402651904556742 Centerline is valid? [True, True] Translation: X:-27.02, Y:12.62, Z:-0.12 [[ 6.04442154e-01 7.94562927e-01 -5.76145608e-02 -2.70170360e+01] [-7.92703870e-01 6.07062425e-01 5.56397993e-02 1.26170700e+01] [ 7.91849568e-02 1.20402451e-02 9.96787227e-01 -1.18343213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.509115933 meters 0.01848106151659337 Centerline is valid? [True, True] Translation: X:-27.03, Y:12.62, Z:-0.11 [[ 6.04915098e-01 7.94327411e-01 -5.58720690e-02 -2.70325490e+01] [-7.92549028e-01 6.07382669e-01 5.43353696e-02 1.26228727e+01] [ 7.70957999e-02 1.14130685e-02 9.96958364e-01 -1.08065864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.539115933 meters 0.019585423675781363 Centerline is valid? [True, True] Translation: X:-27.04, Y:12.64, Z:-0.07 [[ 6.00716891e-01 7.97545117e-01 -5.53263296e-02 -2.70353086e+01] [-7.95788046e-01 6.03149658e-01 5.41467904e-02 1.26437587e+01] [ 7.65545651e-02 1.15011401e-02 9.96999058e-01 -7.32285573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.569115933 meters 0.016175669492845848 Centerline is valid? [True, True] Translation: X:-27.07, Y:12.63, Z:-0.14 [[ 6.02734151e-01 7.96132499e-01 -5.37083465e-02 -2.70663279e+01] [-7.94443902e-01 6.05026581e-01 5.29312996e-02 1.26333043e+01] [ 7.46353051e-02 1.07647664e-02 9.97152792e-01 -1.43523257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.599115933 meters 0.015621031109306585 Centerline is valid? [True, True] Translation: X:-27.08, Y:12.64, Z:-0.16 [[ 6.01076252e-01 7.97308408e-01 -5.48328519e-02 -2.70818868e+01] [-7.95523630e-01 6.03473534e-01 5.44228579e-02 1.26396212e+01] [ 7.64819771e-02 1.09085419e-02 9.97011289e-01 -1.63989754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.629115933 meters 0.014685689673482237 Centerline is valid? [True, True] Translation: X:-27.10, Y:12.64, Z:-0.19 [[ 6.00097716e-01 7.98018741e-01 -5.52161186e-02 -2.71026003e+01] [-7.96181254e-01 6.02535165e-01 5.51976930e-02 1.26411524e+01] [ 7.73184466e-02 1.08380291e-02 9.96947539e-01 -1.89671866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.659115933 meters 0.014725783221077066 Centerline is valid? [True, True] Translation: X:-25.62, Y:14.04, Z:-1.62 [[ 8.40579264e-01 -5.39998502e-01 -4.27565025e-02 -2.56249690e+01] [-5.38893055e-01 -8.41640898e-01 3.51407852e-02 1.40372304e+01] [-5.49615925e-02 -6.49743313e-03 -9.98467329e-01 -1.61852455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.689115933 meters 0.015242309349709408 Centerline is valid? [True, True] Translation: X:-26.98, Y:12.50, Z:-0.18 [[ 6.64788484e-01 7.44632067e-01 -5.98277282e-02 -2.69779931e+01] [-7.42961464e-01 6.67391429e-01 5.09602237e-02 1.24993760e+01] [ 7.78751297e-02 1.05719266e-02 9.96907066e-01 -1.81395436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.719115933 meters 0.01698634702162156 Centerline is valid? [True, True] Translation: X:-26.98, Y:12.52, Z:-0.14 [[ 6.61223591e-01 7.47899460e-01 -5.85641642e-02 -2.69815291e+01] [-7.46284943e-01 6.63729041e-01 5.02249292e-02 1.25212950e+01] [ 7.64339340e-02 1.04956459e-02 9.97019406e-01 -1.40128783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.749115933 meters 0.018175791484976115 Centerline is valid? [True, True] Translation: X:-26.99, Y:12.53, Z:-0.11 [[ 6.63903411e-01 7.45795317e-01 -5.49691383e-02 -2.69892598e+01] [-7.44338819e-01 6.66109302e-01 4.75196910e-02 1.25343529e+01] [ 7.20554173e-02 9.36717854e-03 9.97356643e-01 -1.13532452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.779115933 meters 0.01731296520638597 Centerline is valid? [True, True] Translation: X:-27.01, Y:12.53, Z:-0.17 [[ 6.59134010e-01 7.49821033e-01 -5.75393400e-02 -2.70139238e+01] [-7.48212016e-01 6.61564771e-01 5.01082065e-02 1.25307744e+01] [ 7.56381874e-02 1.00236025e-02 9.97084947e-01 -1.65180426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.809115933 meters 0.018679919979601493 Centerline is valid? [True, True] Translation: X:-27.02, Y:12.55, Z:-0.13 [[ 6.55549744e-01 7.52943173e-01 -5.77157769e-02 -2.70222195e+01] [-7.51308652e-01 6.58006817e-01 5.06195411e-02 1.25471897e+01] [ 7.60910125e-02 1.01787353e-02 9.97048921e-01 -1.25275460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.839115933 meters 0.017378553358156874 Centerline is valid? [True, True] Translation: X:-27.04, Y:12.55, Z:-0.15 [[ 6.58257665e-01 7.50658445e-01 -5.66457930e-02 -2.70404398e+01] [-7.49047802e-01 6.60622427e-01 5.00539583e-02 1.25487182e+01] [ 7.49949077e-02 9.48200505e-03 9.97138835e-01 -1.47723507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.869115932999996 meters 0.0173878844421816 Centerline is valid? [True, True] Translation: X:-27.05, Y:12.56, Z:-0.16 [[ 6.58039343e-01 7.50846447e-01 -5.66907061e-02 -2.70539106e+01] [-7.49204219e-01 6.60412029e-01 5.04875285e-02 1.25552654e+01] [ 7.53476056e-02 9.25013610e-03 9.97114423e-01 -1.57580187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.899115933 meters 0.01598780027403274 Centerline is valid? [True, True] Translation: X:-27.07, Y:12.55, Z:-0.18 [[ 6.59774472e-01 7.49229498e-01 -5.79034121e-02 -2.70746547e+01] [-7.47482666e-01 6.62248983e-01 5.19225213e-02 1.25542409e+01] [ 7.72483603e-02 9.02464279e-03 9.96971036e-01 -1.82216802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.929115933 meters 0.015529433276029734 Centerline is valid? [True, True] Translation: X:-27.09, Y:12.56, Z:-0.18 [[ 6.59224304e-01 7.49733609e-01 -5.76440126e-02 -2.70889393e+01] [-7.47976502e-01 6.61681194e-01 5.20494909e-02 1.25609430e+01] [ 7.71652119e-02 8.80407751e-03 9.96979447e-01 -1.84317698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.959115933 meters 0.015969337546028143 Centerline is valid? [True, True] Translation: X:-27.10, Y:12.57, Z:-0.18 [[ 6.59857901e-01 7.49104952e-01 -5.85604106e-02 -2.71029889e+01] [-7.47258532e-01 6.62395343e-01 5.32644028e-02 1.25705068e+01] [ 7.86907712e-02 8.61282942e-03 9.96861867e-01 -1.78573202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.989115933 meters 0.015708725958338016 Centerline is valid? [True, True] Translation: X:-27.12, Y:12.58, Z:-0.18 [[ 6.62442285e-01 7.46892492e-01 -5.76352758e-02 -2.71169586e+01] [-7.45065692e-01 6.64897183e-01 5.28095691e-02 1.25798309e+01] [ 7.77646032e-02 7.95877502e-03 9.96939980e-01 -1.77237505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.019115933 meters 0.01665584545337469 Centerline is valid? [True, True] Translation: X:-27.13, Y:12.59, Z:-0.15 [[ 6.58347260e-01 7.50407062e-01 -5.88908050e-02 -2.71251621e+01] [-7.48479037e-01 6.60924227e-01 5.43902303e-02 1.25926425e+01] [ 7.97371727e-02 8.27087389e-03 9.96781609e-01 -1.54901919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.049115933 meters 0.01665584545337469 Centerline is valid? [True, True] Translation: X:-27.14, Y:12.60, Z:-0.16 [[ 6.55675097e-01 7.52758427e-01 -5.86934165e-02 -2.71372225e+01] [-7.50820942e-01 6.58244953e-01 5.46030740e-02 1.26045990e+01] [ 7.97375693e-02 8.26637039e-03 9.96781615e-01 -1.55038314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.079115933 meters 0.016211001369374523 Centerline is valid? [True, True] Translation: X:-27.15, Y:12.61, Z:-0.16 [[ 6.57799488e-01 7.50935046e-01 -5.82785587e-02 -2.71526742e+01] [-7.48986257e-01 6.60330891e-01 5.46141029e-02 1.26121042e+01] [ 7.94947764e-02 7.72471062e-03 9.96805352e-01 -1.57945068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.109115933 meters 0.0164726659842397 Centerline is valid? [True, True] Translation: X:-27.16, Y:12.63, Z:-0.14 [[ 6.57519460e-01 7.51259097e-01 -5.72531992e-02 -2.71630898e+01] [-7.49348591e-01 6.59966305e-01 5.40478079e-02 1.26262387e+01] [ 7.83890898e-02 7.36511864e-03 9.96895634e-01 -1.44603849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.139115933 meters 0.01658485193891528 Centerline is valid? [True, True] Translation: X:-27.18, Y:12.64, Z:-0.15 [[ 6.55468094e-01 7.52987361e-01 -5.80655824e-02 -2.71768819e+01] [-7.51000831e-01 6.57992825e-01 5.51651555e-02 1.26368889e+01] [ 7.97454015e-02 7.44830127e-03 9.96787437e-01 -1.50595989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.169115933 meters 0.017142166699230067 Centerline is valid? [True, True] Translation: X:-27.19, Y:12.65, Z:-0.15 [[ 6.50129656e-01 7.57616368e-01 -5.78694168e-02 -2.71895823e+01] [-7.55629559e-01 6.52654366e-01 5.53737163e-02 1.26477938e+01] [ 7.97207613e-02 7.72774674e-03 9.96787280e-01 -1.51677308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.199115933 meters 0.016289427777259162 Centerline is valid? [True, True] Translation: X:-27.20, Y:12.66, Z:-0.15 [[ 6.52743458e-01 7.55622280e-01 -5.44145975e-02 -2.72037831e+01] [-7.53829014e-01 6.54972600e-01 5.24662844e-02 1.26557825e+01] [ 7.52847638e-02 6.77227845e-03 9.97139078e-01 -1.53994454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.229115933 meters 0.01670002465506856 Centerline is valid? [True, True] Translation: X:-27.21, Y:12.67, Z:-0.15 [[ 6.42354545e-01 7.64408118e-01 -5.53251194e-02 -2.72127629e+01] [-7.62554394e-01 6.44687167e-01 5.37517690e-02 1.26705020e+01] [ 7.67556830e-02 7.66071983e-03 9.97020501e-01 -1.48575752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.259115933 meters 0.01664807049772833 Centerline is valid? [True, True] Translation: X:-27.23, Y:12.68, Z:-0.16 [[ 6.40751987e-01 7.65761318e-01 -5.51950649e-02 -2.72268681e+01] [-7.63890790e-01 6.43080567e-01 5.40207857e-02 1.26811029e+01] [ 7.68619017e-02 7.54907598e-03 9.97013169e-01 -1.55949055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.289115933 meters 0.016263858102292184 Centerline is valid? [True, True] Translation: X:-27.24, Y:12.69, Z:-0.16 [[ 6.37247067e-01 7.68741128e-01 -5.43438429e-02 -2.72389143e+01] [-7.66908307e-01 6.39515732e-01 5.35842935e-02 1.26930032e+01] [ 7.59461928e-02 7.53031068e-03 9.97083482e-01 -1.59760688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.319115933 meters 0.016167450849647522 Centerline is valid? [True, True] Translation: X:-27.25, Y:12.70, Z:-0.16 [[ 6.32211766e-01 7.72911871e-01 -5.39955688e-02 -2.72486978e+01] [-7.71084009e-01 6.34466685e-01 5.36793943e-02 1.27042715e+01] [ 7.57478306e-02 7.69837495e-03 9.97097288e-01 -1.59246776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.349115933 meters 0.015943702399675186 Centerline is valid? [True, True] Translation: X:-27.26, Y:12.72, Z:-0.16 [[ 6.29405054e-01 7.75338724e-01 -5.19532499e-02 -2.72592878e+01] [-7.73628016e-01 6.31501613e-01 5.20135241e-02 1.27171737e+01] [ 7.31366605e-02 7.45491466e-03 9.97294066e-01 -1.59767938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.379115933 meters 0.015600141394393691 Centerline is valid? [True, True] Translation: X:-25.72, Y:14.18, Z:-1.63 [[ 8.21111705e-01 -5.69432963e-01 -3.90085781e-02 -2.57191531e+01] [-5.68547462e-01 -8.22027528e-01 3.20082286e-02 1.41792815e+01] [-5.02926654e-02 -4.10410307e-03 -9.98726091e-01 -1.63478945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.409115933 meters 0.01555740884695107 Centerline is valid? [True, True] Translation: X:-27.13, Y:12.58, Z:-0.16 [[ 6.90032009e-01 7.21653658e-01 -5.54240341e-02 -2.71305139e+01] [-7.20139418e-01 6.92215984e-01 4.72890035e-02 1.25762084e+01] [ 7.24916847e-02 7.28210557e-03 9.97342432e-01 -1.60775534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.439115933 meters 0.016044363376519988 Centerline is valid? [True, True] Translation: X:-27.14, Y:12.59, Z:-0.17 [[ 6.85877739e-01 7.25664214e-01 -5.46184528e-02 -2.71423790e+01] [-7.24185304e-01 6.88009309e-01 4.68917537e-02 1.25880566e+01] [ 7.16056715e-02 7.39187086e-03 9.97405629e-01 -1.66943157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.469115933 meters 0.016273135526525696 Centerline is valid? [True, True] Translation: X:-27.15, Y:12.60, Z:-0.17 [[ 6.80863878e-01 7.30358229e-01 -5.47835431e-02 -2.71521478e+01] [-7.28858698e-01 6.83021402e-01 4.74000373e-02 1.25993524e+01] [ 7.20373397e-02 7.65648864e-03 9.97372548e-01 -1.65147583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.499115933 meters 0.01517443497935639 Centerline is valid? [True, True] Translation: X:-27.17, Y:12.61, Z:-0.18 [[ 6.80569840e-01 7.30764696e-01 -5.29872745e-02 -2.71655765e+01] [-7.29338420e-01 6.82591435e-01 4.61995926e-02 1.26076254e+01] [ 6.99296910e-02 7.20360568e-03 9.97525913e-01 -1.83757966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.529115933 meters 0.015184833317353682 Centerline is valid? [True, True] Translation: X:-27.18, Y:12.62, Z:-0.17 [[ 6.84452658e-01 7.27265854e-01 -5.10777598e-02 -2.71772369e+01] [-7.25910873e-01 6.86326098e-01 4.48318200e-02 1.26196412e+01] [ 6.76606514e-02 6.39264290e-03 9.97687912e-01 -1.71400054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.559115933 meters 0.015394916197702758 Centerline is valid? [True, True] Translation: X:-27.19, Y:12.63, Z:-0.17 [[ 6.81218152e-01 7.30297765e-01 -5.10588232e-02 -2.71875347e+01] [-7.28930083e-01 6.83098335e-01 4.51397699e-02 1.26343971e+01] [ 6.78436702e-02 6.46828160e-03 9.97674996e-01 -1.68333495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.589115933 meters 0.01444403041202228 Centerline is valid? [True, True] Translation: X:-27.20, Y:12.64, Z:-0.18 [[ 6.83632783e-01 7.28228844e-01 -4.82593896e-02 -2.72036431e+01] [-7.26981618e-01 6.85310341e-01 4.29821330e-02 1.26422664e+01] [ 6.43734878e-02 5.69969391e-03 9.97909599e-01 -1.81711801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.619115932999996 meters 0.014862030274952991 Centerline is valid? [True, True] Translation: X:-27.21, Y:12.66, Z:-0.17 [[ 6.76407860e-01 7.34963934e-01 -4.79627218e-02 -2.72117348e+01] [-7.33730053e-01 6.78078736e-01 4.30050840e-02 1.26586207e+01] [ 6.41296875e-02 6.10271354e-03 9.97922913e-01 -1.72094148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.649115933 meters 0.014929478413536935 Centerline is valid? [True, True] Translation: X:-27.22, Y:12.67, Z:-0.17 [[ 6.75365509e-01 7.35948780e-01 -4.75481093e-02 -2.72229153e+01] [-7.34721161e-01 6.77011006e-01 4.29058643e-02 1.26717598e+01] [ 6.37671118e-02 5.95746121e-03 9.97947025e-01 -1.70361916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.679115933 meters 0.014516240527393831 Centerline is valid? [True, True] Translation: X:-27.24, Y:12.68, Z:-0.18 [[ 6.74741021e-01 7.36664778e-01 -4.52720549e-02 -2.72365480e+01] [-7.35535559e-01 6.76235434e-01 4.11470479e-02 1.26815903e+01] [ 6.09261486e-02 5.53560509e-03 9.98126927e-01 -1.78851605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.709115933 meters 0.014192839500218253 Centerline is valid? [True, True] Translation: X:-27.25, Y:12.70, Z:-0.18 [[ 6.75258039e-01 7.36189103e-01 -4.53010392e-02 -2.72476597e+01] [-7.35038825e-01 6.76755210e-01 4.14766451e-02 1.26953072e+01] [ 6.11923685e-02 5.29058455e-03 9.98111970e-01 -1.75576473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.739115933 meters 0.014723551684578305 Centerline is valid? [True, True] Translation: X:-27.26, Y:12.71, Z:-0.18 [[ 6.70155527e-01 7.40826535e-01 -4.54710301e-02 -2.72581914e+01] [-7.39657374e-01 6.71673808e-01 4.19674217e-02 1.27056849e+01] [ 6.16322795e-02 5.50828310e-03 9.98083724e-01 -1.80763453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.769115933 meters 0.014504882572558157 Centerline is valid? [True, True] Translation: X:-27.27, Y:12.72, Z:-0.18 [[ 6.70264563e-01 7.40784083e-01 -4.45461302e-02 -2.72695673e+01] [-7.39644845e-01 6.71723068e-01 4.13959199e-02 1.27182814e+01] [ 6.05881018e-02 5.20209746e-03 9.98149298e-01 -1.80613186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.799115933 meters 0.014671815146937559 Centerline is valid? [True, True] Translation: X:-27.28, Y:12.73, Z:-0.18 [[ 6.70516981e-01 7.40683106e-01 -4.23735295e-02 -2.72782749e+01] [-7.39632222e-01 6.71838062e-01 3.97214543e-02 1.27292241e+01] [ 5.78891601e-02 4.70691821e-03 9.98311920e-01 -1.82316435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.829115933 meters 0.014865444219584743 Centerline is valid? [True, True] Translation: X:-27.29, Y:12.74, Z:-0.18 [[ 6.65461770e-01 7.45189911e-01 -4.30421770e-02 -2.72896677e+01] [-7.44096585e-01 6.66833771e-01 4.06570343e-02 1.27426370e+01] [ 5.89991890e-02 4.97183488e-03 9.98245649e-01 -1.80227031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.859115933 meters 0.01462626084079567 Centerline is valid? [True, True] Translation: X:-27.30, Y:12.75, Z:-0.18 [[ 6.64959659e-01 7.45607843e-01 -4.35614023e-02 -2.73008224e+01] [-7.44469683e-01 6.66367288e-01 4.14671984e-02 1.27537594e+01] [ 5.99461619e-02 4.85612925e-03 9.98189799e-01 -1.82503202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.889115933 meters 0.017073043741583638 Centerline is valid? [True, True] Translation: X:-27.31, Y:12.77, Z:-0.19 [[ 6.61105178e-01 7.48917213e-01 -4.54197322e-02 -2.73127452e+01] [-7.47669122e-01 6.62643309e-01 4.35284817e-02 1.27656323e+01] [ 6.26963108e-02 5.18202665e-03 9.98019198e-01 -1.91440448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.919115933 meters 0.013863835663454638 Centerline is valid? [True, True] Translation: X:-27.32, Y:12.78, Z:-0.19 [[ 6.61796714e-01 7.48351992e-01 -4.46587707e-02 -2.73236611e+01] [-7.47125055e-01 6.63284175e-01 4.31074898e-02 1.27792972e+01] [ 6.18810317e-02 4.83729144e-03 9.98071810e-01 -1.88635771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.949115933 meters 0.014051570854841404 Centerline is valid? [True, True] Translation: X:-27.33, Y:12.79, Z:-0.19 [[ 6.58041553e-01 7.51604819e-01 -4.55138523e-02 -2.73341170e+01] [-7.50318637e-01 6.59594429e-01 4.42394882e-02 1.27922182e+01] [ 6.32712959e-02 5.03847012e-03 9.97983646e-01 -1.89425728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.979115933 meters 0.014028213901981102 Centerline is valid? [True, True] Translation: X:-27.34, Y:12.81, Z:-0.19 [[ 6.55456685e-01 7.53856759e-01 -4.55688658e-02 -2.73443218e+01] [-7.52551799e-01 6.57019439e-01 4.46233966e-02 1.28062229e+01] [ 6.35792798e-02 5.04422836e-03 9.97964043e-01 -1.87483123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.009115933 meters 0.01681031360968643 Centerline is valid? [True, True] Translation: X:-27.35, Y:12.83, Z:-0.15 [[ 6.43866419e-01 7.63620550e-01 -4.81631580e-02 -2.73454750e+01] [-7.62165069e-01 6.45636352e-01 4.75195626e-02 1.28301410e+01] [ 6.73828002e-02 6.11202598e-03 9.97708475e-01 -1.47491824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.039115933 meters 0.015417735376574248 Centerline is valid? [True, True] Translation: X:-27.36, Y:12.84, Z:-0.17 [[ 6.51003948e-01 7.57755816e-01 -4.47211647e-02 -2.73644325e+01] [-7.56466874e-01 6.52519865e-01 4.44487850e-02 1.28351531e+01] [ 6.28627737e-02 4.89374515e-03 9.98010182e-01 -1.73417447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.069115933 meters 0.015527349238617835 Centerline is valid? [True, True] Translation: X:-27.38, Y:12.85, Z:-0.17 [[ 6.51338738e-01 7.57370268e-01 -4.63478677e-02 -2.73754824e+01] [-7.55964406e-01 6.52967801e-01 4.63774561e-02 1.28485305e+01] [ 6.53885716e-02 4.82990452e-03 9.97848188e-01 -1.71405610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.099115933 meters 0.013317438764341358 Centerline is valid? [True, True] Translation: X:-25.87, Y:14.28, Z:-1.61 [[ 8.03235812e-01 -5.94691990e-01 -3.39656897e-02 -2.58650338e+01] [-5.94049165e-01 -8.03950912e-01 2.77222097e-02 1.42766212e+01] [-4.37929232e-02 -2.09018195e-03 -9.99038443e-01 -1.61081221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.129115933 meters 0.01372869996403235 Centerline is valid? [True, True] Translation: X:-27.25, Y:12.70, Z:-0.18 [[ 7.16882972e-01 6.95530253e-01 -4.81297348e-02 -2.72496613e+01] [-6.94326706e-01 7.18485895e-01 4.10906879e-02 1.27020324e+01] [ 6.31603521e-02 3.96054572e-03 9.97995533e-01 -1.84403319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.159115933 meters 0.01356712667196237 Centerline is valid? [True, True] Translation: X:-27.26, Y:12.71, Z:-0.19 [[ 7.12679135e-01 6.99777508e-01 -4.89886764e-02 -2.72624383e+01] [-6.98522985e-01 7.14348400e-01 4.20951672e-02 1.27141616e+01] [ 6.44522337e-02 4.21936910e-03 9.97911873e-01 -1.93497759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.189115933 meters 0.013235477680608641 Centerline is valid? [True, True] Translation: X:-27.27, Y:12.73, Z:-0.20 [[ 7.10380429e-01 7.02234596e-01 -4.71828187e-02 -2.72731763e+01] [-7.01057255e-01 7.11934050e-01 4.08489190e-02 1.27282728e+01] [ 6.22765794e-02 4.05958469e-03 9.98050674e-01 -1.95980725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.219115933 meters 0.013128396994060279 Centerline is valid? [True, True] Translation: X:-27.29, Y:12.74, Z:-0.20 [[ 7.06216727e-01 7.06445377e-01 -4.68280206e-02 -2.72866530e+01] [-7.05275577e-01 7.07755245e-01 4.08518488e-02 1.27390825e+01] [ 6.20023769e-02 4.17640033e-03 9.98067264e-01 -1.98992756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.249115933 meters 0.013614148978497135 Centerline is valid? [True, True] Translation: X:-27.30, Y:12.75, Z:-0.19 [[ 7.07601234e-01 7.05097770e-01 -4.62344976e-02 -2.72972486e+01] [-7.03937430e-01 7.09099876e-01 4.06135487e-02 1.27534924e+01] [ 6.14213992e-02 3.80799627e-03 9.98104659e-01 -1.94869448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.279115933 meters 0.013406181115727054 Centerline is valid? [True, True] Translation: X:-27.31, Y:12.77, Z:-0.20 [[ 7.06766158e-01 7.06004073e-01 -4.51646526e-02 -2.73094411e+01] [-7.04882755e-01 7.08198578e-01 3.99384077e-02 1.27658835e+01] [ 6.01822213e-02 3.60866971e-03 9.98180884e-01 -1.98355701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.309115933 meters 0.013322574690403563 Centerline is valid? [True, True] Translation: X:-27.32, Y:12.78, Z:-0.20 [[ 7.02643687e-01 7.10085014e-01 -4.55095875e-02 -2.73207671e+01] [-7.08938674e-01 7.04105703e-01 4.05106791e-02 1.27796182e+01] [ 6.08095862e-02 3.79893370e-03 9.98142155e-01 -1.98725882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.339115933 meters 0.013358931841017854 Centerline is valid? [True, True] Translation: X:-27.33, Y:12.80, Z:-0.20 [[ 7.01319890e-01 7.11411989e-01 -4.52039231e-02 -2.73300881e+01] [-7.10265280e-01 7.02765602e-01 4.05430778e-02 1.27952491e+01] [ 6.06105938e-02 3.67311024e-03 9.98154730e-01 -1.96891797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.369115932999996 meters 0.01326565105739079 Centerline is valid? [True, True] Translation: X:-27.34, Y:12.81, Z:-0.19 [[ 6.97576293e-01 7.15071814e-01 -4.53829984e-02 -2.73404195e+01] [-7.13906675e-01 6.99040609e-01 4.09815363e-02 1.28096713e+01] [ 6.10293004e-02 3.81147732e-03 9.98128698e-01 -1.92983110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.399115933 meters 0.01314867413206282 Centerline is valid? [True, True] Translation: X:-27.35, Y:12.82, Z:-0.19 [[ 6.96491534e-01 7.16188212e-01 -4.44295815e-02 -2.73513302e+01] [-7.15057885e-01 6.97897691e-01 4.03860678e-02 1.28235733e+01] [ 5.99313280e-02 3.64116824e-03 9.98195861e-01 -1.93520736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.429115933 meters 0.014916377908704934 Centerline is valid? [True, True] Translation: X:-27.36, Y:12.84, Z:-0.18 [[ 6.92973089e-01 7.19642484e-01 -4.36233128e-02 -2.73598130e+01] [-7.18544382e-01 6.94335001e-01 3.99108781e-02 1.28413046e+01] [ 5.90107564e-02 3.68812185e-03 9.98250534e-01 -1.77964703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.459115933 meters 0.013324892438984886 Centerline is valid? [True, True] Translation: X:-27.38, Y:12.85, Z:-0.20 [[ 6.94376936e-01 7.18330624e-01 -4.29160212e-02 -2.73769807e+01] [-7.17250359e-01 6.95693875e-01 3.95215766e-02 1.28486392e+01] [ 5.82459719e-02 3.33866036e-03 9.98296679e-01 -2.02041269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.489115933 meters 0.013011055698791208 Centerline is valid? [True, True] Translation: X:-27.39, Y:12.86, Z:-0.20 [[ 6.88854119e-01 7.23579476e-01 -4.37349370e-02 -2.73861862e+01] [-7.22451941e-01 6.90231336e-01 4.05449918e-02 1.28644051e+01] [ 5.95247479e-02 3.66680551e-03 9.98220095e-01 -2.04429143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.519115933 meters 0.01290713169664033 Centerline is valid? [True, True] Translation: X:-27.40, Y:12.88, Z:-0.20 [[ 6.89193764e-01 7.23339025e-01 -4.23392362e-02 -2.73966167e+01] [-7.22266897e-01 6.90484927e-01 3.95106949e-02 1.28788991e+01] [ 5.78142319e-02 3.34970419e-03 9.98321739e-01 -1.98759829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.549115933 meters 0.013191199297975511 Centerline is valid? [True, True] Translation: X:-27.41, Y:12.90, Z:-0.20 [[ 6.86957626e-01 7.25521025e-01 -4.13335516e-02 -2.74052920e+01] [-7.24486620e-01 6.88192340e-01 3.88643933e-02 1.28951007e+01] [ 5.66423681e-02 3.24741377e-03 9.98389251e-01 -2.01905029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.579115933 meters 0.012967778346558125 Centerline is valid? [True, True] Translation: X:-27.42, Y:12.91, Z:-0.21 [[ 6.84128008e-01 7.28285546e-01 -3.96110114e-02 -2.74170562e+01] [-7.27326383e-01 6.85266518e-01 3.74984249e-02 1.29077238e+01] [ 5.44536606e-02 3.15641094e-03 9.98511310e-01 -2.07099116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.609115933 meters 0.01600398699021752 Centerline is valid? [True, True] Translation: X:-27.40, Y:12.95, Z:-0.14 [[ 6.69828777e-01 7.41423450e-01 -4.02576366e-02 -2.74039884e+01] [-7.40441679e-01 6.71024860e-01 3.83634707e-02 1.29479710e+01] [ 5.54574519e-02 4.11147540e-03 9.98452586e-01 -1.38676860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.639115933 meters 0.014514496561887047 Centerline is valid? [True, True] Translation: X:-27.43, Y:12.94, Z:-0.19 [[ 6.77883022e-01 7.34215877e-01 -3.74386738e-02 -2.74315500e+01] [-7.33344017e-01 6.78908933e-01 3.59056277e-02 1.29435875e+01] [ 5.17799320e-02 3.11561202e-03 9.98653659e-01 -1.93033645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.669115933 meters 0.014641050537561845 Centerline is valid? [True, True] Translation: X:-27.44, Y:12.96, Z:-0.18 [[ 6.74316579e-01 7.37371211e-01 -3.97598858e-02 -2.74369879e+01] [-7.36379406e-01 6.75479209e-01 3.83823982e-02 1.29637474e+01] [ 5.51590517e-02 3.39647361e-03 9.98471804e-01 -1.83765306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.699115933 meters 0.01836168309713709 Centerline is valid? [True, True] Translation: X:-27.43, Y:13.00, Z:-0.11 [[ 6.56293476e-01 7.53196812e-01 -4.44233718e-02 -2.74251502e+01] [-7.51976171e-01 6.57775631e-01 4.31631561e-02 1.30027254e+01] [ 6.17309630e-02 5.07761924e-03 9.98079910e-01 -1.13681492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.729115933 meters 0.017755012178343826 Centerline is valid? [True, True] Translation: X:-27.45, Y:13.00, Z:-0.16 [[ 6.63331726e-01 7.47497987e-01 -3.51821106e-02 -2.74477414e+01] [-7.46714161e-01 6.64255091e-01 3.43967381e-02 1.30037833e+01] [ 4.90813885e-02 3.45453259e-03 9.98788808e-01 -1.55099651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.759115933 meters 0.0190953235788329 Centerline is valid? [True, True] Translation: X:-27.46, Y:13.01, Z:-0.17 [[ 6.60300076e-01 7.50323405e-01 -3.19154891e-02 -2.74623097e+01] [-7.49672846e-01 6.61063234e-01 3.14010286e-02 1.30118321e+01] [ 4.46590832e-02 3.19207400e-03 9.98997186e-01 -1.65625472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.789115933 meters 0.02047154914983495 Centerline is valid? [True, True] Translation: X:-27.46, Y:13.04, Z:-0.14 [[ 6.59829743e-01 7.50986990e-01 -2.53624085e-02 -2.74623028e+01] [-7.50571336e-01 6.60312375e-01 2.51045388e-02 1.30379446e+01] [ 3.56002942e-02 2.47157542e-03 9.99363052e-01 -1.38711649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.819115933 meters 0.022279625728637117 Centerline is valid? [True, True] Translation: X:-27.45, Y:13.07, Z:-0.07 [[ 6.42649115e-01 7.65796493e-01 -2.36187933e-02 -2.74460923e+01] [-7.65439103e-01 6.43076325e-01 2.35758263e-02 1.30735661e+01] [ 3.32429718e-02 2.92776407e-03 9.99443011e-01 -6.53334531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.849115933 meters 0.023261136222158127 Centerline is valid? [True, True] Translation: X:-26.12, Y:14.32, Z:-1.71 [[ 8.15027650e-01 -5.79413712e-01 -3.11120110e-03 -2.61189738e+01] [-5.79412044e-01 -8.15033385e-01 1.50494973e-03 1.43209537e+01] [-3.40772127e-03 5.76091746e-04 -9.99994028e-01 -1.71116081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.879115933 meters 0.023711567822374532 Centerline is valid? [True, True] Translation: X:-27.34, Y:12.95, Z:-0.09 [[ 6.96475257e-01 7.17347760e-01 -1.82867993e-02 -2.73363664e+01] [-7.17182632e-01 6.96711560e-01 1.55587356e-02 1.29520739e+01] [ 2.39016486e-02 2.27870047e-03 9.99711718e-01 -9.06052191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.909115933 meters 0.022953189562039403 Centerline is valid? [True, True] Translation: X:-27.36, Y:12.95, Z:-0.14 [[ 6.91728875e-01 7.22054283e-01 -1.21973609e-02 -2.73558158e+01] [-7.21980867e-01 6.91834558e-01 1.04197556e-02 1.29498935e+01] [ 1.59621850e-02 1.59861539e-03 9.99871318e-01 -1.36783589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.939115933 meters 0.022953189562039403 Centerline is valid? [True, True] Translation: X:-27.37, Y:12.96, Z:-0.14 [[ 6.89457927e-01 7.24223708e-01 -1.21568139e-02 -2.73690011e+01] [-7.24149805e-01 6.89563270e-01 1.04669096e-02 1.29618440e+01] [ 1.59632764e-02 1.58686060e-03 9.99871320e-01 -1.36930253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.969115933 meters 0.0234033951871928 Centerline is valid? [True, True] Translation: X:-27.36, Y:13.00, Z:-0.08 [[ 6.82429891e-01 7.30872881e-01 -1.06899806e-02 -2.73600341e+01] [-7.30815766e-01 6.82511977e-01 9.25836130e-03 1.29983033e+01] [ 1.40627250e-02 1.49422387e-03 9.99899999e-01 -7.95589211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.999115933 meters 0.02274528854660959 Centerline is valid? [True, True] Translation: X:-27.37, Y:13.01, Z:-0.09 [[ 6.83696637e-01 7.29758775e-01 -3.32244154e-03 -2.73694221e+01] [-7.29753290e-01 6.83704552e-01 2.86707822e-03 1.30146840e+01] [ 4.36384389e-03 4.64350908e-04 9.99990371e-01 -8.75278705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.029115933 meters 0.02234738497161183 Centerline is valid? [True, True] Translation: X:-27.39, Y:13.02, Z:-0.12 [[ 6.78002370e-01 7.35058965e-01 -1.05058469e-03 -2.73880182e+01] [-7.35058457e-01 6.78003162e-01 8.81839359e-04 1.30204550e+01] [ 1.36050367e-03 1.74351984e-04 9.99999059e-01 -1.15431347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.059115933 meters 0.022712013992869637 Centerline is valid? [True, True] Translation: X:-27.38, Y:13.05, Z:-0.08 [[ 6.71971103e-01 7.40577278e-01 3.63400319e-04 -2.73835373e+01] [-7.40577187e-01 6.71971201e-01 -3.67640927e-04 1.30520095e+01] [-5.16461066e-04 -2.20819060e-05 9.99999866e-01 -7.85272920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.089115933 meters 0.021871498183963188 Centerline is valid? [True, True] Translation: X:-27.40, Y:13.06, Z:-0.10 [[ 6.70899191e-01 7.41545530e-01 2.12195203e-03 -2.74023494e+01] [-7.41543068e-01 6.70902489e-01 -1.93093898e-03 1.30574505e+01] [-2.85550206e-03 -2.78053420e-04 9.99995884e-01 -9.74624358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.119115932999996 meters 0.02238384473532549 Centerline is valid? [True, True] Translation: X:-27.40, Y:13.09, Z:-0.08 [[ 6.58826790e-01 7.52293616e-01 1.25561122e-03 -2.74011998e+01] [-7.52292727e-01 6.58827963e-01 -1.16924264e-03 1.30864176e+01] [-1.70684556e-03 -1.74258810e-04 9.99998528e-01 -7.57551045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.149115933 meters 0.021986231310352256 Centerline is valid? [True, True] Translation: X:-27.41, Y:13.11, Z:-0.04 [[ 6.58880645e-01 7.52231150e-01 4.95911291e-03 -2.74078129e+01] [-7.52217985e-01 6.58898874e-01 -4.51408413e-03 1.31064636e+01] [-6.66318861e-03 -7.56091256e-04 9.99977515e-01 -3.82824554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.179115933 meters 0.021661925473534977 Centerline is valid? [True, True] Translation: X:-27.43, Y:13.11, Z:-0.09 [[ 6.52915676e-01 7.57418539e-01 4.27508318e-03 -2.74281104e+01] [-7.57408674e-01 6.52929322e-01 -3.92444445e-03 1.31099848e+01] [-5.76377414e-03 -6.75653784e-04 9.99983161e-01 -8.60240790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.209115933 meters 0.021246998213059923 Centerline is valid? [True, True] Translation: X:-27.43, Y:13.13, Z:-0.06 [[ 6.45432194e-01 7.63806031e-01 4.19876573e-03 -2.74334948e+01] [-7.63796516e-01 6.45445466e-01 -3.87704903e-03 1.31312891e+01] [-5.67138773e-03 -7.04630375e-04 9.99983669e-01 -6.16706924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.239115933 meters 0.021484221748068147 Centerline is valid? [True, True] Translation: X:-27.42, Y:13.17, Z:-0.01 [[ 6.35350312e-01 7.72224048e-01 3.35482230e-05 -2.74217534e+01] [-7.72224045e-01 6.35350312e-01 -7.42586575e-05 1.31723937e+01] [-7.86591955e-05 2.12735168e-05 9.99999997e-01 -6.99851138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.269115933 meters 0.021684110453060217 Centerline is valid? [True, True] Translation: X:-27.45, Y:13.16, Z:-0.06 [[ 6.34164315e-01 7.73197974e-01 7.17577602e-04 -2.74521742e+01] [-7.73197660e-01 6.34164712e-01 -7.04463830e-04 1.31641959e+01] [-9.99752399e-04 -1.08083500e-04 9.99999494e-01 -6.41987302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.299115933 meters 0.021622765562872404 Centerline is valid? [True, True] Translation: X:-27.49, Y:13.15, Z:-0.12 [[ 6.33567133e-01 7.73685790e-01 1.72800981e-03 -2.74866936e+01] [-7.73684073e-01 6.33569424e-01 -1.65542111e-03 1.31485801e+01] [-2.37558997e-03 -2.88113257e-04 9.99997137e-01 -1.24979023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.329115933 meters 0.021863417065073158 Centerline is valid? [True, True] Translation: X:-27.47, Y:13.20, Z:-0.04 [[ 6.33268124e-01 7.73923529e-01 3.72216240e-03 -2.74661750e+01] [-7.73915747e-01 6.33278734e-01 -3.53010595e-03 1.31979214e+01] [-5.08919835e-03 -6.45136521e-04 9.99986842e-01 -4.13437399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.359115933 meters 0.0224111214045628 Centerline is valid? [True, True] Translation: X:-27.48, Y:13.21, Z:-0.03 [[ 6.24731893e-01 7.80838614e-01 1.05859258e-03 -2.74792854e+01] [-7.80837947e-01 6.24732764e-01 -1.03605433e-03 1.32092496e+01] [-1.47032870e-03 -1.79333075e-04 9.99998903e-01 -3.28888294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.389115933 meters 0.022479176530652213 Centerline is valid? [True, True] Translation: X:-27.48, Y:13.24, Z:0.00 [[ 6.21485770e-01 7.83423321e-01 -1.82696396e-03 -2.74757661e+01] [-7.83421597e-01 6.21488338e-01 1.68744407e-03 1.32398062e+01] [ 2.45741984e-03 3.82560547e-04 9.99996907e-01 3.67032284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.419115933 meters 0.02257552217138486 Centerline is valid? [True, True] Translation: X:-27.47, Y:13.27, Z:0.05 [[ 6.15691203e-01 7.87986154e-01 -1.47096671e-03 -2.74704903e+01] [-7.87985049e-01 6.15692875e-01 1.35854516e-03 1.32707994e+01] [ 1.97617850e-03 3.22655476e-04 9.99997995e-01 5.38274039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.449115933 meters 0.021905342158262925 Centerline is valid? [True, True] Translation: X:-27.49, Y:13.28, Z:0.04 [[ 6.15952118e-01 7.87780271e-01 -2.28744387e-03 -2.74884312e+01] [-7.87777487e-01 6.15956179e-01 2.14856616e-03 1.32769467e+01] [ 3.10156322e-03 4.78582903e-04 9.99995076e-01 3.73781351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.479115933 meters 0.021988654516837507 Centerline is valid? [True, True] Translation: X:-27.51, Y:13.28, Z:0.02 [[ 6.12761998e-01 7.90265631e-01 -1.72230936e-03 -2.75062461e+01] [-7.90264064e-01 6.12764306e-01 1.61693524e-03 1.32844362e+01] [ 2.33317805e-03 3.70282726e-04 9.99997210e-01 2.00906034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.509115933 meters 0.02220712235837732 Centerline is valid? [True, True] Translation: X:-27.49, Y:13.33, Z:0.10 [[ 6.11855141e-01 7.90968215e-01 -1.60302675e-03 -2.74921170e+01] [-7.90966846e-01 6.11857145e-01 1.51127356e-03 1.33255914e+01] [ 2.17619272e-03 3.43260515e-04 9.99997573e-01 9.63062619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.539115933 meters 0.021707340140188623 Centerline is valid? [True, True] Translation: X:-27.51, Y:13.33, Z:0.08 [[ 6.06143224e-01 7.95342779e-01 -4.50062452e-03 -2.75122423e+01] [-7.95331483e-01 6.06159193e-01 4.34345789e-03 1.33289141e+01] [ 6.18263279e-03 9.46730804e-04 9.99980439e-01 7.78078796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.569115933 meters 0.021818958335016847 Centerline is valid? [True, True] Translation: X:-27.52, Y:13.34, Z:0.08 [[ 6.04646268e-01 7.96474647e-01 -5.57014998e-03 -2.75240879e+01] [-7.96457099e-01 6.04670806e-01 5.41354910e-03 1.33432332e+01] [ 7.67986169e-03 1.16310324e-03 9.99969833e-01 7.56712156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.599115933 meters 0.02091645567557734 Centerline is valid? [True, True] Translation: X:-27.54, Y:13.35, Z:0.07 [[ 6.04609804e-01 7.96480796e-01 -8.08247478e-03 -2.75421665e+01] [-7.96443133e-01 6.04661576e-01 7.91920672e-03 1.33486692e+01] [ 1.11946580e-02 1.64920151e-03 9.99935978e-01 7.43228656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.629115933 meters 0.020765565661478348 Centerline is valid? [True, True] Translation: X:-27.56, Y:13.36, Z:0.06 [[ 6.04808749e-01 7.96315917e-01 -9.34541318e-03 -2.75580960e+01] [-7.96264757e-01 6.04878067e-01 9.21745252e-03 1.33582438e+01] [ 1.29928396e-02 1.86662722e-03 9.99913847e-01 5.52102627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.659115933 meters 0.01918512787214643 Centerline is valid? [True, True] Translation: X:-27.58, Y:13.36, Z:0.02 [[ 5.99158820e-01 8.00491483e-01 -1.49027952e-02 -2.75835766e+01] [-8.00360227e-01 5.99336358e-01 1.48134240e-02 1.33580184e+01] [ 2.07898067e-02 3.05201092e-03 9.99779210e-01 1.63388230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.689115933 meters 0.0192917925978156 Centerline is valid? [True, True] Translation: X:-27.58, Y:13.39, Z:0.05 [[ 6.01083403e-01 7.99049405e-01 -1.47915685e-02 -2.75820014e+01] [-7.98917869e-01 6.01258248e-01 1.47904342e-02 1.33858530e+01] [ 2.07118402e-02 2.92696387e-03 9.99781202e-01 4.90036846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.719115933 meters 0.01739524863052521 Centerline is valid? [True, True] Translation: X:-26.49, Y:14.47, Z:-1.86 [[ 8.44565003e-01 -5.35396585e-01 -7.77513393e-03 -2.64890429e+01] [-5.35368598e-01 -8.44600656e-01 5.49514110e-03 1.44722480e+01] [-9.50896299e-03 -4.78441304e-04 -9.99954674e-01 -1.85521655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.749115933 meters 0.01579946767042036 Centerline is valid? [True, True] Translation: X:-27.54, Y:13.31, Z:0.05 [[ 6.63607322e-01 7.47624859e-01 -2.61226456e-02 -2.75406947e+01] [-7.47307460e-01 6.64104435e-01 2.22903216e-02 1.33077280e+01] [ 3.40129634e-02 4.72962734e-03 9.99410201e-01 5.05674234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.779115933 meters 0.015445162735386424 Centerline is valid? [True, True] Translation: X:-27.56, Y:13.32, Z:0.05 [[ 6.72363193e-01 7.39874906e-01 -2.26463885e-02 -2.75562274e+01] [-7.39629574e-01 6.72734291e-01 1.94078850e-02 1.33163504e+01] [ 2.95944092e-02 3.70079115e-03 9.99555139e-01 5.20530895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.809115933 meters 0.014485024009263837 Centerline is valid? [True, True] Translation: X:-27.57, Y:13.33, Z:0.05 [[ 6.74748902e-01 7.37709977e-01 -2.23138571e-02 -2.75716076e+01] [-7.37467347e-01 6.75108808e-01 1.92356113e-02 1.33277979e+01] [ 2.92545838e-02 3.47653339e-03 9.99565947e-01 5.33572958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.839115933 meters 0.01367077253231076 Centerline is valid? [True, True] Translation: X:-27.57, Y:13.36, Z:0.11 [[ 6.85778331e-01 7.27610600e-01 -1.70556510e-02 -2.75663570e+01] [-7.27463982e-01 6.85986632e-01 1.47815582e-02 1.33633525e+01] [ 2.24551670e-02 2.27049942e-03 9.99745273e-01 1.09931017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.869115932999996 meters 0.013637051409414711 Centerline is valid? [True, True] Translation: X:-27.58, Y:13.37, Z:0.11 [[ 6.87051614e-01 7.26446712e-01 -1.53379923e-02 -2.75829357e+01] [-7.26326462e-01 6.87220003e-01 1.33618131e-02 1.33719354e+01] [ 2.02472203e-02 1.96013438e-03 9.99793083e-01 1.13697263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.899115933 meters 0.012928262458390006 Centerline is valid? [True, True] Translation: X:-27.59, Y:13.39, Z:0.12 [[ 6.88470424e-01 7.25156615e-01 -1.25043523e-02 -2.75947570e+01] [-7.25075623e-01 6.88582268e-01 1.09453870e-02 1.33866112e+01] [ 1.65473951e-02 1.53102583e-03 9.99861910e-01 1.18967396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.929115933 meters 0.01271992239821399 Centerline is valid? [True, True] Translation: X:-27.60, Y:13.41, Z:0.14 [[ 6.94819166e-01 7.19144525e-01 -7.58147043e-03 -2.76020744e+01] [-7.19114161e-01 6.94860038e-01 6.65974429e-03 1.34057429e+01] [ 1.00573795e-02 8.24624778e-04 9.99949083e-01 1.39935372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.959115933 meters 0.012779760302907802 Centerline is valid? [True, True] Translation: X:-27.63, Y:13.40, Z:0.10 [[ 6.82640889e-01 7.30677667e-01 -1.05623200e-02 -2.76295364e+01] [-7.30618976e-01 6.82721303e-01 9.35603032e-03 1.34026904e+01] [ 1.40473633e-02 1.33022255e-03 9.99900446e-01 1.02151487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.989115933 meters 0.01229532411486091 Centerline is valid? [True, True] Translation: X:-27.65, Y:13.41, Z:0.10 [[ 6.83099079e-01 7.30283829e-01 -7.82157326e-03 -2.76470640e+01] [-7.30251310e-01 6.83143184e-01 6.95800154e-03 1.34116818e+01] [ 1.04245705e-02 9.58709670e-04 9.99945203e-01 9.81354777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.019115933 meters 0.012616459562562018 Centerline is valid? [True, True] Translation: X:-27.66, Y:13.42, Z:0.10 [[ 6.70675824e-01 7.41657802e-01 -1.17321767e-02 -2.76631123e+01] [-7.41585003e-01 6.70776416e-01 1.05205947e-02 1.34219785e+01] [ 1.56723486e-02 1.64449773e-03 9.99875829e-01 1.00538631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.049115933 meters 0.013725164804496837 Centerline is valid? [True, True] Translation: X:-27.66, Y:13.45, Z:0.15 [[ 6.72137967e-01 7.40341468e-01 -1.11832325e-02 -2.76643052e+01] [-7.40274290e-01 6.72229322e-01 1.00853529e-02 1.34500574e+01] [ 1.49843018e-02 1.49991091e-03 9.99886604e-01 1.47019456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.079115933 meters 0.014157104840074243 Centerline is valid? [True, True] Translation: X:-27.70, Y:13.44, Z:0.09 [[ 6.67367983e-01 7.44576264e-01 -1.50386551e-02 -2.76963904e+01] [-7.44453963e-01 6.67534155e-01 1.36546570e-02 1.34424850e+01] [ 2.02057494e-02 2.08290543e-03 9.99793673e-01 9.40404296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.109115933 meters 0.01440794687346155 Centerline is valid? [True, True] Translation: X:-27.73, Y:13.44, Z:0.06 [[ 6.73274603e-01 7.39222414e-01 -1.58597821e-02 -2.77259386e+01] [-7.39083203e-01 6.73458487e-01 1.44805570e-02 1.34364124e+01] [ 2.13852571e-02 1.97230728e-03 9.99769364e-01 5.85735851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.139115933 meters 0.015282388623196341 Centerline is valid? [True, True] Translation: X:-27.74, Y:13.45, Z:0.07 [[ 6.76903864e-01 7.35904214e-01 -1.56890751e-02 -2.77424038e+01] [-7.35765400e-01 6.77083285e-01 1.44049406e-02 1.34472887e+01] [ 2.12234670e-02 1.79271865e-03 9.99773150e-01 7.25551390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.169115933 meters 0.014915661975651084 Centerline is valid? [True, True] Translation: X:-27.77, Y:13.44, Z:0.02 [[ 6.69304910e-01 7.42735452e-01 -1.93645475e-02 -2.77731119e+01] [-7.42523755e-01 6.69580673e-01 1.78940039e-02 1.34400947e+01] [ 2.62566379e-02 2.40209184e-03 9.99652349e-01 2.35527921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.199115933 meters 0.014895335125157103 Centerline is valid? [True, True] Translation: X:-27.78, Y:13.45, Z:0.05 [[ 6.75108741e-01 7.37489654e-01 -1.83629565e-02 -2.77839457e+01] [-7.37294734e-01 6.75355433e-01 1.70737888e-02 1.34534842e+01] [ 2.49932651e-02 2.01224710e-03 9.99685594e-01 4.90267693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.229115933 meters 0.014711702484825943 Centerline is valid? [True, True] Translation: X:-27.82, Y:13.44, Z:-0.02 [[ 6.72532777e-01 7.39813031e-01 -1.93995438e-02 -2.78190059e+01] [-7.39593214e-01 6.72809126e-01 1.81592338e-02 1.34412619e+01] [ 2.64866279e-02 2.13509103e-03 9.99646888e-01 -1.97758445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.259115933 meters 0.015500698964826181 Centerline is valid? [True, True] Translation: X:-27.82, Y:13.46, Z:0.02 [[ 6.64480759e-01 7.46971435e-01 -2.23382402e-02 -2.78235010e+01] [-7.46679417e-01 6.64850700e-01 2.10569710e-02 1.34627765e+01] [ 3.05805504e-02 2.68755211e-03 9.99528692e-01 1.88771112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.289115933 meters 0.014242362917412633 Centerline is valid? [True, True] Translation: X:-27.85, Y:13.46, Z:-0.02 [[ 6.68142744e-01 7.43687273e-01 -2.26828982e-02 -2.78479671e+01] [-7.43379901e-01 6.68523060e-01 2.15230265e-02 1.34634837e+01] [ 3.11704414e-02 2.48155663e-03 9.99511003e-01 -1.56038458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.319115933 meters 0.013989370186989796 Centerline is valid? [True, True] Translation: X:-27.87, Y:13.47, Z:-0.03 [[ 6.63015647e-01 7.48205858e-01 -2.44590659e-02 -2.78683196e+01] [-7.47846303e-01 6.63460730e-01 2.33616539e-02 1.34680896e+01] [ 3.37069560e-02 2.80247999e-03 9.99427830e-01 -3.25797865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.349115933 meters 0.014467830545253274 Centerline is valid? [True, True] Translation: X:-27.87, Y:13.49, Z:0.02 [[ 6.55738937e-01 7.54452449e-01 -2.84244542e-02 -2.78728322e+01] [-7.53965500e-01 6.56345319e-01 2.73285134e-02 1.34914447e+01] [ 3.92743213e-02 3.51068753e-03 9.99222299e-01 1.58170773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.379115933 meters 0.013731404756633508 Centerline is valid? [True, True] Translation: X:-27.89, Y:13.50, Z:0.02 [[ 6.55878970e-01 7.54350958e-01 -2.78820495e-02 -2.78866665e+01] [-7.53875994e-01 6.56462904e-01 2.69711120e-02 1.35033194e+01] [ 3.86492154e-02 3.32982255e-03 9.99247292e-01 1.52006818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.409115933 meters 0.013835453555531278 Centerline is valid? [True, True] Translation: X:-27.90, Y:13.51, Z:0.02 [[ 6.52911127e-01 7.56860061e-01 -2.94942037e-02 -2.79016501e+01] [-7.56323800e-01 6.53567250e-01 2.87081774e-02 1.35144919e+01] [ 4.10045186e-02 3.56327975e-03 9.99152607e-01 2.10920689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.439115933 meters 0.013321771427058718 Centerline is valid? [True, True] Translation: X:-27.91, Y:13.53, Z:0.04 [[ 6.51215293e-01 7.58299276e-01 -3.00141787e-02 -2.79106965e+01] [-7.57738152e-01 6.51896629e-01 2.93883973e-02 1.35307207e+01] [ 4.18513423e-02 3.60471451e-03 9.99117346e-01 3.86604263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.469115933 meters 0.01379233848117777 Centerline is valid? [True, True] Translation: X:-27.94, Y:13.53, Z:-0.00 [[ 6.56143190e-01 7.54102179e-01 -2.83904374e-02 -2.79352259e+01] [-7.53589230e-01 6.56750080e-01 2.79750828e-02 1.35298389e+01] [ 3.97414929e-02 3.03906775e-03 9.99205373e-01 -5.75274234e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.499115933 meters 0.01238845029214596 Centerline is valid? [True, True] Translation: X:-27.95, Y:13.53, Z:-0.01 [[ 6.60777225e-01 7.50154593e-01 -2.53287592e-02 -2.79525361e+01] [-7.49736597e-01 6.61258245e-01 2.51509243e-02 1.35333921e+01] [ 3.56159322e-02 2.37073975e-03 9.99362739e-01 -1.21248388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.529115933 meters 0.012263277577971715 Centerline is valid? [True, True] Translation: X:-27.97, Y:13.54, Z:-0.02 [[ 6.51902113e-01 7.57733413e-01 -2.93889442e-02 -2.79680665e+01] [-7.57169108e-01 6.52556933e-01 2.94005442e-02 1.35438940e+01] [ 4.14557339e-02 3.08612376e-03 9.99135575e-01 -1.87147408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.559115933 meters 0.012021320528705534 Centerline is valid? [True, True] Translation: X:-26.63, Y:14.74, Z:-1.83 [[ 8.02314518e-01 -5.96665946e-01 -1.67679252e-02 -2.66332947e+01] [-5.96521572e-01 -8.02489539e-01 1.31359520e-02 1.47382787e+01] [-2.12938598e-02 -5.36735867e-04 -9.99773116e-01 -1.83440916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.589115933 meters 0.012660746890954406 Centerline is valid? [True, True] Translation: X:-27.81, Y:13.42, Z:0.06 [[ 7.06569366e-01 7.06681976e-01 -3.68824613e-02 -2.78123401e+01] [-7.05992617e-01 7.07520996e-01 3.14398737e-02 1.34223699e+01] [ 4.83131078e-02 3.82429377e-03 9.98824919e-01 5.98729617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.619115932999996 meters 0.012578069615978864 Centerline is valid? [True, True] Translation: X:-27.83, Y:13.43, Z:0.05 [[ 7.06888509e-01 7.06447673e-01 -3.52181838e-02 -2.78275835e+01] [-7.05807583e-01 7.07756802e-01 3.02649302e-02 1.34256569e+01] [ 4.63064987e-02 3.46332980e-03 9.98921275e-01 4.69584562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.649115933 meters 0.013436286666889207 Centerline is valid? [True, True] Translation: X:-27.83, Y:13.45, Z:0.09 [[ 7.09933360e-01 7.03473618e-01 -3.34588344e-02 -2.78309871e+01] [-7.02883851e-01 7.10715192e-01 2.89518226e-02 1.34512718e+01] [ 4.41465454e-02 2.96380969e-03 9.99020670e-01 8.66594451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.679115933 meters 0.012445837907328047 Centerline is valid? [True, True] Translation: X:-27.84, Y:13.47, Z:0.11 [[ 7.10006829e-01 7.03448699e-01 -3.24072513e-02 -2.78391687e+01] [-7.02888043e-01 7.10740729e-01 2.82137413e-02 1.34719009e+01] [ 4.28800730e-02 2.74672048e-03 9.99076451e-01 1.11054025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.709115933 meters 0.01234438992975988 Centerline is valid? [True, True] Translation: X:-27.83, Y:13.51, Z:0.19 [[ 7.13321151e-01 7.00141869e-01 -3.12137517e-02 -2.78289947e+01] [-6.99611444e-01 7.13999954e-01 2.73476280e-02 1.35125598e+01] [ 4.14338367e-02 2.32985642e-03 9.99138533e-01 1.87998681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.739115933 meters 0.0118805784636726 Centerline is valid? [True, True] Translation: X:-27.85, Y:13.51, Z:0.17 [[ 7.15504387e-01 6.97973769e-01 -2.97672655e-02 -2.78530276e+01] [-6.97483072e-01 7.16120574e-01 2.62428570e-02 1.35137020e+01] [ 3.96337770e-02 1.98528449e-03 9.99212301e-01 1.65201459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.769115933 meters 0.011145743927201697 Centerline is valid? [True, True] Translation: X:-27.86, Y:13.53, Z:0.17 [[ 7.15250310e-01 6.98230401e-01 -2.98546549e-02 -2.78640124e+01] [-6.97730533e-01 7.15870617e-01 2.64832582e-02 1.35310774e+01] [ 3.98634863e-02 1.88834560e-03 9.99203351e-01 1.70121790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.799115933 meters 0.011275368156644297 Centerline is valid? [True, True] Translation: X:-27.87, Y:13.55, Z:0.19 [[ 7.14829258e-01 6.98705708e-01 -2.88004281e-02 -2.78734664e+01] [-6.98234872e-01 7.15407103e-01 2.57048698e-02 1.35500639e+01] [ 3.85641701e-02 1.73487021e-03 9.99254620e-01 1.90014743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.829115933 meters 0.0112401917271009 Centerline is valid? [True, True] Translation: X:-27.90, Y:13.55, Z:0.16 [[ 7.11027696e-01 7.02608552e-01 -2.79434912e-02 -2.78963530e+01] [-7.02162642e-01 7.11574348e-01 2.50912525e-02 1.35535877e+01] [ 3.75132001e-02 1.78030012e-03 9.99294546e-01 1.64051283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.859115933 meters 0.0112401917271009 Centerline is valid? [True, True] Translation: X:-27.91, Y:13.57, Z:0.16 [[ 7.08900313e-01 7.04757936e-01 -2.78675200e-02 -2.79103782e+01] [-7.04310379e-01 7.09445616e-01 2.51755314e-02 1.35664609e+01] [ 3.75131454e-02 1.78044149e-03 9.99294548e-01 1.63877348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.889115933 meters 0.011472657609003638 Centerline is valid? [True, True] Translation: X:-27.92, Y:13.59, Z:0.18 [[ 7.12780976e-01 7.00912651e-01 -2.57824674e-02 -2.79180412e+01] [-7.00522135e-01 7.13245828e-01 2.34334668e-02 1.35866886e+01] [ 3.48140507e-02 1.35825980e-03 9.99392884e-01 1.82785029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.919115933 meters 0.011159978767357722 Centerline is valid? [True, True] Translation: X:-27.92, Y:13.61, Z:0.21 [[ 7.08798809e-01 7.04959140e-01 -2.52360642e-02 -2.79230773e+01] [-7.04582723e-01 7.09246492e-01 2.30781303e-02 1.36107030e+01] [ 3.41677289e-02 1.42314361e-03 9.99415099e-01 2.08513390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.949115933 meters 0.01184554901568712 Centerline is valid? [True, True] Translation: X:-27.94, Y:13.62, Z:0.19 [[ 7.01973982e-01 7.11705297e-01 -2.66101342e-02 -2.79404789e+01] [-7.11286056e-01 7.02476013e-01 2.44866927e-02 1.36192740e+01] [ 3.61202898e-02 1.73839623e-03 9.99345937e-01 1.89271821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.979115933 meters 0.011045513105865762 Centerline is valid? [True, True] Translation: X:-27.96, Y:13.63, Z:0.16 [[ 6.97372293e-01 7.16221526e-01 -2.64312343e-02 -2.79596911e+01] [-7.15805713e-01 6.97870540e-01 2.44722456e-02 1.36262458e+01] [ 3.59731289e-02 1.85336243e-03 9.99351039e-01 1.57949813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.00911593299999 meters 0.011333647670748957 Centerline is valid? [True, True] Translation: X:-27.95, Y:13.66, Z:0.23 [[ 6.91454036e-01 7.21854622e-01 -2.85870712e-02 -2.79509802e+01] [-7.21366690e-01 6.92041200e-01 2.66284876e-02 1.36647954e+01] [ 3.90053279e-02 2.20938572e-03 9.99236560e-01 2.28021642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03911593299999 meters 0.011677958187599828 Centerline is valid? [True, True] Translation: X:-27.96, Y:13.68, Z:0.22 [[ 6.80339401e-01 7.32124351e-01 -3.36486820e-02 -2.79633258e+01] [-7.31451717e-01 6.81163681e-01 3.15345087e-02 1.36803692e+01] [ 4.60074418e-02 3.15821743e-03 9.98936105e-01 2.23194279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.06911593299999 meters 0.011626656514077304 Centerline is valid? [True, True] Translation: X:-27.98, Y:13.69, Z:0.21 [[ 6.76460048e-01 7.35695718e-01 -3.39648899e-02 -2.79827314e+01] [-7.35005901e-01 6.77304143e-01 3.20222340e-02 1.36873546e+01] [ 4.65631811e-02 3.30263251e-03 9.98909887e-01 2.08627637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.099115933 meters 0.010959148037607853 Centerline is valid? [True, True] Translation: X:-27.99, Y:13.71, Z:0.25 [[ 6.88861269e-01 7.24235693e-01 -3.08676849e-02 -2.79869232e+01] [-7.23646988e-01 6.89549093e-01 2.92760103e-02 1.37117672e+01] [ 4.24875157e-02 2.17019758e-03 9.99094641e-01 2.48912998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.129115933 meters 0.011407678357682124 Centerline is valid? [True, True] Translation: X:-27.99, Y:13.73, Z:0.26 [[ 6.81861507e-01 7.30786792e-01 -3.18676968e-02 -2.79941586e+01] [-7.30158318e-01 6.82601083e-01 3.04071074e-02 1.37329337e+01] [ 4.39740368e-02 2.53502780e-03 9.99029458e-01 2.59300887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.159115933 meters 0.011173475188211471 Centerline is valid? [True, True] Translation: X:-28.02, Y:13.73, Z:0.23 [[ 6.79926055e-01 7.32644798e-01 -3.05312848e-02 -2.80158637e+01] [-7.32060750e-01 6.80606973e-01 2.93463198e-02 1.37348743e+01] [ 4.22802339e-02 2.39742779e-03 9.99102915e-01 2.30593743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.189115933 meters 0.011520790081404388 Centerline is valid? [True, True] Translation: X:-28.03, Y:13.74, Z:0.21 [[ 6.66174038e-01 7.44998983e-01 -3.44770347e-02 -2.80337716e+01] [-7.44259668e-01 6.67056747e-01 3.33592940e-02 1.37434829e+01] [ 4.78507787e-02 3.43677086e-03 9.98848583e-01 2.08273419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.219115933 meters 0.011986983937367078 Centerline is valid? [True, True] Translation: X:-28.05, Y:13.76, Z:0.21 [[ 6.67104650e-01 7.44180737e-01 -3.41528527e-02 -2.80483164e+01] [-7.43444773e-01 6.67970587e-01 3.32440273e-02 1.37559820e+01] [ 4.75526658e-02 3.21351465e-03 9.98863563e-01 2.08814644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.249115933 meters 0.011660399757679641 Centerline is valid? [True, True] Translation: X:-28.06, Y:13.77, Z:0.20 [[ 6.64614553e-01 7.46415222e-01 -3.39383489e-02 -2.80617690e+01] [-7.45681933e-01 6.65472728e-01 3.32340575e-02 1.37691127e+01] [ 4.73914520e-02 3.21937538e-03 9.98871206e-01 2.01514187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27911593299999 meters 0.012115127542209562 Centerline is valid? [True, True] Translation: X:-28.07, Y:13.79, Z:0.22 [[ 6.64563021e-01 7.46526818e-01 -3.24607791e-02 -2.80697800e+01] [-7.45847533e-01 6.65348741e-01 3.19767134e-02 1.37884486e+01] [ 4.54692126e-02 2.96025081e-03 9.98961354e-01 2.20121880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30911593299999 meters 0.012508790758972321 Centerline is valid? [True, True] Translation: X:-28.08, Y:13.80, Z:0.23 [[ 6.60962780e-01 7.49678653e-01 -3.33184834e-02 -2.80786888e+01] [-7.48956809e-01 6.61794681e-01 3.30378309e-02 1.38045478e+01] [ 4.68177516e-02 3.11732847e-03 9.98898584e-01 2.33877500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33911593299999 meters 0.012921180592745829 Centerline is valid? [True, True] Translation: X:-28.09, Y:13.82, Z:0.24 [[ 6.56818482e-01 7.53327583e-01 -3.29702215e-02 -2.80896636e+01] [-7.52615894e-01 6.57637637e-01 3.28946132e-02 1.38197977e+01] [ 4.64628780e-02 3.20812283e-03 9.98914866e-01 2.43431747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.36911593299999 meters 0.012086791862044182 Centerline is valid? [True, True] Translation: X:-28.10, Y:13.84, Z:0.25 [[ 6.54796764e-01 7.55133105e-01 -3.18620723e-02 -2.81001927e+01] [-7.54462320e-01 6.55564157e-01 3.19725445e-02 1.38367077e+01] [ 4.50311594e-02 3.10321433e-03 9.98980763e-01 2.48230860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39911593299999 meters 0.012762684215920438 Centerline is valid? [True, True] Translation: X:-26.97, Y:14.86, Z:-2.08 [[ 8.02735568e-01 -5.96079618e-01 -1.74555537e-02 -2.69652806e+01] [-5.95920799e-01 -8.02925065e-01 1.37746560e-02 1.48574226e+01] [-2.22262933e-02 -6.55278838e-04 -9.99752751e-01 -2.07941579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.42911593299999 meters 0.012552488028671828 Centerline is valid? [True, True] Translation: X:-28.00, Y:13.72, Z:0.26 [[ 7.14940040e-01 6.98468901e-01 -3.16533328e-02 -2.79992671e+01] [-6.97950094e-01 7.15635129e-01 2.70560332e-02 1.37240269e+01] [ 4.15500347e-02 2.74900511e-03 9.99132643e-01 2.63954922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45911593299999 meters 0.013277569078241657 Centerline is valid? [True, True] Translation: X:-28.02, Y:13.73, Z:0.24 [[ 7.13293496e-01 7.00185864e-01 -3.08568418e-02 -2.80219454e+01] [-6.99689263e-01 7.13955560e-01 2.65027170e-02 1.37283660e+01] [ 4.05872416e-02 2.68598516e-03 9.99172388e-01 2.35632673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.489115933 meters 0.01382109035520542 Centerline is valid? [True, True] Translation: X:-28.03, Y:13.75, Z:0.26 [[ 7.08006571e-01 7.05547709e-01 -3.04815811e-02 -2.80317975e+01] [-7.05061715e-01 7.08656715e-01 2.63370293e-02 1.37479271e+01] [ 4.01830078e-02 2.84460606e-03 9.99188288e-01 2.63315825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.519115933 meters 0.014493139414874295 Centerline is valid? [True, True] Translation: X:-28.05, Y:13.76, Z:0.25 [[ 7.01464222e-01 7.11979310e-01 -3.21466627e-02 -2.80484314e+01] [-7.11438914e-01 7.02192783e-01 2.79279115e-02 1.37586112e+01] [ 4.24572497e-02 3.27995605e-03 9.99092901e-01 2.51493595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.549115933 meters 0.0148716139550079 Centerline is valid? [True, True] Translation: X:-28.06, Y:13.78, Z:0.26 [[ 6.98917511e-01 7.14609068e-01 -2.91237530e-02 -2.80595557e+01] [-7.14162455e-01 6.99517527e-01 2.54404873e-02 1.37768995e+01] [ 3.85525786e-02 3.01828888e-03 9.99252015e-01 2.59190027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.579115933 meters 0.015242099439764439 Centerline is valid? [True, True] Translation: X:-28.08, Y:13.78, Z:0.24 [[ 6.90224882e-01 7.22946611e-01 -3.06236869e-02 -2.80789382e+01] [-7.22455065e-01 6.90894713e-01 2.68919035e-02 1.37829177e+01] [ 4.05991539e-02 3.56277679e-03 9.99169163e-01 2.43194553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.609115933 meters 0.01572445650921039 Centerline is valid? [True, True] Translation: X:-28.10, Y:13.78, Z:0.22 [[ 6.87273555e-01 7.25719968e-01 -3.13940775e-02 -2.81027865e+01] [-7.25199599e-01 6.87980201e-01 2.77269713e-02 1.37840490e+01] [ 4.17205205e-02 3.71095826e-03 9.99122428e-01 2.18251651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.639115933 meters 0.01611753391748503 Centerline is valid? [True, True] Translation: X:-28.11, Y:13.80, Z:0.22 [[ 6.78922367e-01 7.33485015e-01 -3.26213527e-02 -2.81141025e+01] [-7.32924025e-01 6.79692484e-01 2.89913778e-02 1.37988913e+01] [ 4.34372294e-02 4.22607826e-03 9.99047220e-01 2.23424975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66911593299999 meters 0.01625405927986745 Centerline is valid? [True, True] Translation: X:-28.14, Y:13.80, Z:0.20 [[ 6.76387020e-01 7.35725958e-01 -3.47550527e-02 -2.81403059e+01] [-7.35083817e-01 6.77264159e-01 3.10651093e-02 1.37960451e+01] [ 4.63937588e-02 4.53584005e-03 9.98912932e-01 1.97768640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69911593299999 meters 0.016155365074443526 Centerline is valid? [True, True] Translation: X:-28.16, Y:13.80, Z:0.18 [[ 6.78178933e-01 7.34155050e-01 -3.30105517e-02 -2.81584567e+01] [-7.33566270e-01 6.78969554e-01 2.96794891e-02 1.38041551e+01] [ 4.42025064e-02 4.08742305e-03 9.99014230e-01 1.80192933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72911593299999 meters 0.016627132049373383 Centerline is valid? [True, True] Translation: X:-28.17, Y:13.82, Z:0.21 [[ 6.72962640e-01 7.38832723e-01 -3.53198669e-02 -2.81672755e+01] [-7.38155525e-01 6.73873390e-01 3.19542703e-02 1.38222375e+01] [ 4.74099790e-02 4.56752482e-03 9.98865072e-01 2.06801126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75911593299999 meters 0.016843193245274293 Centerline is valid? [True, True] Translation: X:-28.18, Y:13.84, Z:0.23 [[ 6.67868367e-01 7.43413663e-01 -3.58882884e-02 -2.81765870e+01] [-7.42711191e-01 6.68814433e-01 3.26702000e-02 1.38401387e+01] [ 4.82900783e-02 4.83524028e-03 9.98821650e-01 2.26880293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.78911593299999 meters 0.01724531082752003 Centerline is valid? [True, True] Translation: X:-28.19, Y:13.85, Z:0.20 [[ 6.65901420e-01 7.45196027e-01 -3.54708422e-02 -2.81932303e+01] [-7.44502601e-01 6.66828400e-01 3.24924716e-02 1.38473922e+01] [ 4.78662258e-02 4.77135132e-03 9.98842359e-01 2.03974056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.81911593299999 meters 0.01681853177085613 Centerline is valid? [True, True] Translation: X:-28.20, Y:13.86, Z:0.24 [[ 6.69431944e-01 7.42146038e-01 -3.28653394e-02 -2.82040299e+01] [-7.41539159e-01 6.70225688e-01 3.02853476e-02 1.38630175e+01] [ 4.45033455e-02 4.09695701e-03 9.99000834e-01 2.39475924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.849115933 meters 0.016973005775057157 Centerline is valid? [True, True] Translation: X:-28.22, Y:13.87, Z:0.23 [[ 6.63180927e-01 7.47658811e-01 -3.46028863e-02 -2.82202382e+01] [-7.46984215e-01 6.64067313e-01 3.20809495e-02 1.38729432e+01] [ 4.69642503e-02 4.57233602e-03 9.98886106e-01 2.28999962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.879115933 meters 0.016783280621038076 Centerline is valid? [True, True] Translation: X:-28.23, Y:13.88, Z:0.23 [[ 6.63888945e-01 7.47038701e-01 -3.44187240e-02 -2.82344991e+01] [-7.46361221e-01 6.64766166e-01 3.21072029e-02 1.38849104e+01] [ 4.68657264e-02 4.37318380e-03 9.98891625e-01 2.33742805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.909115933 meters 0.016580381535294855 Centerline is valid? [True, True] Translation: X:-28.25, Y:13.90, Z:0.25 [[ 6.61081869e-01 7.49453009e-01 -3.59298044e-02 -2.82466565e+01] [-7.48707941e-01 6.62041524e-01 3.37259650e-02 1.38990373e+01] [ 4.90630484e-02 4.60530590e-03 9.98785066e-01 2.47410356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.939115933 meters 0.017423856365666603 Centerline is valid? [True, True] Translation: X:-28.26, Y:13.91, Z:0.25 [[ 6.60484250e-01 7.49922309e-01 -3.71091173e-02 -2.82612947e+01] [-7.49117436e-01 6.61509553e-01 3.50453788e-02 1.39109094e+01] [ 5.08293469e-02 4.65216605e-03 9.98696518e-01 2.49529805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.969115933 meters 0.017243244859564685 Centerline is valid? [True, True] Translation: X:-28.27, Y:13.93, Z:0.28 [[ 6.55703690e-01 7.53979412e-01 -3.95944077e-02 -2.82716219e+01] [-7.53057706e-01 6.56877885e-01 3.76235971e-02 1.39270778e+01] [ 5.43761084e-02 5.14694244e-03 9.98507260e-01 2.75106270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.999115933 meters 0.017218486110377917 Centerline is valid? [True, True] Translation: X:-28.28, Y:13.94, Z:0.29 [[ 6.55284695e-01 7.54382129e-01 -3.88532133e-02 -2.82816456e+01] [-7.53482775e-01 6.56417023e-01 3.71537214e-02 1.39417957e+01] [ 5.35320141e-02 4.92896201e-03 9.98553969e-01 2.91019033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02911593299999 meters 0.017704435466609592 Centerline is valid? [True, True] Translation: X:-28.30, Y:13.95, Z:0.29 [[ 6.51813736e-01 7.57321400e-01 -4.00393784e-02 -2.82952368e+01] [-7.56358510e-01 6.53021857e-01 3.85260894e-02 1.39542901e+01] [ 5.53232212e-02 5.17229033e-03 9.98455101e-01 2.88282136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05911593299999 meters 0.017214800906596703 Centerline is valid? [True, True] Translation: X:-28.31, Y:13.97, Z:0.29 [[ 6.42049879e-01 7.65577161e-01 -4.07868029e-02 -2.83103382e+01] [-7.64580421e-01 6.43317646e-01 3.94865471e-02 1.39650916e+01] [ 5.64688686e-02 5.83245812e-03 9.98387324e-01 2.85683413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08911593299999 meters 0.0174521270700449 Centerline is valid? [True, True] Translation: X:-28.32, Y:13.98, Z:0.29 [[ 6.45470444e-01 7.62831191e-01 -3.81638426e-02 -2.83206528e+01] [-7.61941617e-01 6.46577725e-01 3.71781817e-02 1.39805858e+01] [ 5.30365671e-02 5.08120245e-03 9.98579643e-01 2.87612633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11911593299999 meters 0.017636169200099493 Centerline is valid? [True, True] Translation: X:-28.34, Y:13.99, Z:0.30 [[ 6.45964948e-01 7.62457759e-01 -3.72485123e-02 -2.83353994e+01] [-7.61597866e-01 6.47020332e-01 3.65154689e-02 1.39913724e+01] [ 5.19420474e-02 4.78067458e-03 9.98638658e-01 2.99901050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.14911593299999 meters 0.016966586588493784 Centerline is valid? [True, True] Translation: X:-28.35, Y:14.00, Z:0.29 [[ 6.51456387e-01 7.57970195e-01 -3.29508636e-02 -2.83531042e+01] [-7.57282626e-01 6.52278224e-01 3.24983622e-02 1.39999670e+01] [ 4.61259207e-02 3.78185087e-03 9.98928474e-01 2.86033190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17911593299999 meters 0.01689816658082989 Centerline is valid? [True, True] Translation: X:-28.37, Y:14.01, Z:0.28 [[ 6.39759537e-01 7.67796983e-01 -3.45764068e-02 -2.83651851e+01] [-7.67043259e-01 6.40676938e-01 3.43176280e-02 1.40140873e+01] [ 4.85012777e-02 4.56656994e-03 9.98812681e-01 2.78100973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.20911593299999 meters 0.017345505007853458 Centerline is valid? [True, True] Translation: X:-28.37, Y:14.04, Z:0.33 [[ 6.40715421e-01 7.67068486e-01 -3.30104083e-02 -2.83662644e+01] [-7.66371314e-01 6.41551616e-01 3.29626035e-02 1.40406677e+01] [ 4.64624552e-02 4.17858160e-03 9.98911297e-01 3.34895072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.239115933 meters 0.016994736714997242 Centerline is valid? [True, True] Translation: X:-28.38, Y:14.05, Z:0.33 [[ 6.44724136e-01 7.63745934e-01 -3.19833852e-02 -2.83835054e+01] [-7.63078407e-01 6.45506436e-01 3.21369743e-02 1.40477699e+01] [ 4.51899645e-02 3.68634764e-03 9.98971610e-01 3.31451623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.269115933 meters 0.01707101030773678 Centerline is valid? [True, True] Translation: X:-27.24, Y:15.13, Z:-2.16 [[ 8.12896721e-01 -5.82041389e-01 -2.06577412e-02 -2.72366123e+01] [-5.81808286e-01 -8.13157921e-01 1.65321707e-02 1.51328313e+01] [-2.64204135e-02 -1.42010238e-03 -9.99649911e-01 -2.15571833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.299115933 meters 0.016691958405574494 Centerline is valid? [True, True] Translation: X:-28.31, Y:13.96, Z:0.36 [[ 7.03281249e-01 7.09980549e-01 -3.63745089e-02 -2.83068051e+01] [-7.09307775e-01 7.04210506e-01 3.11455224e-02 1.39595634e+01] [ 4.77280264e-02 3.89666005e-03 9.98852768e-01 3.58973446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.329115933 meters 0.016479451217014558 Centerline is valid? [True, True] Translation: X:-28.32, Y:13.97, Z:0.36 [[ 7.10834288e-01 7.02518265e-01 -3.43904412e-02 -2.83241958e+01] [-7.01901064e-01 7.11658982e-01 2.96038743e-02 1.39688084e+01] [ 4.52715288e-02 3.09523833e-03 9.98969924e-01 3.56468481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.359115933 meters 0.016459123703493766 Centerline is valid? [True, True] Translation: X:-28.34, Y:13.98, Z:0.38 [[ 7.12703008e-01 7.00634447e-01 -3.41437265e-02 -2.83395966e+01] [-7.00015697e-01 7.13514820e-01 2.95740595e-02 1.39809989e+01] [ 4.50826597e-02 2.82362331e-03 9.98979270e-01 3.75565729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.389115933 meters 0.01647143503449482 Centerline is valid? [True, True] Translation: X:-28.35, Y:14.00, Z:0.39 [[ 7.10402963e-01 7.02983286e-01 -3.37953995e-02 -2.83503830e+01] [-7.02371663e-01 7.11200804e-01 2.94527500e-02 1.39982206e+01] [ 4.47401063e-02 2.81361005e-03 9.98994698e-01 3.94099566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41911593299999 meters 0.016411779000491785 Centerline is valid? [True, True] Translation: X:-28.37, Y:14.01, Z:0.40 [[ 7.06884873e-01 7.06488637e-01 -3.44613084e-02 -2.83674154e+01] [-7.05848083e-01 7.07718195e-01 3.02231885e-02 1.40075666e+01] [ 4.57412342e-02 2.96013367e-03 9.98948936e-01 3.98614330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44911593299999 meters 0.01643818266298958 Centerline is valid? [True, True] Translation: X:-28.38, Y:14.02, Z:0.39 [[ 7.08078392e-01 7.05342177e-01 -3.34275960e-02 -2.83839181e+01] [-7.04730159e-01 7.08861962e-01 2.94978380e-02 1.40177115e+01] [ 4.45016205e-02 2.67065339e-03 9.99005742e-01 3.92636771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47911593299999 meters 0.016192823894042953 Centerline is valid? [True, True] Translation: X:-28.40, Y:14.03, Z:0.38 [[ 7.10776245e-01 7.02689704e-01 -3.20048272e-02 -2.84022634e+01] [-7.02118829e-01 7.11492791e-01 2.84105166e-02 1.40266157e+01] [ 4.27349814e-02 2.27767146e-03 9.99083847e-01 3.79610374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.50911593299999 meters 0.016604011194788087 Centerline is valid? [True, True] Translation: X:-28.42, Y:14.04, Z:0.38 [[ 7.03806651e-01 7.09612576e-01 -3.32594448e-02 -2.84176241e+01] [-7.08996116e-01 7.04586970e-01 2.96935926e-02 1.40382262e+01] [ 4.45051182e-02 2.68226922e-03 9.99005555e-01 3.77873259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53911593299999 meters 0.016467396918046447 Centerline is valid? [True, True] Translation: X:-28.43, Y:14.05, Z:0.39 [[ 7.02592126e-01 7.10868602e-01 -3.20957142e-02 -2.84324384e+01] [-7.10288551e-01 7.03320233e-01 2.88240394e-02 1.40513896e+01] [ 4.30636698e-02 2.54567516e-03 9.99069087e-01 3.90890356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.56911593299999 meters 0.016425734744666652 Centerline is valid? [True, True] Translation: X:-28.45, Y:14.06, Z:0.36 [[ 7.09187250e-01 7.04388292e-01 -2.98425816e-02 -2.84542856e+01] [-7.03874600e-01 7.09812359e-01 2.69622567e-02 1.40557829e+01] [ 4.01745312e-02 1.88414650e-03 9.99190901e-01 3.58995098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.599115933 meters 0.01595148311688489 Centerline is valid? [True, True] Translation: X:-28.47, Y:14.07, Z:0.37 [[ 7.10193869e-01 7.03439457e-01 -2.82418010e-02 -2.84663757e+01] [-7.02972766e-01 7.10753332e-01 2.56708219e-02 1.40712483e+01] [ 3.81308232e-02 1.62195667e-03 9.99271439e-01 3.70809935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.629115933 meters 0.016314223311485472 Centerline is valid? [True, True] Translation: X:-28.49, Y:14.07, Z:0.33 [[ 7.05780277e-01 7.07931259e-01 -2.65994972e-02 -2.84909319e+01] [-7.07515179e-01 7.06279409e-01 2.43242206e-02 1.40725722e+01] [ 3.60065533e-02 1.65199287e-03 9.99350188e-01 3.33752906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.659115933 meters 0.01658869000367555 Centerline is valid? [True, True] Translation: X:-28.50, Y:14.09, Z:0.35 [[ 7.05876988e-01 7.07918437e-01 -2.42726929e-02 -2.85039658e+01] [-7.07567591e-01 7.06292780e-01 2.23296738e-02 1.40877321e+01] [ 3.29512155e-02 1.41256792e-03 9.99455963e-01 3.47017303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.689115933 meters 0.017044975249537565 Centerline is valid? [True, True] Translation: X:-28.51, Y:14.11, Z:0.37 [[ 7.02250328e-01 7.11546895e-01 -2.33558086e-02 -2.85127263e+01] [-7.11219911e-01 7.02637153e-01 2.16164211e-02 1.41070593e+01] [ 3.17917561e-02 1.43097731e-03 9.99493490e-01 3.69882103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.719115933 meters 0.01670197541511315 Centerline is valid? [True, True] Translation: X:-28.53, Y:14.12, Z:0.36 [[ 6.96600396e-01 7.17120607e-01 -2.20436546e-02 -2.85288130e+01] [-7.16828409e-01 6.96947468e-01 2.05246080e-02 1.41174540e+01] [ 3.00818886e-02 1.50406774e-03 9.99546306e-01 3.55560313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.749115933 meters 0.01670197541511315 Centerline is valid? [True, True] Translation: X:-28.54, Y:14.13, Z:0.36 [[ 6.94422455e-01 7.19231731e-01 -2.19811453e-02 -2.85425965e+01] [-7.18938479e-01 6.94768634e-01 2.05914688e-02 1.41305600e+01] [ 3.00818481e-02 1.50391288e-03 9.99546307e-01 3.55387766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77911593299999 meters 0.017345646465543988 Centerline is valid? [True, True] Translation: X:-28.56, Y:14.14, Z:0.36 [[ 6.87343224e-01 7.26048305e-01 -2.03261058e-02 -2.85563890e+01] [-7.25797315e-01 6.87641870e-01 1.91550540e-02 1.41446806e+01] [ 2.78845759e-02 1.58653639e-03 9.99609891e-01 3.59340556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80911593299999 meters 0.01763265748573035 Centerline is valid? [True, True] Translation: X:-28.57, Y:14.16, Z:0.37 [[ 6.88604963e-01 7.24835036e-01 -2.09135119e-02 -2.85676682e+01] [-7.24565093e-01 6.88920851e-01 1.98365072e-02 1.41604451e+01] [ 2.87859498e-02 1.49368345e-03 9.99584483e-01 3.66378583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83911593299999 meters 0.017433201926546182 Centerline is valid? [True, True] Translation: X:-28.58, Y:14.18, Z:0.40 [[ 6.91149489e-01 7.22492327e-01 -1.78107384e-02 -2.85804582e+01] [-7.22293260e-01 6.91378036e-01 1.69958511e-02 1.41759073e+01] [ 2.45933253e-02 1.11790250e-03 9.99696913e-01 3.95294781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.86911593299999 meters 0.01790035058261668 Centerline is valid? [True, True] Translation: X:-28.59, Y:14.19, Z:0.43 [[ 6.91111284e-01 7.22594469e-01 -1.49139337e-02 -2.85915466e+01] [-7.22453228e-01 6.91271621e-01 1.43136224e-02 1.41932599e+01] [ 2.06525235e-02 8.82313624e-04 9.99786325e-01 4.31068542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89911593299999 meters 0.017918091498931556 Centerline is valid? [True, True] Translation: X:-28.61, Y:14.20, Z:0.42 [[ 6.99357598e-01 7.14688676e-01 -1.09108410e-02 -2.86138438e+01] [-7.14611314e-01 6.99442568e-01 1.05244597e-02 1.41985305e+01] [ 1.51532188e-02 4.36649579e-04 9.99885088e-01 4.16964631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.92911593299999 meters 0.018051739457798647 Centerline is valid? [True, True] Translation: X:-28.62, Y:14.22, Z:0.44 [[ 6.97091522e-01 7.16918769e-01 -9.53361765e-03 -2.86233170e+01] [-7.16859234e-01 6.97156603e-01 9.24714838e-03 1.42178674e+01] [ 1.32758787e-02 3.88153115e-04 9.99911796e-01 4.42587849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95911593299999 meters 0.018099171512050878 Centerline is valid? [True, True] Translation: X:-28.62, Y:14.25, Z:0.52 [[ 7.02327594e-01 7.11830919e-01 -5.71781175e-03 -2.86244955e+01] [-7.11809210e-01 7.02350850e-01 5.56171067e-03 1.42469694e+01] [ 7.97490756e-03 1.63848189e-04 9.99968186e-01 5.20436901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.989115933 meters 0.01830199940573097 Centerline is valid? [True, True] Translation: X:-28.65, Y:14.25, Z:0.49 [[ 6.98790270e-01 7.15305048e-01 -5.55401973e-03 -2.86475173e+01] [-7.15284428e-01 6.98812319e-01 5.43410668e-03 1.42505002e+01] [ 7.76826134e-03 1.75402957e-04 9.99969811e-01 4.86719491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.019115933 meters 0.018433604870258684 Centerline is valid? [True, True] Translation: X:-28.65, Y:14.27, Z:0.55 [[ 6.91578817e-01 7.22281866e-01 -5.25799384e-03 -2.86533410e+01] [-7.22263353e-01 6.91598770e-01 5.17585019e-03 1.42742588e+01] [ 7.37484480e-03 2.18147914e-04 9.99972782e-01 5.45476731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.049115933 meters 0.01907487184125483 Centerline is valid? [True, True] Translation: X:-28.67, Y:14.28, Z:0.54 [[ 6.93184396e-01 7.20747469e-01 -4.29877138e-03 -2.86715793e+01] [-7.20734969e-01 6.93197708e-01 4.24750751e-03 1.42843851e+01] [ 6.04127876e-03 1.53968932e-04 9.99981739e-01 5.37385170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.079115933 meters 0.01912915133383808 Centerline is valid? [True, True] Translation: X:-28.69, Y:14.29, Z:0.52 [[ 6.90750176e-01 7.23088601e-01 -2.65875872e-03 -2.86915661e+01] [-7.23083853e-01 6.90755284e-01 2.62276999e-03 1.42898233e+01] [ 3.73304672e-03 1.10826675e-04 9.99993026e-01 5.15513705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.109115933 meters 0.019302822888643677 Centerline is valid? [True, True] Translation: X:-27.54, Y:15.42, Z:-2.36 [[ 7.83901445e-01 -6.20836702e-01 7.76621238e-03 -2.75429369e+01] [-6.20789627e-01 -7.83938915e-01 -7.74699900e-03 1.54168739e+01] [ 1.08978574e-02 1.25169962e-03 -9.99939833e-01 -2.35895398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.139115933 meters 0.019709879924772602 Centerline is valid? [True, True] Translation: X:-28.63, Y:14.23, Z:0.57 [[ 7.33756542e-01 6.79385026e-01 -6.10932460e-03 -2.86324108e+01] [-6.79365116e-01 7.33781902e-01 5.21148042e-03 1.42304883e+01] [ 8.02351359e-03 3.26504162e-04 9.99967758e-01 5.68277190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16911593299999 meters 0.020860990516031616 Centerline is valid? [True, True] Translation: X:-28.65, Y:14.24, Z:0.57 [[ 7.25811830e-01 6.87845391e-01 -8.11816109e-03 -2.86494843e+01] [-6.87810579e-01 7.25857025e-01 6.94169833e-03 1.42407411e+01] [ 1.06674395e-02 5.45390311e-04 9.99942953e-01 5.66894940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19911593299999 meters 0.02086632586733509 Centerline is valid? [True, True] Translation: X:-28.67, Y:14.25, Z:0.55 [[ 7.23833490e-01 6.89926196e-01 -8.18064051e-03 -2.86670813e+01] [-6.89890523e-01 7.23879508e-01 7.03735394e-03 1.42507452e+01] [ 1.07770529e-02 5.49873895e-04 9.99941775e-01 5.47616742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22911593299999 meters 0.020739601989384553 Centerline is valid? [True, True] Translation: X:-28.67, Y:14.28, Z:0.60 [[ 7.07690066e-01 7.06332595e-01 -1.64023185e-02 -2.86721796e+01] [-7.06190826e-01 7.07878507e-01 1.42315563e-02 1.42754379e+01] [ 2.16630608e-02 1.51163583e-03 9.99764186e-01 5.99742831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25911593299999 meters 0.020952486502660603 Centerline is valid? [True, True] Translation: X:-28.70, Y:14.27, Z:0.57 [[ 7.07296362e-01 7.06640519e-01 -1.97745458e-02 -2.86973995e+01] [-7.06431747e-01 7.07570554e-01 1.72655499e-02 1.42748582e+01] [ 2.61924235e-02 1.75750632e-03 9.99655375e-01 5.70521898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.28911593299999 meters 0.020756369972509816 Centerline is valid? [True, True] Translation: X:-28.71, Y:14.29, Z:0.59 [[ 6.99310281e-01 7.14384632e-01 -2.48943281e-02 -2.87079308e+01] [-7.14053873e-01 6.99748856e-01 2.18770419e-02 1.42934174e+01] [ 3.30484001e-02 2.47705102e-03 9.99450683e-01 5.89125263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31911593299999 meters 0.020719701507395417 Centerline is valid? [True, True] Translation: X:-28.72, Y:14.31, Z:0.60 [[ 6.95234545e-01 7.18229897e-01 -2.81911736e-02 -2.87210281e+01] [-7.17802977e-01 6.95799816e-01 2.49299372e-02 1.43079268e+01] [ 3.75208396e-02 2.90355479e-03 9.99291627e-01 5.97990250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.349115933 meters 0.02012301931972863 Centerline is valid? [True, True] Translation: X:-28.73, Y:14.33, Z:0.64 [[ 6.96864292e-01 7.16631984e-01 -2.86139567e-02 -2.87293657e+01] [-7.16185092e-01 6.97446062e-01 2.54539490e-02 1.43290315e+01] [ 3.81978054e-02 2.75494106e-03 9.99266400e-01 6.35300055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.379115933 meters 0.020028732968940487 Centerline is valid? [True, True] Translation: X:-28.73, Y:14.35, Z:0.70 [[ 6.90330008e-01 7.22841074e-01 -3.07451195e-02 -2.87336761e+01] [-7.22324654e-01 6.91006818e-01 2.75076768e-02 1.43538946e+01] [ 4.11287659e-02 3.21858304e-03 9.99148670e-01 7.03254798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.409115933 meters 0.01981880516849349 Centerline is valid? [True, True] Translation: X:-28.75, Y:14.36, Z:0.69 [[ 6.81513330e-01 7.30971367e-01 -3.49348197e-02 -2.87544619e+01] [-7.30305993e-01 6.82395930e-01 3.14476089e-02 1.43579017e+01] [ 4.68266804e-02 4.08114348e-03 9.98894692e-01 6.86765795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.439115933 meters 0.019733991372761845 Centerline is valid? [True, True] Translation: X:-28.76, Y:14.38, Z:0.72 [[ 6.84232290e-01 7.28503916e-01 -3.32899008e-02 -2.87583477e+01] [-7.27888831e-01 6.85032155e-01 3.01462503e-02 1.43825819e+01] [ 4.47663138e-02 3.60430908e-03 9.98990984e-01 7.18294738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.469115933 meters 0.01990720244086521 Centerline is valid? [True, True] Translation: X:-28.76, Y:14.40, Z:0.76 [[ 6.76173653e-01 7.35816474e-01 -3.69229827e-02 -2.87635618e+01] [-7.35058129e-01 6.77166935e-01 3.36821709e-02 1.44020886e+01] [ 4.97869192e-02 4.36554203e-03 9.98750322e-01 7.57795891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.499115933 meters 0.019991273273246183 Centerline is valid? [True, True] Translation: X:-28.76, Y:14.43, Z:0.84 [[ 6.66412971e-01 7.44504830e-01 -4.00788032e-02 -2.87623229e+01] [-7.43613921e-01 6.67596164e-01 3.67926528e-02 1.44320539e+01] [ 5.41487629e-02 5.28405496e-03 9.98518898e-01 8.37424103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52911593299999 meters 0.019648969394836176 Centerline is valid? [True, True] Translation: X:-28.78, Y:14.44, Z:0.82 [[ 6.70165619e-01 7.41222959e-01 -3.82958048e-02 -2.87754336e+01] [-7.40393507e-01 6.71242774e-01 3.53637321e-02 1.44449648e+01] [ 5.19181924e-02 4.65440783e-03 9.98640495e-01 8.17834151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55911593299999 meters 0.020285814181930057 Centerline is valid? [True, True] Translation: X:-28.78, Y:14.46, Z:0.84 [[ 6.52066345e-01 7.56750349e-01 -4.62427420e-02 -2.87838099e+01] [-7.55561916e-01 6.53667274e-01 4.29567982e-02 1.44635473e+01] [ 6.27349391e-02 6.92857232e-03 9.98006173e-01 8.44301053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58911593299999 meters 0.020099952667530327 Centerline is valid? [True, True] Translation: X:-28.78, Y:14.49, Z:0.93 [[ 6.52423242e-01 7.56394799e-01 -4.70193768e-02 -2.87810043e+01] [-7.55148856e-01 6.54079563e-01 4.39332555e-02 1.44948526e+01] [ 6.39852994e-02 6.84355158e-03 9.97927376e-01 9.28951648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61911593299999 meters 0.019781638900011514 Centerline is valid? [True, True] Translation: X:-28.80, Y:14.50, Z:0.91 [[ 6.43768187e-01 7.63593312e-01 -4.98776035e-02 -2.88010500e+01] [-7.62193254e-01 6.45649928e-01 4.68787184e-02 1.45003101e+01] [ 6.79997469e-02 7.83734539e-03 9.97654555e-01 9.07891591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.64911593299999 meters 0.01924778039730087 Centerline is valid? [True, True] Translation: X:-28.81, Y:14.52, Z:0.91 [[ 6.32538368e-01 7.72583467e-01 -5.48634714e-02 -2.88094423e+01] [-7.70898233e-01 6.34842417e-01 5.18750441e-02 1.45173262e+01] [ 7.49074602e-02 9.48119745e-03 9.97145415e-01 9.14362926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67911593299999 meters 0.01888017428053922 Centerline is valid? [True, True] Translation: X:-28.84, Y:14.51, Z:0.84 [[ 6.26177340e-01 7.77454777e-01 -5.88728122e-02 -2.88378602e+01] [-7.75507613e-01 6.28849677e-01 5.60002320e-02 1.45117713e+01] [ 8.05597968e-02 1.05902377e-02 9.96693517e-01 8.43772137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.70911593299999 meters 0.019107592936014064 Centerline is valid? [True, True] Translation: X:-28.86, Y:14.51, Z:0.79 [[ 6.23768919e-01 7.79284344e-01 -6.02349374e-02 -2.88615627e+01] [-7.77225407e-01 6.26576385e-01 5.76428738e-02 1.45107710e+01] [ 8.26619784e-02 1.08602906e-02 9.96518465e-01 7.86886349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.739115933 meters 0.018591475180081526 Centerline is valid? [True, True] Translation: X:-28.87, Y:14.53, Z:0.81 [[ 6.16964463e-01 7.84687280e-01 -6.01724581e-02 -2.88663663e+01] [-7.82627522e-01 6.19787984e-01 5.79397723e-02 1.45313050e+01] [ 8.27587687e-02 1.13458412e-02 9.96505022e-01 8.12141037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.769115933 meters 0.018953610226514078 Centerline is valid? [True, True] Translation: X:-28.91, Y:14.50, Z:0.66 [[ 6.10602544e-01 7.89325768e-01 -6.42601382e-02 -2.89147598e+01] [-7.86966467e-01 6.13846272e-01 6.22618219e-02 1.45034404e+01] [ 8.85907066e-02 1.25533471e-02 9.95989006e-01 6.57977052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.799115933 meters 0.018601528559947875 Centerline is valid? [True, True] Translation: X:-28.90, Y:14.54, Z:0.76 [[ 5.91864153e-01 8.03131855e-01 -6.83816270e-02 -2.89027684e+01] [-8.00504750e-01 5.95605506e-01 6.66800294e-02 1.45423680e+01] [ 9.42813293e-02 1.52742981e-02 9.95428414e-01 7.57398630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.829115933 meters 0.018709371805219456 Centerline is valid? [True, True] Translation: X:-28.92, Y:14.54, Z:0.71 [[ 5.88460260e-01 8.05687550e-01 -6.76911616e-02 -2.89233762e+01] [-8.03088292e-01 5.92144073e-01 6.64423881e-02 1.45436997e+01] [ 9.36147250e-02 1.52632744e-02 9.95491495e-01 7.13139700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.859115933 meters 0.018124928512482538 Centerline is valid? [True, True] Translation: X:-28.93, Y:14.56, Z:0.73 [[ 5.82373293e-01 8.10049109e-01 -6.82772973e-02 -2.89268307e+01] [-8.07389502e-01 5.86148247e-01 6.74716548e-02 1.45628897e+01] [ 9.46759720e-02 1.58326834e-02 9.95382231e-01 7.33462980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.889115933 meters 0.018582485780007957 Centerline is valid? [True, True] Translation: X:-28.96, Y:14.55, Z:0.63 [[ 5.82804436e-01 8.09721683e-01 -6.84820157e-02 -2.89598255e+01] [-8.07003228e-01 5.86607346e-01 6.81000107e-02 1.45514808e+01] [ 9.53141087e-02 1.55762194e-02 9.95325375e-01 6.27187663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91911593299999 meters 0.017708658962532098 Centerline is valid? [True, True] Translation: X:-28.94, Y:14.60, Z:0.76 [[ 5.73428257e-01 8.16500835e-01 -6.71298791e-02 -2.89374005e+01] [-8.13892569e-01 5.77119240e-01 6.71734234e-02 1.45996637e+01] [ 9.35891011e-02 1.61173707e-02 9.95480442e-01 7.62502076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94911593299999 meters 0.017301746233725497 Centerline is valid? [True, True] Translation: X:-27.84, Y:15.56, Z:-2.66 [[ 8.54639631e-01 -5.16498389e-01 -5.31085265e-02 -2.78407389e+01] [-5.14721394e-01 -8.56226317e-01 4.40270436e-02 1.55619159e+01] [-6.82128151e-02 -1.02911616e-02 -9.97617714e-01 -2.66214770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97911593299999 meters 0.01710207974344585 Centerline is valid? [True, True] Translation: X:-28.80, Y:14.51, Z:0.89 [[ 6.46216161e-01 7.60339651e-01 -6.54850240e-02 -2.88049608e+01] [-7.58392286e-01 6.49386211e-01 5.60239991e-02 1.45082716e+01] [ 8.51223395e-02 1.34597234e-02 9.96279591e-01 8.89714441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.00911593299999 meters 0.017053286735212184 Centerline is valid? [True, True] Translation: X:-28.85, Y:14.48, Z:0.74 [[ 6.51339791e-01 7.56132934e-01 -6.33992368e-02 -2.88467775e+01] [-7.54259889e-01 6.54303083e-01 5.45847493e-02 1.44838635e+01] [ 8.27556427e-02 1.22662822e-02 9.96494376e-01 7.41027844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03911593299999 meters 0.017161739591289603 Centerline is valid? [True, True] Translation: X:-28.87, Y:14.48, Z:0.70 [[ 6.56199070e-01 7.52008252e-01 -6.23407537e-02 -2.88692892e+01] [-7.50152465e-01 6.59056311e-01 5.40005483e-02 1.44835391e+01] [ 8.16949251e-02 1.13299605e-02 9.96592982e-01 7.04616492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.06911593299999 meters 0.017037016059725175 Centerline is valid? [True, True] Translation: X:-28.88, Y:14.49, Z:0.70 [[ 6.53460910e-01 7.54268850e-01 -6.37757029e-02 -2.88835364e+01] [-7.52309290e-01 6.56462061e-01 5.55724262e-02 1.44924901e+01] [ 8.37828794e-02 1.16646456e-02 9.96415759e-01 6.97922335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.099115933 meters 0.016939670565808307 Centerline is valid? [True, True] Translation: X:-28.88, Y:14.53, Z:0.79 [[ 6.50967380e-01 7.56430004e-01 -6.36798263e-02 -2.88797422e+01] [-7.54459166e-01 6.53969775e-01 5.58112898e-02 1.45251497e+01] [ 8.38620159e-02 1.17124996e-02 9.96408541e-01 7.90371689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.129115933 meters 0.01691524597464677 Centerline is valid? [True, True] Translation: X:-28.92, Y:14.51, Z:0.67 [[ 6.52848817e-01 7.54830557e-01 -6.33975671e-02 -2.89170424e+01] [-7.52840978e-01 6.55823715e-01 5.59081026e-02 1.45068633e+01] [ 8.37787722e-02 1.12287478e-02 9.96421112e-01 6.66034318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.159115933 meters 0.017087009617267227 Centerline is valid? [True, True] Translation: X:-28.92, Y:14.53, Z:0.73 [[ 6.48900985e-01 7.58242802e-01 -6.32088927e-02 -2.89170181e+01] [-7.56251975e-01 6.51872435e-01 5.60827778e-02 1.45340754e+01] [ 8.37284974e-02 1.14096802e-02 9.96423283e-01 7.32569588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.189115933 meters 0.01684065498200153 Centerline is valid? [True, True] Translation: X:-28.91, Y:14.56, Z:0.79 [[ 6.52737720e-01 7.55050678e-01 -6.19026901e-02 -2.89141756e+01] [-7.53092911e-01 6.55582440e-01 5.53419499e-02 1.45616272e+01] [ 8.23682934e-02 1.04946989e-02 9.96546700e-01 7.90395594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.219115933 meters 0.01697595686246369 Centerline is valid? [True, True] Translation: X:-28.94, Y:14.55, Z:0.71 [[ 6.55368705e-01 7.52688538e-01 -6.28635485e-02 -2.89435897e+01] [-7.50622593e-01 6.58299721e-01 5.66321430e-02 1.45494503e+01] [ 8.40094213e-02 1.00718656e-02 9.96414058e-01 7.09246212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.249115933 meters 0.01665721134225664 Centerline is valid? [True, True] Translation: X:-28.94, Y:14.58, Z:0.79 [[ 6.54912021e-01 7.53172291e-01 -6.18202575e-02 -2.89397021e+01] [-7.51147273e-01 6.57751313e-01 5.60444917e-02 1.45812658e+01] [ 8.28735138e-02 9.73190649e-03 9.96512554e-01 7.88876081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27911593299999 meters 0.016624850640151127 Centerline is valid? [True, True] Translation: X:-28.96, Y:14.59, Z:0.77 [[ 6.53400330e-01 7.54526260e-01 -6.13036015e-02 -2.89572516e+01] [-7.52512883e-01 6.56199671e-01 5.59137919e-02 1.45875285e+01] [ 8.24158274e-02 9.59765979e-03 9.96551813e-01 7.68233258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30911593299999 meters 0.01654153242011358 Centerline is valid? [True, True] Translation: X:-28.98, Y:14.59, Z:0.73 [[ 6.56504977e-01 7.51907230e-01 -6.03053249e-02 -2.89790182e+01] [-7.49920596e-01 6.59208952e-01 5.53412760e-02 1.45889989e+01] [ 8.13653156e-02 8.89238207e-03 9.96644676e-01 7.28561334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33911593299999 meters 0.017636402869471806 Centerline is valid? [True, True] Translation: X:-29.02, Y:14.56, Z:0.58 [[ 6.55769084e-01 7.52511558e-01 -6.07722273e-02 -2.90226433e+01] [-7.50467605e-01 6.58520176e-01 5.61208601e-02 1.45641411e+01] [ 8.22513337e-02 8.80526290e-03 9.96572720e-01 5.82260146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.36911593299999 meters 0.01721428776071488 Centerline is valid? [True, True] Translation: X:-29.02, Y:14.59, Z:0.63 [[ 6.52624536e-01 7.55137176e-01 -6.20408021e-02 -2.90244903e+01] [-7.52989543e-01 6.55503619e-01 5.76346614e-02 1.45883417e+01] [ 8.41900458e-02 9.10228110e-03 9.96408142e-01 6.30400829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39911593299999 meters 0.017182712816710282 Centerline is valid? [True, True] Translation: X:-29.04, Y:14.60, Z:0.61 [[ 6.52047417e-01 7.55527162e-01 -6.33472455e-02 -2.90399809e+01] [-7.53259433e-01 6.55053898e-01 5.91998091e-02 1.45974772e+01] [ 8.62229239e-02 9.11582753e-03 9.96234164e-01 6.11441122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.42911593299999 meters 0.017339121673032 Centerline is valid? [True, True] Translation: X:-29.06, Y:14.60, Z:0.56 [[ 6.44580908e-01 7.61707332e-01 -6.57068654e-02 -2.90638019e+01] [-7.59265446e-01 6.47842935e-01 6.17698458e-02 1.45968572e+01] [ 8.96182730e-02 1.00732891e-02 9.95925245e-01 5.63405827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45911593299999 meters 0.016685373164880415 Centerline is valid? [True, True] Translation: X:-29.06, Y:14.63, Z:0.65 [[ 6.39799875e-01 7.65679884e-01 -6.62603610e-02 -2.90597909e+01] [-7.63183003e-01 6.43136531e-01 6.26666383e-02 1.46276460e+01] [ 9.05970430e-02 1.04746739e-02 9.95832545e-01 6.50240653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.489115933 meters 0.0168371760819679 Centerline is valid? [True, True] Translation: X:-29.07, Y:14.64, Z:0.64 [[ 6.36846156e-01 7.68173190e-01 -6.58553247e-02 -2.90742430e+01] [-7.65685014e-01 6.40155742e-01 6.26664623e-02 1.46373220e+01] [ 9.02963605e-02 1.05155396e-02 9.95859423e-01 6.41742650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.519115933 meters 0.016942839887361394 Centerline is valid? [True, True] Translation: X:-29.09, Y:14.64, Z:0.62 [[ 6.42387097e-01 7.63803389e-01 -6.27949065e-02 -2.90901788e+01] [-7.61482261e-01 6.45384181e-01 6.01998793e-02 1.46436790e+01] [ 8.65077112e-02 9.14558169e-03 9.96209202e-01 6.24756232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.549115933 meters 0.017327186613062075 Centerline is valid? [True, True] Translation: X:-29.10, Y:14.65, Z:0.62 [[ 6.43608324e-01 7.62862042e-01 -6.17238185e-02 -2.91046991e+01] [-7.60582612e-01 6.46503884e-01 5.95551735e-02 1.46542212e+01] [ 8.53370696e-02 8.61585768e-03 9.96314886e-01 6.18800896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.579115933 meters 0.01771648488476716 Centerline is valid? [True, True] Translation: X:-29.11, Y:14.67, Z:0.63 [[ 6.37723850e-01 7.67742160e-01 -6.22917935e-02 -2.91098878e+01] [-7.65410434e-01 6.40694156e-01 6.04802991e-02 1.46735908e+01] [ 8.63432635e-02 9.10905951e-03 9.96223803e-01 6.34200889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.609115933 meters 0.018022936961255703 Centerline is valid? [True, True] Translation: X:-29.14, Y:14.67, Z:0.56 [[ 6.39691628e-01 7.66285758e-01 -6.00063169e-02 -2.91384502e+01] [-7.64085475e-01 6.42445679e-01 5.86253826e-02 1.46677933e+01] [ 8.34745948e-02 8.34778877e-03 9.96474940e-01 5.60341679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.639115933 meters 0.018479153564097454 Centerline is valid? [True, True] Translation: X:-29.16, Y:14.67, Z:0.49 [[ 6.37502607e-01 7.68195331e-01 -5.88757970e-02 -2.91632025e+01] [-7.66055861e-01 6.40162956e-01 5.78775151e-02 1.46663481e+01] [ 8.21513411e-02 8.20508264e-03 9.96586089e-01 4.86334479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66911593299999 meters 0.018479153564097454 Centerline is valid? [True, True] Translation: X:-29.17, Y:14.68, Z:0.49 [[ 6.34707142e-01 7.70522453e-01 -5.86685124e-02 -2.91745266e+01] [-7.68373676e-01 6.37359971e-01 5.80875284e-02 1.46779838e+01] [ 8.21507062e-02 8.21077144e-03 9.96586095e-01 4.86192862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69911593299999 meters 0.018660263368937065 Centerline is valid? [True, True] Translation: X:-29.18, Y:14.70, Z:0.53 [[ 6.37648107e-01 7.68305599e-01 -5.57799084e-02 -2.91774013e+01] [-7.66326917e-01 6.40041562e-01 5.55864675e-02 1.46995497e+01] [ 7.84088539e-02 7.30103946e-03 9.96894551e-01 5.27011633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72911593299999 meters 0.01848264546998532 Centerline is valid? [True, True] Translation: X:-29.19, Y:14.71, Z:0.53 [[ 6.40486166e-01 7.66077718e-01 -5.38739325e-02 -2.91894639e+01] [-7.64198971e-01 6.42714360e-01 5.40202199e-02 1.47114150e+01] [ 7.60092368e-02 6.57120024e-03 9.97085460e-01 5.31271775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75911593299999 meters 0.01855337861365683 Centerline is valid? [True, True] Translation: X:-27.98, Y:15.80, Z:-2.39 [[ 8.13736609e-01 -5.79531560e-01 -4.44511219e-02 -2.79778637e+01] [-5.78379673e-01 -8.14938947e-01 3.67623136e-02 1.58026210e+01] [-5.75298714e-02 -4.20521506e-03 -9.98334929e-01 -2.39339167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.78911593299999 meters 0.018683425369685345 Centerline is valid? [True, True] Translation: X:-29.08, Y:14.58, Z:0.50 [[ 6.98644520e-01 7.12859796e-01 -6.10470743e-02 -2.90848937e+01] [-7.10980123e-01 7.01272269e-01 5.21964493e-02 1.45830348e+01] [ 8.00193706e-02 6.93649313e-03 9.96769174e-01 4.97767222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81911593299999 meters 0.01833275886760538 Centerline is valid? [True, True] Translation: X:-29.10, Y:14.60, Z:0.50 [[ 7.05597014e-01 7.06077128e-01 -5.98994382e-02 -2.90976447e+01] [-7.04218963e-01 7.08110951e-01 5.15221609e-02 1.45960577e+01] [ 7.87940675e-02 5.82843735e-03 9.96873876e-01 4.96891120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.849115933 meters 0.018914809559825666 Centerline is valid? [True, True] Translation: X:-29.10, Y:14.62, Z:0.51 [[ 6.99049843e-01 7.12212462e-01 -6.38962213e-02 -2.91048528e+01] [-7.10093718e-01 7.01931877e-01 5.53041739e-02 1.46157182e+01] [ 8.42391163e-02 6.71193134e-03 9.96422963e-01 5.12392845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.879115933 meters 0.019459216837337947 Centerline is valid? [True, True] Translation: X:-29.12, Y:14.62, Z:0.48 [[ 6.87645659e-01 7.22771760e-01 -6.88798234e-02 -2.91232932e+01] [-7.20326451e-01 6.91036195e-01 5.99898445e-02 1.46217793e+01] [ 9.09574166e-02 8.36420260e-03 9.95819657e-01 4.77124221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.909115933 meters 0.01950308657676999 Centerline is valid? [True, True] Translation: X:-29.14, Y:14.63, Z:0.47 [[ 6.83323735e-01 7.26407233e-01 -7.34928917e-02 -2.91374244e+01] [-7.23603828e-01 6.87203414e-01 6.44124907e-02 1.46333884e+01] [ 9.72942652e-02 9.16515402e-03 9.95213457e-01 4.66614301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.939115933 meters 0.019757125046186225 Centerline is valid? [True, True] Translation: X:-29.15, Y:14.65, Z:0.47 [[ 6.81228002e-01 7.27916950e-01 -7.78801826e-02 -2.91491269e+01] [-7.24733384e-01 6.85597375e-01 6.86859611e-02 1.46469477e+01] [ 1.03392124e-01 9.65156826e-03 9.94593845e-01 4.68963874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.969115933 meters 0.01959983061663623 Centerline is valid? [True, True] Translation: X:-29.16, Y:14.66, Z:0.44 [[ 6.73248488e-01 7.34862447e-01 -8.19369071e-02 -2.91647948e+01] [-7.31337778e-01 6.78127529e-01 7.27193925e-02 1.46555819e+01] [ 1.09002423e-01 1.09653345e-02 9.93981002e-01 4.40976588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.999115933 meters 0.01954597057619869 Centerline is valid? [True, True] Translation: X:-29.18, Y:14.66, Z:0.42 [[ 6.69280298e-01 7.38204863e-01 -8.43650565e-02 -2.91808260e+01] [-7.34438774e-01 6.74478137e-01 7.53586755e-02 1.46634150e+01] [ 1.12532527e-01 1.15248918e-02 9.93581203e-01 4.23046668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.02911593299999 meters 0.019116747272223115 Centerline is valid? [True, True] Translation: X:-29.19, Y:14.67, Z:0.40 [[ 6.66827641e-01 7.40191699e-01 -8.63547689e-02 -2.91939362e+01] [-7.36205031e-01 6.72292123e-01 7.76237879e-02 1.46746479e+01] [ 1.15512114e-01 1.18131279e-02 9.93235824e-01 3.97004913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05911593299999 meters 0.01895165389319635 Centerline is valid? [True, True] Translation: X:-29.21, Y:14.68, Z:0.36 [[ 6.68572443e-01 7.38561630e-01 -8.68193930e-02 -2.92123418e+01] [-7.34459178e-01 6.74092079e-01 7.85467075e-02 1.46797014e+01] [ 1.16535849e-01 1.12511359e-02 9.93122756e-01 3.62053054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08911593299999 meters 0.018810909560006608 Centerline is valid? [True, True] Translation: X:-29.23, Y:14.68, Z:0.32 [[ 6.64418066e-01 7.42249689e-01 -8.72584279e-02 -2.92307756e+01] [-7.38076558e-01 6.70022761e-01 7.94512067e-02 1.46848508e+01] [ 1.17437766e-01 1.16145831e-02 9.93012322e-01 3.23348579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11911593299999 meters 0.01967341383396353 Centerline is valid? [True, True] Translation: X:-29.25, Y:14.69, Z:0.27 [[ 6.55004254e-01 7.50315204e-01 -8.94232687e-02 -2.92529556e+01] [-7.45940863e-01 6.60951816e-01 8.19446456e-02 1.46855464e+01] [ 1.20588785e-01 1.30303788e-02 9.92617023e-01 2.72332177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.14911593299999 meters 0.018620057593026644 Centerline is valid? [True, True] Translation: X:-29.27, Y:14.69, Z:0.26 [[ 6.57864868e-01 7.48105707e-01 -8.69003261e-02 -2.92661595e+01] [-7.43887427e-01 6.63473352e-01 8.02160078e-02 1.46948637e+01] [ 1.17666104e-01 1.18727666e-02 9.92982238e-01 2.61036537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17911593299999 meters 0.019620103003003635 Centerline is valid? [True, True] Translation: X:-29.28, Y:14.70, Z:0.23 [[ 6.49869022e-01 7.54854473e-01 -8.86847101e-02 -2.92825549e+01] [-7.50456742e-01 6.55763323e-01 8.23962597e-02 1.47029399e+01] [ 1.20353365e-01 1.30072618e-02 9.92645898e-01 2.29454636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.20911593299999 meters 0.01840008747795476 Centerline is valid? [True, True] Translation: X:-29.29, Y:14.72, Z:0.22 [[ 6.47798982e-01 7.56745711e-01 -8.77063754e-02 -2.92939346e+01] [-7.52398494e-01 6.53582804e-01 8.20123403e-02 1.47162533e+01] [ 1.19385866e-01 1.28626342e-02 9.92764608e-01 2.18491915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.239115933 meters 0.019372490824868163 Centerline is valid? [True, True] Translation: X:-29.32, Y:14.71, Z:0.15 [[ 6.47883121e-01 7.56865703e-01 -8.60335380e-02 -2.93186720e+01] [-7.52619975e-01 6.53455100e-01 8.09913924e-02 1.47138242e+01] [ 1.17518661e-01 1.22776032e-02 9.92994776e-01 1.50792706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.269115933 meters 0.019609124813445934 Centerline is valid? [True, True] Translation: X:-29.31, Y:14.75, Z:0.20 [[ 6.33735317e-01 7.68390516e-01 -8.91939647e-02 -2.93107511e+01] [-7.63864746e-01 6.39815665e-01 8.45373604e-02 1.47480291e+01] [ 1.22025402e-01 1.45578143e-02 9.92420209e-01 1.97628328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.299115933 meters 0.02052355067880158 Centerline is valid? [True, True] Translation: X:-29.32, Y:14.76, Z:0.20 [[ 6.31620827e-01 7.70198704e-01 -8.85950700e-02 -2.93207131e+01] [-7.65682515e-01 6.37640393e-01 8.45281943e-02 1.47619263e+01] [ 1.21595301e-01 1.44459279e-02 9.92474633e-01 1.96204670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.329115933 meters 0.019528628287049557 Centerline is valid? [True, True] Translation: X:-29.33, Y:14.78, Z:0.21 [[ 6.24028554e-01 7.76156319e-01 -9.03865714e-02 -2.93257295e+01] [-7.71443576e-01 6.30348569e-01 8.68072021e-02 1.47808740e+01] [ 1.24351004e-01 1.55579670e-02 9.92116312e-01 2.06200685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.359115933 meters 0.01904314996070821 Centerline is valid? [True, True] Translation: X:-29.34, Y:14.79, Z:0.19 [[ 6.24145359e-01 7.76060408e-01 -9.04036154e-02 -2.93374171e+01] [-7.71273342e-01 6.30475867e-01 8.73934341e-02 1.47935700e+01] [ 1.24819882e-01 1.51796923e-02 9.92063291e-01 1.89868532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.389115933 meters 0.01931293082945805 Centerline is valid? [True, True] Translation: X:-29.33, Y:14.83, Z:0.23 [[ 6.17473101e-01 7.81133294e-01 -9.25080908e-02 -2.93316112e+01] [-7.76099285e-01 6.24153688e-01 9.00115256e-02 1.48253023e+01] [ 1.28050265e-01 1.62157673e-02 9.91635103e-01 2.26825324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41911593299999 meters 0.01785797714150124 Centerline is valid? [True, True] Translation: X:-29.35, Y:14.82, Z:0.17 [[ 6.20135875e-01 7.79281732e-01 -9.02855381e-02 -2.93533352e+01] [-7.74381562e-01 6.26493928e-01 8.85356155e-02 1.48241582e+01] [ 1.25557529e-01 1.50113446e-02 9.91972765e-01 1.70727390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44911593299999 meters 0.019040552523536973 Centerline is valid? [True, True] Translation: X:-29.36, Y:14.84, Z:0.18 [[ 6.12350143e-01 7.85206111e-01 -9.20796665e-02 -2.93634000e+01] [-7.80094082e-01 6.19023423e-01 9.09022823e-02 1.48378877e+01] [ 1.28376498e-01 1.61667773e-02 9.91593722e-01 1.79031632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47911593299999 meters 0.018713414257975527 Centerline is valid? [True, True] Translation: X:-29.37, Y:14.85, Z:0.17 [[ 6.11651946e-01 7.86006827e-01 -8.98619187e-02 -2.93739914e+01] [-7.81063898e-01 6.18022855e-01 8.93696670e-02 1.48510056e+01] [ 1.25781888e-01 1.55247697e-02 9.91936439e-01 1.67462137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.50911593299999 meters 0.018307638932642676 Centerline is valid? [True, True] Translation: X:-29.39, Y:14.86, Z:0.15 [[ 6.13218578e-01 7.84832937e-01 -8.94440432e-02 -2.93861867e+01] [-7.79849034e-01 6.19529652e-01 8.95460515e-02 1.48617136e+01] [ 1.25691928e-01 1.48415483e-02 9.91958299e-01 1.52932299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53911593299999 meters 0.018335971941705897 Centerline is valid? [True, True] Translation: X:-28.15, Y:15.97, Z:-1.99 [[ 8.27674954e-01 -5.55298010e-01 -8.12298569e-02 -2.81523830e+01] [-5.51243580e-01 -8.31572379e-01 6.79550898e-02 1.59707568e+01] [-1.05283831e-01 -1.14672888e-02 -9.94376094e-01 -1.98944606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.56911593299999 meters 0.017758525057458684 Centerline is valid? [True, True] Translation: X:-29.26, Y:14.73, Z:0.14 [[ 6.74574954e-01 7.31951832e-01 -9.58913267e-02 -2.92636850e+01] [-7.27508440e-01 6.81200833e-01 8.18345620e-02 1.47304260e+01] [ 1.25220209e-01 1.45582036e-02 9.92022156e-01 1.37194554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.599115933 meters 0.018261630860690558 Centerline is valid? [True, True] Translation: X:-29.27, Y:14.75, Z:0.13 [[ 6.76958424e-01 7.30215489e-01 -9.22639233e-02 -2.92719122e+01] [-7.26028049e-01 6.83086358e-01 7.92231068e-02 1.47479802e+01] [ 1.20874167e-01 1.33554466e-02 9.92577991e-01 1.31545280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.629115933 meters 0.017447806534605592 Centerline is valid? [True, True] Translation: X:-29.28, Y:14.76, Z:0.13 [[ 6.85524256e-01 7.22847618e-01 -8.68781665e-02 -2.92829424e+01] [-7.19021880e-01 6.90919950e-01 7.50810112e-02 1.47633616e+01] [ 1.14297989e-01 1.09974483e-02 9.93385638e-01 1.26056882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.659115933 meters 0.017952699846171868 Centerline is valid? [True, True] Translation: X:-29.30, Y:14.78, Z:0.12 [[ 6.80838903e-01 7.27172100e-01 -8.76306131e-02 -2.92961981e+01] [-7.23258035e-01 6.86359063e-01 7.62171363e-02 1.47756366e+01] [ 1.15569041e-01 1.14879536e-02 9.93233016e-01 1.24427037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.689115933 meters 0.01728460534767807 Centerline is valid? [True, True] Translation: X:-29.31, Y:14.79, Z:0.13 [[ 6.86049112e-01 7.22728610e-01 -8.36658380e-02 -2.93073461e+01] [-7.19077327e-01 6.91060719e-01 7.32316924e-02 1.47913988e+01] [ 1.10744813e-01 9.92166960e-03 9.93799349e-01 1.27130116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.719115933 meters 0.017253405269069114 Centerline is valid? [True, True] Translation: X:-29.32, Y:14.80, Z:0.11 [[ 6.81949905e-01 7.26581068e-01 -8.38109663e-02 -2.93196699e+01] [-7.22882363e-01 6.87005422e-01 7.39232004e-02 1.48023863e+01] [ 1.11289786e-01 1.01735499e-02 9.93735922e-01 1.08507308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.749115933 meters 0.01714930693896925 Centerline is valid? [True, True] Translation: X:-29.33, Y:14.82, Z:0.12 [[ 6.84854877e-01 7.24369751e-01 -7.91344539e-02 -2.93279893e+01] [-7.21011006e-01 6.89353616e-01 7.02475723e-02 1.48217052e+01] [ 1.05436838e-01 8.94741974e-03 9.94385748e-01 1.24370241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77911593299999 meters 0.017686592592423066 Centerline is valid? [True, True] Translation: X:-29.34, Y:14.83, Z:0.10 [[ 6.81720424e-01 7.27314839e-01 -7.91857858e-02 -2.93443208e+01] [-7.23923138e-01 6.86243681e-01 7.07453235e-02 1.48300861e+01] [ 1.05794869e-01 9.09589067e-03 9.94346374e-01 9.84763190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80911593299999 meters 0.01790964454317959 Centerline is valid? [True, True] Translation: X:-29.37, Y:14.83, Z:0.06 [[ 6.75664493e-01 7.33123806e-01 -7.75046956e-02 -2.93652231e+01] [-7.29865560e-01 6.80029113e-01 6.96898112e-02 1.48323476e+01] [ 1.03796709e-01 9.48107709e-03 9.94553343e-01 5.54872763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83911593299999 meters 0.016813785965846224 Centerline is valid? [True, True] Translation: X:-29.37, Y:14.85, Z:0.06 [[ 6.81827491e-01 7.28087571e-01 -7.07089919e-02 -2.93736291e+01] [-7.25311604e-01 6.85441290e-01 6.39790291e-02 1.48507120e+01] [ 9.50491985e-02 7.66339143e-03 9.95443078e-01 5.62593976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.86911593299999 meters 0.01751651725791726 Centerline is valid? [True, True] Translation: X:-29.39, Y:14.86, Z:0.04 [[ 6.83545809e-01 7.26695358e-01 -6.84030996e-02 -2.93861975e+01] [-7.24054084e-01 6.86924717e-01 6.22905773e-02 1.48648175e+01] [ 9.22540533e-02 6.94908065e-03 9.95711253e-01 4.42859922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89911593299999 meters 0.016706723188638247 Centerline is valid? [True, True] Translation: X:-29.40, Y:14.88, Z:0.03 [[ 6.79649727e-01 7.30351189e-01 -6.82890145e-02 -2.93990723e+01] [-7.27699513e-01 6.83034369e-01 6.25896926e-02 1.48771702e+01] [ 9.23562004e-02 7.15481512e-03 9.95700327e-01 3.22350712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.92911593299999 meters 0.01691971196715781 Centerline is valid? [True, True] Translation: X:-29.41, Y:14.90, Z:0.03 [[ 6.78764379e-01 7.31131807e-01 -6.87400820e-02 -2.94072743e+01] [-7.28411152e-01 6.82199983e-01 6.34064395e-02 1.48951719e+01] [ 9.32529475e-02 7.03300976e-03 9.95617610e-01 3.45226266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95911593299999 meters 0.017966669630387577 Centerline is valid? [True, True] Translation: X:-29.40, Y:14.93, Z:0.10 [[ 6.69049698e-01 7.39652927e-01 -7.27052230e-02 -2.93988407e+01] [-7.36617037e-01 6.72935929e-01 6.74727823e-02 1.49321390e+01] [ 9.88323977e-02 8.41326129e-03 9.95068527e-01 1.01602808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.989115933 meters 0.01666140039022841 Centerline is valid? [True, True] Translation: X:-29.42, Y:14.94, Z:0.06 [[ 6.81363846e-01 7.29024418e-01 -6.53200372e-02 -2.94209374e+01] [-7.26493560e-01 6.84462219e-01 6.09801463e-02 1.49350198e+01] [ 8.91651133e-02 5.90491937e-03 9.95999355e-01 5.91882962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.019115933 meters 0.01612692441497801 Centerline is valid? [True, True] Translation: X:-29.44, Y:14.94, Z:0.03 [[ 6.80078235e-01 7.30419212e-01 -6.30980873e-02 -2.94424549e+01] [-7.28030927e-01 6.82975992e-01 5.92854390e-02 1.49373797e+01] [ 8.63977024e-02 5.61862228e-03 9.96244884e-01 3.17972421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.049115933 meters 0.016741562501131062 Centerline is valid? [True, True] Translation: X:-29.43, Y:14.98, Z:0.11 [[ 6.78818698e-01 7.31617311e-01 -6.27796616e-02 -2.94324365e+01] [-7.29226679e-01 6.81693439e-01 5.93506971e-02 1.49774924e+01] [ 8.62184809e-02 5.49224120e-03 9.96261115e-01 1.13441396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.079115933 meters 0.01682805052873583 Centerline is valid? [True, True] Translation: X:-29.47, Y:14.97, Z:0.04 [[ 6.78395364e-01 7.31877577e-01 -6.43035256e-02 -2.94663336e+01] [-7.29336557e-01 6.81414748e-01 6.11729345e-02 1.49682526e+01] [ 8.85884698e-02 5.39947686e-03 9.96053678e-01 3.84272803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.109115933 meters 0.01639157247661782 Centerline is valid? [True, True] Translation: X:-29.48, Y:14.98, Z:0.04 [[ 6.79581356e-01 7.30818049e-01 -6.38291488e-02 -2.94772026e+01] [-7.28274208e-01 6.82554404e-01 6.11241723e-02 1.49827360e+01] [ 8.82375150e-02 4.94627490e-03 9.96087183e-01 3.74093367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.139115933 meters 0.016642470332454085 Centerline is valid? [True, True] Translation: X:-29.49, Y:15.00, Z:0.04 [[ 6.79454101e-01 7.30845918e-01 -6.48565245e-02 -2.94879171e+01] [-7.28184508e-01 6.82525858e-01 6.24962061e-02 1.49992909e+01] [ 8.99413521e-02 4.76421291e-03 9.95935668e-01 4.12543847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16911593299999 meters 0.016878356744029432 Centerline is valid? [True, True] Translation: X:-29.49, Y:15.02, Z:0.06 [[ 6.75415218e-01 7.34702388e-01 -6.34561534e-02 -2.94890526e+01] [-7.32124768e-01 6.78372578e-01 6.16763350e-02 1.50191360e+01] [ 8.83606649e-02 4.80068633e-03 9.96076978e-01 5.66782179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19911593299999 meters 0.017170196270104215 Centerline is valid? [True, True] Translation: X:-29.49, Y:15.04, Z:0.08 [[ 6.68469388e-01 7.40957891e-01 -6.42657018e-02 -2.94927993e+01] [-7.38305980e-01 6.71529593e-01 6.28672043e-02 1.50439160e+01] [ 8.97382717e-02 5.42295033e-03 9.95950618e-01 8.39421290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22911593299999 meters 0.017275668535691506 Centerline is valid? [True, True] Translation: X:-29.51, Y:15.05, Z:0.05 [[ 6.61714668e-01 7.46944387e-01 -6.48674040e-02 -2.95080933e+01] [-7.44216105e-01 6.64860434e-01 6.40546055e-02 1.50485261e+01] [ 9.09729984e-02 5.88949471e-03 9.95835944e-01 4.91225238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25911593299999 meters 0.01682483209320227 Centerline is valid? [True, True] Translation: X:-29.53, Y:15.05, Z:0.02 [[ 6.51904454e-01 7.55347296e-01 -6.68658719e-02 -2.95273684e+01] [-7.52448493e-01 6.55287577e-01 6.64789875e-02 1.50541052e+01] [ 9.40310987e-02 6.97517653e-03 9.95544825e-01 2.22223558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.28911593299999 meters 0.016450205439823194 Centerline is valid? [True, True] Translation: X:-29.52, Y:15.08, Z:0.06 [[ 6.58191271e-01 7.50189122e-01 -6.32497521e-02 -2.95246200e+01] [-7.47537202e-01 6.61199309e-01 6.32740533e-02 1.50839953e+01] [ 8.92881989e-02 5.63511312e-03 9.95989891e-01 6.25524742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31911593299999 meters 0.017230532742472316 Centerline is valid? [True, True] Translation: X:-28.42, Y:16.09, Z:-1.91 [[ 8.00493401e-01 -5.96885506e-01 -5.42033965e-02 -2.84225181e+01] [-5.95201825e-01 -8.02317781e-01 4.49551452e-02 1.60933916e+01] [-7.03214234e-02 -3.72433657e-03 -9.97517432e-01 -1.90887399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.349115933 meters 0.017117230727263434 Centerline is valid? [True, True] Translation: X:-29.41, Y:15.00, Z:0.11 [[ 7.13053985e-01 6.97766272e-01 -6.83830673e-02 -2.94128639e+01] [-6.95359185e-01 7.16300080e-01 5.82219865e-02 1.49988726e+01] [ 8.96081350e-02 6.03537444e-03 9.95958813e-01 1.08076969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.379115933 meters 0.01779649012496009 Centerline is valid? [True, True] Translation: X:-29.42, Y:15.02, Z:0.12 [[ 7.07832360e-01 7.02900265e-01 -7.00326263e-02 -2.94204308e+01] [-7.00368327e-01 7.11257808e-01 5.99711315e-02 1.50189482e+01] [ 9.19649765e-02 6.59912577e-03 9.95740375e-01 1.15535080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.409115933 meters 0.017976625827041858 Centerline is valid? [True, True] Translation: X:-29.45, Y:15.01, Z:0.03 [[ 7.07409563e-01 7.03262971e-01 -7.06604824e-02 -2.94533208e+01] [-7.00655334e-01 7.10900431e-01 6.08496472e-02 1.50078190e+01] [ 9.30258710e-02 6.46302158e-03 9.95642715e-01 3.40983168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.439115933 meters 0.017746846075365343 Centerline is valid? [True, True] Translation: X:-29.46, Y:15.03, Z:0.05 [[ 7.03638095e-01 7.07150681e-01 -6.95078766e-02 -2.94592809e+01] [-7.04616237e-01 7.07031800e-01 6.01829953e-02 1.50310939e+01] [ 9.17027253e-02 6.62933021e-03 9.95764361e-01 5.18693069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.469115933 meters 0.01717710691569308 Centerline is valid? [True, True] Translation: X:-29.46, Y:15.06, Z:0.09 [[ 7.08860501e-01 7.02240973e-01 -6.61392834e-02 -2.94594499e+01] [-6.99896571e-01 7.11918360e-01 5.75937328e-02 1.50616779e+01] [ 8.75304492e-02 5.46473533e-03 9.96146855e-01 9.35818284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.499115933 meters 0.018546853002070835 Centerline is valid? [True, True] Translation: X:-29.49, Y:15.06, Z:0.04 [[ 7.01684146e-01 7.09185862e-01 -6.85184181e-02 -2.94875055e+01] [-7.06673717e-01 7.04993092e-01 5.99749694e-02 1.50579544e+01] [ 9.08384118e-02 6.33668006e-03 9.95845485e-01 4.46903839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52911593299999 meters 0.018270823218802107 Centerline is valid? [True, True] Translation: X:-29.48, Y:15.10, Z:0.10 [[ 6.93277048e-01 7.17196926e-01 -7.06788759e-02 -2.94817827e+01] [-7.14532477e-01 6.96831491e-01 6.22029904e-02 1.50956582e+01] [ 9.38630601e-02 7.37844671e-03 9.95557776e-01 9.65047254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55911593299999 meters 0.018270823218802107 Centerline is valid? [True, True] Translation: X:-29.50, Y:15.11, Z:0.10 [[ 6.91619473e-01 7.18809960e-01 -7.05318867e-02 -2.94967381e+01] [-7.16136983e-01 6.95167504e-01 6.23695688e-02 1.51088310e+01] [ 9.38633429e-02 7.37448420e-03 9.95557778e-01 9.63192965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58911593299999 meters 0.018281394825809476 Centerline is valid? [True, True] Translation: X:-29.51, Y:15.13, Z:0.10 [[ 6.89076267e-01 7.21289543e-01 -7.01091548e-02 -2.95065869e+01] [-7.18627743e-01 6.92593953e-01 6.23520939e-02 1.51281310e+01] [ 9.35310900e-02 7.41703561e-03 9.95588732e-01 9.57746333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61911593299999 meters 0.01939150084806619 Centerline is valid? [True, True] Translation: X:-29.52, Y:15.14, Z:0.08 [[ 6.85082935e-01 7.25025552e-01 -7.07058777e-02 -2.95213757e+01] [-7.22298870e-01 6.88678804e-01 6.32917701e-02 1.51382843e+01] [ 9.45817898e-02 7.71066395e-03 9.95487233e-01 8.04495396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.64911593299999 meters 0.018736502385377007 Centerline is valid? [True, True] Translation: X:-29.53, Y:15.16, Z:0.09 [[ 6.83009747e-01 7.27206908e-01 -6.83212869e-02 -2.95274531e+01] [-7.24640235e-01 6.86377338e-01 6.15034896e-02 1.51602894e+01] [ 9.16199455e-02 7.50087058e-03 9.95765797e-01 8.57345308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67911593299999 meters 0.019886718957513892 Centerline is valid? [True, True] Translation: X:-29.54, Y:15.18, Z:0.08 [[ 6.78777068e-01 7.31029780e-01 -6.96932833e-02 -2.95399307e+01] [-7.28346398e-01 6.82299323e-01 6.30805680e-02 1.51765562e+01] [ 9.36654538e-02 7.94320889e-03 9.95572041e-01 7.91050576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.70911593299999 meters 0.01976544163675394 Centerline is valid? [True, True] Translation: X:-29.57, Y:15.17, Z:0.01 [[ 6.82423801e-01 7.27879062e-01 -6.70061699e-02 -2.95747386e+01] [-7.25356572e-01 6.85669699e-01 6.09500430e-02 1.51660399e+01] [ 9.03083605e-02 7.00960566e-03 9.95889183e-01 9.25105398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.739115933 meters 0.019740096108751704 Centerline is valid? [True, True] Translation: X:-29.59, Y:15.18, Z:0.01 [[ 6.77256606e-01 7.32572418e-01 -6.82725482e-02 -2.95855261e+01] [-7.29941945e-01 6.80647555e-01 6.24792955e-02 1.51826462e+01] [ 9.22401516e-02 7.52048101e-03 9.95708389e-01 6.23554186e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.769115933 meters 0.020072015225481236 Centerline is valid? [True, True] Translation: X:-29.58, Y:15.22, Z:0.07 [[ 6.70118993e-01 7.39010047e-01 -6.93158455e-02 -2.95774149e+01] [-7.36301749e-01 6.73643103e-01 6.37550411e-02 1.52228332e+01] [ 9.38097572e-02 8.31391430e-03 9.95555427e-01 6.85326419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.799115933 meters 0.021407381318802803 Centerline is valid? [True, True] Translation: X:-29.59, Y:15.24, Z:0.06 [[ 6.64391773e-01 7.43995109e-01 -7.10974692e-02 -2.95910240e+01] [-7.41143411e-01 6.68123897e-01 6.57031446e-02 1.52376307e+01] [ 9.63847364e-02 9.04079214e-03 9.95303093e-01 6.37560731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.829115933 meters 0.020694046458539946 Centerline is valid? [True, True] Translation: X:-29.61, Y:15.24, Z:0.02 [[ 6.64142438e-01 7.44210724e-01 -7.11703642e-02 -2.96127338e+01] [-7.41317736e-01 6.67886563e-01 6.61479652e-02 1.52401044e+01] [ 9.67617550e-02 8.82818236e-03 9.95268419e-01 2.15180476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.859115933 meters 0.021457950063698987 Centerline is valid? [True, True] Translation: X:-29.62, Y:15.26, Z:0.04 [[ 6.60190026e-01 7.47586386e-01 -7.25515312e-02 -2.96202967e+01] [-7.44548055e-01 6.64101457e-01 6.79518129e-02 1.52555428e+01] [ 9.89814278e-02 9.15699229e-03 9.95047148e-01 3.92211763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88911593299999 meters 0.020771837384181494 Centerline is valid? [True, True] Translation: X:-29.63, Y:15.27, Z:0.02 [[ 6.57518093e-01 7.49832814e-01 -7.36254580e-02 -2.96344188e+01] [-7.46676357e-01 6.61561052e-01 6.93642062e-02 1.52695975e+01] [ 1.00719293e-01 9.36616817e-03 9.94870795e-01 2.31096141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91911593299999 meters 0.02094316937438972 Centerline is valid? [True, True] Translation: X:-29.65, Y:15.28, Z:0.03 [[ 6.50454758e-01 7.55806157e-01 -7.52705871e-02 -2.96477472e+01] [-7.52506824e-01 6.54714851e-01 7.12877553e-02 1.52839092e+01] [ 1.03160496e-01 1.02721708e-02 9.94611680e-01 2.54058284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94911593299999 meters 0.020382883056092888 Centerline is valid? [True, True] Translation: X:-29.66, Y:15.30, Z:0.02 [[ 6.52822628e-01 7.54186443e-01 -7.08902291e-02 -2.96584295e+01] [-7.51216829e-01 6.56595973e-01 6.74907718e-02 1.52996099e+01] [ 9.74468641e-02 9.19443002e-03 9.95198257e-01 2.38496947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97911593299999 meters 0.020077987168236007 Centerline is valid? [True, True] Translation: X:-29.67, Y:15.32, Z:0.03 [[ 6.46641997e-01 7.59580698e-01 -6.99377600e-02 -2.96708645e+01] [-7.56682213e-01 6.50342150e-01 6.69859419e-02 1.53159851e+01] [ 9.63647018e-02 9.60473581e-03 9.95299750e-01 2.54160224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.00911593299999 meters 0.01997929246830325 Centerline is valid? [True, True] Translation: X:-29.68, Y:15.34, Z:0.03 [[ 6.40452074e-01 7.64831864e-01 -6.96660590e-02 -2.96786701e+01] [-7.61946538e-01 6.44150990e-01 6.71340102e-02 1.53374933e+01] [ 9.62216911e-02 1.00856963e-02 9.95308829e-01 3.43506961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03911593299999 meters 0.01976834250257643 Centerline is valid? [True, True] Translation: X:-29.70, Y:15.35, Z:0.03 [[ 6.42868479e-01 7.62840229e-01 -6.92452500e-02 -2.96954685e+01] [-7.59945436e-01 6.46517163e-01 6.70707976e-02 1.53473912e+01] [ 9.59325452e-02 9.50491009e-03 9.95342455e-01 3.14307182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.06911593299999 meters 0.019743880335968442 Centerline is valid? [True, True] Translation: X:-29.70, Y:15.37, Z:0.04 [[ 6.37497681e-01 7.67168750e-01 -7.10550154e-02 -2.97022656e+01] [-7.64107775e-01 6.41364706e-01 6.92143211e-02 1.53688065e+01] [ 9.86712433e-02 1.01697205e-02 9.95068120e-01 3.98692617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.099115933 meters 0.02041579504448139 Centerline is valid? [True, True] Translation: X:-29.72, Y:15.38, Z:0.03 [[ 6.28291297e-01 7.74591196e-01 -7.25156942e-02 -2.97162801e+01] [-7.71402166e-01 6.32362005e-01 7.11125315e-02 1.53777383e+01] [ 1.00939311e-01 1.12593790e-02 9.94828871e-01 2.71599565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.129115933 meters 0.01969679855703794 Centerline is valid? [True, True] Translation: X:-29.72, Y:15.40, Z:0.05 [[ 6.30860339e-01 7.72762147e-01 -6.96699108e-02 -2.97219676e+01] [-7.69765561e-01 6.34612893e-01 6.87565030e-02 1.53994478e+01] [ 9.73458466e-02 1.02537472e-02 9.95197793e-01 5.13749372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.159115933 meters 0.01921372310778801 Centerline is valid? [True, True] Translation: X:-29.74, Y:15.41, Z:0.03 [[ 6.29050830e-01 7.74499667e-01 -6.66732315e-02 -2.97415826e+01] [-7.71727545e-01 6.32498248e-01 6.62009248e-02 1.54073875e+01] [ 9.34432963e-02 9.80982262e-03 9.95576274e-01 3.21161215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.189115933 meters 0.019615594223263474 Centerline is valid? [True, True] Translation: X:-29.73, Y:15.44, Z:0.08 [[ 6.26000759e-01 7.76883927e-01 -6.76344101e-02 -2.97349592e+01] [-7.74009039e-01 6.29563206e-01 6.75290779e-02 1.54418361e+01] [ 9.50423913e-02 1.00763908e-02 9.95422227e-01 8.03072957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.219115933 meters 0.019538579539874822 Centerline is valid? [True, True] Translation: X:-29.75, Y:15.45, Z:0.06 [[ 6.20696986e-01 7.81188115e-01 -6.69356455e-02 -2.97514677e+01] [-7.78365129e-01 6.24208877e-01 6.71640137e-02 1.54531642e+01] [ 9.42495534e-02 1.04118715e-02 9.95494156e-01 6.46782510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.249115933 meters 0.019950100492872245 Centerline is valid? [True, True] Translation: X:-28.82, Y:16.25, Z:-1.94 [[ 8.23491493e-01 -5.64522943e-01 -5.63525316e-02 -2.88164541e+01] [-5.62609926e-01 -8.25388018e-01 4.69541405e-02 1.62503035e+01] [-7.30193939e-02 -6.96184162e-03 -9.97306222e-01 -1.93981747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27911593299999 meters 0.020664056642064124 Centerline is valid? [True, True] Translation: X:-29.66, Y:15.33, Z:0.05 [[ 6.83440689e-01 7.26573927e-01 -7.07046914e-02 -2.96573961e+01] [-7.24124808e-01 6.87016927e-01 6.04235484e-02 1.53325760e+01] [ 9.24774946e-02 9.90310947e-03 9.95665527e-01 5.04588454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30911593299999 meters 0.019116516463906642 Centerline is valid? [True, True] Translation: X:-29.66, Y:15.36, Z:0.08 [[ 6.82959063e-01 7.27148955e-01 -6.94356911e-02 -2.96599518e+01] [-7.24764225e-01 6.86412506e-01 5.96212177e-02 1.53606879e+01] [ 9.10150329e-02 9.60565394e-03 9.95803191e-01 8.08532879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33911593299999 meters 0.020354544400537727 Centerline is valid? [True, True] Translation: X:-29.67, Y:15.37, Z:0.09 [[ 6.81917785e-01 7.28194650e-01 -6.87072465e-02 -2.96743043e+01] [-7.25838534e-01 6.85305345e-01 5.92874919e-02 1.53749127e+01] [ 9.02582777e-02 9.44117197e-03 9.95873640e-01 9.46329200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.36911593299999 meters 0.019721131137184034 Centerline is valid? [True, True] Translation: X:-29.69, Y:15.39, Z:0.07 [[ 6.80900206e-01 7.29210530e-01 -6.80214116e-02 -2.96923053e+01] [-7.26880339e-01 6.84226470e-01 5.89839873e-02 1.53850406e+01] [ 8.95537950e-02 9.28121757e-03 9.95938741e-01 7.04451733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39911593299999 meters 0.018897171900808064 Centerline is valid? [True, True] Translation: X:-29.70, Y:15.40, Z:0.07 [[ 6.80636340e-01 7.29743613e-01 -6.48724303e-02 -2.97033537e+01] [-7.27603272e-01 6.83665200e-01 5.65276251e-02 1.54041177e+01] [ 8.56016964e-02 8.72663665e-03 9.96291220e-01 6.85353048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.42911593299999 meters 0.019849671354576433 Centerline is valid? [True, True] Translation: X:-29.71, Y:15.43, Z:0.12 [[ 6.76660818e-01 7.33429155e-01 -6.48984812e-02 -2.97057959e+01] [-7.31278793e-01 6.79706336e-01 5.68385770e-02 1.54321109e+01] [ 8.57989783e-02 8.99844500e-03 9.96271832e-01 1.20130855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45911593299999 meters 0.018941329049709438 Centerline is valid? [True, True] Translation: X:-29.73, Y:15.44, Z:0.08 [[ 6.80876199e-01 7.29723678e-01 -6.25376300e-02 -2.97293069e+01] [-7.27689267e-01 6.83694991e-01 5.50408068e-02 1.54351832e+01] [ 8.29212443e-02 8.03198683e-03 9.96523735e-01 7.85912797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.489115933 meters 0.020794651070513946 Centerline is valid? [True, True] Translation: X:-29.76, Y:15.43, Z:0.04 [[ 6.79366133e-01 7.31191807e-01 -6.18077564e-02 -2.97604634e+01] [-7.29188908e-01 6.82125790e-01 5.46620797e-02 1.54310097e+01] [ 8.21291295e-02 7.93396467e-03 9.96590115e-01 3.80072012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.519115933 meters 0.019905516708927044 Centerline is valid? [True, True] Translation: X:-29.77, Y:15.46, Z:0.07 [[ 6.77918872e-01 7.32705486e-01 -5.97383760e-02 -2.97651025e+01] [-7.30820686e-01 6.80502583e-01 5.30788023e-02 1.54573050e+01] [ 7.95432488e-02 7.67491914e-03 9.96801870e-01 7.03586733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.549115933 meters 0.021093518753581047 Centerline is valid? [True, True] Translation: X:-29.79, Y:15.46, Z:0.07 [[ 6.68133137e-01 7.41383907e-01 -6.28332173e-02 -2.97868351e+01] [-7.39312872e-01 6.71021166e-01 5.60987651e-02 1.54635448e+01] [ 8.37531404e-02 8.97196245e-03 9.96446143e-01 6.72804636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.579115933 meters 0.019212567141145574 Centerline is valid? [True, True] Translation: X:-29.79, Y:15.49, Z:0.10 [[ 6.66934488e-01 7.42635383e-01 -6.07542211e-02 -2.97872815e+01] [-7.40678608e-01 6.69640589e-01 5.45589626e-02 1.54932119e+01] [ 8.12009086e-02 8.61209812e-03 9.96660546e-01 1.04118054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.609115933 meters 0.019627035827726666 Centerline is valid? [True, True] Translation: X:-29.81, Y:15.50, Z:0.08 [[ 6.67178241e-01 7.42584980e-01 -5.86578458e-02 -2.98084849e+01] [-7.40740294e-01 6.69702492e-01 5.29375984e-02 1.55001467e+01] [ 7.85939710e-02 8.13141612e-03 9.96873547e-01 8.10987558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63911593299999 meters 0.020126094481813045 Centerline is valid? [True, True] Translation: X:-29.82, Y:15.51, Z:0.09 [[ 6.65000475e-01 7.44554261e-01 -5.84236320e-02 -2.98229002e+01] [-7.42711761e-01 6.67512070e-01 5.29799590e-02 1.55146711e+01] [ 7.84449338e-02 8.16022073e-03 9.96885050e-01 9.14497521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66911593299999 meters 0.02029772356192867 Centerline is valid? [True, True] Translation: X:-29.85, Y:15.51, Z:0.04 [[ 6.64720521e-01 7.44853308e-01 -5.77942762e-02 -2.98547816e+01] [-7.43026162e-01 6.67181612e-01 5.27334775e-02 1.55061240e+01] [ 7.78379835e-02 7.88963462e-03 9.96934803e-01 3.74978920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69911593299999 meters 0.019915197753055787 Centerline is valid? [True, True] Translation: X:-29.86, Y:15.53, Z:0.07 [[ 6.60493019e-01 7.48516660e-01 -5.89218256e-02 -2.98631591e+01] [-7.46609209e-01 6.63064086e-01 5.40435625e-02 1.55286835e+01] [ 7.95214533e-02 8.29618186e-03 9.96798632e-01 6.68111646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.72911593299999 meters 0.01940512163531321 Centerline is valid? [True, True] Translation: X:-29.88, Y:15.54, Z:0.04 [[ 6.61303026e-01 7.47877082e-01 -5.79497959e-02 -2.98836884e+01] [-7.46008668e-01 6.63790171e-01 5.34197996e-02 1.55358558e+01] [ 7.84179488e-02 7.90437493e-03 9.96889235e-01 3.84205823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75911593299999 meters 0.019645383764494463 Centerline is valid? [True, True] Translation: X:-29.90, Y:15.55, Z:0.07 [[ 6.57083196e-01 7.51478407e-01 -5.93454040e-02 -2.98972160e+01] [-7.49511814e-01 6.59704717e-01 5.49702428e-02 1.55518461e+01] [ 8.04593934e-02 8.36005852e-03 9.96722828e-01 6.50453820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.78911593299999 meters 0.01976661921337838 Centerline is valid? [True, True] Translation: X:-29.91, Y:15.57, Z:0.06 [[ 6.55993940e-01 7.52460271e-01 -5.89532906e-02 -2.99102473e+01] [-7.50498944e-01 6.58586318e-01 5.49126340e-02 1.55657988e+01] [ 8.01454060e-02 8.22202715e-03 9.96749272e-01 5.92155379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81911593299999 meters 0.020168104787459562 Centerline is valid? [True, True] Translation: X:-29.93, Y:15.58, Z:0.07 [[ 6.51332573e-01 7.56515006e-01 -5.87445804e-02 -2.99258828e+01] [-7.54561933e-01 6.53920951e-01 5.49880008e-02 1.55779752e+01] [ 8.00135596e-02 8.51094808e-03 9.96757440e-01 6.96154462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.849115933 meters 0.018409768543252488 Centerline is valid? [True, True] Translation: X:-29.95, Y:15.59, Z:0.06 [[ 6.62002307e-01 7.47579614e-01 -5.36438807e-02 -2.99455486e+01] [-7.45903842e-01 6.64139340e-01 5.04618147e-02 1.55859735e+01] [ 7.33512355e-02 6.60733899e-03 9.97284282e-01 5.88751431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.879115933 meters 0.018529146430046523 Centerline is valid? [True, True] Translation: X:-29.97, Y:15.58, Z:0.03 [[ 6.55864966e-01 7.52795467e-01 -5.60368768e-02 -2.99731497e+01] [-7.50961567e-01 6.58213936e-01 5.30201666e-02 1.55841947e+01] [ 7.67975944e-02 7.30747106e-03 9.97019925e-01 3.22287491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.909115933 meters 0.019210138773716693 Centerline is valid? [True, True] Translation: X:-29.98, Y:15.61, Z:0.06 [[ 6.51061479e-01 7.57070219e-01 -5.44392783e-02 -2.99795429e+01] [-7.55335034e-01 6.53291387e-01 5.17624383e-02 1.56069013e+01] [ 7.47525121e-02 7.41936453e-03 9.97174516e-01 5.98500062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.939115933 meters 0.018322799941526226 Centerline is valid? [True, True] Translation: X:-30.00, Y:15.62, Z:0.06 [[ 6.57114449e-01 7.51949054e-01 -5.26613788e-02 -2.99964722e+01] [-7.50289630e-01 6.59189848e-01 5.03409914e-02 1.56182744e+01] [ 7.25677071e-02 6.43149359e-03 9.97342751e-01 6.05587332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.969115933 meters 0.017891934834351093 Centerline is valid? [True, True] Translation: X:-30.02, Y:15.62, Z:0.04 [[ 6.53839827e-01 7.54823173e-01 -5.23016085e-02 -3.00175504e+01] [-7.53177658e-01 6.55895705e-01 5.02418159e-02 1.56247637e+01] [ 7.22280873e-02 6.54230277e-03 9.97366684e-01 3.83781189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.999115933 meters 0.017885303499060957 Centerline is valid? [True, True] Translation: X:-30.03, Y:15.64, Z:0.06 [[ 6.53086164e-01 7.55535709e-01 -5.14223226e-02 -3.00286845e+01] [-7.53928820e-01 6.55076796e-01 4.96560744e-02 1.56427374e+01] [ 7.12025077e-02 6.33907589e-03 9.97441737e-01 5.62128839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02911593299999 meters 0.017572139670791555 Centerline is valid? [True, True] Translation: X:-30.04, Y:15.66, Z:0.07 [[ 6.51610565e-01 7.57036857e-01 -4.79465300e-02 -3.00372626e+01] [-7.55628853e-01 6.53345425e-01 4.65273208e-02 1.56631054e+01] [ 6.65485427e-02 5.91208769e-03 9.97765673e-01 7.39803831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05911593299999 meters 0.017436035631574014 Centerline is valid? [True, True] Translation: X:-30.07, Y:15.66, Z:0.05 [[ 6.46590330e-01 7.61134371e-01 -5.09452127e-02 -3.00679093e+01] [-7.59538290e-01 6.48561060e-01 4.97004801e-02 1.56604785e+01] [ 7.08698249e-02 6.55898988e-03 9.97464008e-01 4.71284154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08911593299999 meters 0.017087596599136487 Centerline is valid? [True, True] Translation: X:-30.09, Y:15.67, Z:0.01 [[ 6.47693767e-01 7.60358016e-01 -4.84610339e-02 -3.00898236e+01] [-7.58894302e-01 6.49476579e-01 4.75353676e-02 1.56655884e+01] [ 6.76182044e-02 5.98844120e-03 9.97693298e-01 1.41396736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11911593299999 meters 0.016704879939765674 Centerline is valid? [True, True] Translation: X:-30.10, Y:15.69, Z:0.05 [[ 6.42641113e-01 7.64551502e-01 -4.97332925e-02 -3.00977908e+01] [-7.63004819e-01 6.44530499e-01 4.90314513e-02 1.56862169e+01] [ 6.95416936e-02 6.43711542e-03 9.97558277e-01 4.61293589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.14911593299999 meters 0.017243675363670757 Centerline is valid? [True, True] Translation: X:-30.12, Y:15.69, Z:0.02 [[ 6.33144583e-01 7.72280371e-01 -5.20669320e-02 -3.01227967e+01] [-7.70590531e-01 6.35238152e-01 5.16015752e-02 1.56888083e+01] [ 7.29257853e-02 7.45102696e-03 9.97309537e-01 1.79809092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17911593299999 meters 0.016890844989201296 Centerline is valid? [True, True] Translation: X:-30.14, Y:15.70, Z:0.02 [[ 6.41001681e-01 7.66016530e-01 -4.83272272e-02 -3.01413775e+01] [-7.64524155e-01 6.42792249e-01 4.81761386e-02 1.56981241e+01] [ 6.79680856e-02 6.06634669e-03 9.97669053e-01 2.20437609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.20911593299999 meters 0.016451325164667473 Centerline is valid? [True, True] Translation: X:-30.15, Y:15.72, Z:0.05 [[ 6.36511584e-01 7.69911014e-01 -4.57168865e-02 -3.01462834e+01] [-7.68568593e-01 6.38123407e-01 4.58348681e-02 1.57215649e+01] [ 6.44617852e-02 5.96213866e-03 9.97902366e-01 5.11052029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.239115933 meters 0.016347642456531534 Centerline is valid? [True, True] Translation: X:-29.15, Y:16.63, Z:-1.92 [[ 8.14831200e-01 -5.78708163e-01 -3.38670569e-02 -2.91504356e+01] [-5.78049412e-01 -8.15528993e-01 2.77729949e-02 1.66253233e+01] [-4.36920257e-02 -3.05347041e-03 -9.99040381e-01 -1.92197026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.269115933 meters 0.015932513517734198 Centerline is valid? [True, True] Translation: X:-30.07, Y:15.62, Z:0.05 [[ 6.96257353e-01 7.16328651e-01 -4.58144350e-02 -3.00686953e+01] [-7.15281352e-01 6.97741080e-01 3.91148625e-02 1.56197605e+01] [ 5.99857100e-02 5.53620040e-03 9.98183883e-01 5.13723609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.299115933 meters 0.016954400709144456 Centerline is valid? [True, True] Translation: X:-30.08, Y:15.63, Z:0.07 [[ 6.89760054e-01 7.22355966e-01 -4.93247040e-02 -3.00832142e+01] [-7.21143993e-01 6.91491926e-01 4.23114341e-02 1.56340444e+01] [ 6.46715514e-02 6.38547690e-03 9.97886174e-01 6.98658006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.329115933 meters 0.015909709992344815 Centerline is valid? [True, True] Translation: X:-30.10, Y:15.64, Z:0.06 [[ 6.93455836e-01 7.19050186e-01 -4.56709165e-02 -3.01021988e+01] [-7.17992143e-01 6.94936502e-01 3.93769138e-02 1.56426472e+01] [ 6.00523641e-02 5.48520851e-03 9.98180157e-01 5.88605761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.359115933 meters 0.015666836134852445 Centerline is valid? [True, True] Translation: X:-30.12, Y:15.66, Z:0.07 [[ 6.92703653e-01 7.19904021e-01 -4.35872637e-02 -3.01161285e+01] [-7.18930789e-01 6.94054383e-01 3.77761022e-02 1.56583639e+01] [ 5.74470993e-02 5.16858194e-03 9.98335172e-01 7.08694612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38911593299999 meters 0.015807070064616426 Centerline is valid? [True, True] Translation: X:-30.14, Y:15.67, Z:0.06 [[ 6.95939424e-01 7.16862696e-01 -4.21449100e-02 -3.01367598e+01] [-7.15936503e-01 6.97199074e-01 3.67202191e-02 1.56654452e+01] [ 5.57067475e-02 4.61803140e-03 9.98436494e-01 5.70369754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41911593299999 meters 0.01561639644339206 Centerline is valid? [True, True] Translation: X:-30.16, Y:15.67, Z:0.05 [[ 6.93897738e-01 7.18873768e-01 -4.15503844e-02 -3.01584985e+01] [-7.17965710e-01 6.95125629e-01 3.64087734e-02 1.56704174e+01] [ 5.50560492e-02 4.56778573e-03 9.98472817e-01 5.47930623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44911593299999 meters 0.015717038012444253 Centerline is valid? [True, True] Translation: X:-30.18, Y:15.68, Z:0.04 [[ 6.91314295e-01 7.21436057e-01 -4.01816128e-02 -3.01801351e+01] [-7.20581825e-01 6.92466483e-01 3.53836724e-02 1.56767403e+01] [ 5.33514772e-02 4.49290130e-03 9.98565688e-01 4.35196029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47911593299999 meters 0.015717038012444253 Centerline is valid? [True, True] Translation: X:-30.20, Y:15.69, Z:0.04 [[ 6.89598410e-01 7.23081070e-01 -4.00973643e-02 -3.01950465e+01] [-7.22224104e-01 6.90748564e-01 3.54790724e-02 1.56900279e+01] [ 5.33514425e-02 4.49297107e-03 9.98565690e-01 4.33330800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.50911593299999 meters 0.01608518308047666 Centerline is valid? [True, True] Translation: X:-30.22, Y:15.69, Z:0.02 [[ 6.87389620e-01 7.25145526e-01 -4.07366774e-02 -3.02201565e+01] [-7.24253187e-01 6.88580397e-01 3.62540849e-02 1.56915239e+01] [ 5.43399649e-02 4.58298681e-03 9.98511975e-01 1.60135709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53911593299999 meters 0.016110130676328008 Centerline is valid? [True, True] Translation: X:-30.24, Y:15.70, Z:0.01 [[ 6.82991921e-01 7.29195510e-01 -4.23785768e-02 -3.02404751e+01] [-7.28224393e-01 6.84287551e-01 3.79444551e-02 1.56983139e+01] [ 5.66680588e-02 4.94535707e-03 9.98380826e-01 8.23280957e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.56911593299999 meters 0.015107717911109118 Centerline is valid? [True, True] Translation: X:-30.24, Y:15.73, Z:0.07 [[ 6.88425917e-01 7.24388075e-01 -3.64921175e-02 -3.02368257e+01] [-7.23652836e-01 6.89381988e-01 3.28488596e-02 1.57335656e+01] [ 4.89523307e-02 3.79361803e-03 9.98793912e-01 6.90010365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.599115933 meters 0.01609991339507253 Centerline is valid? [True, True] Translation: X:-30.27, Y:15.73, Z:0.04 [[ 6.81904328e-01 7.30504406e-01 -3.70108204e-02 -3.02655415e+01] [-7.29747647e-01 6.82895292e-01 3.35021162e-02 1.57303356e+01] [ 4.97479585e-02 4.16332108e-03 9.98753126e-01 3.66797719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.629115933 meters 0.015397261098815897 Centerline is valid? [True, True] Translation: X:-30.29, Y:15.74, Z:0.02 [[ 6.79330564e-01 7.32830610e-01 -3.83312139e-02 -3.02872725e+01] [-7.32012612e-01 6.80397168e-01 3.48888231e-02 1.57358632e+01] [ 5.16480469e-02 4.35788815e-03 9.98655841e-01 2.42535525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.659115933 meters 0.014385784856199983 Centerline is valid? [True, True] Translation: X:-30.29, Y:15.76, Z:0.06 [[ 6.79570323e-01 7.32820125e-01 -3.40417629e-02 -3.02947366e+01] [-7.32166953e-01 6.80412089e-01 3.11599422e-02 1.57570453e+01] [ 4.59970597e-02 3.74888188e-03 9.98934541e-01 5.50812069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.689115933 meters 0.01605761613589405 Centerline is valid? [True, True] Translation: X:-30.32, Y:15.75, Z:0.02 [[ 6.69828303e-01 7.41540201e-01 -3.80548756e-02 -3.03246640e+01] [-7.40726677e-01 6.70891870e-01 3.50440961e-02 1.57529905e+01] [ 5.15173127e-02 4.71473413e-03 9.98660972e-01 1.71098295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.719115933 meters 0.014513140591843917 Centerline is valid? [True, True] Translation: X:-30.34, Y:15.77, Z:0.03 [[ 6.69908005e-01 7.41688979e-01 -3.34772095e-02 -3.03353857e+01] [-7.41051483e-01 6.70731819e-01 3.10084890e-02 1.57704467e+01] [ 4.54528842e-02 4.03550069e-03 9.98958332e-01 2.94309905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.749115933 meters 0.015581016623008311 Centerline is valid? [True, True] Translation: X:-30.36, Y:15.77, Z:0.00 [[ 6.64589360e-01 7.46365164e-01 -3.54968163e-02 -3.03623230e+01] [-7.45645254e-01 6.65521551e-01 3.30789998e-02 1.57690859e+01] [ 4.83129093e-02 4.48408128e-03 9.98822184e-01 4.19805469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77911593299999 meters 0.015507681899083442 Centerline is valid? [True, True] Translation: X:-30.38, Y:15.78, Z:0.01 [[ 6.63212694e-01 7.47635570e-01 -3.44960485e-02 -3.03753586e+01] [-7.46948407e-01 6.64095166e-01 3.23370958e-02 1.57835260e+01] [ 4.70850221e-02 4.32039607e-03 9.98881542e-01 1.46897835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80911593299999 meters 0.015078027229690327 Centerline is valid? [True, True] Translation: X:-30.39, Y:15.79, Z:0.01 [[ 6.58603332e-01 7.51741107e-01 -3.35702147e-02 -3.03936139e+01] [-7.51086996e-01 6.59443894e-01 3.16555798e-02 1.57916843e+01] [ 4.59344737e-02 4.36568143e-03 9.98934915e-01 8.06845719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83911593299999 meters 0.015514306467001731 Centerline is valid? [True, True] Translation: X:-30.41, Y:15.80, Z:0.00 [[ 6.60001075e-01 7.50602241e-01 -3.15413500e-02 -3.04089936e+01] [-7.50015379e-01 6.60742803e-01 2.99312453e-02 1.58003596e+01] [ 4.33071798e-02 3.90184351e-03 9.99054185e-01 4.65637123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.86911593299999 meters 0.01571309778670016 Centerline is valid? [True, True] Translation: X:-30.40, Y:15.84, Z:0.08 [[ 6.56415912e-01 7.53769734e-01 -3.08113440e-02 -3.04032535e+01] [-7.53205680e-01 6.57127070e-01 2.94145915e-02 1.58353489e+01] [ 4.24187970e-02 3.89907340e-03 9.99092309e-01 7.70605967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89911593299999 meters 0.014776146309113758 Centerline is valid? [True, True] Translation: X:-30.44, Y:15.82, Z:0.03 [[ 6.54965769e-01 7.55019870e-01 -3.10618259e-02 -3.04380996e+01] [-7.54440624e-01 6.55690315e-01 2.98254178e-02 1.58242107e+01] [ 4.28857215e-02 3.89967563e-03 9.99072373e-01 2.91515061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.92911593299999 meters 0.014951536895947018 Centerline is valid? [True, True] Translation: X:-30.45, Y:15.84, Z:0.02 [[ 6.51794551e-01 7.57803041e-01 -2.99735647e-02 -3.04531755e+01] [-7.57259573e-01 6.52472138e-01 2.89490690e-02 1.58363437e+01] [ 4.14946083e-02 3.82892336e-03 9.99131391e-01 1.80379576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95911593299999 meters 0.015030833095508652 Centerline is valid? [True, True] Translation: X:-30.47, Y:15.84, Z:0.02 [[ 6.46040480e-01 7.62705390e-01 -3.02024302e-02 -3.04722858e+01] [-7.62151448e-01 6.46733332e-01 2.93456572e-02 1.58434941e+01] [ 4.19150092e-02 4.06034348e-03 9.99112929e-01 1.60327790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.989115933 meters 0.015533594059850388 Centerline is valid? [True, True] Translation: X:-30.46, Y:15.89, Z:0.12 [[ 6.42607996e-01 7.65658940e-01 -2.86592283e-02 -3.04578233e+01] [-7.65156420e-01 6.43234763e-01 2.80123551e-02 1.58868890e+01] [ 3.98825221e-02 3.92782911e-03 9.99196656e-01 1.19635341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.019115933 meters 0.014983170803544674 Centerline is valid? [True, True] Translation: X:-30.51, Y:15.86, Z:0.01 [[ 6.45575038e-01 7.63182281e-01 -2.80299115e-02 -3.05104447e+01] [-7.62692766e-01 6.46173323e-01 2.75641297e-02 1.58569055e+01] [ 3.91486364e-02 3.58349666e-03 9.99226973e-01 5.51113949e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.049115933 meters 0.014461425997059822 Centerline is valid? [True, True] Translation: X:-30.52, Y:15.87, Z:0.02 [[ 6.46732711e-01 7.62292107e-01 -2.54468755e-02 -3.05215565e+01] [-7.61882591e-01 6.47225694e-01 2.51757680e-02 1.58728266e+01] [ 3.56611609e-02 3.10553872e-03 9.99359113e-01 2.01819298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.079115933 meters 0.014461635076382255 Centerline is valid? [True, True] Translation: X:-30.54, Y:15.88, Z:0.03 [[ 6.46535293e-01 7.62448222e-01 -2.57841865e-02 -3.05362709e+01] [-7.62022189e-01 6.47042027e-01 2.56670521e-02 1.58849569e+01] [ 3.62532505e-02 3.05346722e-03 9.99337970e-01 3.10921390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.109115933 meters 0.014567789435952223 Centerline is valid? [True, True] Translation: X:-30.56, Y:15.89, Z:0.00 [[ 6.33744351e-01 7.72951396e-01 -3.02363489e-02 -3.05591860e+01] [-7.72368286e-01 6.34451673e-01 3.03035488e-02 1.58863907e+01] [ 4.26066725e-02 4.14889409e-03 9.99083309e-01 3.61424196e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13911593299999 meters 0.014794511084585531 Centerline is valid? [True, True] Translation: X:-29.36, Y:17.01, Z:-1.88 [[ 8.21126342e-01 -5.70488191e-01 -1.71684115e-02 -2.93586849e+01] [-5.70328948e-01 -8.21304728e-01 1.35438499e-02 1.70069944e+01] [-2.18271040e-02 -1.32956981e-03 -9.99760876e-01 -1.87901753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16911593299999 meters 0.014460103348465599 Centerline is valid? [True, True] Translation: X:-30.48, Y:15.76, Z:-0.02 [[ 6.92413742e-01 7.20854614e-01 -3.05259817e-02 -3.04812284e+01] [-7.20393454e-01 6.93075144e-01 2.60790388e-02 1.57578780e+01] [ 3.99559947e-02 3.93323252e-03 9.99193699e-01 -2.23493629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19911593299999 meters 0.014238064657169999 Centerline is valid? [True, True] Translation: X:-30.50, Y:15.77, Z:-0.01 [[ 6.91564815e-01 7.21662364e-01 -3.06845046e-02 -3.04967796e+01] [-7.21191358e-01 6.92234223e-01 2.63591745e-02 1.57692331e+01] [ 4.02632884e-02 3.90032194e-03 9.99181493e-01 -1.25024264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22911593299999 meters 0.015457898169610932 Centerline is valid? [True, True] Translation: X:-30.49, Y:15.80, Z:0.06 [[ 6.88420045e-01 7.24599764e-01 -3.21406991e-02 -3.04931807e+01] [-7.24078850e-01 6.89157447e-01 2.77818604e-02 1.58027137e+01] [ 4.22807316e-02 4.14681085e-03 9.99097164e-01 6.15958917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25911593299999 meters 0.014804024706712968 Centerline is valid? [True, True] Translation: X:-30.53, Y:15.79, Z:-0.01 [[ 6.91172453e-01 7.21992160e-01 -3.17484027e-02 -3.05289608e+01] [-7.21474265e-01 6.91890669e-01 2.76077314e-02 1.57882254e+01] [ 4.18989892e-02 3.82395204e-03 9.99114534e-01 -6.69637161e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.28911593299999 meters 0.015084792526825553 Centerline is valid? [True, True] Translation: X:-30.54, Y:15.79, Z:-0.00 [[ 6.81506087e-01 7.31067913e-01 -3.30024372e-02 -3.05407523e+01] [-7.30506960e-01 6.82290716e-01 2.89648205e-02 1.57937222e+01] [ 4.36925074e-02 4.36880853e-03 9.99035474e-01 -5.07491773e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31911593299999 meters 0.014838185663389443 Centerline is valid? [True, True] Translation: X:-30.56, Y:15.80, Z:0.01 [[ 6.80778318e-01 7.31750075e-01 -3.29045576e-02 -3.05561413e+01] [-7.31184245e-01 6.81559746e-01 2.90845657e-02 1.58043094e+01] [ 4.37090550e-02 4.25915238e-03 9.99035224e-01 7.81779240e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.349115933 meters 0.014706486130668966 Centerline is valid? [True, True] Translation: X:-30.58, Y:15.81, Z:0.00 [[ 6.73593774e-01 7.38309913e-01 -3.42038154e-02 -3.05750101e+01] [-7.37698010e-01 6.74444971e-01 3.04241253e-02 1.58100706e+01] [ 4.55310246e-02 4.73858512e-03 9.98951686e-01 8.72170575e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.379115933 meters 0.014572762025247687 Centerline is valid? [True, True] Translation: X:-30.57, Y:15.84, Z:0.07 [[ 6.76100191e-01 7.36152577e-01 -3.11113524e-02 -3.05743336e+01] [-7.35636656e-01 6.76803470e-01 2.78527044e-02 1.58371815e+01] [ 4.15601114e-02 4.05543248e-03 9.99127775e-01 7.00116495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.409115933 meters 0.014607364354344395 Centerline is valid? [True, True] Translation: X:-30.60, Y:15.83, Z:0.02 [[ 6.81381772e-01 7.31365484e-01 -2.86951139e-02 -3.06046452e+01] [-7.30915958e-01 6.81977472e-01 2.58570949e-02 1.58290550e+01] [ 3.84804080e-02 3.35516351e-03 9.99253722e-01 1.52287318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.439115933 meters 0.014574753129012026 Centerline is valid? [True, True] Translation: X:-30.62, Y:15.84, Z:0.03 [[ 6.74277721e-01 7.37797624e-01 -3.16894524e-02 -3.06169306e+01] [-7.37247473e-01 6.75010304e-01 2.87620182e-02 1.58419128e+01] [ 4.26112555e-02 3.96938060e-03 9.99083843e-01 2.90420406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.469115933 meters 0.014097746403896598 Centerline is valid? [True, True] Translation: X:-30.62, Y:15.86, Z:0.06 [[ 6.78091805e-01 7.34324678e-01 -3.09640319e-02 -3.06243957e+01] [-7.33786177e-01 6.78789339e-01 2.83351254e-02 1.58570721e+01] [ 4.18252366e-02 3.50716231e-03 9.99118786e-01 5.89773550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.499115933 meters 0.01501921093927265 Centerline is valid? [True, True] Translation: X:-30.65, Y:15.86, Z:0.03 [[ 6.74791988e-01 7.37299141e-01 -3.23380710e-02 -3.06459947e+01] [-7.36706190e-01 6.75556185e-01 2.97964839e-02 1.58605061e+01] [ 4.38151059e-02 3.71722849e-03 9.99032742e-01 3.44698859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52911593299999 meters 0.014713471958133974 Centerline is valid? [True, True] Translation: X:-30.66, Y:15.88, Z:0.06 [[ 6.67592180e-01 7.43551040e-01 -3.81120909e-02 -3.06558622e+01] [-7.42725429e-01 6.68662591e-01 3.53451135e-02 1.58772391e+01] [ 5.17650254e-02 4.71069768e-03 9.98648182e-01 5.76765305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55911593299999 meters 0.014032382142276275 Centerline is valid? [True, True] Translation: X:-30.67, Y:15.88, Z:0.06 [[ 6.73912461e-01 7.37841439e-01 -3.78418384e-02 -3.06748413e+01] [-7.37007107e-01 6.74961692e-01 3.53162694e-02 1.58837606e+01] [ 5.15995983e-02 4.08962982e-03 9.98659480e-01 5.98991557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58911593299999 meters 0.01412416737017609 Centerline is valid? [True, True] Translation: X:-30.69, Y:15.90, Z:0.07 [[ 6.71808035e-01 7.39683392e-01 -3.92739678e-02 -3.06883956e+01] [-7.38775286e-01 6.72941711e-01 3.68853604e-02 1.58971752e+01] [ 5.37125796e-02 4.23475531e-03 9.98547458e-01 7.07021360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61911593299999 meters 0.014476219507993231 Centerline is valid? [True, True] Translation: X:-30.70, Y:15.90, Z:0.08 [[ 6.70214849e-01 7.40970267e-01 -4.21321697e-02 -3.07022853e+01] [-7.39906258e-01 6.71523377e-01 3.99384826e-02 1.59016422e+01] [ 5.78859650e-02 4.40649192e-03 9.98313477e-01 7.81154294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.64911593299999 meters 0.014523571942742156 Centerline is valid? [True, True] Translation: X:-30.72, Y:15.91, Z:0.07 [[ 6.68567495e-01 7.42353130e-01 -4.39241943e-02 -3.07168717e+01] [-7.41181402e-01 6.69993595e-01 4.19370005e-02 1.59114201e+01] [ 6.05609925e-02 4.51808057e-03 9.98154273e-01 7.44757203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67911593299999 meters 0.014356557997470012 Centerline is valid? [True, True] Translation: X:-30.73, Y:15.92, Z:0.07 [[ 6.69678933e-01 7.41247337e-01 -4.56345420e-02 -3.07326830e+01] [-7.39962347e-01 6.71217548e-01 4.38489172e-02 1.59215633e+01] [ 6.31335985e-02 4.40314674e-03 9.97995371e-01 7.48331400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.70911593299999 meters 0.014284897565009044 Centerline is valid? [True, True] Translation: X:-30.75, Y:15.93, Z:0.08 [[ 6.65069023e-01 7.45219705e-01 -4.82782195e-02 -3.07477701e+01] [-7.43768324e-01 6.66801557e-01 4.67371679e-02 1.59298938e+01] [ 6.70214504e-02 4.82436783e-03 9.97739871e-01 7.88774971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.739115933 meters 0.013613252427707945 Centerline is valid? [True, True] Translation: X:-30.76, Y:15.95, Z:0.10 [[ 6.66832620e-01 7.43734387e-01 -4.68339479e-02 -3.07552255e+01] [-7.42344945e-01 6.68461236e-01 4.56460202e-02 1.59485974e+01] [ 6.52551936e-02 4.32868925e-03 9.97859220e-01 9.62035382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.769115933 meters 0.014758971911427258 Centerline is valid? [True, True] Translation: X:-30.78, Y:15.95, Z:0.08 [[ 6.60608784e-01 7.48990652e-01 -5.10787465e-02 -3.07755220e+01] [-7.47329815e-01 6.62561161e-01 5.01084338e-02 1.59539855e+01] [ 7.13735421e-02 5.07059872e-03 9.97436768e-01 7.77703285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.799115933 meters 0.013760201686460232 Centerline is valid? [True, True] Translation: X:-30.79, Y:15.97, Z:0.09 [[ 6.61945227e-01 7.47853037e-01 -5.04415716e-02 -3.07876523e+01] [-7.46206657e-01 6.63847930e-01 4.98151695e-02 1.59660600e+01] [ 7.07399587e-02 4.66492284e-03 9.97483883e-01 8.58179447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.829115933 meters 0.014185598057725606 Centerline is valid? [True, True] Translation: X:-30.80, Y:15.98, Z:0.10 [[ 6.59395429e-01 7.50024528e-01 -5.15836728e-02 -3.07955169e+01] [-7.48280058e-01 6.61393009e-01 5.13443502e-02 1.59808839e+01] [ 7.26266026e-02 4.74280385e-03 9.97347924e-01 1.01471197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.859115933 meters 0.014014399555512695 Centerline is valid? [True, True] Translation: X:-30.81, Y:15.99, Z:0.09 [[ 6.53035365e-01 7.55414111e-01 -5.37989987e-02 -3.08110089e+01] [-7.53506964e-01 6.55225972e-01 5.39089965e-02 1.59905856e+01] [ 7.59741179e-02 5.33343899e-03 9.97095526e-01 9.00439838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88911593299999 meters 0.013816158704348585 Centerline is valid? [True, True] Translation: X:-29.53, Y:17.22, Z:-2.03 [[ 8.03389514e-01 -5.93640070e-01 -4.64408913e-02 -2.95254605e+01] [-5.92403703e-01 -8.04723616e-01 3.84415730e-02 1.72198682e+01] [-6.01925401e-02 -3.37180063e-03 -9.98181090e-01 -2.03126829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91911593299999 meters 0.014246624931349197 Centerline is valid? [True, True] Translation: X:-30.72, Y:15.88, Z:0.09 [[ 7.03655123e-01 7.07748057e-01 -6.29456651e-02 -3.07225808e+01] [-7.05734548e-01 7.06434112e-01 5.37549414e-02 1.58826110e+01] [ 8.25119204e-02 6.59799061e-03 9.96568236e-01 9.17596427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94911593299999 meters 0.013980225533657286 Centerline is valid? [True, True] Translation: X:-30.73, Y:15.90, Z:0.11 [[ 7.06928912e-01 7.04858200e-01 -5.85357219e-02 -3.07314148e+01] [-7.03084195e-01 7.09326098e-01 5.02901823e-02 1.59005922e+01] [ 7.69683625e-02 5.60395704e-03 9.97017787e-01 1.11860236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97911593299999 meters 0.013676747854921543 Centerline is valid? [True, True] Translation: X:-30.75, Y:15.91, Z:0.10 [[ 7.05402293e-01 7.06432271e-01 -5.79745828e-02 -3.07479619e+01] [-7.04673132e-01 7.07759319e-01 5.01250750e-02 1.59085484e+01] [ 7.64420218e-02 5.49478797e-03 9.97058887e-01 9.96687719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.00911593299999 meters 0.014236442037585489 Centerline is valid? [True, True] Translation: X:-30.77, Y:15.91, Z:0.08 [[ 7.00215581e-01 7.11555654e-01 -5.81952908e-02 -3.07666988e+01] [-7.09775738e-01 7.02605394e-01 5.06365630e-02 1.59142118e+01] [ 7.69190579e-02 5.84909514e-03 9.97020184e-01 8.07732165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03911593299999 meters 0.013515656384185417 Centerline is valid? [True, True] Translation: X:-30.78, Y:15.93, Z:0.08 [[ 6.98903720e-01 7.12780126e-01 -5.89752729e-02 -3.07789681e+01] [-7.10930781e-01 7.01363284e-01 5.16427038e-02 1.59276066e+01] [ 7.81729840e-02 5.83405905e-03 9.96922739e-01 7.63514360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.06911593299999 meters 0.013940565784586174 Centerline is valid? [True, True] Translation: X:-30.80, Y:15.93, Z:0.05 [[ 6.93764929e-01 7.17702540e-01 -5.99440369e-02 -3.07974573e+01] [-7.15783167e-01 6.96321692e-01 5.28257412e-02 1.59338499e+01] [ 7.96535018e-02 6.25828601e-03 9.96802966e-01 5.22377381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.099115933 meters 0.013983000842505875 Centerline is valid? [True, True] Translation: X:-30.81, Y:15.94, Z:0.03 [[ 6.88519112e-01 7.22613215e-01 -6.14131482e-02 -3.08132330e+01] [-7.20586071e-01 6.91219869e-01 5.45051092e-02 1.59411343e+01] [ 8.18361005e-02 6.72564980e-03 9.96623107e-01 3.14788338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.129115933 meters 0.013430686657572913 Centerline is valid? [True, True] Translation: X:-30.82, Y:15.96, Z:0.03 [[ 6.88726917e-01 7.22513247e-01 -6.02481765e-02 -3.08245643e+01] [-7.20534018e-01 6.91327961e-01 5.38180201e-02 1.59556795e+01] [ 8.05354815e-02 6.34494165e-03 9.96731548e-01 3.10661895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.159115933 meters 0.013776957697452382 Centerline is valid? [True, True] Translation: X:-30.84, Y:15.97, Z:0.02 [[ 6.79225823e-01 7.31301682e-01 -6.20494271e-02 -3.08395292e+01] [-7.29207944e-01 6.82014472e-01 5.57856067e-02 1.59658418e+01] [ 8.31147153e-02 7.35591052e-03 9.96512837e-01 2.05684278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.189115933 meters 0.01431332779700556 Centerline is valid? [True, True] Translation: X:-30.85, Y:15.98, Z:0.02 [[ 6.78772512e-01 7.31717180e-01 -6.21115581e-02 -3.08521467e+01] [-7.29590699e-01 6.81570690e-01 5.62032555e-02 1.59780742e+01] [ 8.34583051e-02 7.16679017e-03 9.96485498e-01 1.97585395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.219115933 meters 0.01362950914946857 Centerline is valid? [True, True] Translation: X:-30.86, Y:16.00, Z:0.04 [[ 6.75620788e-01 7.34654982e-01 -6.17948875e-02 -3.08576971e+01] [-7.32532031e-01 6.78402227e-01 5.62782519e-02 1.59992563e+01] [ 8.32668874e-02 7.24397757e-03 9.96500953e-01 4.19652869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.249115933 meters 0.014184182114727816 Centerline is valid? [True, True] Translation: X:-30.88, Y:16.00, Z:0.01 [[ 6.76095122e-01 7.34261677e-01 -6.12794784e-02 -3.08764892e+01] [-7.32142476e-01 6.78831592e-01 5.61699663e-02 1.60047475e+01] [ 8.28418995e-02 6.88906879e-03 9.96538891e-01 1.39050301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27911593299999 meters 0.014195522377212607 Centerline is valid? [True, True] Translation: X:-30.90, Y:16.01, Z:-0.03 [[ 6.73862758e-01 7.36280874e-01 -6.16397530e-02 -3.09003746e+01] [-7.34114752e-01 6.76640518e-01 5.68607090e-02 1.60051027e+01] [ 8.35734069e-02 6.93433785e-03 9.96477496e-01 -2.60110485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30911593299999 meters 0.01489583780845743 Centerline is valid? [True, True] Translation: X:-30.90, Y:16.03, Z:-0.01 [[ 6.69852297e-01 7.39987631e-01 -6.09606887e-02 -3.09047227e+01] [-7.37854251e-01 6.72583309e-01 5.65932629e-02 1.60275266e+01] [ 8.28794563e-02 7.07097613e-03 9.96534494e-01 -1.05477334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33911593299999 meters 0.014729658075984772 Centerline is valid? [True, True] Translation: X:-30.92, Y:16.04, Z:-0.02 [[ 6.68421415e-01 7.41351781e-01 -6.00861737e-02 -3.09181892e+01] [-7.39254307e-01 6.71081303e-01 5.61511699e-02 1.60374204e+01] [ 8.19504776e-02 6.88631827e-03 9.96612612e-01 -2.24851494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.36911593299999 meters 0.014729658075984772 Centerline is valid? [True, True] Translation: X:-30.93, Y:16.05, Z:-0.02 [[ 6.66013721e-01 7.43530351e-01 -5.99027560e-02 -3.09304629e+01] [-7.41424199e-01 6.68666737e-01 5.63467227e-02 1.60492687e+01] [ 8.19504789e-02 6.88566234e-03 9.96612616e-01 -2.26268720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39911593299999 meters 0.015143455819585176 Centerline is valid? [True, True] Translation: X:-30.95, Y:16.06, Z:-0.04 [[ 6.56937332e-01 7.51414579e-01 -6.17209267e-02 -3.09479568e+01] [-7.49178373e-01 6.59783823e-01 5.84557385e-02 1.60554875e+01] [ 8.46469631e-02 7.83822652e-03 9.96380175e-01 -4.09089621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.42911593299999 meters 0.014965275757872015 Centerline is valid? [True, True] Translation: X:-30.96, Y:16.07, Z:-0.05 [[ 6.51650508e-01 7.55970318e-01 -6.21328715e-02 -3.09581167e+01] [-7.53691628e-01 6.54554111e-01 5.92270668e-02 1.60699083e+01] [ 8.54432310e-02 8.23367684e-03 9.96309019e-01 -4.63466215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45911593299999 meters 0.014542143854096969 Centerline is valid? [True, True] Translation: X:-30.97, Y:16.08, Z:-0.06 [[ 6.43299135e-01 7.62972684e-01 -6.35523855e-02 -3.09728699e+01] [-7.60587382e-01 6.46366450e-01 6.09692289e-02 1.60792998e+01] [ 8.75959860e-02 9.11569028e-03 9.96114375e-01 -5.87849905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.489115933 meters 0.015774282260207766 Centerline is valid? [True, True] Translation: X:-30.98, Y:16.10, Z:-0.04 [[ 6.41940861e-01 7.64180312e-01 -6.27724684e-02 -3.09760305e+01] [-7.61820312e-01 6.44941569e-01 6.06645279e-02 1.61016073e+01] [ 8.68432121e-02 8.87830215e-03 9.96182429e-01 -3.85698108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.519115933 meters 0.015559465905342042 Centerline is valid? [True, True] Translation: X:-30.98, Y:16.12, Z:-0.00 [[ 6.39995482e-01 7.65917846e-01 -6.14462086e-02 -3.09798753e+01] [-7.63631543e-01 6.42879978e-01 5.97678870e-02 1.61229658e+01] [ 8.52798284e-02 8.67108540e-03 9.96319308e-01 -1.08428912e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.549115933 meters 0.01583952385302134 Centerline is valid? [True, True] Translation: X:-31.00, Y:16.13, Z:-0.06 [[ 6.30580120e-01 7.73667137e-01 -6.17079651e-02 -3.10005528e+01] [-7.71364330e-01 6.33520875e-01 6.04017575e-02 1.61257294e+01] [ 8.58241389e-02 9.51117562e-03 9.96264902e-01 -5.58384829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.579115933 meters 0.01615923417517959 Centerline is valid? [True, True] Translation: X:-31.01, Y:16.14, Z:-0.03 [[ 6.27882588e-01 7.75946508e-01 -6.05844209e-02 -3.10086290e+01] [-7.73705407e-01 6.30728608e-01 5.96771868e-02 1.61428005e+01] [ 8.45186321e-02 9.40422746e-03 9.96377519e-01 -3.17657865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.609115933 meters 0.01625760505350111 Centerline is valid? [True, True] Translation: X:-31.02, Y:16.15, Z:-0.04 [[ 6.31922092e-01 7.72839547e-01 -5.82537918e-02 -3.10218633e+01] [-7.70724979e-01 6.34545795e-01 5.77463404e-02 1.61538633e+01] [ 8.15933542e-02 8.40646419e-03 9.96630250e-01 -4.01593095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63911593299999 meters 0.016987981836197763 Centerline is valid? [True, True] Translation: X:-31.03, Y:16.17, Z:-0.04 [[ 6.26291128e-01 7.77257547e-01 -6.02505410e-02 -3.10344093e+01] [-7.74983370e-01 6.29117436e-01 6.01001480e-02 1.61658586e+01] [ 8.46179595e-02 9.05297779e-03 9.96372342e-01 -4.06097803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.66911593299999 meters 0.017384345457057554 Centerline is valid? [True, True] Translation: X:-31.05, Y:16.18, Z:-0.05 [[ 6.23762503e-01 7.79336105e-01 -5.96286438e-02 -3.10484990e+01] [-7.77086767e-01 6.26541422e-01 5.98498315e-02 1.61763709e+01] [ 8.40029499e-02 9.00454936e-03 9.96424820e-01 -5.38610205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69911593299999 meters 0.018259169255290725 Centerline is valid? [True, True] Translation: X:-29.72, Y:17.39, Z:-1.92 [[ 8.22065255e-01 -5.67545619e-01 -4.58332494e-02 -2.97214682e+01] [-5.66296733e-01 -8.23325005e-01 3.79992963e-02 1.73927601e+01] [-5.93019944e-02 -5.28268184e-03 -9.98226110e-01 -1.91794713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.72911593299999 meters 0.017675548842778742 Centerline is valid? [True, True] Translation: X:-30.93, Y:16.04, Z:-0.07 [[ 6.90664147e-01 7.20669730e-01 -6.01512767e-02 -3.09313532e+01] [-7.18870979e-01 6.93235824e-01 5.14646265e-02 1.60373899e+01] [ 7.87880184e-02 7.69623481e-03 9.96861684e-01 -6.68594690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75911593299999 meters 0.01778411673318367 Centerline is valid? [True, True] Translation: X:-30.94, Y:16.05, Z:-0.05 [[ 6.91934385e-01 7.19695444e-01 -5.71425837e-02 -3.09441695e+01] [-7.18046142e-01 6.94254701e-01 4.91950074e-02 1.60499547e+01] [ 7.50769300e-02 6.99129455e-03 9.97153236e-01 -5.39886093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.78911593299999 meters 0.01654992836916182 Centerline is valid? [True, True] Translation: X:-30.98, Y:16.04, Z:-0.14 [[ 6.93257771e-01 7.18481354e-01 -5.63755856e-02 -3.09754845e+01] [-7.16848541e-01 6.95515416e-01 4.88515661e-02 1.60395093e+01] [ 7.43090282e-02 6.54602851e-03 9.97213777e-01 -1.41492503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81911593299999 meters 0.01745392488377278 Centerline is valid? [True, True] Translation: X:-30.98, Y:16.06, Z:-0.10 [[ 6.90676665e-01 7.21159452e-01 -5.38032391e-02 -3.09832138e+01] [-7.19659030e-01 6.92740357e-01 4.69220462e-02 1.60579412e+01] [ 7.11099522e-02 6.31202446e-03 9.97448511e-01 -1.04529853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.849115933 meters 0.017529122902408687 Centerline is valid? [True, True] Translation: X:-31.00, Y:16.06, Z:-0.15 [[ 6.88475996e-01 7.23105269e-01 -5.58531319e-02 -3.10024452e+01] [-7.21471360e-01 6.90706826e-01 4.90220065e-02 1.60630160e+01] [ 7.40262107e-02 6.54596029e-03 9.97234812e-01 -1.45278259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.879115933 meters 0.0284257416207879 Centerline is valid? [True, True] Translation: X:-31.02, Y:16.06, Z:-0.17 [[ 6.88278182e-01 7.23109494e-01 -5.81876644e-02 -3.10249071e+01] [-7.21309954e-01 6.90701996e-01 5.14072335e-02 1.60637859e+01] [ 7.73633945e-02 6.58886434e-03 9.96981189e-01 -1.67600136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.909115933 meters 0.03957403726466104 Centerline is valid? [True, True] Translation: X:-31.04, Y:16.07, Z:-0.20 [[ 6.87894585e-01 7.23158467e-01 -6.19909072e-02 -3.10429545e+01] [-7.21085148e-01 6.90648956e-01 5.51382706e-02 1.60689754e+01] [ 8.26876626e-02 6.77140470e-03 9.96552507e-01 -2.04261686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.939115933 meters 0.04422498259544165 Centerline is valid? [True, True] Translation: X:-31.06, Y:16.08, Z:-0.23 [[ 6.88039742e-01 7.22560564e-01 -6.71382476e-02 -3.10608982e+01] [-7.20089517e-01 6.91272335e-01 6.01136106e-02 1.60751489e+01] [ 8.98465376e-02 6.98499514e-03 9.95931127e-01 -2.31960638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.969115933 meters 0.050368968576167204 Centerline is valid? [True, True] Translation: X:-31.08, Y:16.08, Z:-0.27 [[ 6.81609917e-01 7.27894755e-01 -7.46802945e-02 -3.10809184e+01] [-7.24822891e-01 6.85639227e-01 6.73099432e-02 1.60786252e+01] [ 1.00198294e-01 8.25086209e-03 9.94933277e-01 -2.70178121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.999115933 meters 0.051623263644730126 Centerline is valid? [True, True] Translation: X:-31.10, Y:16.08, Z:-0.33 [[ 6.75615455e-01 7.32384310e-01 -8.45989354e-02 -3.11011485e+01] [-7.28402168e-01 6.80822683e-01 7.68814474e-02 1.60791114e+01] [ 1.13903640e-01 9.67975386e-03 9.93444645e-01 -3.25406369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02911593299999 meters 0.0568658069368231 Centerline is valid? [True, True] Translation: X:-31.15, Y:16.05, Z:-0.52 [[ 6.69135437e-01 7.31232540e-01 -1.32501846e-01 -3.11489390e+01] [-7.21242594e-01 6.81976464e-01 1.21314567e-01 1.60503850e+01] [ 1.79072299e-01 1.43900998e-02 9.83730673e-01 -5.24214074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05911593299999 meters 0.05721663508013319 Centerline is valid? [True, True] Translation: X:-31.17, Y:16.05, Z:-0.55 [[ 6.68874352e-01 7.30751225e-01 -1.36417552e-01 -3.11675144e+01] [-7.19988743e-01 6.82498041e-01 1.25748296e-01 1.60549792e+01] [ 1.84995433e-01 1.41092922e-02 9.82638091e-01 -5.53850579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08911593299999 meters 0.061807241386502815 Centerline is valid? [True, True] Translation: X:-31.18, Y:16.07, Z:-0.53 [[ 6.70937936e-01 7.30903773e-01 -1.24987840e-01 -3.11763411e+01] [-7.21717890e-01 6.82370276e-01 1.16164082e-01 1.60687128e+01] [ 1.70192752e-01 1.22670707e-02 9.85334434e-01 -5.32005786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11911593299999 meters 0.06364932654478701 Centerline is valid? [True, True] Translation: X:-31.18, Y:16.09, Z:-0.48 [[ 6.78971654e-01 7.26674050e-01 -1.04605535e-01 -3.11804087e+01] [-7.20101733e-01 6.86925442e-01 9.79128713e-02 1.60916789e+01] [ 1.43006946e-01 8.84656290e-03 9.89682147e-01 -4.75187497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.14911593299999 meters 0.06712941813421483 Centerline is valid? [True, True] Translation: X:-31.19, Y:16.10, Z:-0.48 [[ 6.80378533e-01 7.25227001e-01 -1.05502841e-01 -3.11933384e+01] [-7.18428086e-01 6.88461466e-01 9.94077200e-02 1.61043358e+01] [ 1.44727803e-01 8.16132532e-03 9.89437848e-01 -4.80255944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17911593299999 meters 0.07109534854408667 Centerline is valid? [True, True] Translation: X:-31.21, Y:16.12, Z:-0.48 [[ 6.73710149e-01 7.31951344e-01 -1.01793250e-01 -3.12070590e+01] [-7.25596717e-01 6.81300652e-01 9.66376050e-02 1.61155200e+01] [ 1.40085832e-01 8.75511263e-03 9.90100655e-01 -4.81610825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.20911593299999 meters 0.07402773630818069 Centerline is valid? [True, True] Translation: X:-31.23, Y:16.12, Z:-0.50 [[ 6.71645710e-01 7.34467258e-01 -9.72105281e-02 -3.12252677e+01] [-7.28617572e-01 6.78591691e-01 9.28964511e-02 1.61207424e+01] [ 1.34195658e-01 8.43579608e-03 9.90918949e-01 -4.96359173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.239115933 meters 0.07646866559235309 Centerline is valid? [True, True] Translation: X:-31.24, Y:16.13, Z:-0.50 [[ 6.78443426e-01 7.29645527e-01 -8.56266415e-02 -3.12420151e+01] [-7.25002324e-01 6.83797770e-01 8.24150459e-02 1.61293546e+01] [ 1.18685076e-01 6.16556798e-03 9.92912805e-01 -5.00322530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.269115933 meters 0.07882065214103204 Centerline is valid? [True, True] Translation: X:-31.26, Y:16.14, Z:-0.49 [[ 6.77298589e-01 7.31855730e-01 -7.51918323e-02 -3.12567580e+01] [-7.28233688e-01 6.81438456e-01 7.29200016e-02 1.61398890e+01] [ 1.04605527e-01 5.36861117e-03 9.94499302e-01 -4.88371681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.299115933 meters 0.08108168201502387 Centerline is valid? [True, True] Translation: X:-31.27, Y:16.15, Z:-0.54 [[ 6.76594420e-01 7.32400805e-01 -7.62171359e-02 -3.12742281e+01] [-7.28628178e-01 6.80854044e-01 7.44227652e-02 1.61465744e+01] [ 1.06400038e-01 5.17992517e-03 9.94309912e-01 -5.40309203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.329115933 meters 0.08199579166877141 Centerline is valid? [True, True] Translation: X:-31.29, Y:16.16, Z:-0.56 [[ 6.71594786e-01 7.37375833e-01 -7.23693601e-02 -3.12899241e+01] [-7.33953355e-01 6.75461719e-01 7.11613564e-02 1.61557949e+01] [ 1.01355397e-01 5.32413874e-03 9.94836035e-01 -5.55696578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.359115933 meters 0.08429143386320337 Centerline is valid? [True, True] Translation: X:-31.30, Y:16.17, Z:-0.57 [[ 6.68522154e-01 7.40758212e-01 -6.59954568e-02 -3.13017361e+01] [-7.37889062e-01 6.71752951e-01 6.53276688e-02 1.61691488e+01] [ 9.27246500e-02 5.02433183e-03 9.95679113e-01 -5.71591014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.38911593299999 meters 0.085254476016555 Centerline is valid? [True, True] Translation: X:-31.32, Y:16.18, Z:-0.59 [[ 6.67246537e-01 7.42454522e-01 -5.95259673e-02 -3.13162586e+01] [-7.40087916e-01 6.69881882e-01 5.93981541e-02 1.61773656e+01] [ 8.39757951e-02 4.42123646e-03 9.96457986e-01 -5.92160958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41911593299999 meters 0.0863929739808293 Centerline is valid? [True, True] Translation: X:-31.34, Y:16.18, Z:-0.63 [[ 6.58356438e-01 7.50971991e-01 -5.10673017e-02 -3.13401018e+01] [-7.49226817e-01 6.60319080e-01 5.13603780e-02 1.61769960e+01] [ 7.22909190e-02 4.44755636e-03 9.97373672e-01 -6.25804711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.44911593299999 meters 0.0887274148773925 Centerline is valid? [True, True] Translation: X:-29.78, Y:17.72, Z:-1.26 [[ 8.01975645e-01 -5.96526237e-01 -3.14883064e-02 -2.97839118e+01] [-5.95971614e-01 -8.02591290e-01 2.57886889e-02 1.77184258e+01] [-4.06558700e-02 -1.91576366e-03 -9.99171372e-01 -1.26276568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47911593299999 meters 0.0896750851417035 Centerline is valid? [True, True] Translation: X:-31.25, Y:16.05, Z:-0.66 [[ 7.05424839e-01 7.08084372e-01 -3.15010926e-02 -3.12462858e+01] [-7.07578117e-01 7.06120290e-01 2.69693245e-02 1.60512309e+01] [ 4.13401178e-02 3.26465238e-03 9.99139798e-01 -6.63075054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.50911593299999 meters 0.09395768408292952 Centerline is valid? [True, True] Translation: X:-31.26, Y:16.06, Z:-0.68 [[ 6.94549499e-01 7.19193012e-01 -1.90369264e-02 -3.12622577e+01] [-7.19010169e-01 6.94806499e-01 1.63800622e-02 1.60598562e+01] [ 2.50074064e-02 2.31097966e-03 9.99684595e-01 -6.78366435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53911593299999 meters 0.09457807656928788 Centerline is valid? [True, True] Translation: X:-31.28, Y:16.06, Z:-0.72 [[ 6.88590288e-01 7.25127021e-01 -5.84967335e-03 -3.12835144e+01] [-7.25109956e-01 6.88614699e-01 5.03477367e-03 1.60603120e+01] [ 7.67902148e-03 7.74760133e-04 9.99970216e-01 -7.19342750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.56911593299999 meters 0.09590962904647907 Centerline is valid? [True, True] Translation: X:-31.29, Y:16.08, Z:-0.70 [[ 6.81969548e-01 7.31380546e-01 1.79939321e-04 -3.12885535e+01] [-7.31380517e-01 6.81969571e-01 -2.06148831e-04 1.60821264e+01] [-2.73486387e-04 8.98311140e-06 9.99999963e-01 -6.98075051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.599115933 meters 0.0976199675658053 Centerline is valid? [True, True] Translation: X:-31.30, Y:16.10, Z:-0.70 [[ 6.61147250e-01 7.50242724e-01 4.49099082e-03 -3.12979309e+01] [-7.50232341e-01 6.61162114e-01 -4.01175875e-03 1.60970358e+01] [-5.97906580e-03 -7.16923291e-04 9.99981868e-01 -6.99478388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.629115933 meters 0.10041192585902538 Centerline is valid? [True, False] Translation: X:-31.33, Y:15.87, Z:-1.21 [[ 0.97273572 0.10901184 -0.20469888 -31.32905905] [ -0.18579625 0.89455137 -0.40651888 15.87368047] [ 0.13879829 0.43346773 0.89041606 -1.2113376 ] [ 0. 0. 0. 1. ]] SLAMing on 74.659115933 meters 0.09682724938360567 Centerline is valid? [False, True] Translation: X:-31.29, Y:15.88, Z:-1.21 [[ 0.98342258 0.04414702 -0.1758723 -31.2880304 ] [ -0.11477163 0.90244399 -0.41523766 15.88308133] [ 0.14038339 0.42853925 0.89255062 -1.21078301] [ 0. 0. 0. 1. ]] SLAMing on 74.689115933 meters 0.0987750438554207 Centerline is valid? [True, True] Translation: X:-31.43, Y:15.90, Z:-0.73 [[ 9.72924850e-01 1.51757988e-01 -1.74317957e-01 -3.14312073e+01] [-1.53760627e-01 9.88106023e-01 2.03907167e-03 1.58987337e+01] [ 1.72554068e-01 2.48193748e-02 9.84687307e-01 -7.34508797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.719115933 meters 0.09917396825444477 Centerline is valid? [True, True] Translation: X:-31.47, Y:15.92, Z:-0.71 [[ 9.78301749e-01 1.45857000e-01 -1.47144226e-01 -3.14658063e+01] [-1.47201547e-01 9.89104936e-01 1.76933187e-03 1.59192272e+01] [ 1.45799149e-01 1.99289172e-02 9.89113465e-01 -7.12866144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.749115933 meters 0.08819839764158625 Centerline is valid? [True, True] Translation: X:-31.50, Y:15.95, Z:-0.69 [[ 9.90569869e-01 7.90856215e-02 -1.11878503e-01 -3.14993870e+01] [-7.94313791e-02 9.96839394e-01 1.37052502e-03 1.59521199e+01] [ 1.11633288e-01 7.52906300e-03 9.93720948e-01 -6.93690921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77911593299999 meters 0.08428181614268479 Centerline is valid? [True, True] Translation: X:-31.53, Y:15.97, Z:-0.68 [[ 9.91063664e-01 7.29341565e-02 -1.11684474e-01 -3.15321754e+01] [-7.32295850e-02 9.97314041e-01 1.46016201e-03 1.59669532e+01] [ 1.11490990e-01 6.73149419e-03 9.93742646e-01 -6.81360223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.80911593299999 meters 0.0828762002950482 Centerline is valid? [True, True] Translation: X:-31.57, Y:15.99, Z:-0.66 [[ 9.93880353e-01 6.37955695e-02 -9.01774339e-02 -3.15686941e+01] [-6.39499699e-02 9.97952409e-01 1.17904982e-03 1.59899534e+01] [ 9.00680056e-02 4.59500973e-03 9.95925017e-01 -6.56949172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83911593299999 meters 0.0813526111486847 Centerline is valid? [True, True] Translation: X:-31.63, Y:16.06, Z:-0.53 [[ 9.94872808e-01 6.02617961e-02 -8.12195270e-02 -3.16294642e+01] [-6.03730102e-02 9.98175293e-01 1.08803600e-03 1.60577567e+01] [ 8.11368922e-02 3.82100991e-03 9.96695643e-01 -5.25764091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.86911593299999 meters 0.07719422437005775 Centerline is valid? [True, True] Translation: X:-31.63, Y:16.01, Z:-0.65 [[ 9.96145444e-01 5.86225001e-02 -6.52507237e-02 -3.16314989e+01] [-5.86904724e-02 9.98275844e-01 8.76298852e-04 1.60140034e+01] [ 6.51895921e-02 2.95667469e-03 9.97868516e-01 -6.45126155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89911593299999 meters 0.07717764371296966 Centerline is valid? [True, True] Translation: X:-31.66, Y:16.02, Z:-0.64 [[ 9.95805652e-01 7.27022661e-02 -5.55471373e-02 -3.16634254e+01] [-7.27733223e-02 9.97348228e-01 7.45145579e-04 1.60151406e+01] [ 5.54540127e-02 3.30032954e-03 9.98455788e-01 -6.38651816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.92911593299999 meters 0.08253154275402111 Centerline is valid? [True, True] Translation: X:-31.70, Y:16.01, Z:-0.63 [[ 9.90030262e-01 1.24455546e-01 -6.59613380e-02 -3.16965672e+01] [-1.24669303e-01 9.92197958e-01 8.81672239e-04 1.60060102e+01] [ 6.55564339e-02 7.35047183e-03 9.97821790e-01 -6.29968118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95911593299999 meters 0.07084866835017578 Centerline is valid? [True, True] Translation: X:-31.72, Y:16.01, Z:-0.65 [[ 9.95204933e-01 8.08441503e-02 -5.50578372e-02 -3.17236743e+01] [-8.09261611e-02 9.96719823e-01 7.41990921e-04 1.60105039e+01] [ 5.49372234e-02 3.71718638e-03 9.98482891e-01 -6.45118275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.989115933 meters 0.07258413940646698 Centerline is valid? [True, True] Translation: X:-31.76, Y:16.00, Z:-0.63 [[ 9.91587906e-01 1.09698426e-01 -6.86999311e-02 -3.17564734e+01] [-1.09897431e-01 9.93942537e-01 8.87459559e-04 1.60043611e+01] [ 6.83811367e-02 6.66995178e-03 9.97636974e-01 -6.34764366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.019115933 meters 0.07077510288126802 Centerline is valid? [True, True] Translation: X:-31.79, Y:16.00, Z:-0.64 [[ 9.90233257e-01 1.16163233e-01 -7.70986376e-02 -3.17869131e+01] [-1.16427708e-01 9.93198591e-01 1.07097300e-03 1.60019868e+01] [ 7.66986660e-02 7.91590461e-03 9.97022895e-01 -6.36390103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.049115933 meters 0.06470883787399602 Centerline is valid? [True, True] Translation: X:-31.82, Y:16.01, Z:-0.61 [[ 9.89056955e-01 1.08653353e-01 -9.98037498e-02 -3.18239249e+01] [-1.09047140e-01 9.94035421e-01 1.51747363e-03 1.60113033e+01] [ 9.93733410e-02 9.38244564e-03 9.95005984e-01 -6.08895957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.079115933 meters 0.07044690066755223 Centerline is valid? [True, True] Translation: X:-31.90, Y:16.10, Z:-0.40 [[ 9.82052329e-01 1.40439521e-01 -1.25896639e-01 -3.19020770e+01] [-1.41323498e-01 9.89961592e-01 1.92746824e-03 1.61019499e+01] [ 1.24903529e-01 1.58992787e-02 9.92041492e-01 -4.02991176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.109115933 meters 0.0626532462044465 Centerline is valid? [True, True] Translation: X:-31.95, Y:16.11, Z:-0.31 [[ 9.72464985e-01 8.11022515e-02 -2.18481758e-01 -3.19530699e+01] [-8.23209536e-02 9.96599603e-01 3.53451391e-03 1.61112077e+01] [ 2.18025491e-01 1.45484357e-02 9.75834632e-01 -3.10696381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13911593299999 meters 0.054482034692908125 Centerline is valid? [True, True] Translation: X:-31.99, Y:16.12, Z:-0.28 [[ 9.68634711e-01 7.11875463e-02 -2.38073790e-01 -3.19894687e+01] [-7.23206488e-02 9.97373480e-01 3.98313507e-03 1.61189757e+01] [ 2.37732034e-01 1.33594481e-02 9.71238902e-01 -2.76707654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16911593299999 meters 0.04426745853841332 Centerline is valid? [True, True] Translation: X:-32.03, Y:16.13, Z:-0.24 [[ 9.64059030e-01 7.81556358e-02 -2.53932831e-01 -3.20251523e+01] [-7.96317230e-02 9.96814296e-01 4.47745766e-03 1.61315154e+01] [ 2.53473815e-01 1.59045754e-02 9.67211492e-01 -2.42690299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19911593299999 meters 0.03613508141313229 Centerline is valid? [True, True] Translation: X:-32.06, Y:16.16, Z:-0.19 [[ 9.61178039e-01 8.50167460e-02 -2.62505105e-01 -3.20636540e+01] [-8.67792085e-02 9.96215547e-01 4.89413245e-03 1.61579803e+01] [ 2.61927750e-01 1.80758526e-02 9.64918192e-01 -1.89034626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22911593299999 meters 0.028243004531741566 Centerline is valid? [True, True] Translation: X:-32.09, Y:16.16, Z:-0.19 [[ 9.57295434e-01 9.48948856e-02 -2.73094148e-01 -3.20887167e+01] [-9.71143058e-02 9.95258523e-01 5.41154816e-03 1.61591359e+01] [ 2.72312806e-01 2.13408982e-02 9.61972090e-01 -1.90522192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25911593299999 meters 0.02363244164981143 Centerline is valid? [True, True] Translation: X:-32.12, Y:16.17, Z:-0.18 [[ 9.56214281e-01 8.97114568e-02 -2.78578719e-01 -3.21171776e+01] [-9.17121073e-02 9.95768260e-01 5.87049322e-03 1.61678593e+01] [ 2.77926497e-01 1.99355919e-02 9.60395457e-01 -1.75992096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.28911593299999 meters 0.02363244164981143 Centerline is valid? [True, True] Translation: X:-32.14, Y:16.17, Z:-0.18 [[ 9.56052115e-01 9.14487486e-02 -2.78570421e-01 -3.21405149e+01] [-9.34132797e-02 9.95607846e-01 6.24304614e-03 1.61688115e+01] [ 2.77917816e-01 2.00534992e-02 9.60395515e-01 -1.81302697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31911593299999 meters 0.016573415752767127 Centerline is valid? [True, True] Translation: X:-32.18, Y:16.21, Z:-0.10 [[ 9.56363689e-01 8.15139989e-02 -2.80577909e-01 -3.21833480e+01] [-8.29445459e-02 9.96531009e-01 6.79339184e-03 1.62057739e+01] [ 2.80158344e-01 1.67754540e-02 9.59807213e-01 -1.03885477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.349115933 meters 0.01707133853309553 Centerline is valid? [True, True] Translation: X:-32.20, Y:16.19, Z:-0.13 [[ 9.56526255e-01 7.81517535e-02 -2.80980120e-01 -3.22026975e+01] [-7.92915969e-02 9.96824528e-01 7.32824308e-03 1.61946972e+01] [ 2.80660591e-01 1.52697055e-02 9.59685609e-01 -1.27972739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.379115933 meters 0.01761912602020392 Centerline is valid? [True, True] Translation: X:-32.23, Y:16.19, Z:-0.13 [[ 9.56068739e-01 7.94002999e-02 -2.82184617e-01 -3.22273288e+01] [-8.04578669e-02 9.96727042e-01 7.85717753e-03 1.61934516e+01] [ 2.81884901e-01 1.51919705e-02 9.59327945e-01 -1.33146381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.409115933 meters 0.01677952271432542 Centerline is valid? [True, True] Translation: X:-32.25, Y:16.19, Z:-0.16 [[ 9.55722408e-01 7.82108442e-02 -2.83685994e-01 -3.22465045e+01] [-7.91212508e-02 9.96830726e-01 8.26625320e-03 1.61850746e+01] [ 2.83433426e-01 1.45453473e-02 9.58881601e-01 -1.62110046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.439115933 meters 0.01589328731830372 Centerline is valid? [True, True] Translation: X:-32.28, Y:16.20, Z:-0.14 [[ 9.56872821e-01 7.35344553e-02 -2.81046418e-01 -3.22765551e+01] [-7.41141067e-02 9.97212847e-01 8.58124852e-03 1.61991432e+01] [ 2.80894116e-01 1.26183407e-02 9.59655810e-01 -1.39685660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.469115933 meters 0.016142483007600055 Centerline is valid? [True, True] Translation: X:-32.30, Y:16.20, Z:-0.15 [[ 9.56528307e-01 7.42886399e-02 -2.82019142e-01 -3.22991647e+01] [-7.47753471e-02 9.97159318e-01 9.05212815e-03 1.61969849e+01] [ 2.81890486e-01 1.24294624e-02 9.59366073e-01 -1.52018664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.499115933 meters 0.017539275534069088 Centerline is valid? [True, True] Translation: X:-32.32, Y:16.20, Z:-0.16 [[ 9.56510148e-01 7.29564129e-02 -2.82428220e-01 -3.23225364e+01] [-7.32783477e-02 9.97266870e-01 9.43790372e-03 1.61965782e+01] [ 2.82344863e-01 1.16684226e-02 9.59242006e-01 -1.59303951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52911593299999 meters 0.017052037874918605 Centerline is valid? [True, True] Translation: X:-32.35, Y:16.20, Z:-0.14 [[ 9.56534324e-01 7.65368875e-02 -2.81396858e-01 -3.23512019e+01] [-7.68852658e-02 9.96991589e-01 9.81971629e-03 1.62033825e+01] [ 2.81301872e-01 1.22423766e-02 9.59541235e-01 -1.44340391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55911593299999 meters 0.016504099243770113 Centerline is valid? [True, True] Translation: X:-32.37, Y:16.19, Z:-0.18 [[ 9.57856148e-01 6.67666790e-02 -2.79381119e-01 -3.23681919e+01] [-6.65515430e-02 9.97730167e-01 1.02667109e-02 1.61934548e+01] [ 2.79432445e-01 8.75921236e-03 9.60125401e-01 -1.80331946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58911593299999 meters 0.01688176957217878 Centerline is valid? [True, True] Translation: X:-32.39, Y:16.19, Z:-0.18 [[ 9.55695153e-01 7.85230262e-02 -2.83691572e-01 -3.23921197e+01] [-7.86576850e-02 9.96841706e-01 1.09353233e-02 1.61930840e+01] [ 2.83654266e-01 1.18636868e-02 9.58853227e-01 -1.81150630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61911593299999 meters 0.016343849251921796 Centerline is valid? [True, True] Translation: X:-32.41, Y:16.19, Z:-0.19 [[ 9.57014573e-01 7.73488969e-02 -2.79535786e-01 -3.24141804e+01] [-7.72730182e-02 9.96945830e-01 1.13089484e-02 1.61910446e+01] [ 2.79556771e-01 1.07777455e-02 9.60068671e-01 -1.94521234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.64911593299999 meters 0.016464786871389574 Centerline is valid? [True, True] Translation: X:-32.43, Y:16.18, Z:-0.23 [[ 9.57991663e-01 6.73621668e-02 -2.78772870e-01 -3.24315709e+01] [-6.67207720e-02 9.97701913e-01 1.17996398e-02 1.61814558e+01] [ 2.78927075e-01 7.29598449e-03 9.60284570e-01 -2.31222952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67911593299999 meters 0.016574175004073446 Centerline is valid? [True, True] Translation: X:-32.45, Y:16.18, Z:-0.24 [[ 9.55728130e-01 7.95197899e-02 -2.83302567e-01 -3.24544657e+01] [-7.92364014e-02 9.96777752e-01 1.24781773e-02 1.61796456e+01] [ 2.83381958e-01 1.05221308e-02 9.58949399e-01 -2.43174505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.70911593299999 meters 0.01589963118588008 Centerline is valid? [True, True] Translation: X:-32.48, Y:16.19, Z:-0.22 [[ 9.55264630e-01 8.30923989e-02 -2.83839991e-01 -3.24803726e+01] [-8.28346026e-02 9.96479386e-01 1.29329790e-02 1.61946563e+01] [ 2.83915332e-01 1.11573554e-02 9.58784438e-01 -2.20415214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.739115933 meters 0.016145734320847475 Centerline is valid? [True, True] Translation: X:-32.50, Y:16.19, Z:-0.24 [[ 9.53732809e-01 9.30511388e-02 -2.85893712e-01 -3.25009073e+01] [-9.30258161e-02 9.95569422e-01 1.37012302e-02 1.61867782e+01] [ 2.85901953e-01 1.35281831e-02 9.58163379e-01 -2.42985548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.769115933 meters 0.016257914062826576 Centerline is valid? [True, True] Translation: X:-32.52, Y:16.18, Z:-0.26 [[ 9.53154341e-01 9.83474391e-02 -2.86049965e-01 -3.25212024e+01] [-9.83959416e-02 9.95045442e-01 1.42410506e-02 1.61828123e+01] [ 2.86033285e-01 1.45722364e-02 9.58108872e-01 -2.63736472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.799115933 meters 0.017074436674871588 Centerline is valid? [True, True] Translation: X:-32.54, Y:16.17, Z:-0.30 [[ 9.52488789e-01 9.95782684e-02 -2.87835501e-01 -3.25376686e+01] [-9.95207801e-02 9.94924352e-01 1.48710525e-02 1.61682615e+01] [ 2.87855383e-01 1.44811028e-02 9.57564398e-01 -3.03205399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.829115933 meters 0.01672674591542181 Centerline is valid? [True, True] Translation: X:-32.57, Y:16.19, Z:-0.27 [[ 9.52777491e-01 1.01743668e-01 -2.86117595e-01 -3.25699292e+01] [-1.01622527e-01 9.94705171e-01 1.53129209e-02 1.61856351e+01] [ 2.86160644e-01 1.44861866e-02 9.58072146e-01 -2.70582143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.859115933 meters 0.015967346869618218 Centerline is valid? [True, True] Translation: X:-32.60, Y:16.20, Z:-0.25 [[ 9.55519830e-01 8.88465045e-02 -2.81226159e-01 -3.25988458e+01] [-8.80302272e-02 9.95996252e-01 1.55609912e-02 1.61955026e+01] [ 2.81482740e-01 9.88756699e-03 9.59515348e-01 -2.49574566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88911593299999 meters 0.01611690438189351 Centerline is valid? [True, True] Translation: X:-32.61, Y:16.18, Z:-0.30 [[ 9.55070565e-01 9.10163605e-02 -2.82057153e-01 -3.26146642e+01] [-9.01467303e-02 9.95798561e-01 1.60870662e-02 1.61779632e+01] [ 2.82336293e-01 1.00622467e-02 9.59262721e-01 -2.97713613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91911593299999 meters 0.016168690988596784 Centerline is valid? [True, True] Translation: X:-32.65, Y:16.21, Z:-0.25 [[ 9.58221113e-01 8.09144418e-02 -2.74344950e-01 -3.26490800e+01] [-7.95575646e-02 9.96700438e-01 1.60882187e-02 1.62055900e+01] [ 2.74741501e-01 6.41014524e-03 9.61496759e-01 -2.53500978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94911593299999 meters 0.01580769912449928 Centerline is valid? [True, True] Translation: X:-32.66, Y:16.19, Z:-0.30 [[ 9.56317193e-01 9.18903728e-02 -2.77513218e-01 -3.26648127e+01] [-9.08029961e-02 9.95727217e-01 1.67966010e-02 1.61883056e+01] [ 2.77870910e-01 9.13615336e-03 9.60574978e-01 -2.95643062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97911593299999 meters 0.016067445292849907 Centerline is valid? [True, True] Translation: X:-32.69, Y:16.20, Z:-0.28 [[ 9.56782742e-01 9.35691305e-02 -2.75339067e-01 -3.26932391e+01] [-9.24164707e-02 9.95572093e-01 1.71872845e-02 1.61996193e+01] [ 2.75728091e-01 9.00136760e-03 9.61193527e-01 -2.82020229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.00911593299999 meters 0.015447174133851275 Centerline is valid? [True, True] Translation: X:-32.72, Y:16.21, Z:-0.27 [[ 9.57739515e-01 8.77477303e-02 -2.73925823e-01 -3.27213556e+01] [-8.62439899e-02 9.96119422e-01 1.75519825e-02 1.62096189e+01] [ 2.74402979e-01 6.81422872e-03 9.61590646e-01 -2.66434710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03911593299999 meters 0.016359607774524932 Centerline is valid? [True, True] Translation: X:-32.74, Y:16.21, Z:-0.28 [[ 9.57604465e-01 8.64691974e-02 -2.74803143e-01 -3.27437903e+01] [-8.47528723e-02 9.96236921e-01 1.81369034e-02 1.62067281e+01] [ 2.75337321e-01 5.92237603e-03 9.61329436e-01 -2.78328846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.06911593299999 meters 0.016370318845428198 Centerline is valid? [True, True] Translation: X:-32.77, Y:16.21, Z:-0.29 [[ 9.58469918e-01 8.72052371e-02 -2.71533907e-01 -3.27660276e+01] [-8.54141082e-02 9.96175036e-01 1.84316830e-02 1.62064877e+01] [ 2.72102639e-01 5.52661279e-03 9.62252363e-01 -2.94095302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.099115933 meters 0.016377883508335075 Centerline is valid? [True, True] Translation: X:-32.78, Y:16.19, Z:-0.33 [[ 9.57478803e-01 9.06231909e-02 -2.73901038e-01 -3.27838499e+01] [-8.88063415e-02 9.95866681e-01 1.90522345e-02 1.61906617e+01] [ 2.74495492e-01 6.08203846e-03 9.61569152e-01 -3.34318371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.129115933 meters 0.01656178544965612 Centerline is valid? [True, True] Translation: X:-32.81, Y:16.19, Z:-0.34 [[ 9.58587733e-01 8.73621931e-02 -2.71067159e-01 -3.28083257e+01] [-8.53283664e-02 9.96165875e-01 1.93033719e-02 1.61938169e+01] [ 2.71714238e-01 4.62574231e-03 9.62366861e-01 -3.38591799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.159115933 meters 0.016084171197921084 Centerline is valid? [True, True] Translation: X:-32.83, Y:16.20, Z:-0.34 [[ 9.59279113e-01 8.65880073e-02 -2.68860745e-01 -3.28341730e+01] [-8.44310299e-02 9.96236572e-01 1.95983096e-02 1.61976242e+01] [ 2.69545886e-01 3.89994056e-03 9.62979650e-01 -3.36735903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.189115933 meters 0.017461889212483702 Centerline is valid? [True, True] Translation: X:-32.87, Y:16.22, Z:-0.31 [[ 9.57009952e-01 9.64167008e-02 -2.73561274e-01 -3.28655786e+01] [-9.44708181e-02 9.95320437e-01 2.03098910e-02 1.62155657e+01] [ 2.74239340e-01 6.40678961e-03 9.61640129e-01 -3.05115643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.219115933 meters 0.016226871749906464 Centerline is valid? [True, True] Translation: X:-32.89, Y:16.22, Z:-0.31 [[ 9.58608739e-01 8.74157698e-02 -2.70975586e-01 -3.28886453e+01] [-8.50489288e-02 9.96166094e-01 2.04888554e-02 1.62168945e+01] [ 2.71727740e-01 3.40538754e-03 9.62368141e-01 -3.13066816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.249115933 meters 0.016471310512620886 Centerline is valid? [True, True] Translation: X:-32.90, Y:16.20, Z:-0.36 [[ 9.57024724e-01 9.44786274e-02 -2.74185096e-01 -3.29049695e+01] [-9.22201905e-02 9.95514089e-01 2.11455777e-02 1.62015652e+01] [ 2.74952932e-01 5.04856120e-03 9.61444433e-01 -3.58219348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27911593299999 meters 0.01669922680751505 Centerline is valid? [True, True] Translation: X:-32.93, Y:16.21, Z:-0.35 [[ 9.55930975e-01 1.02429486e-01 -2.75143909e-01 -3.29315368e+01] [-1.00372187e-01 9.94715766e-01 2.15863093e-02 1.62076115e+01] [ 2.75901059e-01 6.98177424e-03 9.61160684e-01 -3.52740110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30911593299999 meters 0.016383035621915867 Centerline is valid? [True, True] Translation: X:-32.95, Y:16.19, Z:-0.40 [[ 9.54886659e-01 1.09063239e-01 -2.76218535e-01 -3.29477977e+01] [-1.07146335e-01 9.93998285e-01 2.20697253e-02 1.61946374e+01] [ 2.76967746e-01 8.52171734e-03 9.60841427e-01 -3.96938201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33911593299999 meters 0.017266086925451007 Centerline is valid? [True, True] Translation: X:-32.98, Y:16.21, Z:-0.37 [[ 9.53104906e-01 1.19202450e-01 -2.78175868e-01 -3.29770361e+01] [-1.17529893e-01 9.92808853e-01 2.27443507e-02 1.62114555e+01] [ 2.78886647e-01 1.10162279e-02 9.60260840e-01 -3.72826744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.36911593299999 meters 0.016502123361541714 Centerline is valid? [True, True] Translation: X:-33.00, Y:16.20, Z:-0.40 [[ 9.53844554e-01 1.19697324e-01 -2.75414448e-01 -3.29955967e+01] [-1.17933276e-01 9.92754662e-01 2.30200794e-02 1.62042886e+01] [ 2.76174419e-01 1.05229508e-02 9.61049925e-01 -4.04419854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39911593299999 meters 0.015840679151194328 Centerline is valid? [True, True] Translation: X:-33.02, Y:16.20, Z:-0.43 [[ 9.53313712e-01 1.26055309e-01 -2.74413966e-01 -3.30153920e+01] [-1.24412771e-01 9.91953271e-01 2.34557146e-02 1.61998159e+01] [ 2.75162549e-01 1.17799475e-02 9.61325546e-01 -4.30655958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.42911593299999 meters 0.015965446143667125 Centerline is valid? [True, True] Translation: X:-33.04, Y:16.20, Z:-0.44 [[ 9.50686206e-01 1.38946691e-01 -2.77289659e-01 -3.30387627e+01] [-1.37650663e-01 9.90184294e-01 2.42354701e-02 1.62010011e+01] [ 2.77935304e-01 1.51287783e-02 9.60480654e-01 -4.36874969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45911593299999 meters 0.016164825582594782 Centerline is valid? [True, True] Translation: X:-33.06, Y:16.20, Z:-0.43 [[ 9.51424782e-01 1.38011944e-01 -2.75215530e-01 -3.30645011e+01] [-1.36549254e-01 9.90328648e-01 2.45656111e-02 1.62045580e+01] [ 2.75944172e-01 1.42081443e-02 9.61068646e-01 -4.34145737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.489115933 meters 0.015626397321132655 Centerline is valid? [True, True] Translation: X:-33.09, Y:16.22, Z:-0.43 [[ 9.53194915e-01 1.34079347e-01 -2.71002183e-01 -3.30901578e+01] [-1.32361671e-01 9.90893854e-01 2.46932654e-02 1.62162338e+01] [ 2.71845254e-01 1.23328068e-02 9.62261950e-01 -4.26361203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.519115933 meters 0.015679905122477515 Centerline is valid? [True, True] Translation: X:-33.11, Y:16.21, Z:-0.45 [[ 9.51541597e-01 1.40632403e-01 -2.73479644e-01 -3.31108499e+01] [-1.38994838e-01 9.89965852e-01 2.54567650e-02 1.62115079e+01] [ 2.74315555e-01 1.37890879e-02 9.61540866e-01 -4.46746008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.549115933 meters 0.016104968733930237 Centerline is valid? [True, True] Translation: X:-33.14, Y:16.21, Z:-0.45 [[ 9.51784906e-01 1.37426611e-01 -2.74261590e-01 -3.31353521e+01] [-1.35507998e-01 9.90434398e-01 2.60247013e-02 1.62129818e+01] [ 2.75214599e-01 1.23947210e-02 9.61302916e-01 -4.46961099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.579115933 meters 0.016112288716840336 Centerline is valid? [True, True] Translation: X:-33.16, Y:16.21, Z:-0.45 [[ 9.50781733e-01 1.39753312e-01 -2.76555796e-01 -3.31599980e+01] [-1.37738129e-01 9.90106038e-01 2.68000191e-02 1.62145651e+01] [ 2.77564955e-01 1.26113093e-02 9.60624094e-01 -4.48917708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.609115933 meters 0.016111584073746757 Centerline is valid? [True, True] Translation: X:-33.18, Y:16.22, Z:-0.45 [[ 9.51266308e-01 1.40041479e-01 -2.74737685e-01 -3.31843219e+01] [-1.37915025e-01 9.90072066e-01 2.71431254e-02 1.62225957e+01] [ 2.75811271e-01 1.20701140e-02 9.61136023e-01 -4.45902090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63911593299999 meters 0.015879345789907212 Centerline is valid? [True, True] Translation: X:-33.21, Y:16.23, Z:-0.45 [[ 9.52207738e-01 1.38267845e-01 -2.72364509e-01 -3.32073098e+01] [-1.35952857e-01 9.90334982e-01 2.74489554e-02 1.62264783e+01] [ 2.73527409e-01 1.08916253e-02 9.61802542e-01 -4.51713357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66911593299999 meters 0.017112902605558852 Centerline is valid? [True, True] Translation: X:-33.23, Y:16.23, Z:-0.45 [[ 9.50419633e-01 1.42523678e-01 -2.76386545e-01 -3.32317102e+01] [-1.40162673e-01 9.89721518e-01 2.83855887e-02 1.62267152e+01] [ 2.77591330e-01 1.17608561e-02 9.60627262e-01 -4.53203320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69911593299999 meters 0.016579897456838254 Centerline is valid? [True, True] Translation: X:-33.25, Y:16.23, Z:-0.44 [[ 9.51508623e-01 1.38721250e-01 -2.74568307e-01 -3.32534589e+01] [-1.36084209e-01 9.90280675e-01 2.87275496e-02 1.62346962e+01] [ 2.75884810e-01 1.00298997e-02 9.61138373e-01 -4.44853963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.72911593299999 meters 0.01668771322025711 Centerline is valid? [True, True] Translation: X:-33.27, Y:16.22, Z:-0.48 [[ 9.49528781e-01 1.45860654e-01 -2.77704454e-01 -3.32698787e+01] [-1.43226747e-01 9.89239245e-01 2.98632742e-02 1.62224803e+01] [ 2.79072021e-01 1.14186672e-02 9.60202281e-01 -4.83597270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75911593299999 meters 0.016148338750389596 Centerline is valid? [True, True] Translation: X:-33.29, Y:16.23, Z:-0.48 [[ 9.49062607e-01 1.48813757e-01 -2.77731225e-01 -3.32945168e+01] [-1.46142241e-01 9.88795801e-01 3.04189113e-02 1.62275478e+01] [ 2.79146221e-01 1.17188122e-02 9.60177096e-01 -4.83785434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.78911593299999 meters 0.016303659874168853 Centerline is valid? [True, True] Translation: X:-33.32, Y:16.23, Z:-0.49 [[ 9.46492623e-01 1.60195384e-01 -2.80159157e-01 -3.33161751e+01] [-1.57804143e-01 9.86976547e-01 3.12273549e-02 1.62273159e+01] [ 2.81512995e-01 1.46538145e-02 9.59445517e-01 -4.94652086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81911593299999 meters 0.017307632394764367 Centerline is valid? [True, True] Translation: X:-33.36, Y:16.27, Z:-0.40 [[ 9.43450359e-01 1.73287220e-01 -2.82618046e-01 -3.33555750e+01] [-1.71249233e-01 9.84704723e-01 3.20984241e-02 1.62731330e+01] [ 2.83857572e-01 1.81148540e-02 9.58695328e-01 -4.00399531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.849115933 meters 0.016047546927363893 Centerline is valid? [True, True] Translation: X:-33.36, Y:16.23, Z:-0.52 [[ 9.46612717e-01 1.65622268e-01 -2.76574815e-01 -3.33550918e+01] [-1.63157292e-01 9.86078697e-01 3.20702484e-02 1.62260179e+01] [ 2.78036080e-01 1.47670927e-02 9.60457116e-01 -5.24282868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.879115933 meters 0.016027234573808558 Centerline is valid? [True, True] Translation: X:-33.38, Y:16.23, Z:-0.52 [[ 9.45687412e-01 1.69269133e-01 -2.77530683e-01 -3.33786443e+01] [-1.66770788e-01 9.85451129e-01 3.27654684e-02 1.62276445e+01] [ 2.79039107e-01 1.52981197e-02 9.60157875e-01 -5.24761643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.909115933 meters 0.01727311946535298 Centerline is valid? [True, True] Translation: X:-33.40, Y:16.23, Z:-0.53 [[ 9.43638241e-01 1.77292450e-01 -2.79489279e-01 -3.34011135e+01] [-1.74925862e-01 9.84008165e-01 3.35987330e-02 1.62342517e+01] [ 2.80976534e-01 1.71848536e-02 9.59560768e-01 -5.28421672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.939115933 meters 0.01641827646145515 Centerline is valid? [True, True] Translation: X:-33.43, Y:16.24, Z:-0.53 [[ 9.42964100e-01 1.79127291e-01 -2.80592446e-01 -3.34252486e+01] [-1.76648007e-01 9.83675508e-01 3.43216672e-02 1.62405878e+01] [ 2.82159864e-01 1.72019963e-02 9.59213169e-01 -5.25401525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.969115933 meters 0.015943032337388686 Centerline is valid? [True, True] Translation: X:-33.45, Y:16.25, Z:-0.52 [[ 9.41962892e-01 1.82296421e-01 -2.81911201e-01 -3.34498340e+01] [-1.79755872e-01 9.83085540e-01 3.50806012e-02 1.62462044e+01] [ 2.83537893e-01 1.76305690e-02 9.58798950e-01 -5.18230842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.999115933 meters 0.015572717120586624 Centerline is valid? [True, True] Translation: X:-33.46, Y:16.23, Z:-0.57 [[ 9.43365727e-01 1.76669060e-01 -2.80800906e-01 -3.34638389e+01] [-1.73729810e-01 9.84152004e-01 3.55357155e-02 1.62250414e+01] [ 2.82628835e-01 1.52603119e-02 9.59107952e-01 -5.69507679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02911593299999 meters 0.016015026763219097 Centerline is valid? [True, True] Translation: X:-33.49, Y:16.24, Z:-0.54 [[ 9.41227782e-01 1.84653616e-01 -2.82830876e-01 -3.34921738e+01] [-1.81843939e-01 9.82653600e-01 3.63962130e-02 1.62431530e+01] [ 2.84645470e-01 1.71739538e-02 9.58479009e-01 -5.40299427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05911593299999 meters 0.016526060270984556 Centerline is valid? [True, True] Translation: X:-33.52, Y:16.24, Z:-0.54 [[ 9.40100294e-01 1.88636771e-01 -2.83950007e-01 -3.35151357e+01] [-1.85809088e-01 9.81884443e-01 3.71203822e-02 1.62447230e+01] [ 2.85808364e-01 1.78636096e-02 9.58120280e-01 -5.42047493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08911593299999 meters 0.016361684634741462 Centerline is valid? [True, True] Translation: X:-33.54, Y:16.25, Z:-0.55 [[ 9.38082011e-01 1.96623604e-01 -2.85203959e-01 -3.35360640e+01] [-1.93950731e-01 9.80279545e-01 3.78830805e-02 1.62498843e+01] [ 2.87028315e-01 1.97780802e-02 9.57717899e-01 -5.49536478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11911593299999 meters 0.016241395467785903 Centerline is valid? [True, True] Translation: X:-33.56, Y:16.26, Z:-0.55 [[ 9.37010984e-01 2.01134644e-01 -2.85578833e-01 -3.35590633e+01] [-1.98486255e-01 9.79346933e-01 3.85070402e-02 1.62564082e+01] [ 2.87425854e-01 2.06019536e-02 9.57581296e-01 -5.47524602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14911593299999 meters 0.016476612602986267 Centerline is valid? [True, True] Translation: X:-33.59, Y:16.27, Z:-0.53 [[ 9.40105300e-01 1.93538252e-01 -2.80615340e-01 -3.35853042e+01] [-1.90472614e-01 9.80939874e-01 3.84336595e-02 1.62671079e+01] [ 2.82705160e-01 1.73178503e-02 9.59050512e-01 -5.29563027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17911593299999 meters 0.016476612602986267 Centerline is valid? [True, True] Translation: X:-33.61, Y:16.27, Z:-0.53 [[ 9.39710115e-01 1.95568298e-01 -2.80531532e-01 -3.36070710e+01] [-1.92411402e-01 9.80537587e-01 3.90370602e-02 1.62706827e+01] [ 2.82706123e-01 1.72939451e-02 9.59050660e-01 -5.34360162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.20911593299999 meters 0.01572635716502605 Centerline is valid? [True, True] Translation: X:-33.63, Y:16.27, Z:-0.54 [[ 9.38175427e-01 2.00263811e-01 -2.82349559e-01 -3.36278010e+01] [-1.97094732e-01 9.79572506e-01 3.98920022e-02 1.62714841e+01] [ 2.84570790e-01 1.82239145e-02 9.58481797e-01 -5.43363126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.239115933 meters 0.016123735311225504 Centerline is valid? [True, True] Translation: X:-33.64, Y:16.26, Z:-0.58 [[ 9.37995673e-01 1.98122206e-01 -2.84449837e-01 -3.36449261e+01] [-1.94624104e-01 9.80028507e-01 4.08115628e-02 1.62574392e+01] [ 2.86854626e-01 1.70797253e-02 9.57821855e-01 -5.81317277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.269115933 meters 0.01553582280179887 Centerline is valid? [True, True] Translation: X:-33.67, Y:16.26, Z:-0.58 [[ 9.40371710e-01 1.91712748e-01 -2.80975566e-01 -3.36686433e+01] [-1.87842823e-01 9.81346766e-01 4.09096349e-02 1.62622515e+01] [ 2.83577362e-01 1.43089803e-02 9.58842601e-01 -5.77450350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.299115933 meters 0.014793753132715227 Centerline is valid? [True, True] Translation: X:-33.68, Y:16.25, Z:-0.62 [[ 9.41152492e-01 1.88481027e-01 -2.80547481e-01 -3.36845181e+01] [-1.84300198e-01 9.81994965e-01 4.14647431e-02 1.62503874e+01] [ 2.83311531e-01 1.26803100e-02 9.58944099e-01 -6.17731935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.329115933 meters 0.014677022465113137 Centerline is valid? [True, True] Translation: X:-33.71, Y:16.28, Z:-0.58 [[ 9.39528224e-01 1.95324029e-01 -2.81309865e-01 -3.37144728e+01] [-1.91241193e-01 9.80636397e-01 4.21789452e-02 1.62760633e+01] [ 2.84101254e-01 1.41697246e-02 9.58689572e-01 -5.76597898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.359115933 meters 0.01539331161041472 Centerline is valid? [True, True] Translation: X:-33.74, Y:16.29, Z:-0.56 [[ 9.38179571e-01 2.01587910e-01 -2.81391910e-01 -3.37392259e+01] [-1.97600627e-01 9.79348387e-01 4.27870252e-02 1.62856840e+01] [ 2.84206060e-01 1.54613048e-02 9.58638547e-01 -5.62274998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38911593299999 meters 0.015052433161751021 Centerline is valid? [True, True] Translation: X:-33.76, Y:16.29, Z:-0.57 [[ 9.40324503e-01 1.96215741e-01 -2.78009374e-01 -3.37600990e+01] [-1.91916397e-01 9.80474114e-01 4.28789987e-02 1.62867901e+01] [ 2.80994529e-01 1.30343844e-02 9.59620852e-01 -5.71971791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41911593299999 meters 0.014819872374643406 Centerline is valid? [True, True] Translation: X:-33.78, Y:16.28, Z:-0.61 [[ 9.38638084e-01 2.04578423e-01 -2.77680059e-01 -3.37761994e+01] [-2.00464766e-01 9.78737022e-01 4.34478905e-02 1.62771352e+01] [ 2.80664255e-01 1.48832234e-02 9.59690609e-01 -6.08959722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44911593299999 meters 0.014314500470568677 Centerline is valid? [True, True] Translation: X:-33.80, Y:16.29, Z:-0.60 [[ 9.41021419e-01 1.99377262e-01 -2.73363122e-01 -3.37993367e+01] [-1.95005364e-01 9.79843071e-01 4.33643164e-02 1.62851949e+01] [ 2.76498820e-01 1.25005246e-02 9.60932953e-01 -6.01704395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47911593299999 meters 0.015374405320722269 Centerline is valid? [True, True] Translation: X:-33.82, Y:16.28, Z:-0.61 [[ 9.38535979e-01 2.04896609e-01 -2.77790562e-01 -3.38219436e+01] [-2.00428391e-01 9.78687549e-01 4.47117554e-02 1.62825467e+01] [ 2.81031451e-01 1.37135241e-02 9.59600575e-01 -6.08754175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.50911593299999 meters 0.01474148754341071 Centerline is valid? [True, True] Translation: X:-33.85, Y:16.30, Z:-0.59 [[ 9.37761944e-01 2.09005975e-01 -2.77342817e-01 -3.38480170e+01] [-2.04549823e-01 9.77809817e-01 4.52474462e-02 1.62970582e+01] [ 2.80645515e-01 1.42990910e-02 9.59704971e-01 -5.88686212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53911593299999 meters 0.014700556693845363 Centerline is valid? [True, True] Translation: X:-33.87, Y:16.29, Z:-0.62 [[ 9.38304788e-01 2.07902192e-01 -2.76334584e-01 -3.38652875e+01] [-2.03257820e-01 9.78059116e-01 4.56795831e-02 1.62884090e+01] [ 2.79768445e-01 1.33057936e-02 9.59975298e-01 -6.20739606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.56911593299999 meters 0.015228895504431506 Centerline is valid? [True, True] Translation: X:-33.89, Y:16.30, Z:-0.60 [[ 9.37985942e-01 2.08059308e-01 -2.77297128e-01 -3.38914300e+01] [-2.03207364e-01 9.78032846e-01 4.64598625e-02 1.63047421e+01] [ 2.80872107e-01 1.27701206e-02 9.59660244e-01 -5.95351820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.599115933 meters 0.014723914548688096 Centerline is valid? [True, True] Translation: X:-33.91, Y:16.30, Z:-0.61 [[ 9.36429100e-01 2.13236664e-01 -2.78622803e-01 -3.39109608e+01] [-2.08370315e-01 9.76904042e-01 4.73318501e-02 1.63004200e+01] [ 2.82280628e-01 1.37337995e-02 9.59233564e-01 -6.14694360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.629115933 meters 0.014379911787927545 Centerline is valid? [True, True] Translation: X:-33.93, Y:16.30, Z:-0.62 [[ 9.37550120e-01 2.09129303e-01 -2.77965299e-01 -3.39330634e+01] [-2.03927286e-01 9.77816416e-01 4.78405543e-02 1.63031093e+01] [ 2.81803895e-01 1.18317917e-02 9.59399069e-01 -6.17929389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.659115933 meters 0.014265144058576951 Centerline is valid? [True, True] Translation: X:-33.95, Y:16.31, Z:-0.62 [[ 9.36598123e-01 2.14523174e-01 -2.77062743e-01 -3.39536072e+01] [-2.09405049e-01 9.76635294e-01 4.83014319e-02 1.63099836e+01] [ 2.80951030e-01 1.27793069e-02 9.59637019e-01 -6.23921770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.689115933 meters 0.014777837785361275 Centerline is valid? [True, True] Translation: X:-33.98, Y:16.33, Z:-0.60 [[ 9.37032680e-01 2.16221218e-01 -2.74259258e-01 -3.39795116e+01] [-2.11101512e-01 9.76264067e-01 4.84213034e-02 1.63279427e+01] [ 2.78219172e-01 1.25242003e-02 9.60435962e-01 -5.99766880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.719115933 meters 0.014550634156882226 Centerline is valid? [True, True] Translation: X:-34.00, Y:16.32, Z:-0.63 [[ 9.35082726e-01 2.24724560e-01 -2.74078763e-01 -3.39977629e+01] [-2.19788901e-01 9.74315719e-01 4.90073245e-02 1.63200164e+01] [ 2.78052396e-01 1.44135675e-02 9.60457763e-01 -6.25438477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.749115933 meters 0.01480024341504836 Centerline is valid? [True, True] Translation: X:-34.02, Y:16.32, Z:-0.63 [[ 9.34881231e-01 2.27295252e-01 -2.72642535e-01 -3.40201838e+01] [-2.22339249e-01 9.73718493e-01 4.93716016e-02 1.63238954e+01] [ 2.76699008e-01 1.44625528e-02 9.60847799e-01 -6.27609403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77911593299999 meters 0.01472857938625548 Centerline is valid? [True, True] Translation: X:-34.04, Y:16.33, Z:-0.64 [[ 9.34888785e-01 2.28637406e-01 -2.71491981e-01 -3.40387832e+01] [-2.23605729e-01 9.73408353e-01 4.97660097e-02 1.63267551e+01] [ 2.75650934e-01 1.41814781e-02 9.61153187e-01 -6.44651782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80911593299999 meters 0.014361048898380293 Centerline is valid? [True, True] Translation: X:-34.06, Y:16.34, Z:-0.63 [[ 9.35548363e-01 2.27409952e-01 -2.70247985e-01 -3.40621594e+01] [-2.22199766e-01 9.73710570e-01 5.01496680e-02 1.63393205e+01] [ 2.74547853e-01 1.31315992e-02 9.61483769e-01 -6.31106602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83911593299999 meters 0.014369673039918627 Centerline is valid? [True, True] Translation: X:-34.08, Y:16.34, Z:-0.64 [[ 9.35045655e-01 2.30135216e-01 -2.69680190e-01 -3.40837342e+01] [-2.24876015e-01 9.73068395e-01 5.06821195e-02 1.63417178e+01] [ 2.74081010e-01 1.32545109e-02 9.61615265e-01 -6.36163305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.86911593299999 meters 0.013906852949317865 Centerline is valid? [True, True] Translation: X:-34.11, Y:16.35, Z:-0.62 [[ 9.31457417e-01 2.40805856e-01 -2.72762938e-01 -3.41062064e+01] [-2.35683676e-01 9.70442493e-01 5.19092775e-02 1.63547968e+01] [ 2.77200803e-01 1.59344905e-02 9.60679867e-01 -6.22748301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89911593299999 meters 0.01411250892912127 Centerline is valid? [True, True] Translation: X:-34.12, Y:16.35, Z:-0.65 [[ 9.32621897e-01 2.38818392e-01 -2.70522038e-01 -3.41227351e+01] [-2.33480015e-01 9.70956949e-01 5.22464009e-02 1.63451501e+01] [ 2.75142654e-01 1.44353520e-02 9.61295033e-01 -6.47611779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.92911593299999 meters 0.014449627040101387 Centerline is valid? [True, True] Translation: X:-34.14, Y:16.35, Z:-0.65 [[ 9.32663636e-01 2.39016000e-01 -2.70203430e-01 -3.41408675e+01] [-2.33463745e-01 9.70919730e-01 5.30052665e-02 1.63455713e+01] [ 2.75014948e-01 1.36466201e-02 9.61343096e-01 -6.53610149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95911593299999 meters 0.014103423209018803 Centerline is valid? [True, True] Translation: X:-34.16, Y:16.36, Z:-0.63 [[ 9.31216992e-01 2.42917398e-01 -2.71709500e-01 -3.41645383e+01] [-2.37214048e-01 9.69945835e-01 5.41717030e-02 1.63635400e+01] [ 2.76702747e-01 1.40076999e-02 9.60853461e-01 -6.33123872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.989115933 meters 0.014361651846746098 Centerline is valid? [True, True] Translation: X:-34.19, Y:16.37, Z:-0.62 [[ 9.30016783e-01 2.47132145e-01 -2.72019274e-01 -3.41876223e+01] [-2.41399069e-01 9.68871694e-01 5.49010891e-02 1.63715715e+01] [ 2.77119599e-01 1.46062652e-02 9.60724406e-01 -6.24545028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.019115933 meters 0.014888301990575444 Centerline is valid? [True, True] Translation: X:-34.21, Y:16.37, Z:-0.63 [[ 9.31331746e-01 2.45446718e-01 -2.69029901e-01 -3.42069160e+01] [-2.39590492e-01 9.69318861e-01 5.49303322e-02 1.63739758e+01] [ 2.74258227e-01 1.32986443e-02 9.61564127e-01 -6.34130819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.049115933 meters 0.014536188559464458 Centerline is valid? [True, True] Translation: X:-34.23, Y:16.39, Z:-0.62 [[ 9.32479444e-01 2.44376050e-01 -2.66012091e-01 -3.42296387e+01] [-2.38429887e-01 9.69603955e-01 5.49486898e-02 1.63910565e+01] [ 2.71354520e-01 1.21867093e-02 9.62402311e-01 -6.17958849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.079115933 meters 0.014317091192686381 Centerline is valid? [True, True] Translation: X:-34.25, Y:16.40, Z:-0.61 [[ 9.27483595e-01 2.56640873e-01 -2.71863281e-01 -3.42522547e+01] [-2.50742941e-01 9.66383390e-01 5.68429550e-02 1.63993338e+01] [ 2.77312385e-01 1.54468904e-02 9.60655628e-01 -6.07598263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.109115933 meters 0.01427515652940536 Centerline is valid? [True, True] Translation: X:-34.27, Y:16.40, Z:-0.63 [[ 9.29125621e-01 2.54370181e-01 -2.68368013e-01 -3.42676158e+01] [-2.48340474e-01 9.67007181e-01 5.67813380e-02 1.63970381e+01] [ 2.73957275e-01 1.38896437e-02 9.61641560e-01 -6.29088059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13911593299999 meters 0.013602999856636752 Centerline is valid? [True, True] Translation: X:-34.29, Y:16.40, Z:-0.63 [[ 9.28414418e-01 2.57865385e-01 -2.67492266e-01 -3.42882396e+01] [-2.51783879e-01 9.66078782e-01 5.74165895e-02 1.63993133e+01] [ 2.73224354e-01 1.40438508e-02 9.61847817e-01 -6.33660407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16911593299999 meters 0.014372598132138632 Centerline is valid? [True, True] Translation: X:-34.31, Y:16.42, Z:-0.61 [[ 9.26299955e-01 2.64551996e-01 -2.68292069e-01 -3.43121060e+01] [-2.58525204e-01 9.64248062e-01 5.82270854e-02 1.64210062e+01] [ 2.74104200e-01 1.54245152e-02 9.61576296e-01 -6.08003525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19911593299999 meters 0.013989408576364543 Centerline is valid? [True, True] Translation: X:-34.33, Y:16.42, Z:-0.62 [[ 9.24555632e-01 2.71208911e-01 -2.67661372e-01 -3.43303591e+01] [-2.65300215e-01 9.62375436e-01 5.87308729e-02 1.64218970e+01] [ 2.73519065e-01 1.67106602e-02 9.61721412e-01 -6.23763893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22911593299999 meters 0.014951088652806234 Centerline is valid? [True, True] Translation: X:-34.35, Y:16.43, Z:-0.61 [[ 9.18776088e-01 2.87032501e-01 -2.71040297e-01 -3.43521489e+01] [-2.81442395e-01 9.57690437e-01 6.01598307e-02 1.64325103e+01] [ 2.76840527e-01 2.10088165e-02 9.60686188e-01 -6.13887269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25911593299999 meters 0.014408151492790199 Centerline is valid? [True, True] Translation: X:-34.37, Y:16.44, Z:-0.63 [[ 9.17332479e-01 2.91771460e-01 -2.70869965e-01 -3.43693359e+01] [-2.86182161e-01 9.56241712e-01 6.08404454e-02 1.64350661e+01] [ 2.76768665e-01 2.17072354e-02 9.60691367e-01 -6.31173791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28911593299999 meters 0.014006612142545975 Centerline is valid? [True, True] Translation: X:-34.38, Y:16.43, Z:-0.66 [[ 9.17098576e-01 2.96534651e-01 -2.66453377e-01 -3.43838534e+01] [-2.91137407e-01 9.54766522e-01 6.04970971e-02 1.64309746e+01] [ 2.72340250e-01 2.20927437e-02 9.61947347e-01 -6.63499776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31911593299999 meters 0.01523471828577162 Centerline is valid? [True, True] Translation: X:-34.41, Y:16.46, Z:-0.63 [[ 9.12414650e-01 3.10454653e-01 -2.66678486e-01 -3.44086339e+01] [-3.05435031e-01 9.50243370e-01 6.12125837e-02 1.64562667e+01] [ 2.72413195e-01 2.56016936e-02 9.61839698e-01 -6.28598293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.349115933 meters 0.01559453956090424 Centerline is valid? [True, True] Translation: X:-34.42, Y:16.44, Z:-0.69 [[ 9.08784836e-01 3.20401335e-01 -2.67307139e-01 -3.44192459e+01] [-3.15577433e-01 9.46868960e-01 6.20488225e-02 1.64413548e+01] [ 2.72985359e-01 2.79670720e-02 9.61611583e-01 -6.88303519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.379115933 meters 0.016265406765475332 Centerline is valid? [True, True] Translation: X:-34.44, Y:16.44, Z:-0.69 [[ 9.03374056e-01 3.32829307e-01 -2.70444019e-01 -3.44385365e+01] [-3.28230108e-01 9.42463102e-01 6.34688732e-02 1.64448343e+01] [ 2.76007811e-01 3.14317362e-02 9.60641314e-01 -6.92672741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.409115933 meters 0.016904721738896136 Centerline is valid? [True, True] Translation: X:-34.46, Y:16.46, Z:-0.69 [[ 9.00375241e-01 3.41244857e-01 -2.69956243e-01 -3.44580584e+01] [-3.36812883e-01 9.39387442e-01 6.40961378e-02 1.64556733e+01] [ 2.75465982e-01 3.32141651e-02 9.60736859e-01 -6.88000236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.439115933 meters 0.018636138687194582 Centerline is valid? [True, True] Translation: X:-34.48, Y:16.48, Z:-0.68 [[ 0.89162402 0.35885547 -0.27609666 -34.47634968] [ -0.35481342 0.93258402 0.06629095 16.47927461] [ 0.2812722 0.0388562 0.95884104 -0.67520072] [ 0. 0. 0. 1. ]] SLAMing on 78.469115933 meters 0.019516702154142057 Centerline is valid? [True, True] Translation: X:-34.49, Y:16.47, Z:-0.72 [[ 0.88626533 0.37269483 -0.27501332 -34.48804181] [ -0.36907911 0.92699115 0.06684328 16.4703044 ] [ 0.27984705 0.04226079 0.95911399 -0.71540137] [ 0. 0. 0. 1. ]] SLAMing on 78.499115933 meters 0.019892580419689578 Centerline is valid? [True, True] Translation: X:-34.50, Y:16.48, Z:-0.74 [[ 0.87365153 0.39770911 -0.28028641 -34.50111391] [ -0.39491022 0.91612554 0.06899212 16.47643331] [ 0.28421634 0.0504129 0.95743387 -0.73685188] [ 0. 0. 0. 1. ]] SLAMing on 78.52911593299999 meters 0.0211362027388106 Centerline is valid? [True, True] Translation: X:-34.52, Y:16.49, Z:-0.74 [[ 0.86585852 0.41294074 -0.28243399 -34.51622192] [ -0.41060814 0.90909294 0.07036318 16.49163507] [ 0.28581457 0.05504514 0.9567027 -0.74162858] [ 0. 0. 0. 1. ]] SLAMing on 78.55911593299999 meters 0.02183788297062546 Centerline is valid? [True, True] Translation: X:-34.53, Y:16.50, Z:-0.75 [[ 0.85430837 0.43360118 -0.28661337 -34.53093483] [ -0.43201418 0.898965 0.07228885 16.49681362] [ 0.28899992 0.06206407 0.95531518 -0.75045671] [ 0. 0. 0. 1. ]] SLAMing on 78.58911593299999 meters 0.021737564520824943 Centerline is valid? [True, True] Translation: X:-34.54, Y:16.50, Z:-0.80 [[ 0.84438143 0.45150543 -0.28837971 -34.53927831] [ -0.45058923 0.88969053 0.07362143 16.49517094] [ 0.28980917 0.06777622 0.95468164 -0.79666281] [ 0. 0. 0. 1. ]] SLAMing on 78.61911593299999 meters 0.022079626578964697 Centerline is valid? [True, True] Translation: X:-34.55, Y:16.50, Z:-0.82 [[ 0.83661433 0.46553196 -0.28871518 -34.55265059] [ -0.46509807 0.88210912 0.07461427 16.49663106] [ 0.28941362 0.0718575 0.95450315 -0.81742503] [ 0. 0. 0. 1. ]] SLAMing on 78.64911593299999 meters 0.022598514366289117 Centerline is valid? [True, True] Translation: X:-34.57, Y:16.53, Z:-0.80 [[ 0.82755501 0.47971136 -0.29159855 -34.56925233] [ -0.47977659 0.87406435 0.0763278 16.52578366] [ 0.29149121 0.0767367 0.95349061 -0.79591335] [ 0. 0. 0. 1. ]] SLAMing on 78.67911593299999 meters 0.024894937674894944 Centerline is valid? [True, True] Translation: X:-34.57, Y:16.55, Z:-0.85 [[ 0.82115647 0.49157383 -0.28992623 -34.56746061] [ -0.49200857 0.86719396 0.07682587 16.55099936] [ 0.28918786 0.07956013 0.95396046 -0.84795776] [ 0. 0. 0. 1. ]] SLAMing on 78.70911593299999 meters 0.022257623106449447 Centerline is valid? [True, True] Translation: X:-34.59, Y:16.52, Z:-0.88 [[ 0.80660746 0.51401173 -0.29184985 -34.58544391] [ -0.5154418 0.8533356 0.07834613 16.51945625] [ 0.2893167 0.08723704 0.95324999 -0.87639424] [ 0. 0. 0. 1. ]] SLAMing on 78.739115933 meters 0.022507557327889574 Centerline is valid? [True, True] Translation: X:-34.60, Y:16.53, Z:-0.88 [[ 0.80424897 0.51912652 -0.2892944 -34.60041757] [ -0.52050197 0.85022746 0.07868264 16.53056856] [ 0.28681229 0.08729787 0.95400094 -0.8780974 ] [ 0. 0. 0. 1. ]] SLAMing on 78.769115933 meters 0.023013612097598314 Centerline is valid? [True, True] Translation: X:-34.61, Y:16.55, Z:-0.88 [[ 0.79295533 0.53450901 -0.29244138 -34.61212847] [ -0.53654019 0.84002425 0.08052258 16.54810059] [ 0.2886979 0.09305574 0.95288727 -0.88188682] [ 0. 0. 0. 1. ]] SLAMing on 78.799115933 meters 0.022422321913017178 Centerline is valid? [True, True] Translation: X:-34.62, Y:16.54, Z:-0.93 [[ 0.78211322 0.54898691 -0.2948089 -34.61924151] [ -0.55164277 0.83002302 0.08217077 16.53994803] [ 0.28980885 0.09836235 0.95201664 -0.92961118] [ 0. 0. 0. 1. ]] SLAMing on 78.829115933 meters 0.02167948618128242 Centerline is valid? [True, True] Translation: X:-34.63, Y:16.55, Z:-0.95 [[ 0.78238319 0.55246281 -0.28750892 -34.62986883] [ -0.55486992 0.82797835 0.08106307 16.54780223] [ 0.28283549 0.09610767 0.95434134 -0.95096127] [ 0. 0. 0. 1. ]] SLAMing on 78.859115933 meters 0.022550012516143966 Centerline is valid? [True, True] Translation: X:-34.64, Y:16.55, Z:-0.98 [[ 0.7702286 0.56912452 -0.28782841 -34.63883997] [ -0.57222757 0.81597073 0.08214239 16.55212346] [ 0.2816088 0.10143493 0.95415273 -0.97627128] [ 0. 0. 0. 1. ]] SLAMing on 78.88911593299999 meters 0.02209160806715286 Centerline is valid? [True, True] Translation: X:-34.65, Y:16.56, Z:-1.00 [[ 0.76330995 0.57877174 -0.28702123 -34.64598271] [ -0.5821141 0.80886307 0.08296809 16.56348666] [ 0.28018046 0.10374874 0.95432443 -1.00393563] [ 0. 0. 0. 1. ]] SLAMing on 78.91911593299999 meters 0.022152478704781348 Centerline is valid? [True, True] Translation: X:-34.66, Y:16.57, Z:-1.00 [[ 0.76237223 0.58171181 -0.28354887 -34.66107802] [ -0.58483842 0.80689831 0.08294059 16.56872616] [ 0.27704262 0.10259866 0.95536428 -1.00369868] [ 0. 0. 0. 1. ]] SLAMing on 78.94911593299999 meters 0.021245736864636648 Centerline is valid? [True, True] Translation: X:-34.67, Y:16.58, Z:-1.03 [[ 0.74721117 0.59905004 -0.28777513 -34.66674112] [ -0.60307073 0.7931302 0.08514804 16.58439808] [ 0.27925109 0.10992519 0.95390528 -1.02678556] [ 0. 0. 0. 1. ]] SLAMing on 78.97911593299999 meters 0.020485552543790777 Centerline is valid? [True, True] Translation: X:-34.67, Y:16.59, Z:-1.06 [[ 0.74775099 0.60195919 -0.28020278 -34.67455854] [ -0.6056126 0.79132786 0.08386659 16.58668143] [ 0.27221653 0.10698301 0.95627025 -1.05862158] [ 0. 0. 0. 1. ]] SLAMing on 79.00911593299999 meters 0.02052358217256822 Centerline is valid? [True, True] Translation: X:-34.68, Y:16.60, Z:-1.08 [[ 0.73955279 0.61111208 -0.28214128 -34.68361016] [ -0.61507143 0.78382128 0.08550632 16.59588465] [ 0.27340229 0.1103006 0.9555548 -1.07885814] [ 0. 0. 0. 1. ]] SLAMing on 79.03911593299999 meters 0.02075849818213852 Centerline is valid? [True, True] Translation: X:-34.70, Y:16.61, Z:-1.09 [[ 0.73544618 0.61691091 -0.28024961 -34.69510366] [ -0.62087037 0.77919193 0.0859065 16.60616864] [ 0.27136489 0.11081907 0.95607543 -1.08633934] [ 0. 0. 0. 1. ]] SLAMing on 79.06911593299999 meters 0.02023619894534653 Centerline is valid? [True, True] Translation: X:-34.70, Y:16.61, Z:-1.12 [[ 0.72964401 0.62466822 -0.27822514 -34.70371082] [ -0.62871237 0.77282864 0.08635192 16.6071497 ] [ 0.26896166 0.11191743 0.95662642 -1.11615908] [ 0. 0. 0. 1. ]] SLAMing on 79.099115933 meters 0.02023619894534653 Centerline is valid? [True, True] Translation: X:-34.72, Y:16.61, Z:-1.12 [[ 0.72772365 0.62702986 -0.27794215 -34.71756526] [ -0.6309251 0.77092162 0.08725471 16.61357508] [ 0.26898292 0.11186336 0.95662677 -1.11911275] [ 0. 0. 0. 1. ]] SLAMing on 79.129115933 meters 0.018697249571081695 Centerline is valid? [True, True] Translation: X:-34.72, Y:16.63, Z:-1.14 [[ 0.72523875 0.63199363 -0.27315344 -34.72156453] [ -0.6357434 0.76701559 0.08670299 16.6269525 ] [ 0.26430868 0.11077512 0.95805521 -1.14061188] [ 0. 0. 0. 1. ]] SLAMing on 79.159115933 meters 0.01890270955712035 Centerline is valid? [True, True] Translation: X:-34.74, Y:16.63, Z:-1.14 [[ 0.72342378 0.63482286 -0.27140002 -34.73565952] [ -0.63836764 0.76476938 0.0872614 16.63440002] [ 0.26295395 0.11012602 0.95850273 -1.14399906] [ 0. 0. 0. 1. ]] SLAMing on 79.189115933 meters 0.01924691199102255 Centerline is valid? [True, True] Translation: X:-34.74, Y:16.64, Z:-1.16 [[ 0.72338959 0.6369154 -0.26654507 -34.74487503] [ -0.64017509 0.76333258 0.08659802 16.64155043] [ 0.25861815 0.10799141 0.95992422 -1.16484843] [ 0. 0. 0. 1. ]] SLAMing on 79.219115933 meters 0.020333443478277063 Centerline is valid? [True, True] Translation: X:-34.76, Y:16.65, Z:-1.16 [[ 0.720462 0.6412177 -0.26414839 -34.75996269] [ -0.64439615 0.7597584 0.08672244 16.64979004] [ 0.25629692 0.10773598 0.96057527 -1.16050165] [ 0. 0. 0. 1. ]] SLAMing on 79.249115933 meters 0.01885055944622193 Centerline is valid? [True, True] Translation: X:-34.77, Y:16.67, Z:-1.17 [[ 0.71625984 0.64647129 -0.26276741 -34.76663426] [ -0.64965447 0.75521609 0.08716496 16.67461272] [ 0.25479582 0.10827526 0.96091392 -1.1699537 ] [ 0. 0. 0. 1. ]] SLAMing on 79.27911593299999 meters 0.017872159361829534 Centerline is valid? [True, True] Translation: X:-34.78, Y:16.68, Z:-1.19 [[ 0.71975871 0.64668975 -0.25246738 -34.77691094] [ -0.64936271 0.75575917 0.08459407 16.6766384 ] [ 0.24551065 0.10305558 0.96390045 -1.19344078] [ 0. 0. 0. 1. ]] SLAMing on 79.30911593299999 meters 0.01830291933004987 Centerline is valid? [True, True] Translation: X:-34.79, Y:16.69, Z:-1.20 [[ 0.72140651 0.64661143 -0.24792398 -34.78927358] [ -0.64894025 0.75619353 0.0839518 16.68522951] [ 0.24176271 0.10032447 0.96513512 -1.19892024] [ 0. 0. 0. 1. ]] SLAMing on 79.33911593299999 meters 0.01871207725840443 Centerline is valid? [True, True] Translation: X:-34.80, Y:16.72, Z:-1.19 [[ 0.71757494 0.65123607 -0.24693681 -34.79837461] [ -0.65354346 0.75215756 0.08449826 16.71787525] [ 0.2407637 0.1007501 0.96534049 -1.18515216] [ 0. 0. 0. 1. ]] SLAMing on 79.36911593299999 meters 0.018592637045030943 Centerline is valid? [True, True] Translation: X:-34.81, Y:16.74, Z:-1.18 [[ 0.71615275 0.65346765 -0.24516378 -34.81081729] [ -0.65562967 0.75031294 0.08473619 16.73604816] [ 0.23932192 0.10005259 0.96577145 -1.17781901] [ 0. 0. 0. 1. ]] SLAMing on 79.39911593299999 meters 0.018244368318036053 Centerline is valid? [True, True] Translation: X:-34.82, Y:16.76, Z:-1.18 [[ 0.71600859 0.65540595 -0.24036377 -34.82081227] [ -0.65735272 0.7488996 0.08388558 16.75513851] [ 0.23498744 0.09794099 0.96705143 -1.18239389] [ 0. 0. 0. 1. ]] SLAMing on 79.42911593299999 meters 0.01682783541478307 Centerline is valid? [True, True] Translation: X:-34.81, Y:16.80, Z:-1.21 [[ 0.72591672 0.64887218 -0.22805658 -34.81381445] [ -0.65013581 0.75556065 0.08032146 16.80358844] [ 0.22442894 0.08996106 0.97032915 -1.21142086] [ 0. 0. 0. 1. ]] SLAMing on 79.45911593299999 meters 0.017615963055375675 Centerline is valid? [True, True] Translation: X:-34.84, Y:16.79, Z:-1.18 [[ 0.72270185 0.65241643 -0.22815529 -34.84352726] [ -0.65364199 0.75244003 0.08115507 16.79200518] [ 0.22462007 0.09048096 0.97023658 -1.17940488] [ 0. 0. 0. 1. ]] SLAMing on 79.489115933 meters 0.018968624187693708 Centerline is valid? [True, True] Translation: X:-34.86, Y:16.81, Z:-1.17 [[ 0.71678949 0.65821188 -0.23015203 -34.85533606] [ -0.65953659 0.74711883 0.08261319 16.81406677] [ 0.2263279 0.09257742 0.96964174 -1.1719994 ] [ 0. 0. 0. 1. ]] SLAMing on 79.519115933 meters 0.01684229274278792 Centerline is valid? [True, True] Translation: X:-34.86, Y:16.84, Z:-1.18 [[ 0.71879154 0.6582442 -0.22372594 -34.86113697] [ -0.65930244 0.74749614 0.08105446 16.83946851] [ 0.22058791 0.0892418 0.9712759 -1.18378082] [ 0. 0. 0. 1. ]] SLAMing on 79.549115933 meters 0.01937681255542939 Centerline is valid? [True, True] Translation: X:-34.88, Y:16.87, Z:-1.16 [[ 0.71359602 0.66320575 -0.22569639 -34.87559837] [ -0.66431896 0.74287913 0.08252833 16.86667088] [ 0.2223984 0.09104251 0.97069574 -1.16016493] [ 0. 0. 0. 1. ]] SLAMing on 79.579115933 meters 0.11544482734047488 Centerline is valid? [True, False] Translation: X:-34.86, Y:16.68, Z:-1.00 [[ 0.98533618 0.10497017 0.13451351 -34.85769528] [ -0.11983522 0.98694171 0.10763635 16.68477995] [ -0.12145838 -0.12217745 0.98504849 -0.99622291] [ 0. 0. 0. 1. ]] SLAMing on 79.609115933 meters 0.11411190728286248 Centerline is valid? [False, False] Translation: X:-34.97, Y:16.66, Z:-0.97 [[ 0.98767159 0.08998513 0.12809183 -34.9719606 ] [ -0.10482888 0.98790068 0.11429412 16.65887813] [ -0.11625723 -0.12631277 0.98515447 -0.96935616] [ 0. 0. 0. 1. ]] SLAMing on 79.63911593299999 meters 0.11775213116751479 Centerline is valid? [False, False] Translation: X:-35.08, Y:16.64, Z:-0.95 [[ 0.98870256 0.08867473 0.12084715 -35.08231764] [ -0.10242806 0.98832422 0.11279953 16.63576509] [ -0.1094337 -0.12390333 0.98624147 -0.95050922] [ 0. 0. 0. 1. ]] SLAMing on 79.66911593299999 meters 0.10910340375931696 Centerline is valid? [False, False] Translation: X:-35.14, Y:16.63, Z:-0.94 [[ 0.9898874 0.07317938 0.1215225 -35.13628574] [ -0.08786107 0.9888521 0.12021626 16.6301846 ] [ -0.11137043 -0.12967766 0.98528185 -0.93529233] [ 0. 0. 0. 1. ]] SLAMing on 79.69911593299999 meters 0.10777916565787152 Centerline is valid? [False, False] Translation: X:-35.24, Y:16.61, Z:-0.93 [[ 0.99092692 0.08327737 0.10549278 -35.24301827] [ -0.09528541 0.98885057 0.11443441 16.61463014] [ -0.0947868 -0.12344806 0.98781377 -0.92570956] [ 0. 0. 0. 1. ]] SLAMing on 79.72911593299999 meters 0.10644102255539024 Centerline is valid? [False, False] Translation: X:-35.33, Y:16.59, Z:-0.90 [[ 0.99207042 0.07288753 0.10238988 -35.32603927] [ -0.08514875 0.988995 0.12098997 16.59496084] [ -0.09244442 -0.12874894 0.98735897 -0.90130678] [ 0. 0. 0. 1. ]] SLAMing on 79.75911593299999 meters 0.10533365186907878 Centerline is valid? [False, False] Translation: X:-35.40, Y:16.58, Z:-0.88 [[ 0.99272557 0.06084336 0.10389433 -35.40460071] [ -0.07382103 0.98927682 0.12602315 16.57772506] [ -0.09511258 -0.13277599 0.98657191 -0.88360351] [ 0. 0. 0. 1. ]] SLAMing on 79.78911593299999 meters 0.10232644432663224 Centerline is valid? [False, False] Translation: X:-35.49, Y:16.56, Z:-0.87 [[ 0.99387473 0.06980833 0.08567273 -35.49160303] [ -0.08019066 0.98898265 0.1244298 16.56127007] [ -0.0760426 -0.13053779 0.98852284 -0.87214436] [ 0. 0. 0. 1. ]] SLAMing on 79.81911593299999 meters 0.10184052420904563 Centerline is valid? [False, False] Translation: X:-35.56, Y:16.55, Z:-0.85 [[ 0.99517107 0.0562443 0.0804433 -35.56288505] [ -0.06656058 0.98902284 0.13192234 16.546737 ] [ -0.07214038 -0.13663965 0.98799057 -0.85437581] [ 0. 0. 0. 1. ]] SLAMing on 79.849115933 meters SLAMing on 79.879115933 meters SLAMing on 79.909115933 meters SLAMing on 79.939115933 meters SLAMing on 79.969115933 meters SLAMing on 79.999115933 meters SLAMing on 80.02911593299999 meters SLAMing on 80.05911593299999 meters SLAMing on 80.08911593299999 meters SLAMing on 80.11911593299999 meters SLAMing on 80.14911593299999 meters SLAMing on 80.17911593299999 meters SLAMing on 80.20911593299999 meters 0.0797743797062804 Centerline is valid? [False, True] Translation: X:-35.76, Y:16.63, Z:-0.87 [[ 0.99236149 0.08135819 0.09273354 -35.75633724] [ -0.08831744 0.99337051 0.07358714 16.62714536] [ -0.08613185 -0.08121503 0.99296799 -0.86864596] [ 0. 0. 0. 1. ]] SLAMing on 80.239115933 meters 0.08694514494490929 Centerline is valid? [True, True] Translation: X:-35.79, Y:16.74, Z:-0.74 [[ 0.99059288 0.09194548 0.10134973 -35.79081088] [ -0.09952038 0.99239811 0.07239945 16.73953105] [ -0.09392248 -0.08180474 0.99221296 -0.73867313] [ 0. 0. 0. 1. ]] SLAMing on 80.269115933 meters 0.0818578543311182 Centerline is valid? [True, True] Translation: X:-35.77, Y:16.74, Z:-0.65 [[ 0.99199493 0.09288623 0.0855465 -35.7731298 ] [ -0.09828714 0.99327187 0.06124233 16.73537671] [ -0.07928237 -0.06916021 0.99445019 -0.64832715] [ 0. 0. 0. 1. ]] SLAMing on 80.299115933 meters 0.0832555376882955 Centerline is valid? [True, True] Translation: X:-35.80, Y:16.74, Z:-0.61 [[ 0.99132229 0.10144756 0.08359733 -35.80082939] [ -0.10661747 0.99249522 0.05988288 16.74117426] [ -0.07689498 -0.06827617 0.99469871 -0.61241296] [ 0. 0. 0. 1. ]] SLAMing on 80.329115933 meters 0.126114587684413 Centerline is valid? [True, False] Translation: X:-35.87, Y:16.73, Z:-0.59 [[ 0.98975335 0.08754252 0.11280341 -35.87020019] [ -0.09543758 0.99320541 0.06659339 16.73161999] [ -0.10620721 -0.07667672 0.99138323 -0.59355729] [ 0. 0. 0. 1. ]] SLAMing on 80.359115933 meters 0.08623629439742114 Centerline is valid? [False, True] Translation: X:-35.92, Y:16.73, Z:-0.61 [[ 0.98997969 0.09372697 0.10561942 -35.91836138] [ -0.09833555 0.99437724 0.03929417 16.73165739] [ -0.10134262 -0.04928657 0.99362996 -0.61274351] [ 0. 0. 0. 1. ]] SLAMing on 80.38911593299999 meters 0.08546198869006341 Centerline is valid? [True, True] Translation: X:-35.92, Y:16.70, Z:-0.56 [[ 0.99191828 0.09191306 0.08746499 -35.9171086 ] [ -0.09791439 0.99293774 0.06698825 16.69889165] [ -0.08069019 -0.07501095 0.9939127 -0.56058755] [ 0. 0. 0. 1. ]] SLAMing on 80.41911593299999 meters 0.08584787608848807 Centerline is valid? [True, True] Translation: X:-35.96, Y:16.67, Z:-0.58 [[ 0.98987111 0.10726502 0.09300219 -35.96345767] [ -0.11370353 0.99125779 0.06692914 16.67105794] [ -0.08500999 -0.0768259 0.99341385 -0.57920856] [ 0. 0. 0. 1. ]] SLAMing on 80.44911593299999 meters 0.11639346363518548 Centerline is valid? [True, False] Translation: X:-36.08, Y:16.67, Z:-0.58 [[ 0.98555725 0.12967007 0.10891544 -36.08006503] [ -0.13590783 0.98936025 0.05191673 16.67290003] [ -0.10102456 -0.06596937 0.99269435 -0.58191882] [ 0. 0. 0. 1. ]] SLAMing on 80.47911593299999 meters 0.08860616756468472 Centerline is valid? [False, True] Translation: X:-36.06, Y:16.67, Z:-0.60 [[ 9.89092881e-01 1.00386084e-01 1.07786396e-01 -3.60590086e+01] [-1.03628903e-01 9.94304201e-01 2.49039275e-02 1.66675681e+01] [-1.04672459e-01 -3.58020834e-02 9.93862107e-01 -6.04922290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50911593299999 meters 0.08958179679646619 Centerline is valid? [True, True] Translation: X:-35.95, Y:20.10, Z:0.62 [[-1.38255884e-01 -4.66738073e-01 8.73522113e-01 -3.59452720e+01] [-2.10295865e-01 -8.48045470e-01 -4.86409838e-01 2.01022538e+01] [ 9.67812461e-01 -2.50947111e-01 1.90941896e-02 6.21858393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53911593299999 meters 0.09358940298294337 Centerline is valid? [True, True] SLAMing on 80.56911593299999 meters 0.10584837888846023 Centerline is valid? [True, False] Translation: X:-35.14, Y:19.12, Z:0.51 [[ 0.50710812 -0.78909055 -0.34666621 -35.13580709] [ 0.42795641 -0.11860129 0.89598384 19.12030166] [ -0.74812744 -0.6027187 0.27755268 0.51403088] [ 0. 0. 0. 1. ]] SLAMing on 80.599115933 meters 0.10769197600137688 Centerline is valid? [False, False] Translation: X:-35.40, Y:18.89, Z:1.19 [[-6.34402995e-03 -6.61015717e-02 -9.97792732e-01 -3.53993285e+01] [ 6.75403093e-01 7.35540149e-01 -5.30221715e-02 1.88857286e+01] [ 7.37421464e-01 -6.74248671e-01 3.99789172e-02 1.19243594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.629115933 meters 0.11074105878385619 Centerline is valid? [False, False] Translation: X:-35.02, Y:19.12, Z:1.26 [[ 0.25156962 -0.31242622 -0.91602543 -35.0173695 ] [ 0.82737368 0.56049324 0.03605718 19.11611893] [ 0.50216085 -0.76696622 0.3994963 1.25622627] [ 0. 0. 0. 1. ]] SLAMing on 80.659115933 meters SLAMing on 80.689115933 meters 0.0796420994905331 Centerline is valid? [False, True] Translation: X:-34.77, Y:18.89, Z:1.33 [[ 0.57416504 -0.2359458 -0.78400516 -34.76608576] [ 0.60832561 0.76383458 0.2156309 18.89331992] [ 0.54797305 -0.60073814 0.58209898 1.32522088] [ 0. 0. 0. 1. ]] SLAMing on 80.719115933 meters 0.13864350979477894 Centerline is valid? [True, False] Translation: X:-34.43, Y:18.99, Z:1.42 [[ 0.66654086 -0.31911012 -0.67371508 -34.4346819 ] [ 0.61376293 0.74785414 0.25300049 18.98596753] [ 0.4231056 -0.58213651 0.69433331 1.42029301] [ 0. 0. 0. 1. ]] SLAMing on 80.749115933 meters 0.1343171089318248 Centerline is valid? [False, False] Translation: X:-34.19, Y:18.89, Z:1.52 [[ 0.81687841 -0.19738511 -0.54198597 -34.18794432] [ 0.43080703 0.83359457 0.34572446 18.8855529 ] [ 0.3835557 -0.51590621 0.76598029 1.52483519] [ 0. 0. 0. 1. ]] SLAMing on 80.77911593299999 meters 0.136740195653935 Centerline is valid? [False, False] Translation: X:-33.94, Y:18.83, Z:1.54 [[ 0.88676602 -0.20398431 -0.41477274 -33.93542345] [ 0.36683873 0.85651789 0.3630516 18.8263974 ] [ 0.28120344 -0.47409652 0.8343603 1.54353615] [ 0. 0. 0. 1. ]] SLAMing on 80.80911593299999 meters 0.13720324907331857 Centerline is valid? [False, False] Translation: X:-33.71, Y:18.76, Z:1.53 [[ 0.93710781 -0.19944507 -0.2864448 -33.71320362] [ 0.30105795 0.87712159 0.37419489 18.75779818] [ 0.1766156 -0.43689744 0.88200202 1.53374459] [ 0. 0. 0. 1. ]] SLAMing on 80.83911593299999 meters 0.13121821639250442 Centerline is valid? [False, False] Translation: X:-33.58, Y:18.78, Z:1.58 [[ 0.93808877 -0.20964915 -0.27574751 -33.58144335] [ 0.31124167 0.85956003 0.40532108 18.78277808] [ 0.15204631 -0.46605127 0.87159517 1.58467964] [ 0. 0. 0. 1. ]] SLAMing on 80.86911593299999 meters 0.061526168004711515 Centerline is valid? [False, True] Translation: X:-33.40, Y:18.72, Z:1.57 [[ 0.96190587 -0.19489307 -0.19171276 -33.39703971] [ 0.25697707 0.88385603 0.39084689 18.71510774] [ 0.09327313 -0.42522371 0.90026936 1.5673355 ] [ 0. 0. 0. 1. ]] SLAMing on 80.89911593299999 meters 0.062122232946744585 Centerline is valid? [True, True] Translation: X:-33.43, Y:18.25, Z:1.34 [[ 9.63477592e-01 -2.13876347e-01 -1.61145391e-01 -3.34258537e+01] [ 2.16800639e-01 9.76215729e-01 5.77765161e-04 1.82543804e+01] [ 1.57189095e-01 -3.54930876e-02 9.86930509e-01 1.34451763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.92911593299999 meters 0.06587151220409702 Centerline is valid? [True, True] Translation: X:-33.46, Y:18.26, Z:1.29 [[ 9.47380200e-01 -3.15356769e-01 -5.49624006e-02 -3.34553163e+01] [ 3.15844392e-01 9.48810983e-01 1.95703267e-04 1.82636927e+01] [ 5.20872131e-02 -1.75449714e-02 9.98488406e-01 1.28990668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95911593299999 meters 0.061377315047957175 Centerline is valid? [True, True] Translation: X:-33.49, Y:18.28, Z:1.30 [[ 9.40212226e-01 -3.39979837e-01 -2.03637159e-02 -3.34865881e+01] [ 3.40051726e-01 9.40406730e-01 7.18864746e-05 1.82772959e+01] [ 1.91257355e-02 -6.99230528e-03 9.99792635e-01 1.30389145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.989115933 meters 0.061377315047957175 Centerline is valid? [True, True] Translation: X:-33.52, Y:18.28, Z:1.30 [[ 9.39929276e-01 -3.40761317e-01 -2.03637320e-02 -3.35195987e+01] [ 3.40833272e-01 9.40123756e-01 6.68479898e-05 1.82779320e+01] [ 1.91216490e-02 -7.00346980e-03 9.99792635e-01 1.30330545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.019115933 meters 0.058920188260896254 Centerline is valid? [True, True] Translation: X:-33.55, Y:18.29, Z:1.31 [[ 9.42961237e-01 -3.32652654e-01 -1.28963690e-02 -3.35507028e+01] [ 3.32680732e-01 9.43039516e-01 3.38258396e-05 1.82853686e+01] [ 1.21505334e-02 -4.32226995e-03 9.99916838e-01 1.30640844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.049115933 meters 0.05043399855166938 Centerline is valid? [True, True] Translation: X:-33.58, Y:18.27, Z:1.32 [[ 9.44325675e-01 -3.28966161e-01 -5.50312757e-03 -3.35828973e+01] [ 3.28971220e-01 9.44339947e-01 1.50503939e-05 1.82729131e+01] [ 5.19187213e-03 -1.82458307e-03 9.99984858e-01 1.32105449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.079115933 meters 0.0420464169613776 Centerline is valid? [True, True] Translation: X:-33.61, Y:18.29, Z:1.34 [[ 9.49165188e-01 -3.14568856e-01 -1.14839166e-02 -3.36139904e+01] [ 3.14589894e-01 9.49227685e-01 2.68337500e-05 1.82862555e+01] [ 1.08924105e-02 -3.63819375e-03 9.99934057e-01 1.34312490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.109115933 meters 0.03539042783797631 Centerline is valid? [True, True] Translation: X:-33.64, Y:18.25, Z:1.29 [[ 9.54245760e-01 -2.98827713e-01 -1.08178905e-02 -3.36433450e+01] [ 2.98845443e-01 9.54301525e-01 2.35022842e-05 1.82495112e+01] [ 1.03165062e-02 -3.25530422e-03 9.99941485e-01 1.29213094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13911593299999 meters 0.03289918406434535 Centerline is valid? [True, True] Translation: X:-33.68, Y:18.25, Z:1.31 [[ 9.57454506e-01 -2.88408160e-01 -1.00797633e-02 -3.36753294e+01] [ 2.88423006e-01 9.57503091e-01 1.99825505e-05 1.82501700e+01] [ 9.64564137e-03 -2.92636801e-03 9.99949198e-01 1.30702514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16911593299999 meters 0.03166482357601572 Centerline is valid? [True, True] Translation: X:-33.71, Y:18.24, Z:1.29 [[ 9.55848138e-01 -2.93820649e-01 -4.87477699e-03 -3.37056482e+01] [ 2.93824213e-01 9.55859473e-01 1.54908938e-05 1.82414969e+01] [ 4.65505022e-03 -1.44713445e-03 9.99988118e-01 1.29060800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19911593299999 meters 0.029948535540771582 Centerline is valid? [True, True] Translation: X:-33.74, Y:18.24, Z:1.33 [[ 9.64076608e-01 -2.64785024e-01 -2.10994141e-02 -3.37364527e+01] [ 2.64844471e-01 9.64291141e-01 2.40043747e-05 1.82414141e+01] [ 2.03396221e-02 -5.61120524e-03 9.99777382e-01 1.32660542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22911593299999 meters 0.030150560598253006 Centerline is valid? [True, True] Translation: X:-33.77, Y:18.23, Z:1.30 [[ 9.62192222e-01 -2.72044708e-01 -1.33343807e-02 -3.37668865e+01] [ 2.72069070e-01 9.62277725e-01 1.35267209e-05 1.82256749e+01] [ 1.28276977e-02 -3.64088787e-03 9.99911093e-01 1.30273525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25911593299999 meters 0.029305762877950482 Centerline is valid? [True, True] Translation: X:-33.80, Y:18.25, Z:1.37 [[ 9.61781802e-01 -2.73627460e-01 -1.01871844e-02 -3.37994480e+01] [ 2.73641770e-01 9.61831681e-01 1.12899921e-05 1.82546053e+01] [ 9.79526748e-03 -2.79849769e-03 9.99948109e-01 1.36514368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28911593299999 meters 0.029205470637072583 Centerline is valid? [True, True] Translation: X:-33.83, Y:18.25, Z:1.38 [[ 9.63396331e-01 -2.67921406e-01 -9.25367431e-03 -3.38312624e+01] [ 2.67932947e-01 9.63437562e-01 7.70925385e-06 1.82504096e+01] [ 8.91327194e-03 -2.48679129e-03 9.99957184e-01 1.37700753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31911593299999 meters 0.027484472572560363 Centerline is valid? [True, True] Translation: X:-33.86, Y:18.21, Z:1.31 [[ 9.64940005e-01 -2.62221918e-01 -1.14216044e-02 -3.38613237e+01] [ 2.62239111e-01 9.65002927e-01 7.96657688e-06 1.82103380e+01] [ 1.10197927e-02 -3.00287866e-03 9.99934771e-01 1.31184332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.349115933 meters 0.028841169419470424 Centerline is valid? [True, True] Translation: X:-33.89, Y:18.23, Z:1.37 [[ 9.63452127e-01 -2.67793580e-01 -6.82626679e-03 -3.38938342e+01] [ 2.67799865e-01 9.63474562e-01 6.86025525e-06 1.82306005e+01] [ 6.57509728e-03 -1.83468285e-03 9.99976701e-01 1.37451452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.379115933 meters 0.028237857604480086 Centerline is valid? [True, True] Translation: X:-33.93, Y:18.25, Z:1.43 [[ 9.67790556e-01 -2.51523164e-01 -1.08415118e-02 -3.39255740e+01] [ 2.51537985e-01 9.67847427e-01 3.67201782e-06 1.82527785e+01] [ 1.04920057e-02 -2.73060578e-03 9.99941229e-01 1.43060733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.409115933 meters 0.027434249124972686 Centerline is valid? [True, True] Translation: X:-33.96, Y:18.25, Z:1.44 [[ 9.69187551e-01 -2.46171948e-01 -8.65236325e-03 -3.39566541e+01] [ 2.46181179e-01 9.69223827e-01 1.79606640e-06 1.82475534e+01] [ 8.38563449e-03 -2.13178971e-03 9.99962568e-01 1.44272949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.439115933 meters 0.02533680251547943 Centerline is valid? [True, True] Translation: X:-33.99, Y:18.26, Z:1.48 [[ 9.71205216e-01 -2.38201467e-01 -4.52647413e-03 -3.39884795e+01] [ 2.38203912e-01 9.71215165e-01 1.08933583e-06 1.82568711e+01] [ 4.39592083e-03 -1.07928181e-03 9.99989755e-01 1.48113600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.469115933 meters 0.024345302514445825 Centerline is valid? [True, True] Translation: X:-34.02, Y:18.25, Z:1.49 [[ 9.76455320e-01 -2.15281166e-01 -1.37487239e-02 -3.40190867e+01] [ 2.15301519e-01 9.76547621e-01 2.30774127e-07 1.82491629e+01] [ 1.34262340e-02 -2.96034649e-03 9.99905482e-01 1.48686093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.499115933 meters 0.02343125523932108 Centerline is valid? [True, True] Translation: X:-34.05, Y:18.26, Z:1.52 [[ 9.77638901e-01 -2.10155921e-01 -7.52778226e-03 -3.40509768e+01] [ 2.10161875e-01 9.77666603e-01 -1.08099481e-07 1.82578709e+01] [ 7.35968403e-03 -1.58194715e-03 9.99971666e-01 1.51806927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52911593299999 meters 0.023027126735922623 Centerline is valid? [True, True] Translation: X:-34.08, Y:18.25, Z:1.54 [[ 9.81027860e-01 -1.93279179e-01 -1.50830161e-02 -3.40827920e+01] [ 1.93301122e-01 9.81139478e-01 -3.05899344e-06 1.82518859e+01] [ 1.47991338e-02 -2.91256299e-03 9.99886245e-01 1.54094850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55911593299999 meters 0.02252285318344624 Centerline is valid? [True, True] Translation: X:-34.11, Y:18.23, Z:1.53 [[ 9.83810336e-01 -1.77983152e-01 -2.09575991e-02 -3.41138389e+01] [ 1.78022106e-01 9.84026488e-01 -7.10541900e-06 1.82273243e+01] [ 2.06240973e-02 -3.72392554e-03 9.99780365e-01 1.52509423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58911593299999 meters 0.021847624430066794 Centerline is valid? [True, True] Translation: X:-34.15, Y:18.24, Z:1.54 [[ 9.82669677e-01 -1.84855522e-01 -1.37383260e-02 -3.41452335e+01] [ 1.84872894e-01 9.82762440e-01 -5.53855136e-06 1.82356204e+01] [ 1.35025346e-02 -2.53440153e-03 9.99905625e-01 1.53657217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61911593299999 meters 0.020775263386691285 Centerline is valid? [True, True] Translation: X:-34.18, Y:18.23, Z:1.55 [[ 9.85919006e-01 -1.66278131e-01 -1.77566093e-02 -3.41756371e+01] [ 1.66304202e-01 9.86074496e-01 -8.46993872e-06 1.82308852e+01] [ 1.75107480e-02 -2.94464807e-03 9.99842339e-01 1.55107014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64911593299999 meters 0.019366515389750195 Centerline is valid? [True, True] Translation: X:-34.21, Y:18.23, Z:1.56 [[ 9.88356712e-01 -1.51019460e-01 -1.85507862e-02 -3.42071768e+01] [ 1.51045259e-01 9.88526848e-01 -1.05218114e-05 1.82322526e+01] [ 1.83395392e-02 -2.79160901e-03 9.99827919e-01 1.56303451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67911593299999 meters 0.01857053403198438 Centerline is valid? [True, True] Translation: X:-34.24, Y:18.23, Z:1.57 [[ 9.88420674e-01 -1.50886547e-01 -1.60568241e-02 -3.42387610e+01] [ 1.50905855e-01 9.88548139e-01 -9.23077299e-06 1.82321751e+01] [ 1.58743364e-02 -2.41394488e-03 9.99871081e-01 1.57355297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.70911593299999 meters 0.01741007470566544 Centerline is valid? [True, True] Translation: X:-34.27, Y:18.23, Z:1.58 [[ 9.90022067e-01 -1.39897780e-01 -1.68795214e-02 -3.42699847e+01] [ 1.39917343e-01 9.90163187e-01 -2.22295741e-05 1.82256068e+01] [ 1.67165906e-02 -2.33973002e-03 9.99857530e-01 1.57907854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.739115933 meters 0.017562319071418673 Centerline is valid? [True, True] Translation: X:-34.30, Y:18.22, Z:1.59 [[ 9.92122336e-01 -1.23272400e-01 -2.22976619e-02 -3.43008193e+01] [ 1.23302367e-01 9.92369148e-01 -3.11300954e-05 1.82205947e+01] [ 2.21313493e-02 -2.71846964e-03 9.99751376e-01 1.58902484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.769115933 meters 0.016123671989973384 Centerline is valid? [True, True] Translation: X:-34.33, Y:18.22, Z:1.62 [[ 9.93832365e-01 -1.08032178e-01 -2.50255678e-02 -3.43319468e+01] [ 1.08065106e-01 9.94143818e-01 -3.68454334e-05 1.82248608e+01] [ 2.48829940e-02 -2.66777245e-03 9.99686811e-01 1.61627113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.799115933 meters 0.016130394139819395 Centerline is valid? [True, True] Translation: X:-34.36, Y:18.22, Z:1.60 [[ 9.93867381e-01 -1.08000925e-01 -2.37366636e-02 -3.43629720e+01] [ 1.08030415e-01 9.94147589e-01 -4.01693369e-05 1.82151158e+01] [ 2.36020852e-02 -2.52435862e-03 9.99718245e-01 1.60302453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.829115933 meters 0.016277227400584588 Centerline is valid? [True, True] Translation: X:-34.40, Y:18.23, Z:1.65 [[ 9.93661212e-01 -1.10337619e-01 -2.15175739e-02 -3.43963438e+01] [ 1.10362155e-01 9.93891439e-01 -4.74906911e-05 1.82305251e+01] [ 2.13913725e-02 -2.32753617e-03 9.99768469e-01 1.64858758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.859115933 meters 0.015052775645502767 Centerline is valid? [True, True] Translation: X:-34.43, Y:18.22, Z:1.63 [[ 9.95525166e-01 -9.06299648e-02 -2.67554199e-02 -3.44260884e+01] [ 9.06606986e-02 9.95881837e-01 -6.46114710e-05 1.82177566e+01] [ 2.66510924e-02 -2.36134271e-03 9.99642008e-01 1.63319677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88911593299999 meters 0.015768600719455357 Centerline is valid? [True, True] Translation: X:-34.46, Y:18.21, Z:1.63 [[ 9.96433222e-01 -7.96328292e-02 -2.79185883e-02 -3.44569765e+01] [ 7.96619812e-02 9.96821932e-01 -6.82732495e-05 1.82095463e+01] [ 2.78352979e-02 -2.15602032e-03 9.99610198e-01 1.62578827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91911593299999 meters 0.015316482547862931 Centerline is valid? [True, True] Translation: X:-34.49, Y:18.21, Z:1.62 [[ 9.96921565e-01 -7.35644911e-02 -2.71230499e-02 -3.44879837e+01] [ 7.35897368e-02 9.97288597e-01 -6.75681310e-05 1.82059827e+01] [ 2.70544790e-02 -1.92861798e-03 9.99632100e-01 1.62217474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94911593299999 meters 0.015510815344269395 Centerline is valid? [True, True] Translation: X:-34.52, Y:18.20, Z:1.63 [[ 9.97895561e-01 -5.72399107e-02 -3.04637940e-02 -3.45188793e+01] [ 5.72641407e-02 9.98359060e-01 -7.71947460e-05 1.82044160e+01] [ 3.04182233e-02 -1.66745069e-03 9.99535868e-01 1.62887988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97911593299999 meters 0.014853176251173057 Centerline is valid? [True, True] Translation: X:-34.55, Y:18.19, Z:1.61 [[ 9.98639031e-01 -3.96240413e-02 -3.39119571e-02 -3.45481169e+01] [ 3.96439350e-02 9.99213867e-01 -8.58283848e-05 1.81925971e+01] [ 3.38886987e-02 -1.25869185e-03 9.99424820e-01 1.60858878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00911593299999 meters 0.01482580714321636 Centerline is valid? [True, True] Translation: X:-34.58, Y:18.17, Z:1.56 [[ 9.98914622e-01 -3.25056919e-02 -3.33610227e-02 -3.45765928e+01] [ 3.25210788e-02 9.99471047e-01 -8.14328218e-05 1.81717789e+01] [ 3.33460233e-02 -1.00359201e-03 9.99443363e-01 1.56284843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03911593299999 meters 0.01501914314357039 Centerline is valid? [True, True] Translation: X:-34.61, Y:18.18, Z:1.60 [[ 9.99097027e-01 -1.70445211e-02 -3.89180542e-02 -3.46067146e+01] [ 1.70539438e-02 9.99854567e-01 -8.98742127e-05 1.81841418e+01] [ 3.89139261e-02 -5.73913248e-04 9.99242402e-01 1.60436451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.06911593299999 meters 0.015084070415353418 Centerline is valid? [True, True] Translation: X:-34.64, Y:18.17, Z:1.58 [[ 9.99134659e-01 -6.26221161e-03 -4.11183465e-02 -3.46352171e+01] [ 6.26432920e-03 9.99980376e-01 -7.73450878e-05 1.81683615e+01] [ 4.11180239e-02 -1.80300700e-04 9.99154280e-01 1.58040995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.099115933 meters 0.015807425617681618 Centerline is valid? [True, True] Translation: X:-34.66, Y:18.18, Z:1.61 [[ 9.98878380e-01 8.75021367e-04 -4.73414858e-02 -3.46647893e+01] [-8.78628483e-04 9.99999612e-01 -5.53841447e-05 1.81769205e+01] [ 4.73414190e-02 9.69176026e-05 9.98878762e-01 1.61458528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.129115933 meters 0.015110785771269983 Centerline is valid? [True, True] Translation: X:-34.69, Y:18.17, Z:1.59 [[ 9.98666043e-01 9.22779200e-03 -5.08033739e-02 -3.46933604e+01] [-9.24097085e-03 9.99957301e-01 -2.45221287e-05 1.81677156e+01] [ 5.08009784e-02 4.93961914e-04 9.98708675e-01 1.59256899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.159115933 meters 0.015815389856797 Centerline is valid? [True, True] Translation: X:-34.72, Y:18.17, Z:1.61 [[ 9.98603301e-01 1.41520943e-02 -5.09034980e-02 -3.47234449e+01] [-1.41699810e-02 9.99899601e-01 9.50188094e-06 1.81720203e+01] [ 5.08985218e-02 7.11812988e-04 9.98703577e-01 1.61192437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.189115933 meters 0.015342671255684996 Centerline is valid? [True, True] Translation: X:-34.75, Y:18.18, Z:1.64 [[ 9.98699238e-01 1.23590908e-02 -4.94680103e-02 -3.47534542e+01] [-1.23721702e-02 9.99923461e-01 4.18029040e-05 1.81831469e+01] [ 4.94647407e-02 5.70278114e-04 9.98775708e-01 1.64306208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.219115933 meters 0.015627264048848892 Centerline is valid? [True, True] Translation: X:-34.78, Y:18.17, Z:1.62 [[ 9.97962407e-01 2.74223806e-02 -5.76111727e-02 -3.47828862e+01] [-2.74642989e-02 9.99622783e-01 6.41982689e-05 1.81672732e+01] [ 5.75912012e-02 1.51818301e-03 9.98339095e-01 1.62301445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.249115933 meters 0.015344253140557894 Centerline is valid? [True, True] Translation: X:-34.81, Y:18.17, Z:1.62 [[ 9.98141601e-01 2.41073913e-02 -5.59658611e-02 -3.48124953e+01] [-2.41402793e-02 9.99708577e-01 8.84258207e-05 1.81670387e+01] [ 5.59516831e-02 1.26277003e-03 9.98432679e-01 1.61908647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27911593299999 meters 0.01525571976133211 Centerline is valid? [True, True] Translation: X:-34.84, Y:18.16, Z:1.61 [[ 9.97584420e-01 3.34403861e-02 -6.08856696e-02 -3.48423183e+01] [-3.34957746e-02 9.99438853e-01 1.10998230e-04 1.81566442e+01] [ 6.08552156e-02 1.92868256e-03 9.98144740e-01 1.60544804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30911593299999 meters 0.015105729383254008 Centerline is valid? [True, True] Translation: X:-34.87, Y:18.15, Z:1.59 [[ 9.97405949e-01 3.55084254e-02 -6.26140851e-02 -3.48716308e+01] [-3.55700535e-02 9.99367177e-01 1.30511020e-04 1.81492233e+01] [ 6.25790957e-02 2.09701389e-03 9.98037805e-01 1.58865124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33911593299999 meters 0.014723129144514152 Centerline is valid? [True, True] Translation: X:-34.90, Y:18.15, Z:1.59 [[ 9.97573772e-01 3.49226189e-02 -6.02244108e-02 -3.49000377e+01] [-3.49775956e-02 9.99388087e-01 1.41427206e-04 1.81451112e+01] [ 6.01924977e-02 1.96542101e-03 9.98184853e-01 1.58579936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.36911593299999 meters 0.015663736167422195 Centerline is valid? [True, True] Translation: X:-34.93, Y:18.14, Z:1.60 [[ 9.96956506e-01 4.36829726e-02 -6.45718489e-02 -3.49301526e+01] [-4.37637529e-02 9.99041895e-01 1.63561332e-04 1.81435712e+01] [ 6.45171271e-02 2.66284291e-03 9.97913047e-01 1.59545237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39911593299999 meters 0.015384826742768582 Centerline is valid? [True, True] Translation: X:-34.96, Y:18.14, Z:1.58 [[ 9.96971635e-01 4.29363821e-02 -6.48384593e-02 -3.49591134e+01] [-4.30140826e-02 9.99074446e-01 1.97752253e-04 1.81356401e+01] [ 6.47869386e-02 2.59181345e-03 9.97895754e-01 1.58366901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.42911593299999 meters 0.015207029620176978 Centerline is valid? [True, True] Translation: X:-34.99, Y:18.13, Z:1.58 [[ 9.97275476e-01 3.66537211e-02 -6.40166384e-02 -3.49889742e+01] [-3.67155311e-02 9.99325735e-01 2.11008613e-04 1.81318968e+01] [ 6.39812085e-02 2.13997116e-03 9.97948809e-01 1.57607150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45911593299999 meters 0.014695474945257567 Centerline is valid? [True, True] Translation: X:-35.02, Y:18.12, Z:1.56 [[ 9.97140016e-01 3.80864056e-02 -6.52779749e-02 -3.50183148e+01] [-3.81516162e-02 9.99271931e-01 2.47752751e-04 1.81188184e+01] [ 6.52398841e-02 2.24341607e-03 9.97867088e-01 1.55803075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.489115933 meters 0.014913472791726258 Centerline is valid? [True, True] Translation: X:-35.05, Y:18.11, Z:1.55 [[ 9.96567889e-01 4.49570099e-02 -6.95076314e-02 -3.50487075e+01] [-4.50455127e-02 9.98984892e-01 2.94388933e-04 1.81105443e+01] [ 6.94503085e-02 2.83762833e-03 9.97581376e-01 1.54692284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.519115933 meters 0.016249311415832617 Centerline is valid? [True, True] Translation: X:-35.08, Y:18.11, Z:1.54 [[ 9.96892062e-01 3.97075932e-02 -6.80406039e-02 -3.50785063e+01] [-3.97789282e-02 9.99208458e-01 3.06657839e-04 1.81102036e+01] [ 6.79989235e-02 2.40087753e-03 9.97682506e-01 1.54362103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.549115933 meters 0.01588244898501026 Centerline is valid? [True, True] Translation: X:-35.11, Y:18.11, Z:1.54 [[ 9.97093956e-01 3.53377595e-02 -6.74898941e-02 -3.51081576e+01] [-3.53954431e-02 9.99373327e-01 3.41265527e-04 1.81058957e+01] [ 6.74596595e-02 2.04856091e-03 9.97719899e-01 1.53935315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.579115933 meters 0.015861111841635536 Centerline is valid? [True, True] Translation: X:-35.14, Y:18.11, Z:1.55 [[ 9.96802363e-01 4.03476634e-02 -6.89718445e-02 -3.51369462e+01] [-4.04183878e-02 9.99182774e-01 3.70379702e-04 1.81086274e+01] [ 6.89304229e-02 2.41853540e-03 9.97618538e-01 1.54788203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.609115933 meters 0.015593618153035484 Centerline is valid? [True, True] Translation: X:-35.17, Y:18.11, Z:1.55 [[ 9.96766233e-01 4.18894578e-02 -6.85736870e-02 -3.51654578e+01] [-4.19601216e-02 9.99119202e-01 4.10205989e-04 1.81072569e+01] [ 6.85304707e-02 2.46848076e-03 9.97645970e-01 1.55374412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63911593299999 meters 0.015839603469916527 Centerline is valid? [True, True] Translation: X:-35.19, Y:18.10, Z:1.54 [[ 9.96582518e-01 4.65943360e-02 -6.82074283e-02 -3.51940924e+01] [-4.66722390e-02 9.98910155e-01 4.51826843e-04 1.81010439e+01] [ 6.81541454e-02 2.73311066e-03 9.97671059e-01 1.53538794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66911593299999 meters 0.015372775980031816 Centerline is valid? [True, True] Translation: X:-35.22, Y:18.10, Z:1.53 [[ 9.96522088e-01 4.80514414e-02 -6.80792684e-02 -3.52226346e+01] [-4.81291796e-02 9.98840995e-01 4.98815512e-04 1.80997469e+01] [ 6.80243330e-02 2.77951866e-03 9.97679791e-01 1.53111569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69911593299999 meters 0.015766921329397575 Centerline is valid? [True, True] Translation: X:-35.25, Y:18.10, Z:1.52 [[ 9.96369592e-01 5.06686585e-02 -6.84128850e-02 -3.52517044e+01] [-5.07501707e-02 9.98711230e-01 5.47138951e-04 1.80950427e+01] [ 6.83524393e-02 2.92681298e-03 9.97656944e-01 1.51620678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72911593299999 meters 0.01590591696231141 Centerline is valid? [True, True] Translation: X:-35.28, Y:18.09, Z:1.51 [[ 9.96024223e-01 5.36453615e-02 -7.11190758e-02 -3.52807574e+01] [-5.37394923e-02 9.98554815e-01 5.90529732e-04 1.80911265e+01] [ 7.10479747e-02 3.23372111e-03 9.97467658e-01 1.50586034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75911593299999 meters 0.015436703262756753 Centerline is valid? [True, True] Translation: X:-35.31, Y:18.09, Z:1.51 [[ 9.96083227e-01 5.41848748e-02 -6.98727740e-02 -3.53104420e+01] [-5.42745014e-02 9.98525863e-01 6.16525677e-04 1.80861236e+01] [ 6.98031783e-02 3.17819909e-03 9.97555720e-01 1.50661808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78911593299999 meters 0.016107576469974565 Centerline is valid? [True, True] Translation: X:-35.34, Y:18.08, Z:1.49 [[ 9.95172421e-01 6.29385335e-02 -7.53033450e-02 -3.53406590e+01] [-6.30643448e-02 9.98009212e-01 7.08328558e-04 1.80805817e+01] [ 7.51980131e-02 4.04404707e-03 9.97160421e-01 1.49193896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81911593299999 meters 0.016058610114521355 Centerline is valid? [True, True] Translation: X:-35.37, Y:18.08, Z:1.49 [[ 9.94711011e-01 6.86202245e-02 -7.64281983e-02 -3.53707853e+01] [-6.87632885e-02 9.97632713e-01 7.61243565e-04 1.80793594e+01] [ 7.62995075e-02 4.49823690e-03 9.97074797e-01 1.49144912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.849115933 meters 0.016030821379982164 Centerline is valid? [True, True] Translation: X:-35.40, Y:18.08, Z:1.49 [[ 9.94509443e-01 7.29436868e-02 -7.50345612e-02 -3.54003235e+01] [-7.30916785e-02 9.97324925e-01 7.75542246e-04 1.80773437e+01] [ 7.48904090e-02 4.71311793e-03 9.97180632e-01 1.48913852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.879115933 meters 0.015762358029756226 Centerline is valid? [True, True] Translation: X:-35.43, Y:18.08, Z:1.49 [[ 9.94402096e-01 7.43189057e-02 -7.51077354e-02 -3.54293743e+01] [-7.44679555e-02 9.97223072e-01 8.17976642e-04 1.80805375e+01] [ 7.49599578e-02 4.77972181e-03 9.97175089e-01 1.48646444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.909115933 meters 0.015762358029756226 Centerline is valid? [True, True] Translation: X:-35.46, Y:18.08, Z:1.49 [[ 9.94348206e-01 7.50370719e-02 -7.51071419e-02 -3.54575585e+01] [-7.51842156e-02 9.97169282e-01 8.70399687e-04 1.80809402e+01] [ 7.49598470e-02 4.78139118e-03 9.97175090e-01 1.48597503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.939115933 meters 0.014904912625236117 Centerline is valid? [True, True] Translation: X:-35.49, Y:18.07, Z:1.47 [[ 9.93950909e-01 7.97844097e-02 -7.54721048e-02 -3.54873506e+01] [-7.99430695e-02 9.96799005e-01 9.21315325e-04 1.80733412e+01] [ 7.53040256e-02 5.11772951e-03 9.97147488e-01 1.47053106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.969115933 meters 0.015645691155645007 Centerline is valid? [True, True] Translation: X:-35.52, Y:18.07, Z:1.46 [[ 9.93330717e-01 8.46734849e-02 -7.82591068e-02 -3.55163205e+01] [-8.48575970e-02 9.96392611e-01 9.75950631e-04 1.80708122e+01] [ 7.80594330e-02 5.67143801e-03 9.96932575e-01 1.45611157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.999115933 meters 0.015683884932645636 Centerline is valid? [True, True] Translation: X:-35.55, Y:18.07, Z:1.46 [[ 9.92982456e-01 8.96379569e-02 -7.71419381e-02 -3.55462015e+01] [-8.98288311e-02 9.95956717e-01 9.99093086e-04 1.80703236e+01] [ 7.69195881e-02 5.93748822e-03 9.97019620e-01 1.46164597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02911593299999 meters 0.015072076840387078 Centerline is valid? [True, True] Translation: X:-35.57, Y:18.07, Z:1.47 [[ 9.93226334e-01 8.74884857e-02 -7.64670739e-02 -3.55749053e+01] [-8.76680121e-02 9.96149233e-01 1.01232674e-03 1.80722227e+01] [ 7.62611840e-02 5.69824678e-03 9.97071593e-01 1.46686370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05911593299999 meters 0.015669875676151506 Centerline is valid? [True, True] Translation: X:-35.60, Y:18.07, Z:1.44 [[ 9.92821792e-01 8.82593691e-02 -8.07166162e-02 -3.56035436e+01] [-8.84593033e-02 9.96079182e-01 1.10257504e-03 1.80661449e+01] [ 8.04974536e-02 6.04547510e-03 9.96736481e-01 1.44407295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08911593299999 meters 0.015072092484474565 Centerline is valid? [True, True] Translation: X:-35.63, Y:18.08, Z:1.49 [[ 9.93252382e-01 8.56878628e-02 -7.81491935e-02 -3.56336509e+01] [-8.58660307e-02 9.96306103e-01 1.08383853e-03 1.80831565e+01] [ 7.79533902e-02 5.63383584e-03 9.96941086e-01 1.49477326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11911593299999 meters 0.01433047301214355 Centerline is valid? [True, True] Translation: X:-35.66, Y:18.07, Z:1.46 [[ 9.93268580e-01 8.59478391e-02 -7.76562734e-02 -3.56629973e+01] [-8.61214233e-02 9.96284022e-01 1.11716656e-03 1.80705791e+01] [ 7.74637225e-02 5.57822235e-03 9.96979566e-01 1.46485520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.14911593299999 meters 0.015305272075878121 Centerline is valid? [True, True] Translation: X:-35.69, Y:18.07, Z:1.47 [[ 9.92864683e-01 8.93886966e-02 -7.89264333e-02 -3.56927724e+01] [-8.95750928e-02 9.95979369e-01 1.18276622e-03 1.80738638e+01] [ 7.87148252e-02 5.89551578e-03 9.96879742e-01 1.47424174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17911593299999 meters 0.015427293610972236 Centerline is valid? [True, True] Translation: X:-35.72, Y:18.08, Z:1.47 [[ 9.92752509e-01 9.02546245e-02 -7.93508627e-02 -3.57224967e+01] [-9.04418806e-02 9.95900965e-01 1.23834648e-03 1.80761943e+01] [ 7.91373673e-02 5.94726967e-03 9.96845980e-01 1.47491157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.20911593299999 meters 0.015207487986027233 Centerline is valid? [True, True] Translation: X:-35.75, Y:18.08, Z:1.48 [[ 9.93193572e-01 8.60728022e-02 -7.84729305e-02 -3.57524590e+01] [-8.62393133e-02 9.96273640e-01 1.27091319e-03 1.80761976e+01] [ 7.82899032e-02 5.50518883e-03 9.96915435e-01 1.47692742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.239115933 meters 0.015797569217527677 Centerline is valid? [True, True] Translation: X:-35.78, Y:18.07, Z:1.45 [[ 9.93714992e-01 8.09883060e-02 -7.72748892e-02 -3.57820789e+01] [-8.11310739e-02 9.96702599e-01 1.29525456e-03 1.80657579e+01] [ 7.71249834e-02 4.98228087e-03 9.97008984e-01 1.44967815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.269115933 meters 0.01600268173744485 Centerline is valid? [True, True] Translation: X:-35.81, Y:18.06, Z:1.46 [[ 9.93529509e-01 8.16512158e-02 -7.89442491e-02 -3.58118907e+01] [-8.17984765e-02 9.96647945e-01 1.37206063e-03 1.80648925e+01] [ 7.87916541e-02 5.09433658e-03 9.96878088e-01 1.45610221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.299115933 meters 0.016062569605880494 Centerline is valid? [True, True] Translation: X:-35.84, Y:18.06, Z:1.44 [[ 9.93720199e-01 8.03607333e-02 -7.78608951e-02 -3.58407015e+01] [-8.04962027e-02 9.96753929e-01 1.40216947e-03 1.80596041e+01] [ 7.77208325e-02 4.87414227e-03 9.96963247e-01 1.43704461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.329115933 meters 0.01578522687079687 Centerline is valid? [True, True] Translation: X:-35.87, Y:18.05, Z:1.42 [[ 9.93128858e-01 8.55745657e-02 -7.98252222e-02 -3.58695061e+01] [-8.57319928e-02 9.96317166e-01 1.45934805e-03 1.80528359e+01] [ 7.96561223e-02 5.39425471e-03 9.96807807e-01 1.41959334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.359115933 meters 0.01564261171690523 Centerline is valid? [True, True] Translation: X:-35.90, Y:18.06, Z:1.43 [[ 9.93651642e-01 8.21636986e-02 -7.68475135e-02 -3.58993459e+01] [-8.22975771e-02 9.96606777e-01 1.42849399e-03 1.80594277e+01] [ 7.67041231e-02 4.90493877e-03 9.97041834e-01 1.42851579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38911593299999 meters 0.015284670342327658 Centerline is valid? [True, True] Translation: X:-35.93, Y:18.05, Z:1.42 [[ 9.93576640e-01 8.29269466e-02 -7.69972798e-02 -3.59281930e+01] [-8.30598268e-02 9.96543463e-01 1.48060848e-03 1.80506299e+01] [ 7.68539182e-02 4.92428273e-03 9.97030204e-01 1.41633142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41911593299999 meters 0.015361705385559662 Centerline is valid? [True, True] Translation: X:-35.96, Y:18.06, Z:1.42 [[ 9.94192903e-01 7.80027686e-02 -7.41352791e-02 -3.59575778e+01] [-7.81103942e-02 9.96943660e-01 1.45094340e-03 1.80558890e+01] [ 7.40218741e-02 4.34821824e-03 9.97247138e-01 1.42189552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44911593299999 meters 0.015532973471165829 Centerline is valid? [True, True] Translation: X:-35.99, Y:18.04, Z:1.39 [[ 9.93273157e-01 8.56092467e-02 -7.79710962e-02 -3.59869257e+01] [-8.57486473e-02 9.96315573e-01 1.56463202e-03 1.80433760e+01] [ 7.78177644e-02 5.13180904e-03 9.96954392e-01 1.39023811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47911593299999 meters 0.015030965591780679 Centerline is valid? [True, True] Translation: X:-36.02, Y:18.05, Z:1.40 [[ 9.92727252e-01 9.15153575e-02 -7.82147205e-02 -3.60159148e+01] [-9.16722053e-02 9.95787968e-01 1.59043541e-03 1.80470044e+01] [ 7.80308269e-02 5.59124734e-03 9.96935268e-01 1.40277999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.50911593299999 meters 0.015044025999882405 Centerline is valid? [True, True] Translation: X:-36.05, Y:18.05, Z:1.40 [[ 9.92992631e-01 8.86700695e-02 -7.81233259e-02 -3.60457029e+01] [-8.88148350e-02 9.96046826e-01 1.62646115e-03 1.80470792e+01] [ 7.79587092e-02 5.32344636e-03 9.96942376e-01 1.39572517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53911593299999 meters 0.015256953187550895 Centerline is valid? [True, True] Translation: X:-36.08, Y:18.05, Z:1.40 [[ 9.93604054e-01 8.29992547e-02 -7.65644078e-02 -3.60757509e+01] [-8.31181617e-02 9.96538353e-01 1.63781364e-03 1.80485344e+01] [ 7.64353062e-02 4.73655455e-03 9.97063292e-01 1.40012473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.56911593299999 meters 0.015508899912549627 Centerline is valid? [True, True] Translation: X:-36.10, Y:18.05, Z:1.40 [[ 9.93513542e-01 8.27727692e-02 -7.79712161e-02 -3.61048193e+01] [-8.28912188e-02 9.96557114e-01 1.72170685e-03 1.80466779e+01] [ 7.78452806e-02 4.75259007e-03 9.96954124e-01 1.39881644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.599115933 meters 0.015118456450612716 Centerline is valid? [True, True] Translation: X:-36.13, Y:18.06, Z:1.41 [[ 9.94290225e-01 7.68468057e-02 -7.40372725e-02 -3.61347291e+01] [-7.69337765e-02 9.97034788e-01 1.68073030e-03 1.80552977e+01] [ 7.39468950e-02 4.02483327e-03 9.97254059e-01 1.41131454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.629115933 meters 0.015354549216469693 Centerline is valid? [True, True] Translation: X:-36.16, Y:18.05, Z:1.39 [[ 9.93976892e-01 8.00580981e-02 -7.48374214e-02 -3.61635623e+01] [-8.01540559e-02 9.96780994e-01 1.72522386e-03 1.80455567e+01] [ 7.47346374e-02 4.28369020e-03 9.97194256e-01 1.38537755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.659115933 meters 0.01556637164523566 Centerline is valid? [True, True] Translation: X:-36.19, Y:18.05, Z:1.40 [[ 9.93664800e-01 8.28689037e-02 -7.59144957e-02 -3.61928376e+01] [-8.29727009e-02 9.96550211e-01 1.79111083e-03 1.80502358e+01] [ 7.58010341e-02 4.51906696e-03 9.97112722e-01 1.40048009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.689115933 meters 0.015212428834582516 Centerline is valid? [True, True] Translation: X:-36.22, Y:18.05, Z:1.39 [[ 9.93627112e-01 8.26508838e-02 -7.66419844e-02 -3.62211929e+01] [-8.27519199e-02 9.96568438e-01 1.86204808e-03 1.80486063e+01] [ 7.65328826e-02 4.49208990e-03 9.97056939e-01 1.38966010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.719115933 meters 0.014779131521368827 Centerline is valid? [True, True] Translation: X:-36.25, Y:18.05, Z:1.37 [[ 9.93924403e-01 7.95035410e-02 -7.61148413e-02 -3.62510685e+01] [-7.95903705e-02 9.96825850e-01 1.89678405e-03 1.80455786e+01] [ 7.60240425e-02 4.17274847e-03 9.97097254e-01 1.37496399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.749115933 meters 0.01498578491727872 Centerline is valid? [True, True] Translation: X:-36.28, Y:18.05, Z:1.39 [[ 9.93374019e-01 8.53906772e-02 -7.69187222e-02 -3.62810399e+01] [-8.54942059e-02 9.96336755e-01 1.95202581e-03 1.80514261e+01] [ 7.68036350e-02 4.63701336e-03 9.97035456e-01 1.39297140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77911593299999 meters 0.015213324137274194 Centerline is valid? [True, True] Translation: X:-36.31, Y:18.05, Z:1.37 [[ 9.93970879e-01 7.96861314e-02 -7.53127675e-02 -3.63109794e+01] [-7.97661221e-02 9.96811699e-01 1.95007547e-03 1.80453990e+01] [ 7.52280417e-02 4.06908918e-03 9.97158054e-01 1.37038798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80911593299999 meters 0.014980524169847558 Centerline is valid? [True, True] Translation: X:-36.34, Y:18.05, Z:1.37 [[ 9.94145754e-01 7.80915436e-02 -7.46721503e-02 -3.63400566e+01] [-7.81622567e-02 9.96938686e-01 1.97938892e-03 1.80451553e+01] [ 7.45981289e-02 3.86874269e-03 9.97206173e-01 1.37084252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83911593299999 meters 0.015363637226986351 Centerline is valid? [True, True] Translation: X:-36.37, Y:18.04, Z:1.35 [[ 9.93012165e-01 8.75145256e-02 -7.91710034e-02 -3.63698277e+01] [-8.76215396e-02 9.96151563e-01 2.12801167e-03 1.80407903e+01] [ 7.90525507e-02 4.82394372e-03 9.96858778e-01 1.34896798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86911593299999 meters 0.015286418020373655 Centerline is valid? [True, True] Translation: X:-36.40, Y:18.04, Z:1.35 [[ 9.94341808e-01 7.56785015e-02 -7.45461841e-02 -3.63989556e+01] [-7.57390357e-02 9.97125631e-01 2.01866632e-03 1.80407146e+01] [ 7.44846805e-02 3.63881178e-03 9.97215519e-01 1.35300927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89911593299999 meters 0.015397305634622016 Centerline is valid? [True, True] Translation: X:-36.43, Y:18.04, Z:1.35 [[ 9.94016983e-01 7.92420135e-02 -7.51727346e-02 -3.64282196e+01] [-7.93119616e-02 9.96847718e-01 2.05903832e-03 1.80379911e+01] [ 7.50989313e-02 3.91537798e-03 9.97168401e-01 1.34926502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.92911593299999 meters 0.015525672074024562 Centerline is valid? [True, True] Translation: X:-36.46, Y:18.03, Z:1.34 [[ 9.94198468e-01 7.63759516e-02 -7.57371738e-02 -3.64574641e+01] [-7.64353936e-02 9.97072287e-01 2.11776442e-03 1.80343502e+01] [ 7.56771834e-02 3.68352255e-03 9.97125567e-01 1.33618847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95911593299999 meters 0.014809528302224402 Centerline is valid? [True, True] Translation: X:-36.49, Y:18.04, Z:1.34 [[ 9.94915930e-01 7.02758592e-02 -7.21359485e-02 -3.64869263e+01] [-7.03110841e-02 9.97522998e-01 2.05401297e-03 1.80369670e+01] [ 7.21016152e-02 3.02838652e-03 9.97392694e-01 1.33587139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.989115933 meters 0.014892511361502056 Centerline is valid? [True, True] Translation: X:-36.52, Y:18.04, Z:1.34 [[ 9.94836143e-01 7.00598846e-02 -7.34347390e-02 -3.65159301e+01] [-7.00925615e-02 9.97538207e-01 2.13520250e-03 1.80384903e+01] [ 7.34035499e-02 3.02305234e-03 9.97297739e-01 1.33590579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.019115933 meters 0.014559336167207611 Centerline is valid? [True, True] Translation: X:-36.55, Y:18.03, Z:1.32 [[ 9.95006057e-01 6.89610439e-02 -7.21617657e-02 -3.65450429e+01] [-6.89864009e-02 9.97615297e-01 2.14387067e-03 1.80347754e+01] [ 7.21375249e-02 2.84501620e-03 9.97390637e-01 1.32151786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.049115933 meters 0.015731910960779565 Centerline is valid? [True, True] Translation: X:-36.57, Y:18.04, Z:1.33 [[ 9.94618092e-01 7.09338854e-02 -7.55197606e-02 -3.65737304e+01] [-7.09656666e-02 9.97476185e-01 2.26596967e-03 1.80387488e+01] [ 7.54898967e-02 3.10553573e-03 9.97141731e-01 1.32608672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.079115933 meters 0.014855848105960492 Centerline is valid? [True, True] Translation: X:-36.60, Y:18.03, Z:1.31 [[ 9.95320866e-01 6.40274152e-02 -7.23661789e-02 -3.66040205e+01] [-6.40361571e-02 9.97945150e-01 2.20165259e-03 1.80349182e+01] [ 7.23584434e-02 2.44270125e-03 9.97375701e-01 1.31371939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.109115933 meters 0.015611264387817445 Centerline is valid? [True, True] Translation: X:-36.63, Y:18.04, Z:1.32 [[ 9.95137225e-01 6.70800487e-02 -7.21260688e-02 -3.66336408e+01] [-6.70937378e-02 9.97744172e-01 2.23568967e-03 1.80398332e+01] [ 7.21133350e-02 2.61438953e-03 9.97393018e-01 1.32463878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13911593299999 meters 0.01616298622292073 Centerline is valid? [True, True] Translation: X:-36.66, Y:18.04, Z:1.31 [[ 9.95130200e-01 6.67297732e-02 -7.25466914e-02 -3.66620082e+01] [-6.67389650e-02 9.97767819e-01 2.30004514e-03 1.80393459e+01] [ 7.25382356e-02 2.55284672e-03 9.97362365e-01 1.31467008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16911593299999 meters 0.01635769094134324 Centerline is valid? [True, True] Translation: X:-36.69, Y:18.04, Z:1.32 [[ 9.95314609e-01 6.65271169e-02 -7.01638883e-02 -3.66907115e+01] [-6.65334525e-02 9.97781660e-01 2.24930311e-03 1.80430424e+01] [ 7.01578805e-02 2.42948147e-03 9.97532942e-01 1.32460447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19911593299999 meters 0.016573161003485413 Centerline is valid? [True, True] Translation: X:-36.72, Y:18.04, Z:1.31 [[ 9.94990546e-01 6.92099782e-02 -7.21373174e-02 -3.67196378e+01] [-6.92208600e-02 9.97598587e-01 2.35211346e-03 1.80417444e+01] [ 7.21268756e-02 2.65307649e-03 9.97391937e-01 1.30529204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22911593299999 meters 0.01704205233359811 Centerline is valid? [True, True] Translation: X:-36.75, Y:18.05, Z:1.32 [[ 9.94548629e-01 7.29166682e-02 -7.45398103e-02 -3.67489561e+01] [-7.29370164e-02 9.97333533e-01 2.45276486e-03 1.80489186e+01] [ 7.45198998e-02 2.99731744e-03 9.97215022e-01 1.32179491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25911593299999 meters 0.01771503959868762 Centerline is valid? [True, True] Translation: X:-36.78, Y:18.05, Z:1.32 [[ 9.94665897e-01 7.31302362e-02 -7.27442213e-02 -3.67774841e+01] [-7.31490190e-02 9.97318111e-01 2.40946182e-03 1.80518471e+01] [ 7.27253340e-02 2.92455892e-03 9.97347719e-01 1.32478454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.28911593299999 meters 0.017309917796245335 Centerline is valid? [True, True] Translation: X:-36.81, Y:18.05, Z:1.30 [[ 9.95118239e-01 6.84409521e-02 -7.11022295e-02 -3.68064395e+01] [-6.84461242e-02 9.97652007e-01 2.36654498e-03 1.80460728e+01] [ 7.10972505e-02 2.51167996e-03 9.97466226e-01 1.29880570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31911593299999 meters 0.02773107706009548 Centerline is valid? [True, True] Translation: X:-36.83, Y:18.04, Z:1.28 [[ 9.95145711e-01 6.44119255e-02 -7.44050904e-02 -3.68345080e+01] [-6.44029965e-02 9.97920786e-01 2.52178432e-03 1.80396351e+01] [ 7.44128192e-02 2.28236792e-03 9.97224911e-01 1.27569423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.349115933 meters 0.03649599517678884 Centerline is valid? [True, True] Translation: X:-36.86, Y:18.03, Z:1.26 [[ 9.95557956e-01 5.83116933e-02 -7.39195649e-02 -3.68637486e+01] [-5.82823806e-02 9.98296867e-01 2.55538602e-03 1.80318532e+01] [ 7.39426789e-02 1.76417333e-03 9.97260933e-01 1.25516237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.379115933 meters 0.053873801086715085 Centerline is valid? [True, True] Translation: X:-36.89, Y:18.04, Z:1.25 [[ 9.95591486e-01 5.42671428e-02 -7.65027484e-02 -3.68932715e+01] [-5.42212783e-02 9.98525353e-01 2.67800784e-03 1.80357088e+01] [ 7.65352618e-02 1.48187500e-03 9.97065774e-01 1.25275106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.409115933 meters 0.05065634427081854 Centerline is valid? [True, True] Translation: X:-36.92, Y:18.03, Z:1.24 [[ 9.95471566e-01 5.79449284e-02 -7.53574579e-02 -3.69216379e+01] [-5.79072445e-02 9.98318352e-01 2.68679542e-03 1.80335230e+01] [ 7.53864193e-02 1.68911430e-03 9.97152965e-01 1.24190498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.439115933 meters 0.042399902968844584 Centerline is valid? [True, True] Translation: X:-36.95, Y:18.05, Z:1.26 [[ 9.95121964e-01 6.33986339e-02 -7.55836652e-02 -3.69509316e+01] [-6.33725983e-02 9.97986161e-01 2.74523319e-03 1.80458380e+01] [ 7.56054959e-02 2.05809142e-03 9.97135684e-01 1.26275356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.469115933 meters 0.05225849222359333 Centerline is valid? [True, True] Translation: X:-36.98, Y:18.05, Z:1.25 [[ 9.95235249e-01 6.27785946e-02 -7.46032710e-02 -3.69798830e+01] [-6.27478447e-02 9.98025601e-01 2.75829348e-03 1.80459845e+01] [ 7.46291362e-02 1.93604357e-03 9.97209478e-01 1.25202629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49911593299998 meters 0.05110949987939173 Centerline is valid? [True, True] Translation: X:-37.01, Y:18.06, Z:1.27 [[ 9.94951059e-01 6.92849594e-02 -7.26084273e-02 -3.70088357e+01] [-6.92697144e-02 9.97594230e-01 2.73108771e-03 1.80573551e+01] [ 7.26229714e-02 2.31226640e-03 9.97356785e-01 1.26951893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52911593299999 meters 0.03210372948331831 Centerline is valid? [True, True] Translation: X:-37.04, Y:18.06, Z:1.26 [[ 9.94184060e-01 7.76030462e-02 -7.46714258e-02 -3.70385202e+01] [-7.76069494e-02 9.96979949e-01 2.85368839e-03 1.80611738e+01] [ 7.46673692e-02 2.95793006e-03 9.97204109e-01 1.26498351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55911593299999 meters 0.03552052508897359 Centerline is valid? [True, True] Translation: X:-37.07, Y:18.08, Z:1.29 [[ 9.94048538e-01 7.93322872e-02 -7.46585045e-02 -3.70679443e+01] [-7.93377007e-02 9.96843584e-01 2.89794400e-03 1.80785010e+01] [ 7.46527517e-02 3.04253708e-03 9.97204949e-01 1.29147242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58911593299999 meters 0.042327750410490965 Centerline is valid? [True, True] Translation: X:-37.10, Y:18.08, Z:1.29 [[ 9.94327177e-01 7.95613318e-02 -7.05936162e-02 -3.70970033e+01] [-7.95653720e-02 9.96825832e-01 2.75915962e-03 1.80798965e+01] [ 7.05890626e-02 2.87329993e-03 9.97501343e-01 1.29170671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61911593299999 meters 0.0483888450886426 Centerline is valid? [True, True] Translation: X:-37.13, Y:18.08, Z:1.29 [[ 9.94523977e-01 7.95154915e-02 -6.78184723e-02 -3.71263365e+01] [-7.95169126e-02 9.96829907e-01 2.68280684e-03 1.80806193e+01] [ 6.78168061e-02 2.72459980e-03 9.97694070e-01 1.29235348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.64911593299999 meters 0.04865466774642162 Centerline is valid? [True, True] Translation: X:-37.16, Y:18.09, Z:1.30 [[ 9.94573167e-01 8.00306962e-02 -6.64778387e-02 -3.71555956e+01] [-8.00304453e-02 9.96788841e-01 2.67113643e-03 1.80892903e+01] [ 6.64781407e-02 2.66361042e-03 9.97784326e-01 1.29834578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67911593299999 meters 0.04514195306396465 Centerline is valid? [True, True] Translation: X:-37.19, Y:18.09, Z:1.29 [[ 9.94592367e-01 8.06725412e-02 -6.54061491e-02 -3.71851828e+01] [-8.06709550e-02 9.96737212e-01 2.66959108e-03 1.80896208e+01] [ 6.54081054e-02 2.62122160e-03 9.97855154e-01 1.28864466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.70911593299999 meters 0.03237698936269393 Centerline is valid? [True, True] Translation: X:-37.21, Y:18.10, Z:1.29 [[ 9.94342815e-01 8.44050025e-02 -6.44838157e-02 -3.72140655e+01] [-8.44086406e-02 9.96427638e-01 2.67279454e-03 1.80950434e+01] [ 6.44790534e-02 2.78531719e-03 9.97915174e-01 1.29176786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.739115933 meters 0.043422467534394625 Centerline is valid? [True, True] Translation: X:-37.24, Y:18.10, Z:1.30 [[ 9.95078641e-01 7.72667514e-02 -6.20350457e-02 -3.72431974e+01] [-7.72552076e-02 9.97007991e-01 2.58823982e-03 1.81012917e+01] [ 6.20494212e-02 2.21702818e-03 9.98070616e-01 1.30469343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.769115933 meters 0.039244497262722444 Centerline is valid? [True, True] Translation: X:-37.27, Y:18.10, Z:1.29 [[ 9.94161484e-01 8.64088125e-02 -6.46255426e-02 -3.72733426e+01] [-8.64136907e-02 9.96255614e-01 2.72495221e-03 1.80965443e+01] [ 6.46190195e-02 2.87548911e-03 9.97905864e-01 1.28577783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.799115933 meters 0.039244497262722444 Centerline is valid? [True, True] Translation: X:-37.30, Y:18.10, Z:1.29 [[ 9.94098552e-01 8.71312227e-02 -6.46236746e-02 -3.73014879e+01] [-8.71347779e-02 9.96192684e-01 2.76880156e-03 1.80978106e+01] [ 6.46188810e-02 2.87850791e-03 9.97905865e-01 1.28528795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.829115933 meters 0.04800455943418148 Centerline is valid? [True, True] Translation: X:-37.33, Y:18.10, Z:1.29 [[ 9.94013509e-01 8.91817001e-02 -6.31171075e-02 -3.73297796e+01] [-8.91863180e-02 9.96011164e-01 2.74987382e-03 1.81013718e+01] [ 6.31105821e-02 2.89577070e-03 9.98002339e-01 1.28931760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.859115933 meters 0.05221409868924376 Centerline is valid? [True, True] Translation: X:-37.36, Y:18.10, Z:1.28 [[ 9.94518570e-01 8.52519036e-02 -6.05386335e-02 -3.73595542e+01] [-8.52468986e-02 9.96356280e-01 2.67012649e-03 1.81028042e+01] [ 6.05456810e-02 2.50524037e-03 9.98162284e-01 1.28475421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88911593299999 meters 0.08275002427034665 Centerline is valid? [True, True] Translation: X:-37.39, Y:18.10, Z:1.28 [[ 9.94409249e-01 8.77491165e-02 -5.87395735e-02 -3.73878688e+01] [-8.77465120e-02 9.96139368e-01 2.62865810e-03 1.81037654e+01] [ 5.87434640e-02 2.54023076e-03 9.98269880e-01 1.28101732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91911593299999 meters 0.02924241128889729 Centerline is valid? [True, True] Translation: X:-37.42, Y:18.10, Z:1.26 [[ 9.94178249e-01 8.85291277e-02 -6.14182672e-02 -3.74174220e+01] [-8.85252290e-02 9.96070028e-01 2.78994535e-03 1.81000313e+01] [ 6.14238865e-02 2.66336319e-03 9.98108217e-01 1.25923932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94911593299999 meters 0.07454211429989493 Centerline is valid? [True, True] Translation: X:-37.45, Y:18.11, Z:1.28 [[ 9.94609340e-01 8.55964826e-02 -5.85277962e-02 -3.74468412e+01] [-8.55869013e-02 9.96327118e-01 2.67506175e-03 1.81078447e+01] [ 5.85418064e-02 2.34857131e-03 9.98282195e-01 1.27833565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97911593299999 meters 0.05513691565699246 Centerline is valid? [True, True] Translation: X:-37.48, Y:18.11, Z:1.28 [[ 9.94720243e-01 8.46231467e-02 -5.80565295e-02 -3.74762635e+01] [-8.46103945e-02 9.96410501e-01 2.68220878e-03 1.81115514e+01] [ 5.80751126e-02 2.24413850e-03 9.98309694e-01 1.27739868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.00911593299999 meters 0.10453355059546539 Centerline is valid? [True, False] Translation: X:-37.45, Y:18.12, Z:1.26 [[ 9.99282691e-01 2.38803420e-02 -2.93910360e-02 -3.74506438e+01] [-2.41616024e-02 9.99665254e-01 -9.25189948e-03 1.81182507e+01] [ 2.91602590e-02 9.95539753e-03 9.99525172e-01 1.26279208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03911593299999 meters 0.05713459042772776 Centerline is valid? [False, True] Translation: X:-37.44, Y:18.13, Z:1.26 [[ 9.99857816e-01 -8.97186185e-03 -1.42777555e-02 -3.74362758e+01] [ 8.82410069e-03 9.99907206e-01 -1.03786109e-02 1.81264625e+01] [ 1.43695461e-02 1.02511468e-02 9.99844203e-01 1.25820371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.06911593299999 meters 0.057204495029089725 Centerline is valid? [True, True] Translation: X:-37.47, Y:18.14, Z:1.28 [[ 9.99917520e-01 -4.16308354e-03 -1.21499563e-02 -3.74654569e+01] [ 4.15689188e-03 9.99991217e-01 -5.34813020e-04 1.81384191e+01] [ 1.21520760e-02 4.84262855e-04 9.99926044e-01 1.27741156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.099115933 meters 0.033858994878085205 Centerline is valid? [True, True] Translation: X:-37.49, Y:18.14, Z:1.26 [[ 9.99920387e-01 -2.56165964e-03 -1.23554535e-02 -3.74943179e+01] [ 2.55502298e-03 9.99996583e-01 -5.52899361e-04 1.81354539e+01] [ 1.23568276e-02 5.21286876e-04 9.99923516e-01 1.26013742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.129115933 meters 0.034273188801991025 Centerline is valid? [True, True] Translation: X:-37.52, Y:18.14, Z:1.27 [[ 9.99907571e-01 2.56847085e-03 -1.33511216e-02 -3.75236559e+01] [-2.57658452e-03 9.99996506e-01 -5.90549592e-04 1.81366715e+01] [ 1.33495582e-02 6.24895302e-04 9.99910695e-01 1.26993034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.159115933 meters 0.0398972711075647 Centerline is valid? [True, True] Translation: X:-37.55, Y:18.13, Z:1.26 [[ 9.99883009e-01 3.86093363e-03 -1.48007131e-02 -3.75529777e+01] [-3.87079525e-03 9.99992305e-01 -6.37704557e-04 1.81309537e+01] [ 1.47981371e-02 6.94920481e-04 9.99890260e-01 1.25614183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.189115933 meters 0.032917322504327634 Centerline is valid? [True, True] Translation: X:-37.58, Y:18.14, Z:1.27 [[ 9.99936630e-01 -5.25694336e-05 -1.12575942e-02 -3.75824573e+01] [ 4.70327568e-05 9.99999878e-01 -4.92081233e-04 1.81368019e+01] [ 1.12576187e-02 4.91520575e-04 9.99936510e-01 1.27110558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.219115933 meters 0.03728045852178152 Centerline is valid? [True, True] Translation: X:-37.61, Y:18.13, Z:1.25 [[ 9.99922848e-01 7.24577383e-03 -1.00894608e-02 -3.76123122e+01] [-7.25041446e-03 9.99973626e-01 -4.23446343e-04 1.81282545e+01] [ 1.00861265e-02 4.96566445e-04 9.99949010e-01 1.24938341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24911593299998 meters 0.03269023362952801 Centerline is valid? [True, True] Translation: X:-37.64, Y:18.13, Z:1.24 [[ 9.99947616e-01 4.94156220e-03 -8.96357949e-03 -3.76418847e+01] [-4.94505130e-03 9.99987706e-01 -3.67131356e-04 1.81258850e+01] [ 8.96165508e-03 4.11437485e-04 9.99959759e-01 1.24315959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27911593299999 meters 0.04032334508669443 Centerline is valid? [True, True] Translation: X:-37.67, Y:18.12, Z:1.24 [[ 9.99912444e-01 8.83835037e-03 -9.84827342e-03 -3.76711401e+01] [-8.84289285e-03 9.99960814e-01 -4.17796108e-04 1.81204459e+01] [ 9.84419487e-03 5.04846754e-04 9.99951417e-01 1.23691424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30911593299999 meters 0.0367639845112331 Centerline is valid? [True, True] Translation: X:-37.70, Y:18.12, Z:1.25 [[ 9.99770648e-01 1.58606244e-02 -1.43906932e-02 -3.77013173e+01] [-1.58710722e-02 9.99873859e-01 -6.12091379e-04 1.81221408e+01] [ 1.43791697e-02 8.40346724e-04 9.99896261e-01 1.24634795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33911593299999 meters 0.034262427819857805 Centerline is valid? [True, True] Translation: X:-37.73, Y:18.12, Z:1.24 [[ 9.99772616e-01 1.57912828e-02 -1.43301206e-02 -3.77302409e+01] [-1.58013004e-02 9.99874980e-01 -5.86097773e-04 1.81191935e+01] [ 1.43190738e-02 8.12399044e-04 9.99897147e-01 1.24202034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.36911593299999 meters 0.041827139249120925 Centerline is valid? [True, True] Translation: X:-37.76, Y:18.11, Z:1.23 [[ 9.99730309e-01 1.81504196e-02 -1.44869342e-02 -3.77593748e+01] [-1.81607663e-02 9.99834910e-01 -5.82957873e-04 1.81131706e+01] [ 1.44739616e-02 8.45894481e-04 9.99894889e-01 1.23001132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39911593299999 meters 0.03209270949344691 Centerline is valid? [True, True] Translation: X:-37.79, Y:18.12, Z:1.25 [[ 9.99594960e-01 2.02234161e-02 -2.00232152e-02 -3.77886422e+01] [-2.02439521e-02 9.99794731e-01 -8.23425315e-04 1.81196804e+01] [ 2.00024526e-02 1.22844080e-03 9.99799176e-01 1.25089332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.42911593299999 meters 0.035148742673392935 Centerline is valid? [True, True] Translation: X:-37.82, Y:18.12, Z:1.25 [[ 9.99555886e-01 2.08512839e-02 -2.12897968e-02 -3.78180395e+01] [-2.08741239e-02 9.99781749e-01 -8.51124174e-04 1.81180057e+01] [ 2.12674032e-02 1.29515203e-03 9.99772984e-01 1.25205834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45911593299999 meters 0.055034814486080726 Centerline is valid? [True, True] Translation: X:-37.85, Y:18.11, Z:1.24 [[ 9.99233977e-01 3.34329448e-02 -2.03395550e-02 -3.78484899e+01] [-3.34567005e-02 9.99439824e-01 -8.28701209e-04 1.81122006e+01] [ 2.03004554e-02 1.50856080e-03 9.99792786e-01 1.24350575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.489115933 meters 0.032539569288384716 Centerline is valid? [True, True] Translation: X:-37.88, Y:18.12, Z:1.25 [[ 9.99405317e-01 2.51067480e-02 -2.36360457e-02 -3.78783451e+01] [-2.51364346e-02 9.99683569e-01 -9.59676387e-04 1.81154208e+01] [ 2.36044721e-02 1.55323160e-03 9.99720169e-01 1.25117580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.519115933 meters 0.020869133377651065 Centerline is valid? [True, True] Translation: X:-37.91, Y:18.12, Z:1.27 [[ 9.99429384e-01 2.25008602e-02 -2.51916126e-02 -3.79070704e+01] [-2.25330242e-02 9.99745605e-01 -9.93599379e-04 1.81213499e+01] [ 2.51628471e-02 1.56067563e-03 9.99682147e-01 1.27394980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.549115933 meters 0.019268032362378087 Centerline is valid? [True, True] Translation: X:-37.94, Y:18.12, Z:1.28 [[ 9.99134876e-01 3.06094506e-02 -2.81524693e-02 -3.79377112e+01] [-3.06532584e-02 9.99529445e-01 -1.12574189e-03 1.81243904e+01] [ 2.81047637e-02 1.98773290e-03 9.99603007e-01 1.27732634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.579115933 meters 0.016094681459208015 Centerline is valid? [True, True] Translation: X:-37.97, Y:18.13, Z:1.27 [[ 9.99193251e-01 2.88464207e-02 -2.79415544e-02 -3.79668831e+01] [-2.88879760e-02 9.99582067e-01 -1.08461849e-03 1.81251030e+01] [ 2.78985893e-02 1.89091843e-03 9.99608970e-01 1.27432968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.609115933 meters 0.016778661648190717 Centerline is valid? [True, True] Translation: X:-38.00, Y:18.13, Z:1.28 [[ 9.98777117e-01 3.77369988e-02 -3.19403936e-02 -3.79972933e+01] [-3.77963612e-02 9.99284672e-01 -1.25659687e-03 1.81251850e+01] [ 3.18701255e-02 2.46229086e-03 9.99488986e-01 1.27865990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63911593299999 meters 0.016264086239606727 Centerline is valid? [True, True] Translation: X:-38.03, Y:18.12, Z:1.27 [[ 9.98423922e-01 4.48210951e-02 -3.37748589e-02 -3.80279724e+01] [-4.48914411e-02 9.98990990e-01 -1.32697978e-03 1.81210548e+01] [ 3.36813031e-02 2.84109044e-03 9.99428586e-01 1.26993169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66911593299999 meters 0.01618963100633012 Centerline is valid? [True, True] Translation: X:-38.06, Y:18.13, Z:1.30 [[ 9.98463281e-01 4.46430367e-02 -3.28340538e-02 -3.80571579e+01] [-4.47082580e-02 9.98999298e-01 -1.25454007e-03 1.81335934e+01] [ 3.27451903e-02 2.72056555e-03 9.99460030e-01 1.30205103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69911593299999 meters 0.015810725328435138 Centerline is valid? [True, True] Translation: X:-38.09, Y:18.12, Z:1.26 [[ 9.98669153e-01 4.17903527e-02 -3.02239822e-02 -3.80855702e+01] [-4.18443798e-02 9.99123470e-01 -1.15699922e-03 1.81151868e+01] [ 3.01491386e-02 2.42016322e-03 9.99542481e-01 1.26214007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.72911593299999 meters 0.015908406893884324 Centerline is valid? [True, True] Translation: X:-38.12, Y:18.11, Z:1.26 [[ 9.98358483e-01 4.84114686e-02 -3.06050486e-02 -3.81158791e+01] [-4.84700462e-02 9.98823946e-01 -1.17456552e-03 1.81141665e+01] [ 3.05121930e-02 2.65606557e-03 9.99530866e-01 1.25542850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75911593299999 meters 0.01611544598722903 Centerline is valid? [True, True] Translation: X:-38.15, Y:18.11, Z:1.25 [[ 9.98696622e-01 4.21470208e-02 -2.87869075e-02 -3.81463670e+01] [-4.21962868e-02 9.99108728e-01 -1.10580695e-03 1.81095113e+01] [ 2.87146441e-02 2.31906627e-03 9.99584959e-01 1.25208925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.78911593299999 meters 0.01567327844231553 Centerline is valid? [True, True] Translation: X:-38.18, Y:18.10, Z:1.24 [[ 9.98592627e-01 4.41071017e-02 -2.94504564e-02 -3.81755871e+01] [-4.41584966e-02 9.99023936e-01 -1.09671627e-03 1.81045206e+01] [ 2.93733378e-02 2.39566066e-03 9.99565640e-01 1.24086713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81911593299999 meters 0.016558117952203064 Centerline is valid? [True, True] Translation: X:-38.21, Y:18.10, Z:1.24 [[ 9.98054693e-01 5.29788856e-02 -3.28643744e-02 -3.82055909e+01] [-5.30480395e-02 9.98591197e-01 -1.23525639e-03 1.80984671e+01] [ 3.27526325e-02 2.97624407e-03 9.99459057e-01 1.23559400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.849115933 meters 0.01688404321807097 Centerline is valid? [True, True] Translation: X:-38.24, Y:18.10, Z:1.22 [[ 9.97800287e-01 5.69801954e-02 -3.38798433e-02 -3.82356675e+01] [-5.70558897e-02 9.98370177e-01 -1.27082755e-03 1.80955682e+01] [ 3.37522132e-02 3.20107670e-03 9.99425105e-01 1.21937110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.879115933 meters 0.016114843189246757 Centerline is valid? [True, True] Translation: X:-38.27, Y:18.09, Z:1.22 [[ 9.98049387e-01 5.32192569e-02 -3.26363662e-02 -3.82655339e+01] [-5.32874470e-02 9.98578466e-01 -1.22255854e-03 1.80946489e+01] [ 3.25249088e-02 2.95928243e-03 9.99466544e-01 1.22319365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.909115933 meters 0.016315945923754977 Centerline is valid? [True, True] Translation: X:-38.30, Y:18.09, Z:1.23 [[ 9.97755272e-01 5.77982573e-02 -3.38197961e-02 -3.82957387e+01] [-5.78741477e-02 9.98323081e-01 -1.26853728e-03 1.80942828e+01] [ 3.36897638e-02 3.22298164e-03 9.99427142e-01 1.22746793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.939115933 meters 0.016101311918701636 Centerline is valid? [True, True] Translation: X:-38.33, Y:18.09, Z:1.22 [[ 9.97264617e-01 6.43905508e-02 -3.62924223e-02 -3.83259310e+01] [-6.44821278e-02 9.97917939e-01 -1.35727477e-03 1.80897936e+01] [ 3.61294636e-02 3.69377472e-03 9.99340291e-01 1.22426147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.969115933 meters 0.015254765301958281 Centerline is valid? [True, True] Translation: X:-38.36, Y:18.09, Z:1.22 [[ 9.97304520e-01 6.47303936e-02 -3.45495433e-02 -3.83555980e+01] [-6.48123442e-02 9.97896679e-01 -1.25613847e-03 1.80902245e+01] [ 3.43955642e-02 3.49198946e-03 9.99402197e-01 1.21898673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99911593299998 meters 0.015451872788589987 Centerline is valid? [True, True] Translation: X:-38.39, Y:18.09, Z:1.23 [[ 9.97205936e-01 6.62401362e-02 -3.45335502e-02 -3.83851299e+01] [-6.63221438e-02 9.97797501e-01 -1.23338484e-03 1.80918304e+01] [ 3.43757905e-02 3.52027777e-03 9.99402778e-01 1.22863916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02911593299999 meters 0.01518851530451152 Centerline is valid? [True, True] Translation: X:-38.42, Y:18.08, Z:1.21 [[ 9.97600397e-01 6.11940236e-02 -3.23842381e-02 -3.84153560e+01] [-6.12637926e-02 9.98120929e-01 -1.16563425e-03 1.80820644e+01] [ 3.22520559e-02 3.14681844e-03 9.99474813e-01 1.21312391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05911593299999 meters 0.015408124526388706 Centerline is valid? [True, True] Translation: X:-38.45, Y:18.07, Z:1.19 [[ 9.97381160e-01 6.49594574e-02 -3.17976603e-02 -3.84454842e+01] [-6.50276706e-02 9.97882839e-01 -1.11472954e-03 1.80688565e+01] [ 3.16579273e-02 3.17953803e-03 9.99493705e-01 1.18559267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08911593299999 meters 0.014995886401300933 Centerline is valid? [True, True] Translation: X:-38.47, Y:18.08, Z:1.20 [[ 9.97241850e-01 6.70525715e-02 -3.18220853e-02 -3.84747434e+01] [-6.71220648e-02 9.97744143e-01 -1.11939869e-03 1.80752333e+01] [ 3.16752406e-02 3.25227529e-03 9.99492922e-01 1.19804607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11911593299999 meters 0.014894820224052432 Centerline is valid? [True, True] Translation: X:-38.50, Y:18.07, Z:1.20 [[ 9.97668353e-01 6.29964733e-02 -2.62545535e-02 -3.85043449e+01] [-6.30423402e-02 9.98010427e-01 -9.22144738e-04 1.80720256e+01] [ 2.61442263e-02 2.57514311e-03 9.99654864e-01 1.20193033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14911593299999 meters 0.015458305310491069 Centerline is valid? [True, True] Translation: X:-38.53, Y:18.07, Z:1.22 [[ 9.98070859e-01 5.86071117e-02 -2.04882006e-02 -3.85337225e+01] [-5.86340805e-02 9.98279284e-01 -7.17566966e-04 1.80730277e+01] [ 2.04108917e-02 1.91748948e-03 9.99789837e-01 1.21507441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17911593299999 meters 0.016278485372130693 Centerline is valid? [True, True] Translation: X:-38.56, Y:18.07, Z:1.21 [[ 9.97903645e-01 6.22753719e-02 -1.76094641e-02 -3.85629215e+01] [-6.22954335e-02 9.98057577e-01 -5.92481232e-04 1.80689718e+01] [ 1.75383620e-02 1.68822838e-03 9.99844766e-01 1.21085652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.20911593299999 meters 0.01585718990068793 Centerline is valid? [True, True] Translation: X:-38.59, Y:18.08, Z:1.25 [[ 9.98509760e-01 5.40346269e-02 -7.64969409e-03 -3.85927581e+01] [-5.40382184e-02 9.98538833e-01 -2.63435996e-04 1.80815087e+01] [ 7.62428194e-03 6.76419253e-04 9.99970706e-01 1.25001601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.239115933 meters 0.016138124015210573 Centerline is valid? [True, True] Translation: X:-38.62, Y:18.06, Z:1.22 [[ 9.98515588e-01 5.41983359e-02 -5.40003750e-03 -3.86224577e+01] [-5.42000302e-02 9.98530084e-01 -1.67809502e-04 1.80632931e+01] [ 5.38300490e-03 4.60242599e-04 9.99985406e-01 1.22048495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.269115933 meters 0.017122137377042303 Centerline is valid? [True, True] Translation: X:-38.65, Y:18.07, Z:1.24 [[ 9.98767287e-01 4.96376517e-02 1.01510654e-04 -3.86521810e+01] [-4.96376524e-02 9.98767292e-01 4.52819676e-06 1.80721052e+01] [-1.01160752e-04 -9.56136536e-06 9.99999995e-01 1.24442844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.299115933 meters 0.017857288282077596 Centerline is valid? [True, True] Translation: X:-38.68, Y:18.07, Z:1.24 [[ 9.98669307e-01 5.14661130e-02 3.29447463e-03 -3.86811158e+01] [-5.14668073e-02 9.98674698e-01 1.26262081e-04 1.80680853e+01] [-3.28361024e-03 -2.95650156e-04 9.99994565e-01 1.24123653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.329115933 meters 0.016616812000580614 Centerline is valid? [True, True] Translation: X:-38.71, Y:18.06, Z:1.24 [[ 9.98911408e-01 4.57688356e-02 9.01184575e-03 -3.87114999e+01] [-4.57733874e-02 9.98951804e-01 2.99384575e-04 1.80630044e+01] [-8.98869709e-03 -7.11561374e-04 9.99959348e-01 1.24114125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.359115933 meters 0.016420346327667056 Centerline is valid? [True, True] Translation: X:-38.74, Y:18.06, Z:1.24 [[ 9.98761617e-01 4.82961813e-02 1.19462022e-02 -3.87408772e+01] [-4.83044293e-02 9.98832579e-01 4.02695372e-04 1.80607436e+01] [-1.19128073e-02 -9.79251162e-04 9.99928560e-01 1.24218645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38911593299999 meters 0.01740924092466895 Centerline is valid? [True, True] Translation: X:-38.77, Y:18.07, Z:1.27 [[ 9.98870742e-01 4.54879958e-02 1.37143013e-02 -3.87699807e+01] [-4.54983811e-02 9.98964313e-01 4.46050171e-04 1.80662558e+01] [-1.36798076e-02 -1.06952497e-03 9.99905855e-01 1.26514584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41911593299999 meters 0.017265754794351284 Centerline is valid? [True, True] Translation: X:-38.80, Y:18.07, Z:1.28 [[ 9.98631838e-01 4.92600812e-02 1.75469731e-02 -3.87994144e+01] [-4.92776248e-02 9.98784958e-01 5.68579700e-04 1.80705094e+01] [-1.74976445e-02 -1.43247495e-03 9.99845878e-01 1.28140045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44911593299999 meters 0.017781036060155332 Centerline is valid? [True, True] Translation: X:-38.83, Y:18.06, Z:1.27 [[ 9.98560217e-01 5.03774226e-02 1.84284883e-02 -3.88288257e+01] [-5.03968798e-02 9.98729094e-01 5.92643493e-04 1.80610434e+01] [-1.83752116e-02 -1.52052852e-03 9.99830005e-01 1.27191616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47911593299999 meters 0.017654187986615055 Centerline is valid? [True, True] Translation: X:-38.86, Y:18.06, Z:1.29 [[ 9.98993218e-01 3.62063892e-02 2.64886313e-02 -3.88592814e+01] [-3.62411063e-02 9.99342729e-01 8.31589979e-04 1.80605226e+01] [-2.64411122e-02 -1.79073005e-03 9.99648769e-01 1.28603848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.50911593299999 meters 0.017273683919426776 Centerline is valid? [True, True] Translation: X:-38.89, Y:18.05, Z:1.27 [[ 9.98672426e-01 4.26490255e-02 2.88867820e-02 -3.88898506e+01] [-4.26929946e-02 9.99087827e-01 9.06791955e-04 1.80528864e+01] [-2.88217585e-02 -2.13885135e-03 9.99582279e-01 1.27203429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53911593299999 meters 0.01756908337935534 Centerline is valid? [True, True] Translation: X:-38.92, Y:18.06, Z:1.30 [[ 9.98776720e-01 4.01600676e-02 2.88484525e-02 -3.89189904e+01] [-4.02027724e-02 9.99191135e-01 9.01594256e-04 1.80598933e+01] [-2.87889099e-02 -2.06027912e-03 9.99583390e-01 1.29842167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.56911593299999 meters 0.01780569662663204 Centerline is valid? [True, True] Translation: X:-38.95, Y:18.07, Z:1.32 [[ 9.98835240e-01 3.56545236e-02 3.25102645e-02 -3.89484198e+01] [-3.57057969e-02 9.99361847e-01 9.97768596e-04 1.80656205e+01] [-3.24539430e-02 -2.15741134e-03 9.99470904e-01 1.32332392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.599115933 meters 0.01737107271184906 Centerline is valid? [True, True] Translation: X:-38.98, Y:18.07, Z:1.33 [[ 9.98640773e-01 3.75056352e-02 3.61930191e-02 -3.89775213e+01] [-3.75702734e-02 9.99293375e-01 1.10723334e-03 1.80653272e+01] [-3.61259167e-02 -2.46550998e-03 9.99344205e-01 1.33451366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.629115933 meters 0.017243060295035816 Centerline is valid? [True, True] Translation: X:-39.01, Y:18.05, Z:1.32 [[ 9.98819319e-01 2.89976883e-02 3.89756691e-02 -3.90078126e+01] [-2.90660894e-02 9.99576784e-01 1.18934664e-03 1.80526409e+01] [-3.89246857e-02 -2.32081269e-03 9.99239452e-01 1.31618732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.659115933 meters 0.017566131535565715 Centerline is valid? [True, True] Translation: X:-39.04, Y:18.05, Z:1.34 [[ 9.98814227e-01 2.93146171e-02 3.88689107e-02 -3.90388679e+01] [-2.93832022e-02 9.99567507e-01 1.19431301e-03 1.80545992e+01] [-3.88170894e-02 -2.33498989e-03 9.99243605e-01 1.33682601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.689115933 meters 0.017056846906377897 Centerline is valid? [True, True] Translation: X:-39.07, Y:18.05, Z:1.34 [[ 9.98815186e-01 2.37789611e-02 4.24592191e-02 -3.90702872e+01] [-2.38567884e-02 9.99714505e-01 1.32715918e-03 1.80514290e+01] [-4.24155388e-02 -2.33852735e-03 9.99097319e-01 1.33760238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.719115933 meters 0.017056846906377897 Centerline is valid? [True, True] Translation: X:-39.10, Y:18.05, Z:1.34 [[ 9.98832582e-01 2.30378705e-02 4.24585575e-02 -3.91021608e+01] [-2.31159158e-02 9.99731883e-01 1.34804928e-03 1.80503503e+01] [-4.24161174e-02 -2.32794399e-03 9.99097319e-01 1.33838460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74911593299998 meters 0.017127217655400016 Centerline is valid? [True, True] Translation: X:-39.13, Y:18.06, Z:1.36 [[ 9.98760135e-01 2.01882025e-02 4.55041751e-02 -3.91339210e+01] [-2.02764114e-02 9.99793320e-01 1.47769739e-03 1.80582538e+01] [-4.54649383e-02 -2.39852663e-03 9.98963056e-01 1.36268349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77911593299999 meters 0.016474705842787752 Centerline is valid? [True, True] Translation: X:-39.17, Y:18.06, Z:1.38 [[ 9.98661842e-01 2.15792433e-02 4.69985346e-02 -3.91654078e+01] [-2.16763197e-02 9.99763829e-01 1.55677998e-03 1.80595118e+01] [-4.69538408e-02 -2.57345202e-03 9.98893745e-01 1.37571226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80911593299999 meters 0.01675318091433604 Centerline is valid? [True, True] Translation: X:-39.20, Y:18.06, Z:1.39 [[ 9.98662083e-01 1.66738399e-02 4.89492202e-02 -3.91968975e+01] [-1.67748481e-02 9.99857925e-01 1.65342505e-03 1.80587303e+01] [-4.89146968e-02 -2.47232864e-03 9.98799900e-01 1.38666387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83911593299999 meters 0.01620783479563264 Centerline is valid? [True, True] Translation: X:-39.23, Y:18.06, Z:1.41 [[ 9.98604658e-01 1.04817716e-02 5.17578034e-02 -3.92284394e+01] [-1.05882095e-02 9.99942354e-01 1.78268736e-03 1.80631492e+01] [-5.17361340e-02 -2.32822236e-03 9.98658076e-01 1.40700036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.86911593299999 meters 0.01709582039226992 Centerline is valid? [True, True] Translation: X:-39.26, Y:18.07, Z:1.43 [[ 9.98816893e-01 1.56609186e-02 4.60385730e-02 -3.92595275e+01] [-1.57518865e-02 9.99874629e-01 1.61375988e-03 1.80721041e+01] [-4.60075282e-02 -2.33704500e-03 9.98938359e-01 1.43051840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89911593299999 meters 0.016504909494676118 Centerline is valid? [True, True] Translation: X:-39.29, Y:18.07, Z:1.42 [[ 9.98701234e-01 1.22215879e-02 4.94618855e-02 -3.92912687e+01] [-1.23240235e-02 9.99922496e-01 1.76654760e-03 1.80650982e+01] [-4.94364619e-02 -2.37382271e-03 9.98774450e-01 1.41591122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.92911593299999 meters 0.016573151347191818 Centerline is valid? [True, True] Translation: X:-39.32, Y:18.08, Z:1.46 [[ 9.98495144e-01 5.91942660e-03 5.45197871e-02 -3.93224480e+01] [-6.03655276e-03 9.99979812e-01 1.98389467e-03 1.80751334e+01] [-5.45069429e-02 -2.31002076e-03 9.98510720e-01 1.45721181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95911593299999 meters 0.016512707063631983 Centerline is valid? [True, True] Translation: X:-39.35, Y:18.08, Z:1.47 [[ 9.98425000e-01 1.25826641e-02 5.46735438e-02 -3.93533086e+01] [-1.27114401e-02 9.99917190e-01 2.00823576e-03 1.80790306e+01] [-5.46437473e-02 -2.70005227e-03 9.98502264e-01 1.46807844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.989115933 meters 0.01602490661844101 Centerline is valid? [True, True] Translation: X:-39.39, Y:18.08, Z:1.46 [[ 9.98485210e-01 1.23143751e-02 5.36250014e-02 -3.93855439e+01] [-1.24391517e-02 9.99920643e-01 1.99368040e-03 1.80755391e+01] [-5.35961950e-02 -2.65770992e-03 9.98559154e-01 1.46451969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.019115933 meters 0.016893580710086502 Centerline is valid? [True, True] Translation: X:-39.42, Y:18.09, Z:1.48 [[ 9.98662147e-01 1.63425010e-02 4.90595357e-02 -3.94169891e+01] [-1.64533454e-02 9.99862911e-01 1.85636944e-03 1.80855684e+01] [-4.90224725e-02 -2.66107937e-03 9.98794131e-01 1.48014521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.049115933 meters 0.01687503343622153 Centerline is valid? [True, True] Translation: X:-39.45, Y:18.08, Z:1.47 [[ 9.98600633e-01 1.41669973e-02 5.09516712e-02 -3.94489933e+01] [-1.42854447e-02 9.99896034e-01 1.96126418e-03 1.80798923e+01] [-5.09185888e-02 -2.68638693e-03 9.98699194e-01 1.47424681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.079115933 meters 0.016743475540239482 Centerline is valid? [True, True] Translation: X:-39.48, Y:18.08, Z:1.48 [[ 9.98597103e-01 1.49045250e-02 5.08102502e-02 -3.94802872e+01] [-1.50249294e-02 9.99885142e-01 1.98853344e-03 1.80786937e+01] [-5.07747761e-02 -2.74916415e-03 9.98706345e-01 1.48192045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.109115933 meters 0.016710908357896046 Centerline is valid? [True, True] Translation: X:-39.51, Y:18.09, Z:1.52 [[ 9.98614344e-01 1.58449807e-02 5.01829526e-02 -3.95118675e+01] [-1.59652271e-02 9.99870555e-01 1.99619996e-03 1.80913049e+01] [-5.01448269e-02 -2.79461615e-03 9.98738047e-01 1.51778312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13911593299999 meters 0.016941188714306187 Centerline is valid? [True, True] Translation: X:-39.54, Y:18.09, Z:1.52 [[ 9.98656626e-01 2.30567170e-02 4.64039914e-02 -3.95426927e+01] [-2.31680310e-02 9.99729851e-01 1.86232779e-03 1.80874163e+01] [-4.63485162e-02 -2.93491510e-03 9.98921019e-01 1.51878010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16911593299999 meters 0.01712283497237354 Centerline is valid? [True, True] Translation: X:-39.57, Y:18.08, Z:1.51 [[ 9.98638771e-01 2.52175134e-02 4.56583194e-02 -3.95745092e+01] [-2.53282453e-02 9.99677480e-01 1.84823927e-03 1.80827419e+01] [-4.55969857e-02 -3.00216850e-03 9.98955405e-01 1.50513478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19911593299999 meters 0.01695939742867312 Centerline is valid? [True, True] Translation: X:-39.61, Y:18.10, Z:1.53 [[ 9.98725364e-01 2.41435327e-02 4.43253506e-02 -3.96062885e+01] [-2.42480759e-02 9.99704311e-01 1.82231295e-03 1.80950743e+01] [-4.42682470e-02 -2.89479463e-03 9.99015487e-01 1.53478504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22911593299999 meters 0.017139681525163174 Centerline is valid? [True, True] Translation: X:-39.64, Y:18.10, Z:1.55 [[ 9.98762378e-01 2.98721085e-02 3.97664409e-02 -3.96377881e+01] [-2.99614420e-02 9.99549690e-01 1.65225399e-03 1.80989507e+01] [-3.96991773e-02 -2.84166903e-03 9.99207636e-01 1.55441451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25911593299999 meters 0.01722734520315721 Centerline is valid? [True, True] Translation: X:-39.67, Y:18.10, Z:1.58 [[ 9.98844616e-01 2.97780140e-02 3.77187242e-02 -3.96701087e+01] [-2.98588608e-02 9.99552873e-01 1.58178502e-03 1.81006800e+01] [-3.76547567e-02 -2.70619559e-03 9.99287144e-01 1.57562279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.28911593299999 meters 0.01736562809564889 Centerline is valid? [True, True] Translation: X:-39.70, Y:18.09, Z:1.55 [[ 9.98759331e-01 3.62353597e-02 3.41584072e-02 -3.97014417e+01] [-3.63059677e-02 9.99339671e-01 1.44888657e-03 1.80916289e+01] [-3.40833504e-02 -2.68724301e-03 9.99415381e-01 1.55057084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31911593299999 meters 0.016874195306949676 Centerline is valid? [True, True] Translation: X:-39.73, Y:18.09, Z:1.55 [[ 9.98951459e-01 3.10789517e-02 3.36166715e-02 -3.97326548e+01] [-3.11444985e-02 9.99513873e-01 1.42782838e-03 1.80874600e+01] [-3.35559541e-02 -2.47330562e-03 9.99433780e-01 1.54610278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.349115933 meters 0.0164913953084941 Centerline is valid? [True, True] Translation: X:-39.76, Y:18.10, Z:1.59 [[ 9.99103312e-01 2.81899801e-02 3.15895056e-02 -3.97633094e+01] [-2.82466210e-02 9.99600076e-01 1.34811941e-03 1.81018186e+01] [-3.15388687e-02 -2.23920736e-03 9.99500018e-01 1.59397726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.379115933 meters 0.016426203330157693 Centerline is valid? [True, True] Translation: X:-39.79, Y:18.10, Z:1.60 [[ 9.99045551e-01 3.23067418e-02 2.93983135e-02 -3.97946295e+01] [-3.23579728e-02 9.99475539e-01 1.26846149e-03 1.81049871e+01] [-2.93419153e-02 -2.21852063e-03 9.99566971e-01 1.60462220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.409115933 meters 0.016019241260412036 Centerline is valid? [True, True] Translation: X:-39.83, Y:18.10, Z:1.59 [[ 9.99138950e-01 3.27749556e-02 2.54393762e-02 -3.98259221e+01] [-3.28135305e-02 9.99460885e-01 1.10027540e-03 1.80955928e+01] [-2.53896000e-02 -1.93408375e-03 9.99675761e-01 1.58982652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.439115933 meters 0.01617642913230256 Centerline is valid? [True, True] Translation: X:-39.86, Y:18.11, Z:1.63 [[ 9.99236964e-01 3.17550096e-02 2.27400498e-02 -3.98576614e+01] [-3.17858751e-02 9.99494204e-01 9.97064612e-04 1.81095139e+01] [-2.26968861e-02 -1.71911620e-03 9.99740914e-01 1.62628266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.469115933 meters 0.015635553359789753 Centerline is valid? [True, True] Translation: X:-39.89, Y:18.12, Z:1.68 [[ 9.99494626e-01 2.33897521e-02 2.15269929e-02 -3.98873601e+01] [-2.34155674e-02 9.99725369e-01 9.47892875e-04 1.81245190e+01] [-2.14989100e-02 -1.45148059e-03 9.99767818e-01 1.68149996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49911593299998 meters 0.014806359564214933 Centerline is valid? [True, True] Translation: X:-39.92, Y:18.13, Z:1.70 [[ 9.99653832e-01 1.83812947e-02 1.88240444e-02 -3.99180911e+01] [-1.84001662e-02 9.99830358e-01 8.29796857e-04 1.81302528e+01] [-1.88055983e-02 -1.17587515e-03 9.99822468e-01 1.70362256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52911593299999 meters 0.014266540642171649 Centerline is valid? [True, True] Translation: X:-39.95, Y:18.14, Z:1.74 [[ 9.99731916e-01 8.60259608e-04 2.31377655e-02 -3.99481836e+01] [-8.84123750e-04 9.99999088e-01 1.02118364e-03 1.81432782e+01] [-2.31368659e-02 -1.04136652e-03 9.99731765e-01 1.74292038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55911593299999 meters 0.014570770524596337 Centerline is valid? [True, True] Translation: X:-39.98, Y:18.13, Z:1.71 [[ 9.99817319e-01 2.08140283e-03 1.89998973e-02 -3.99805020e+01] [-2.09768665e-03 9.99997449e-01 8.37158578e-04 1.81321895e+01] [-1.89981064e-02 -8.76861476e-04 9.99819135e-01 1.71171643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58911593299999 meters 0.014800243878914304 Centerline is valid? [True, True] Translation: X:-40.01, Y:18.13, Z:1.73 [[ 9.99838669e-01 4.11831626e-03 1.74835604e-02 -4.00116612e+01] [-4.13259614e-03 9.99991156e-01 7.80709958e-04 1.81322196e+01] [-1.74801906e-02 -8.52836500e-04 9.99846846e-01 1.72537457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61911593299999 meters 0.014943851077743367 Centerline is valid? [True, True] Translation: X:-40.04, Y:18.15, Z:1.77 [[ 9.99812494e-01 -2.01510026e-03 1.92591605e-02 -4.00431922e+01] [ 1.99859422e-03 9.99997619e-01 8.76258236e-04 1.81471602e+01] [-1.92608804e-02 -8.37602686e-04 9.99814141e-01 1.76752639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64911593299999 meters 0.014922962500060524 Centerline is valid? [True, True] Translation: X:-40.08, Y:18.13, Z:1.73 [[ 9.99748506e-01 -7.72140575e-03 2.10548014e-02 -4.00751184e+01] [ 7.70284919e-03 9.99969870e-01 9.62304331e-04 1.81310820e+01] [-2.10615973e-02 -7.99880357e-04 9.99777860e-01 1.73442057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67911593299999 meters 0.015379623343697458 Centerline is valid? [True, True] Translation: X:-40.11, Y:18.13, Z:1.74 [[ 9.99786892e-01 -8.91748025e-03 1.86185386e-02 -4.01078708e+01] [ 8.90318281e-03 9.99960004e-01 8.50663865e-04 1.81311158e+01] [-1.86253797e-02 -6.84718328e-04 9.99826298e-01 1.73766764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.70911593299999 meters 0.01532428131197533 Centerline is valid? [True, True] Translation: X:-40.14, Y:18.14, Z:1.76 [[ 9.99692784e-01 -1.37616232e-02 2.06144215e-02 -4.01393065e+01] [ 1.37447536e-02 9.99905076e-01 9.59807523e-04 1.81374427e+01] [-2.06256732e-02 -6.76172511e-04 9.99787040e-01 1.76184029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.739115933 meters 0.015188276280928326 Centerline is valid? [True, True] Translation: X:-40.17, Y:18.13, Z:1.74 [[ 9.99550638e-01 -2.09868553e-02 2.14026614e-02 -4.01710068e+01] [ 2.09700038e-02 9.99779594e-01 1.01150627e-03 1.81260305e+01] [-2.14191724e-02 -5.62237843e-04 9.99770425e-01 1.73701889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.769115933 meters 0.015574201787941704 Centerline is valid? [True, True] Translation: X:-40.20, Y:18.12, Z:1.74 [[ 9.99638089e-01 -1.80111113e-02 1.99822503e-02 -4.02034305e+01] [ 1.79955479e-02 9.99837608e-01 9.58413712e-04 1.81235808e+01] [-1.99962674e-02 -5.98475310e-04 9.99799876e-01 1.73744300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.799115933 meters 0.01505998390502145 Centerline is valid? [True, True] Translation: X:-40.24, Y:18.12, Z:1.73 [[ 9.99605969e-01 -2.24737027e-02 1.68178459e-02 -4.02353583e+01] [ 2.24633128e-02 9.99747343e-01 8.06467631e-04 1.81173309e+01] [-1.68317211e-02 -4.28365324e-04 9.99858245e-01 1.73162687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.829115933 meters 0.01579845259622662 Centerline is valid? [True, True] Translation: X:-40.27, Y:18.12, Z:1.76 [[ 9.99777693e-01 -1.46218715e-02 1.51909731e-02 -4.02658481e+01] [ 1.46122773e-02 9.99892959e-01 7.42377844e-04 1.81207018e+01] [-1.52002020e-02 -5.20238096e-04 9.99884335e-01 1.75809054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.859115933 meters 0.015930124914091525 Centerline is valid? [True, True] Translation: X:-40.30, Y:18.14, Z:1.80 [[ 9.99419761e-01 -2.80688844e-02 1.92945339e-02 -4.02965901e+01] [ 2.80558574e-02 9.99605910e-01 9.45572218e-04 1.81360776e+01] [-1.93134713e-02 -4.03698867e-04 9.99813396e-01 1.79615556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88911593299999 meters 0.015794041029726563 Centerline is valid? [True, True] Translation: X:-40.33, Y:18.15, Z:1.83 [[ 9.99461267e-01 -2.70614195e-02 1.85702562e-02 -4.03283545e+01] [ 2.70492289e-02 9.99633691e-01 9.07366781e-04 1.81494526e+01] [-1.85880083e-02 -4.04566843e-04 9.99827146e-01 1.83209060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91911593299999 meters 0.016036753293721614 Centerline is valid? [True, True] Translation: X:-40.36, Y:18.13, Z:1.80 [[ 9.99695365e-01 -2.05243564e-02 1.37087194e-02 -4.03596903e+01] [ 2.05170301e-02 9.99789276e-01 6.74866797e-04 1.81319726e+01] [-1.37196819e-02 -3.93399000e-04 9.99905803e-01 1.80330974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94911593299999 meters 0.015713937332754408 Centerline is valid? [True, True] Translation: X:-40.39, Y:18.14, Z:1.81 [[ 9.99744962e-01 -1.85548172e-02 1.28736273e-02 -4.03913077e+01] [ 1.85480974e-02 9.99827764e-01 6.41186596e-04 1.81364629e+01] [-1.28833071e-02 -4.02241775e-04 9.99916926e-01 1.81215143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97911593299999 meters 0.015546040927566385 Centerline is valid? [True, True] Translation: X:-40.42, Y:18.14, Z:1.84 [[ 9.99857262e-01 -1.29807000e-02 1.08146425e-02 -4.04225096e+01] [ 1.29755119e-02 9.99915663e-01 5.49756830e-04 1.81408601e+01] [-1.08208666e-02 -4.09352837e-04 9.99941369e-01 1.83980530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.00911593299999 meters 0.015438437755953585 Centerline is valid? [True, True] Translation: X:-40.45, Y:18.14, Z:1.84 [[ 9.99780320e-01 -1.81603185e-02 1.04648915e-02 -4.04545972e+01] [ 1.81557946e-02 9.99835031e-01 5.27134162e-04 1.81412426e+01] [-1.04727381e-02 -3.37019940e-04 9.99945103e-01 1.84065470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03911593299999 meters 0.016422203062925897 Centerline is valid? [True, True] Translation: X:-40.49, Y:18.13, Z:1.82 [[ 9.99943453e-01 -9.75950120e-03 4.22407770e-03 -4.04850611e+01] [ 9.75866167e-03 9.99952359e-01 2.19313599e-04 1.81312091e+01] [-4.22601686e-03 -1.78079853e-04 9.99991054e-01 1.81752764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.06911593299999 meters 0.015700197749548766 Centerline is valid? [True, True] Translation: X:-40.52, Y:18.13, Z:1.81 [[ 9.99874952e-01 -1.52013732e-02 4.35882242e-03 -4.05162438e+01] [ 1.52005849e-02 9.99884442e-01 2.13910389e-04 1.81265841e+01] [-4.36157045e-03 -1.47626990e-04 9.99990477e-01 1.81359123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.099115933 meters 0.0157131974535677 Centerline is valid? [True, True] Translation: X:-40.55, Y:18.13, Z:1.83 [[ 9.99926716e-01 -1.20310385e-02 1.34768264e-03 -4.05472937e+01] [ 1.20309743e-02 9.99927624e-01 5.57380794e-05 1.81260651e+01] [-1.34825568e-03 -3.95200595e-05 9.99999090e-01 1.83112257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.129115933 meters 0.014720636841827358 Centerline is valid? [True, True] Translation: X:-40.58, Y:18.13, Z:1.83 [[ 9.99884182e-01 -1.48860113e-02 3.16678097e-03 -4.05789618e+01] [ 1.48855754e-02 9.99889191e-01 1.61178188e-04 1.81297616e+01] [-3.16882936e-03 -1.14020164e-04 9.99994973e-01 1.83491623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.159115933 meters 0.015616011423468922 Centerline is valid? [True, True] Translation: X:-40.61, Y:18.13, Z:1.83 [[ 9.99908413e-01 -1.34935420e-02 1.04371133e-03 -4.06101989e+01] [ 1.34935068e-02 9.99908958e-01 4.07305608e-05 1.81257402e+01] [-1.04416591e-03 -2.66435044e-05 9.99999455e-01 1.83155391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.189115933 meters 0.015111991663688661 Centerline is valid? [True, True] Translation: X:-40.64, Y:18.15, Z:1.89 [[ 9.99589674e-01 -2.83169404e-02 4.31666823e-03 -4.06411689e+01] [ 2.83161981e-02 9.99598989e-01 2.32995138e-04 1.81450556e+01] [-4.32153491e-03 -1.10667901e-04 9.99990656e-01 1.88789187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.219115933 meters 0.015450273733156272 Centerline is valid? [True, True] Translation: X:-40.67, Y:18.14, Z:1.87 [[ 9.99769782e-01 -2.14150994e-02 1.33313864e-03 -4.06730367e+01] [ 2.14150277e-02 9.99770670e-01 6.80060098e-05 1.81370879e+01] [-1.33428927e-03 -3.94411527e-05 9.99999109e-01 1.86706297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24911593299998 meters 0.015814220720031483 Centerline is valid? [True, True] Translation: X:-40.70, Y:18.13, Z:1.85 [[ 9.99850248e-01 -1.72797304e-02 9.44664471e-04 -4.07047930e+01] [ 1.72797040e-02 9.99850694e-01 3.61290716e-05 1.81282085e+01] [-9.45147727e-04 -1.98001388e-05 9.99999553e-01 1.85078297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27911593299999 meters 0.015288476692864489 Centerline is valid? [True, True] Translation: X:-40.74, Y:18.12, Z:1.83 [[ 9.99739915e-01 -2.28021948e-02 -4.02435481e-04 -4.07369471e+01] [ 2.28021811e-02 9.99739996e-01 -3.86708508e-05 1.81208827e+01] [ 4.03212626e-04 2.94843864e-05 9.99999918e-01 1.83259344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30911593299999 meters 0.015348701009514316 Centerline is valid? [True, True] Translation: X:-40.77, Y:18.14, Z:1.88 [[ 9.99503899e-01 -3.12689311e-02 3.76946670e-03 -4.07675978e+01] [ 3.12683644e-02 9.99511003e-01 2.09206534e-04 1.81358441e+01] [-3.77416510e-03 -9.12376881e-05 9.99992874e-01 1.88227727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33911593299999 meters 0.015754288434454224 Centerline is valid? [True, True] Translation: X:-40.80, Y:18.13, Z:1.85 [[ 9.99726107e-01 -2.33746081e-02 1.15722141e-03 -4.07989734e+01] [ 2.33745515e-02 9.99726776e-01 6.24057080e-05 1.81268088e+01] [-1.15836394e-03 -3.53390841e-05 9.99999328e-01 1.84754878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.36911593299999 meters 0.015218292655393378 Centerline is valid? [True, True] Translation: X:-40.83, Y:18.13, Z:1.86 [[ 9.99427560e-01 -3.36726482e-02 3.27173033e-03 -4.08300454e+01] [ 3.36722727e-02 9.99432914e-01 1.69799575e-04 1.81274645e+01] [-3.27559258e-03 -5.95357787e-05 9.99994633e-01 1.86341013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39911593299999 meters 0.01527282648056581 Centerline is valid? [True, True] Translation: X:-40.86, Y:18.12, Z:1.85 [[ 9.99754274e-01 -2.21662303e-02 -2.21846654e-04 -4.08617750e+01] [ 2.21662273e-02 9.99754299e-01 -1.60727452e-05 1.81172358e+01] [ 2.22148418e-04 1.11512923e-05 9.99999975e-01 1.84704202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.42911593299999 meters 0.015410464013484493 Centerline is valid? [True, True] Translation: X:-40.89, Y:18.11, Z:1.84 [[ 9.99825381e-01 -1.86672334e-02 8.61010695e-04 -4.08939502e+01] [ 1.86672030e-02 9.99825752e-01 4.32572661e-05 1.81149285e+01] [-8.61668159e-04 -2.71770511e-05 9.99999628e-01 1.83731013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45911593299999 meters 0.01572211595534452 Centerline is valid? [True, True] Translation: X:-40.92, Y:18.10, Z:1.82 [[ 9.99952672e-01 -9.27463708e-03 -2.93840512e-03 -4.09249871e+01] [ 9.27418192e-03 9.99956980e-01 -1.68489288e-04 1.81039426e+01] [ 2.93984138e-03 1.41230010e-04 9.99995669e-01 1.81713314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.489115933 meters 0.015888822067753862 Centerline is valid? [True, True] Translation: X:-40.96, Y:18.13, Z:1.87 [[ 9.99950660e-01 -9.74247979e-03 -1.93931932e-03 -4.09574081e+01] [ 9.74224556e-03 9.99952535e-01 -1.30190148e-04 1.81253641e+01] [ 1.94049565e-03 1.11290399e-04 9.99998111e-01 1.87390305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.519115933 meters 0.015959808912171015 Centerline is valid? [True, True] Translation: X:-40.99, Y:18.12, Z:1.86 [[ 9.99956840e-01 -9.21174563e-03 -1.20929108e-03 -4.09896025e+01] [ 9.21164755e-03 9.99957568e-01 -8.66515930e-05 1.81211570e+01] [ 1.21003798e-03 7.55082899e-05 9.99999265e-01 1.86426136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.549115933 meters 0.016130624754313556 Centerline is valid? [True, True] Translation: X:-41.02, Y:18.11, Z:1.85 [[ 9.99993130e-01 -3.33901143e-03 -1.60973779e-03 -4.10212094e+01] [ 3.33885872e-03 9.99994421e-01 -9.75460578e-05 1.81122561e+01] [ 1.61005451e-03 9.21707006e-05 9.99998700e-01 1.85110788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.579115933 meters 0.015619608258407766 Centerline is valid? [True, True] Translation: X:-41.05, Y:18.11, Z:1.84 [[ 9.99998568e-01 4.42665718e-05 -1.69157980e-03 -4.10517411e+01] [-4.44340486e-05 9.99999994e-01 -9.89686960e-05 1.81081864e+01] [ 1.69157541e-03 9.90437180e-05 9.99998564e-01 1.84225910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.609115933 meters 0.015619608258407766 Centerline is valid? [True, True] Translation: X:-41.08, Y:18.11, Z:1.84 [[ 9.99998542e-01 2.29734009e-04 -1.69186112e-03 -4.10802090e+01] [-2.29893630e-04 9.99999969e-01 -9.41525954e-05 1.81064958e+01] [ 1.69183944e-03 9.45414063e-05 9.99998564e-01 1.84295258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63911593299999 meters 0.01670421766900015 Centerline is valid? [True, True] Translation: X:-41.11, Y:18.12, Z:1.87 [[ 9.99939684e-01 1.04994587e-02 -3.22324558e-03 -4.11107797e+01] [-1.05001182e-02 9.99944855e-01 -1.87741864e-04 1.81155057e+01] [ 3.22109665e-03 2.21574999e-04 9.99994788e-01 1.87283612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66911593299999 meters 0.015992714394306953 Centerline is valid? [True, True] Translation: X:-41.14, Y:18.12, Z:1.88 [[ 9.99942579e-01 1.07046776e-02 -4.99220590e-04 -4.11398416e+01] [-1.07046856e-02 9.99942703e-01 -1.32216111e-05 1.81168029e+01] [ 4.99050453e-04 1.85648513e-05 9.99999875e-01 1.88149194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69911593299999 meters 0.015694449581933143 Centerline is valid? [True, True] Translation: X:-41.17, Y:18.12, Z:1.89 [[ 9.99875643e-01 1.54001776e-02 -3.39600051e-03 -4.11695180e+01] [-1.54009225e-02 9.99881380e-01 -1.93303857e-04 1.81207793e+01] [ 3.39262077e-03 2.45581359e-04 9.99994215e-01 1.89437939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72911593299999 meters 0.015438607577988 Centerline is valid? [True, True] Translation: X:-41.20, Y:18.12, Z:1.89 [[ 9.99938167e-01 1.09763096e-02 -1.78423213e-03 -4.11986218e+01] [-1.09765008e-02 9.99939752e-01 -9.73915002e-05 1.81155383e+01] [ 1.78305563e-03 1.16970104e-04 9.99998404e-01 1.89403513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75911593299999 meters 0.015714889526259445 Centerline is valid? [True, True] Translation: X:-41.23, Y:18.12, Z:1.90 [[ 9.99904980e-01 1.33485670e-02 -3.44185699e-03 -4.12275799e+01] [-1.33492692e-02 9.99910878e-01 -1.81123477e-04 1.81155226e+01] [ 3.43913250e-03 2.27052542e-04 9.99994060e-01 1.89778437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.78911593299999 meters 0.015990289169661297 Centerline is valid? [True, True] Translation: X:-41.26, Y:18.08, Z:1.83 [[ 9.99833284e-01 1.76352374e-02 -4.73316013e-03 -4.12576744e+01] [-1.76366998e-02 9.99844426e-01 -2.67411544e-04 1.80846911e+01] [ 4.72770791e-03 3.50844286e-04 9.99988763e-01 1.82745520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81911593299999 meters 0.015991032862790404 Centerline is valid? [True, True] Translation: X:-41.29, Y:18.08, Z:1.82 [[ 9.99921166e-01 1.19705778e-02 -3.79036767e-03 -4.12876495e+01] [-1.19714786e-02 9.99928316e-01 -2.15051601e-04 1.80818625e+01] [ 3.78752167e-03 2.60410953e-04 9.99992793e-01 1.82141198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.849115933 meters 0.015703881834538854 Centerline is valid? [True, True] Translation: X:-41.32, Y:18.10, Z:1.87 [[ 9.99941280e-01 1.02771998e-02 -3.43735961e-03 -4.13164128e+01] [-1.02778691e-02 9.99947166e-01 -1.77095382e-04 1.80954670e+01] [ 3.43535796e-03 2.12413715e-04 9.99994077e-01 1.87441385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.879115933 meters 0.015842319649585584 Centerline is valid? [True, True] Translation: X:-41.35, Y:18.09, Z:1.88 [[ 9.99999103e-01 -5.57028621e-04 1.21802692e-03 -4.13470813e+01] [ 5.56945484e-04 9.99999843e-01 6.85934312e-05 1.80935887e+01] [-1.21806494e-03 -6.79149951e-05 9.99999256e-01 1.87937931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.909115933 meters 0.016537713070308817 Centerline is valid? [True, True] Translation: X:-41.38, Y:18.10, Z:1.90 [[ 9.99997500e-01 5.80038136e-04 2.15970678e-03 -4.13788386e+01] [-5.80270321e-04 9.99999826e-01 1.06882567e-04 1.80995049e+01] [-2.15964441e-03 -1.08135513e-04 9.99997662e-01 1.89979062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.939115933 meters 0.015224483051728643 Centerline is valid? [True, True] Translation: X:-41.41, Y:18.09, Z:1.88 [[ 9.99960575e-01 -8.26987085e-03 3.23375359e-03 -4.14094452e+01] [ 8.26932746e-03 9.99965792e-01 1.81370826e-04 1.80892349e+01] [-3.23514288e-03 -1.54622708e-04 9.99994755e-01 1.88418268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.969115933 meters 0.015702987502371236 Centerline is valid? [True, True] Translation: X:-41.44, Y:18.08, Z:1.87 [[ 9.99990801e-01 -4.02184507e-03 1.49109415e-03 -4.14406255e+01] [ 4.02172641e-03 9.99991909e-01 8.25705376e-05 1.80788157e+01] [-1.49141418e-03 -7.65730052e-05 9.99998885e-01 1.86647596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99911593299998 meters 0.01620936714792948 Centerline is valid? [True, True] Translation: X:-41.47, Y:18.08, Z:1.87 [[ 9.99966275e-01 -8.21150932e-03 1.38028096e-04 -4.14725631e+01] [ 8.21150895e-03 9.99966285e-01 3.30298207e-06 1.80759914e+01] [-1.38050565e-04 -2.16945174e-06 9.99999990e-01 1.87221110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02911593299999 meters 0.01618494948595738 Centerline is valid? [True, True] Translation: X:-41.50, Y:18.08, Z:1.89 [[ 9.99859859e-01 -1.67000661e-02 1.17018767e-03 -4.15031351e+01] [ 1.67000026e-02 9.99860543e-01 6.40142008e-05 1.80765485e+01] [-1.17109352e-03 -4.44630928e-05 9.99999313e-01 1.89181571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05911593299999 meters 0.015986825712681424 Centerline is valid? [True, True] Translation: X:-41.53, Y:18.07, Z:1.88 [[ 9.99839403e-01 -1.78998391e-02 8.74023851e-04 -4.15349461e+01] [ 1.78998167e-02 9.99839785e-01 3.34465764e-05 1.80694274e+01] [-8.74482507e-04 -1.77963383e-05 9.99999617e-01 1.88420876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08911593299999 meters 0.016493207361590826 Centerline is valid? [True, True] Translation: X:-41.57, Y:18.07, Z:1.90 [[ 9.99901243e-01 -1.40535703e-02 3.25399422e-05 -4.15672829e+01] [ 1.40535704e-02 9.99901244e-01 -3.77724631e-06 1.80722903e+01] [-3.24836449e-05 4.23417565e-06 9.99999999e-01 1.90401458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11911593299999 meters 0.015173290449193853 Centerline is valid? [True, True] Translation: X:-41.60, Y:18.07, Z:1.91 [[ 9.99740284e-01 -2.26515006e-02 2.50494837e-03 -4.15977461e+01] [ 2.26512091e-02 9.99743418e-01 1.44675387e-04 1.80710707e+01] [-2.50758276e-03 -8.78977035e-05 9.99996852e-01 1.91045492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.14911593299999 meters 0.015410941981835753 Centerline is valid? [True, True] Translation: X:-41.63, Y:18.06, Z:1.89 [[ 9.99913633e-01 -1.31395913e-02 -2.77752896e-04 -4.16280249e+01] [ 1.31395873e-02 9.99913672e-01 -1.61685429e-05 1.80599191e+01] [ 2.77941366e-04 1.25175880e-05 9.99999961e-01 1.89135526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17911593299999 meters 0.01582624161226851 Centerline is valid? [True, True] Translation: X:-41.66, Y:18.06, Z:1.89 [[ 9.99941277e-01 -1.07925004e-02 9.81729905e-04 -4.16597077e+01] [ 1.07924645e-02 9.99941759e-01 4.18853671e-05 1.80598712e+01] [-9.82124775e-04 -3.12876224e-05 9.99999517e-01 1.89422856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.20911593299999 meters 0.0157573811398601 Centerline is valid? [True, True] Translation: X:-41.69, Y:18.05, Z:1.88 [[ 9.99967604e-01 -8.04637655e-03 -2.15499435e-04 -4.16913322e+01] [ 8.04637060e-03 9.99967627e-01 -2.84901494e-05 1.80537595e+01] [ 2.15721701e-04 2.67552381e-05 9.99999976e-01 1.88333133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.239115933 meters 0.014914300910057018 Centerline is valid? [True, True] Translation: X:-41.72, Y:18.06, Z:1.92 [[ 9.99720085e-01 -2.32705995e-02 4.26969219e-03 -4.17219660e+01] [ 2.32697268e-02 9.99729191e-01 2.53950549e-04 1.80617045e+01] [-4.27444550e-03 -1.54524894e-04 9.99990853e-01 1.91711340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.269115933 meters 0.015888432556928074 Centerline is valid? [True, True] Translation: X:-41.75, Y:18.05, Z:1.91 [[ 9.99873696e-01 -1.58304624e-02 -1.41028445e-03 -4.17528814e+01] [ 1.58303580e-02 9.99874688e-01 -8.51413036e-05 1.80549822e+01] [ 1.41145555e-03 6.28052420e-05 9.99999002e-01 1.90827932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.299115933 meters 0.01532730873133108 Centerline is valid? [True, True] Translation: X:-41.78, Y:18.04, Z:1.89 [[ 9.99760567e-01 -2.18714823e-02 -6.68683367e-04 -4.17843395e+01] [ 2.18714574e-02 9.99760790e-01 -4.44606111e-05 1.80417627e+01] [ 6.69495831e-04 2.98248859e-05 9.99999775e-01 1.89307717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.329115933 meters 0.015369777524128592 Centerline is valid? [True, True] Translation: X:-41.81, Y:18.02, Z:1.84 [[ 9.99929836e-01 -1.16378868e-02 -2.20956484e-03 -4.18149516e+01] [ 1.16376234e-02 9.99932272e-01 -1.32028907e-04 1.80224804e+01] [ 2.21095173e-03 1.06305560e-04 9.99997550e-01 1.84228549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.359115933 meters 0.015550287463953491 Centerline is valid? [True, True] Translation: X:-41.85, Y:18.03, Z:1.87 [[ 9.99884987e-01 -1.44007101e-02 -4.75740328e-03 -4.18461993e+01] [ 1.43994948e-02 9.99896280e-01 -2.89619058e-04 1.80252623e+01] [ 4.76108056e-03 2.21081544e-04 9.99988642e-01 1.86670173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38911593299999 meters 0.01573841023051194 Centerline is valid? [True, True] Translation: X:-41.88, Y:18.02, Z:1.85 [[ 9.99918356e-01 -1.16062970e-02 -5.34565751e-03 -4.18783642e+01] [ 1.16046457e-02 9.99932606e-01 -3.39805996e-04 1.80184543e+01] [ 5.34924114e-03 2.77743791e-04 9.99985654e-01 1.84651577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41911593299999 meters 0.015529127983802868 Centerline is valid? [True, True] Translation: X:-41.91, Y:18.03, Z:1.91 [[ 9.99831878e-01 -1.83106650e-02 -9.67039301e-04 -4.19086847e+01] [ 1.83106158e-02 9.99832345e-01 -5.97769101e-05 1.80336845e+01] [ 9.67971726e-04 4.20597752e-05 9.99999531e-01 1.90644263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44911593299999 meters 0.015521219772896725 Centerline is valid? [True, True] Translation: X:-41.94, Y:18.03, Z:1.90 [[ 9.99799480e-01 -2.00217377e-02 -3.61222199e-04 -4.19403053e+01] [ 2.00217252e-02 9.99799544e-01 -3.79925000e-05 1.80277286e+01] [ 3.61910465e-04 3.07525902e-05 9.99999934e-01 1.90242599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47911593299999 meters 0.014994059636850635 Centerline is valid? [True, True] Translation: X:-41.97, Y:18.02, Z:1.90 [[ 9.99959586e-01 -8.55765284e-03 -2.75551778e-03 -4.19704218e+01] [ 8.55721650e-03 9.99963372e-01 -1.70102318e-04 1.80209344e+01] [ 2.75687253e-03 1.46515881e-04 9.99996189e-01 1.89835352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.50911593299999 meters 0.015278140437241296 Centerline is valid? [True, True] Translation: X:-42.00, Y:18.02, Z:1.90 [[ 9.99959600e-01 -8.65988245e-03 -2.40940701e-03 -4.20022286e+01] [ 8.65950988e-03 9.99962492e-01 -1.65021036e-04 1.80191585e+01] [ 2.41074570e-03 1.44150085e-04 9.99997084e-01 1.90111413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53911593299999 meters 0.01589577293337674 Centerline is valid? [True, True] Translation: X:-42.03, Y:18.02, Z:1.90 [[ 9.99913552e-01 -1.31372719e-02 -5.48731242e-04 -4.20340272e+01] [ 1.31372527e-02 9.99913702e-01 -3.86136267e-05 1.80168063e+01] [ 5.49191165e-04 3.14014676e-05 9.99999849e-01 1.90452614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.56911593299999 meters 0.015608461685446738 Centerline is valid? [True, True] Translation: X:-42.07, Y:18.02, Z:1.91 [[ 9.99833859e-01 -1.82187756e-02 -5.75163450e-04 -4.20653095e+01] [ 1.82187493e-02 9.99834024e-01 -5.08760473e-05 1.80195006e+01] [ 5.75994886e-04 4.03888360e-05 9.99999833e-01 1.91072716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.599115933 meters 0.01538453086814455 Centerline is valid? [True, True] Translation: X:-42.10, Y:18.01, Z:1.90 [[ 9.99987931e-01 -3.42853272e-03 -3.51890028e-03 -4.20957471e+01] [ 3.42777656e-03 9.99994101e-01 -2.20893978e-04 1.80115281e+01] [ 3.51963686e-03 2.08829308e-04 9.99993784e-01 1.90496908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.629115933 meters 0.01504706777518444 Centerline is valid? [True, True] Translation: X:-42.13, Y:18.01, Z:1.91 [[ 9.99910828e-01 -1.33412271e-02 -5.90222867e-04 -4.21255357e+01] [ 1.33412083e-02 9.99911001e-01 -3.58731793e-05 1.80110669e+01] [ 5.90648931e-04 2.79956942e-05 9.99999825e-01 1.91368473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.659115933 meters 0.014820779603767782 Centerline is valid? [True, True] Translation: X:-42.16, Y:18.00, Z:1.90 [[ 9.99855333e-01 -1.69468852e-02 -1.45490753e-03 -4.21574051e+01] [ 1.69467633e-02 9.99856389e-01 -9.61218575e-05 1.80001419e+01] [ 1.45632756e-03 7.14519783e-05 9.99998937e-01 1.90023403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.689115933 meters 0.015564802630971786 Centerline is valid? [True, True] Translation: X:-42.19, Y:18.00, Z:1.90 [[ 9.99860689e-01 -1.63826382e-02 -3.19564145e-03 -4.21893760e+01] [ 1.63820212e-02 9.99865782e-01 -2.19170665e-04 1.79995470e+01] [ 3.19880313e-03 1.66789066e-04 9.99994870e-01 1.90057700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.719115933 meters 0.014816927112757323 Centerline is valid? [True, True] Translation: X:-42.22, Y:18.00, Z:1.90 [[ 9.99654701e-01 -2.62257736e-02 -1.63943070e-03 -4.22203058e+01] [ 2.62256358e-02 9.99656043e-01 -1.05441611e-04 1.79951731e+01] [ 1.64163209e-03 6.24100896e-05 9.99998651e-01 1.89589354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74911593299998 meters 0.016215439861407912 Centerline is valid? [True, True] Translation: X:-42.25, Y:18.00, Z:1.92 [[ 9.99893756e-01 -1.26332196e-02 -7.27173886e-03 -4.22505987e+01] [ 1.26301888e-02 9.99920129e-01 -4.62571739e-04 1.79982492e+01] [ 7.27700183e-03 3.70679159e-04 9.99973454e-01 1.92334116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77911593299999 meters 0.015739786247781114 Centerline is valid? [True, True] Translation: X:-42.28, Y:18.00, Z:1.92 [[ 9.99802669e-01 -1.91223987e-02 -5.38118067e-03 -4.22810089e+01] [ 1.91208324e-02 9.99817122e-01 -3.42364089e-04 1.79969207e+01] [ 5.38674339e-03 2.39403876e-04 9.99985463e-01 1.92227156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80911593299999 meters 0.01551339287263505 Centerline is valid? [True, True] Translation: X:-42.31, Y:17.99, Z:1.93 [[ 9.99668886e-01 -2.56008362e-02 -2.59150025e-03 -4.23117747e+01] [ 2.56004881e-02 9.99672240e-01 -1.67388568e-04 1.79938392e+01] [ 2.59493615e-03 1.00989472e-04 9.99996628e-01 1.93126654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83911593299999 meters 0.01483912289527398 Centerline is valid? [True, True] Translation: X:-42.34, Y:17.99, Z:1.93 [[ 9.99824697e-01 -1.80814735e-02 -4.86162435e-03 -4.23430361e+01] [ 1.80801612e-02 9.99836491e-01 -3.13758196e-04 1.79877542e+01] [ 4.86650264e-03 2.25804241e-04 9.99988133e-01 1.92694836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.86911593299999 meters 0.014883103674167156 Centerline is valid? [True, True] Translation: X:-42.37, Y:17.99, Z:1.94 [[ 9.99666082e-01 -2.56486678e-02 -3.14180126e-03 -4.23743600e+01] [ 2.56481557e-02 9.99671011e-01 -2.03191391e-04 1.79941438e+01] [ 3.14597923e-03 1.22542134e-04 9.99995044e-01 1.94028530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89911593299999 meters 0.015168538661721813 Centerline is valid? [True, True] Translation: X:-42.41, Y:17.98, Z:1.91 [[ 9.99818738e-01 -1.76434516e-02 -7.15537440e-03 -4.24053160e+01] [ 1.76406157e-02 9.99844287e-01 -4.59261704e-04 1.79799558e+01] [ 7.16236318e-03 3.32953247e-04 9.99974295e-01 1.90819295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.92911593299999 meters 0.014472010933438634 Centerline is valid? [True, True] Translation: X:-42.44, Y:17.98, Z:1.93 [[ 9.99902229e-01 -1.22083730e-02 -6.81820195e-03 -4.24366374e+01] [ 1.22056512e-02 9.99925411e-01 -4.40666804e-04 1.79825289e+01] [ 6.82307321e-03 3.57403125e-04 9.99976659e-01 1.92730569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95911593299999 meters 0.015790465773790036 Centerline is valid? [True, True] Translation: X:-42.47, Y:17.98, Z:1.91 [[ 9.99956199e-01 -5.90650646e-03 -7.26035572e-03 -4.24671230e+01] [ 5.90328050e-03 9.99982467e-01 -4.65675432e-04 1.79782079e+01] [ 7.26297894e-03 4.22795119e-04 9.99973535e-01 1.90787415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.989115933 meters 0.014675585795817831 Centerline is valid? [True, True] Translation: X:-42.50, Y:17.99, Z:1.96 [[ 9.99883533e-01 -1.47147672e-02 -4.04916391e-03 -4.24964813e+01] [ 1.47138411e-02 9.99891712e-01 -2.58404899e-04 1.79923748e+01] [ 4.05252780e-03 1.98796049e-04 9.99991769e-01 1.96200932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.019115933 meters 0.015255909159665435 Centerline is valid? [True, True] Translation: X:-42.53, Y:17.97, Z:1.90 [[ 9.99968449e-01 -6.01799694e-03 -5.18502739e-03 -4.25272275e+01] [ 6.01634555e-03 9.99981846e-01 -3.34030001e-04 1.79692210e+01] [ 5.18694345e-03 3.02824546e-04 9.99986502e-01 1.89892544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.049115933 meters 0.015314237302785683 Centerline is valid? [True, True] Translation: X:-42.56, Y:17.96, Z:1.88 [[ 9.99925566e-01 9.38336398e-03 -7.79841042e-03 -4.25584995e+01] [-9.38755862e-03 9.99955810e-01 -5.01452324e-04 1.79634172e+01] [ 7.79336050e-03 5.74623034e-04 9.99969466e-01 1.87883786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.079115933 meters 0.014532344923680626 Centerline is valid? [True, True] Translation: X:-42.59, Y:17.98, Z:1.93 [[ 9.99944469e-01 9.14772191e-03 -5.23234127e-03 -4.25873705e+01] [-9.14950452e-03 9.99958092e-01 -3.16854686e-04 1.79781662e+01] [ 5.22922350e-03 3.64710421e-04 9.99986261e-01 1.92551229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.109115933 meters 0.015145140480866284 Centerline is valid? [True, True] Translation: X:-42.62, Y:17.98, Z:1.93 [[ 9.99990678e-01 3.07001961e-03 -3.03633824e-03 -4.26177114e+01] [-3.07062325e-03 9.99995267e-01 -1.94163405e-04 1.79771744e+01] [ 3.03572778e-03 2.03485046e-04 9.99995371e-01 1.92895452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13911593299999 meters 0.015590674949860106 Centerline is valid? [True, True] Translation: X:-42.65, Y:17.98, Z:1.92 [[ 9.99958753e-01 7.65338263e-03 -4.89056467e-03 -4.26473852e+01] [-7.65498178e-03 9.99970653e-01 -3.08350290e-04 1.79761508e+01] [ 4.88806122e-03 3.45774755e-04 9.99987994e-01 1.92476795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16911593299999 meters 0.015619385499514294 Centerline is valid? [True, True] Translation: X:-42.68, Y:17.96, Z:1.89 [[ 9.99825659e-01 1.69495220e-02 -7.83354590e-03 -4.26778019e+01] [-1.69539339e-02 9.99856148e-01 -4.97143883e-04 1.79609757e+01] [ 7.82399268e-03 6.29866630e-04 9.99969194e-01 1.89107213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19911593299999 meters 0.015662674864692545 Centerline is valid? [True, True] Translation: X:-42.71, Y:17.96, Z:1.90 [[ 9.99854052e-01 1.48693188e-02 -8.41298208e-03 -4.27060955e+01] [-1.48742735e-02 9.99889233e-01 -5.26664509e-04 1.79605027e+01] [ 8.40421905e-03 6.51724639e-04 9.99964472e-01 1.89867517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22911593299999 meters 0.014932231417151248 Centerline is valid? [True, True] Translation: X:-42.74, Y:17.97, Z:1.94 [[ 9.99934493e-01 1.02434556e-02 -5.10703915e-03 -4.27359952e+01] [-1.02452307e-02 9.99947465e-01 -3.21535303e-04 1.79748118e+01] [ 5.10347722e-03 3.73837035e-04 9.99986907e-01 1.94236095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25911593299999 meters 0.015319105196482665 Centerline is valid? [True, True] Translation: X:-42.77, Y:17.97, Z:1.93 [[ 9.99906876e-01 1.22605332e-02 -5.99330043e-03 -4.27657916e+01] [-1.22629083e-02 9.99924743e-01 -3.59707616e-04 1.79719410e+01] [ 5.98843919e-03 4.33169412e-04 9.99981975e-01 1.93296152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28911593299999 meters 0.015929038020572436 Centerline is valid? [True, True] Translation: X:-42.80, Y:17.97, Z:1.93 [[ 9.99817676e-01 1.71663266e-02 -8.36248645e-03 -4.27954575e+01] [-1.71712758e-02 9.99852427e-01 -5.20392634e-04 1.79710401e+01] [ 8.35231915e-03 6.63892315e-04 9.99964898e-01 1.92892967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31911593299999 meters 0.01460612705973719 Centerline is valid? [True, True] Translation: X:-42.82, Y:17.96, Z:1.93 [[ 9.99836430e-01 1.65421779e-02 -7.31225483e-03 -4.28241745e+01] [-1.65458138e-02 9.99863013e-01 -4.37006228e-04 1.79630368e+01] [ 7.30402412e-03 5.57921953e-04 9.99973170e-01 1.92826012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.349115933 meters 0.015320100914089071 Centerline is valid? [True, True] Translation: X:-42.85, Y:17.98, Z:1.97 [[ 9.99840478e-01 1.66797568e-02 -6.38778793e-03 -4.28536544e+01] [-1.66824967e-02 9.99860767e-01 -3.75879697e-04 1.79778992e+01] [ 6.38062896e-03 4.82383987e-04 9.99979527e-01 1.96793002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.379115933 meters 0.015750207756723592 Centerline is valid? [True, True] Translation: X:-42.88, Y:17.96, Z:1.92 [[ 9.99785246e-01 1.92343083e-02 -7.71385220e-03 -4.28832355e+01] [-1.92383706e-02 9.99814823e-01 -4.52765111e-04 1.79606154e+01] [ 7.70371515e-03 6.01069825e-04 9.99970145e-01 1.92162633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.409115933 meters 0.015934305214588777 Centerline is valid? [True, True] Translation: X:-42.91, Y:17.95, Z:1.90 [[ 9.99702783e-01 2.22313918e-02 -1.00055319e-02 -4.29124192e+01] [-2.22385374e-02 9.99752511e-01 -6.03465953e-04 1.79506396e+01] [ 9.98963973e-03 8.25794987e-04 9.99949761e-01 1.89508112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.439115933 meters 0.016390967555390688 Centerline is valid? [True, True] Translation: X:-42.94, Y:17.97, Z:1.96 [[ 9.99602747e-01 2.59149549e-02 -1.10798427e-02 -4.29419597e+01] [-2.59239511e-02 9.99663694e-01 -6.69070194e-04 1.79692911e+01] [ 1.10587775e-02 9.56037703e-04 9.99938393e-01 1.96429916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.469115933 meters 0.015020509491863414 Centerline is valid? [True, True] Translation: X:-42.97, Y:17.96, Z:1.96 [[ 9.99761974e-01 2.01453522e-02 -8.37614711e-03 -4.29723222e+01] [-2.01502991e-02 9.99796834e-01 -5.06620159e-04 1.79621118e+01] [ 8.36423932e-03 6.75281441e-04 9.99964791e-01 1.95826902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49911593299998 meters 0.015604510940896441 Centerline is valid? [True, True] Translation: X:-43.00, Y:17.95, Z:1.91 [[ 9.99512193e-01 2.87014348e-02 -1.23127642e-02 -4.30029967e+01] [-2.87126814e-02 9.99587434e-01 -7.37572515e-04 1.79454857e+01] [ 1.22865149e-02 1.09074520e-03 9.99923923e-01 1.91176068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52911593299999 meters 0.015604510940896441 Centerline is valid? [True, True] Translation: X:-43.03, Y:17.94, Z:1.91 [[ 9.99491692e-01 2.94061573e-02 -1.23140250e-02 -4.30311124e+01] [-2.94171995e-02 9.99566964e-01 -7.16508035e-04 1.79438835e+01] [ 1.22876228e-02 1.07838796e-03 9.99923923e-01 1.91244170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55911593299999 meters 0.015235218541623144 Centerline is valid? [True, True] Translation: X:-43.06, Y:17.94, Z:1.91 [[ 9.99733711e-01 2.12902201e-02 -8.90131865e-03 -4.30617846e+01] [-2.12957768e-02 9.99773079e-01 -5.29933973e-04 1.79428854e+01] [ 8.88801634e-03 7.19353353e-04 9.99960242e-01 1.90911799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58911593299999 meters 0.015912041151285992 Centerline is valid? [True, True] Translation: X:-43.09, Y:17.95, Z:1.95 [[ 9.99435607e-01 3.21084678e-02 -9.87493495e-03 -4.30911027e+01] [-3.21158100e-02 9.99483983e-01 -5.85801278e-04 1.79547268e+01] [ 9.85103013e-03 9.02612191e-04 9.99951070e-01 1.95419926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61911593299999 meters 0.015716287758641007 Centerline is valid? [True, True] Translation: X:-43.12, Y:17.95, Z:1.94 [[ 9.99612561e-01 2.61614695e-02 -9.50296228e-03 -4.31212895e+01] [-2.61680037e-02 9.99657400e-01 -5.63882601e-04 1.79526516e+01] [ 9.48495457e-03 8.12337682e-04 9.99954687e-01 1.94215949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64911593299999 meters 0.015252801940055735 Centerline is valid? [True, True] Translation: X:-43.15, Y:17.95, Z:1.94 [[ 9.99763386e-01 2.02860186e-02 -7.85167353e-03 -4.31513277e+01] [-2.02902951e-02 9.99794022e-01 -4.65377582e-04 1.79478082e+01] [ 7.84061560e-03 6.24580240e-04 9.99969067e-01 1.94459603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67911593299999 meters 0.015275374246905398 Centerline is valid? [True, True] Translation: X:-43.18, Y:17.93, Z:1.91 [[ 9.99800085e-01 1.84323660e-02 -7.74846941e-03 -4.31802755e+01] [-1.84363306e-02 9.99829939e-01 -4.40539200e-04 1.79327703e+01] [ 7.73903152e-03 5.83304473e-04 9.99969883e-01 1.91378295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.70911593299999 meters 0.015421404139780381 Centerline is valid? [True, True] Translation: X:-43.21, Y:17.94, Z:1.92 [[ 9.99717405e-01 2.21377043e-02 -8.66216998e-03 -4.32099120e+01] [-2.21429174e-02 9.99754687e-01 -5.06373058e-04 1.79352452e+01] [ 8.64883511e-03 6.98035674e-04 9.99962354e-01 1.92284419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.739115933 meters 0.014875519572087229 Centerline is valid? [True, True] Translation: X:-43.24, Y:17.94, Z:1.96 [[ 9.99857613e-01 1.54394584e-02 -6.81001760e-03 -4.32392835e+01] [-1.54425277e-02 9.99880678e-01 -3.98351076e-04 1.79434375e+01] [ 6.80305468e-03 5.03458241e-04 9.99976732e-01 1.95984452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.769115933 meters 0.01604508887414625 Centerline is valid? [True, True] Translation: X:-43.27, Y:17.95, Z:1.98 [[ 9.99830212e-01 1.68479437e-02 -7.46278970e-03 -4.32686861e+01] [-1.68515267e-02 9.99857916e-01 -4.17495151e-04 1.79487483e+01] [ 7.45469542e-03 5.43183665e-04 9.99972066e-01 1.98204412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.799115933 meters 0.01501104308520313 Centerline is valid? [True, True] Translation: X:-43.30, Y:17.94, Z:1.95 [[ 9.99897929e-01 1.23460605e-02 -7.19071364e-03 -4.32988371e+01] [-1.23493578e-02 9.99923658e-01 -4.14338912e-04 1.79372649e+01] [ 7.18504923e-03 5.03097316e-04 9.99974061e-01 1.95098860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.829115933 meters 0.015368560799312857 Centerline is valid? [True, True] Translation: X:-43.33, Y:17.95, Z:2.02 [[ 9.99993282e-01 1.58863343e-03 -3.30343181e-03 -4.33289610e+01] [-1.58927422e-03 9.99998719e-01 -1.91361965e-04 1.79549757e+01] [ 3.30312357e-03 1.96610739e-04 9.99994525e-01 2.01982463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.859115933 meters 0.014440348434787583 Centerline is valid? [True, True] Translation: X:-43.36, Y:17.94, Z:1.97 [[ 9.99991689e-01 -3.72920214e-03 -1.64742437e-03 -4.33582124e+01] [ 3.72905591e-03 9.99993043e-01 -9.18251617e-05 1.79363184e+01] [ 1.64775534e-03 8.56810610e-05 9.99998639e-01 1.97459541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88911593299999 meters 0.014976739232874505 Centerline is valid? [True, True] Translation: X:-43.39, Y:17.93, Z:1.97 [[ 9.99975268e-01 -6.15635192e-04 -7.00603341e-03 -4.33881460e+01] [ 6.12813659e-04 9.99999730e-01 -4.04868657e-04 1.79266153e+01] [ 7.00628077e-03 4.00565251e-04 9.99975375e-01 1.97203758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91911593299999 meters 0.015704858487207363 Centerline is valid? [True, True] Translation: X:-43.42, Y:17.92, Z:1.95 [[ 9.99973831e-01 -2.11376048e-03 -6.91878766e-03 -4.34179446e+01] [ 2.11118625e-03 9.99997699e-01 -3.79345649e-04 1.79192160e+01] [ 6.91957359e-03 3.64728872e-04 9.99975993e-01 1.95088872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94911593299999 meters 0.015364858804430748 Centerline is valid? [True, True] Translation: X:-43.45, Y:17.92, Z:1.96 [[ 9.99959363e-01 -8.01119965e-03 -4.13440959e-03 -4.34475849e+01] [ 8.01030231e-03 9.99967890e-01 -2.33556007e-04 1.79196262e+01] [ 4.13614790e-03 2.00428645e-04 9.99991426e-01 1.95858302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97911593299999 meters 0.015212456030698058 Centerline is valid? [True, True] Translation: X:-43.48, Y:17.93, Z:1.98 [[ 9.99967804e-01 -6.45052240e-04 -7.99844238e-03 -4.34778884e+01] [ 6.41423661e-04 9.99999690e-01 -4.56217668e-04 1.79263920e+01] [ 7.99873418e-03 4.51072589e-04 9.99967908e-01 1.97927849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.00911593299999 meters 0.01573668439447591 Centerline is valid? [True, True] Translation: X:-43.51, Y:17.92, Z:1.98 [[ 9.99956559e-01 3.03290630e-04 -9.31599977e-03 -4.35068232e+01] [-3.08054218e-04 9.99999823e-01 -5.09903362e-04 1.79193939e+01] [ 9.31584347e-03 5.12751044e-04 9.99956475e-01 1.97632982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03911593299999 meters 0.015391416806420394 Centerline is valid? [True, True] Translation: X:-43.54, Y:17.92, Z:1.98 [[ 9.99960195e-01 -4.11383578e-03 -7.91742706e-03 -4.35367276e+01] [ 4.11045313e-03 9.99991454e-01 -4.43467030e-04 1.79182737e+01] [ 7.91918374e-03 4.10905165e-04 9.99968558e-01 1.98042645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.06911593299999 meters 0.014681561149194704 Centerline is valid? [True, True] Translation: X:-43.57, Y:17.91, Z:1.98 [[ 9.99941222e-01 -9.09507601e-03 -5.90193197e-03 -4.35663057e+01] [ 9.09328950e-03 9.99958601e-01 -3.29462701e-04 1.79143996e+01] [ 5.90468412e-03 2.75775359e-04 9.99982529e-01 1.98000628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.099115933 meters 0.014657878308267798 Centerline is valid? [True, True] Translation: X:-43.60, Y:17.90, Z:1.95 [[ 9.99975967e-01 -6.32216817e-04 -6.90409377e-03 -4.35960322e+01] [ 6.29572043e-04 9.99999728e-01 -3.85239907e-04 1.79012186e+01] [ 6.90433545e-03 3.80884024e-04 9.99976092e-01 1.95127954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.129115933 meters 0.014839506526760159 Centerline is valid? [True, True] Translation: X:-43.63, Y:17.89, Z:1.92 [[ 9.99948993e-01 1.34093158e-03 -1.00106767e-02 -4.36253604e+01] [-1.34655837e-03 9.99998939e-01 -5.55359636e-04 1.78908472e+01] [ 1.00099214e-02 5.68811269e-04 9.99949738e-01 1.92055807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.159115933 meters 0.015191710726583247 Centerline is valid? [True, True] Translation: X:-43.65, Y:17.90, Z:1.94 [[ 9.99968616e-01 1.21585007e-03 -7.82865905e-03 -4.36546540e+01] [-1.21915311e-03 9.99999170e-01 -4.17159154e-04 1.78955984e+01] [ 7.82814534e-03 4.26690396e-04 9.99969269e-01 1.94169503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.189115933 meters 0.014979762471387598 Centerline is valid? [True, True] Translation: X:-43.68, Y:17.89, Z:1.92 [[ 9.99932044e-01 -6.72753188e-03 -9.52090363e-03 -4.36846024e+01] [ 6.72285494e-03 9.99977265e-01 -5.23148143e-04 1.78852076e+01] [ 9.52420667e-03 4.59104938e-04 9.99954538e-01 1.91940047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.219115933 meters 0.015987406250194444 Centerline is valid? [True, True] Translation: X:-43.71, Y:17.89, Z:1.96 [[ 9.99934855e-01 -5.05863084e-03 -1.02321212e-02 -4.37132590e+01] [ 5.05332600e-03 9.99987084e-01 -5.44237407e-04 1.78911709e+01] [ 1.02347421e-02 4.92495708e-04 9.99947502e-01 1.95549044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24911593299998 meters 0.01664446693588778 Centerline is valid? [True, True] Translation: X:-43.74, Y:17.88, Z:1.94 [[ 9.99916832e-01 -8.25974867e-03 -9.90482704e-03 -4.37428962e+01] [ 8.25501502e-03 9.99965792e-01 -5.18702445e-04 1.78817189e+01] [ 9.90877257e-03 4.36894810e-04 9.99950811e-01 1.93758029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27911593299999 meters 0.015726191645384364 Centerline is valid? [True, True] Translation: X:-43.77, Y:17.88, Z:1.96 [[ 9.99842794e-01 -1.33933401e-02 -1.16191598e-02 -4.37719153e+01] [ 1.33872292e-02 9.99910205e-01 -6.03551970e-04 1.78837619e+01] [ 1.16262001e-02 4.47908732e-04 9.99932313e-01 1.95903652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30911593299999 meters 0.015086027135008244 Centerline is valid? [True, True] Translation: X:-43.80, Y:17.87, Z:1.93 [[ 9.99739210e-01 -2.02801845e-02 -1.04988375e-02 -4.38013672e+01] [ 2.02754991e-02 9.99794278e-01 -5.52535267e-04 1.78708761e+01] [ 1.05078832e-02 3.39522001e-04 9.99944733e-01 1.93195755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33911593299999 meters 0.014463948239424004 Centerline is valid? [True, True] Translation: X:-43.83, Y:17.87, Z:1.96 [[ 9.99631739e-01 -2.55687852e-02 -9.08976587e-03 -4.38326555e+01] [ 2.55654099e-02 9.99673033e-01 -4.87352833e-04 1.78749820e+01] [ 9.09925484e-03 2.54789769e-04 9.99958568e-01 1.95934411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36911593299999 meters 0.015252495343142 Centerline is valid? [True, True] Translation: X:-43.86, Y:17.86, Z:1.94 [[ 9.99636061e-01 -2.45696293e-02 -1.11391117e-02 -4.38646825e+01] [ 2.45642830e-02 9.99698062e-01 -6.16537116e-04 1.78633516e+01] [ 1.11508965e-02 3.42688442e-04 9.99937768e-01 1.93588004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39911593299999 meters 0.014885763944523468 Centerline is valid? [True, True] Translation: X:-43.90, Y:17.86, Z:1.92 [[ 9.99589183e-01 -2.66047511e-02 -1.06607794e-02 -4.38959787e+01] [ 2.65999052e-02 9.99645982e-01 -5.96116949e-04 1.78564569e+01] [ 1.06728649e-02 3.12296332e-04 9.99942995e-01 1.91934463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.42911593299999 meters 0.014651140060354952 Centerline is valid? [True, True] Translation: X:-43.93, Y:17.86, Z:1.93 [[ 9.99572380e-01 -2.63771788e-02 -1.26215064e-02 -4.39277267e+01] [ 2.63702841e-02 9.99651990e-01 -7.12408263e-04 1.78566652e+01] [ 1.26359053e-02 3.79270914e-04 9.99920092e-01 1.93026160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45911593299999 meters 0.01607629369911866 Centerline is valid? [True, True] Translation: X:-43.96, Y:17.86, Z:1.96 [[ 9.99721673e-01 -1.87913495e-02 -1.42639833e-02 -4.39588191e+01] [ 1.87819795e-02 9.99823290e-01 -7.90588206e-04 1.78645267e+01] [ 1.42763189e-02 5.22462323e-04 9.99897952e-01 1.95955029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.489115933 meters 0.014317988132238899 Centerline is valid? [True, True] Translation: X:-43.99, Y:17.86, Z:1.95 [[ 9.99477340e-01 -3.07078199e-02 -1.01033464e-02 -4.39888937e+01] [ 3.07037642e-02 9.99528373e-01 -5.56316656e-04 1.78584365e+01] [ 1.01156646e-02 2.45815126e-04 9.99948805e-01 1.94631489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.519115933 meters 0.015502733966671896 Centerline is valid? [True, True] Translation: X:-44.02, Y:17.85, Z:1.94 [[ 9.99550840e-01 -2.71525360e-02 -1.26829988e-02 -4.40212101e+01] [ 2.71457241e-02 9.99631236e-01 -7.08963744e-04 1.78515727e+01] [ 1.26975720e-02 3.64356118e-04 9.99919316e-01 1.94315767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.549115933 meters 0.014691973749491346 Centerline is valid? [True, True] Translation: X:-44.05, Y:17.86, Z:1.95 [[ 9.99309327e-01 -3.57145091e-02 -1.02636639e-02 -4.40534332e+01] [ 3.57104791e-02 9.99362012e-01 -5.75705012e-04 1.78557620e+01] [ 1.02776768e-02 2.08787034e-04 9.99947161e-01 1.95429060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.579115933 meters 0.014789341018774028 Centerline is valid? [True, True] Translation: X:-44.09, Y:17.85, Z:1.94 [[ 9.99465325e-01 -3.09392720e-02 -1.05747342e-02 -4.40853146e+01] [ 3.09345319e-02 9.99521226e-01 -6.11554085e-04 1.78488497e+01] [ 1.05885923e-02 2.84102649e-04 9.99943899e-01 1.93785496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.609115933 meters 0.014386796819119868 Centerline is valid? [True, True] Translation: X:-44.12, Y:17.85, Z:1.94 [[ 9.99557526e-01 -2.73917483e-02 -1.15950019e-02 -4.41177645e+01] [ 2.73859181e-02 9.99624717e-01 -6.61328523e-04 1.78504348e+01] [ 1.16087655e-02 3.43496129e-04 9.99932557e-01 1.94430731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63911593299999 meters 0.01545719250828195 Centerline is valid? [True, True] Translation: X:-44.15, Y:17.86, Z:1.97 [[ 9.99524198e-01 -2.90704741e-02 -1.03094398e-02 -4.41487953e+01] [ 2.90657696e-02 9.99577318e-01 -6.05898572e-04 1.78562689e+01] [ 1.03226959e-02 3.05958483e-04 9.99946673e-01 1.97495711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66911593299999 meters 0.014989348810232726 Centerline is valid? [True, True] Translation: X:-44.18, Y:17.87, Z:2.00 [[ 9.99451318e-01 -3.23112420e-02 -7.28325728e-03 -4.41807543e+01] [ 3.23089099e-02 9.99477835e-01 -4.37658058e-04 1.78663263e+01] [ 7.29359549e-03 2.02103819e-04 9.99973381e-01 2.00342602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69911593299999 meters 0.014749382954244033 Centerline is valid? [True, True] Translation: X:-44.21, Y:17.85, Z:1.95 [[ 9.99404300e-01 -3.35606759e-02 -8.04523431e-03 -4.42137282e+01] [ 3.35578184e-02 9.99436658e-01 -4.89949811e-04 1.78472741e+01] [ 8.05714513e-03 2.19677436e-04 9.99967517e-01 1.94967810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72911593299999 meters 0.01474808256150348 Centerline is valid? [True, True] Translation: X:-44.25, Y:17.85, Z:1.95 [[ 9.99557122e-01 -2.84690183e-02 -8.66452772e-03 -4.42454353e+01] [ 2.84654961e-02 9.99594635e-01 -5.29589006e-04 1.78459713e+01] [ 8.67609231e-03 2.82714383e-04 9.99962322e-01 1.95109310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75911593299999 meters 0.015095442863541529 Centerline is valid? [True, True] Translation: X:-44.28, Y:17.86, Z:1.97 [[ 9.99646605e-01 -2.51728831e-02 -8.54351883e-03 -4.42770508e+01] [ 2.51692895e-02 9.99683064e-01 -5.27900284e-04 1.78563970e+01] [ 8.55409985e-03 3.12679427e-04 9.99963364e-01 1.97022359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78911593299999 meters 0.015117045478632272 Centerline is valid? [True, True] Translation: X:-44.31, Y:17.85, Z:1.96 [[ 9.99798658e-01 -1.79679623e-02 -8.93286423e-03 -4.43084509e+01] [ 1.79638673e-02 9.99838492e-01 -5.38457607e-04 1.78509120e+01] [ 8.94109648e-03 3.77880405e-04 9.99959956e-01 1.95921206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81911593299999 meters 0.015533616618772422 Centerline is valid? [True, True] Translation: X:-44.34, Y:17.85, Z:1.97 [[ 9.99718121e-01 -2.25852182e-02 -7.32032816e-03 -4.43399183e+01] [ 2.25825834e-02 9.99744883e-01 -4.42393749e-04 1.78544623e+01] [ 7.32845218e-03 2.76957126e-04 9.99973108e-01 1.97095896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.849115933 meters 0.015254961912189415 Centerline is valid? [True, True] Translation: X:-44.37, Y:17.85, Z:1.97 [[ 9.99758833e-01 -2.03269941e-02 -8.31204339e-03 -4.43713528e+01] [ 2.03233616e-02 9.99793323e-01 -5.21257986e-04 1.78542625e+01] [ 8.32092109e-03 3.52203613e-04 9.99965319e-01 1.97057668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.879115933 meters 0.014785070313076801 Centerline is valid? [True, True] Translation: X:-44.40, Y:17.84, Z:1.95 [[ 9.99910698e-01 -9.31660564e-03 -9.58106563e-03 -4.44023835e+01] [ 9.31143685e-03 9.99956477e-01 -5.83946541e-04 1.78426062e+01] [ 9.58608904e-03 4.94680905e-04 9.99953930e-01 1.94833235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.909115933 meters 0.015273881430039157 Centerline is valid? [True, True] Translation: X:-44.43, Y:17.85, Z:1.96 [[ 9.99707086e-01 -2.32618333e-02 -6.68055445e-03 -4.44329922e+01] [ 2.32596379e-02 9.99729376e-01 -4.06143961e-04 1.78490556e+01] [ 6.68819418e-03 2.50637718e-04 9.99977602e-01 1.95974507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.939115933 meters 0.015034124646951568 Centerline is valid? [True, True] Translation: X:-44.46, Y:17.85, Z:1.99 [[ 9.99719687e-01 -2.11087858e-02 -1.07222122e-02 -4.44643123e+01] [ 2.11029502e-02 9.99777092e-01 -6.57107166e-04 1.78525162e+01] [ 1.07336929e-02 4.30652660e-04 9.99942300e-01 1.98851323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.969115933 meters 0.015221385796776869 Centerline is valid? [True, True] Translation: X:-44.50, Y:17.85, Z:1.99 [[ 9.99774753e-01 -1.81817897e-02 -1.09483517e-02 -4.44955645e+01] [ 1.81755328e-02 9.99834586e-01 -6.70726348e-04 1.78533703e+01] [ 1.09587357e-02 4.71583143e-04 9.99939840e-01 1.99089564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99911593299998 meters 0.015164608447451303 Centerline is valid? [True, True] Translation: X:-44.52, Y:17.85, Z:2.01 [[ 9.99675339e-01 -2.12023289e-02 -1.41307113e-02 -4.45244518e+01] [ 2.11926016e-02 9.99775061e-01 -8.37779394e-04 1.78528294e+01] [ 1.41452956e-02 5.38040866e-04 9.99899806e-01 2.00543248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02911593299999 meters 0.015906396366710873 Centerline is valid? [True, True] Translation: X:-44.55, Y:17.85, Z:1.99 [[ 9.99723476e-01 -1.74697043e-02 -1.57410701e-02 -4.45535768e+01] [ 1.74570124e-02 9.99847170e-01 -9.43340993e-04 1.78452544e+01] [ 1.57551442e-02 6.68288080e-04 9.99875657e-01 1.98808181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05911593299999 meters 0.015381029748170396 Centerline is valid? [True, True] Translation: X:-44.58, Y:17.84, Z:1.98 [[ 9.99614639e-01 -2.41320243e-02 -1.37192767e-02 -4.45829495e+01] [ 2.41230306e-02 9.99708660e-01 -8.20684607e-04 1.78431429e+01] [ 1.37350845e-02 4.89417816e-04 9.99905550e-01 1.98248678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08911593299999 meters 0.015478811754328012 Centerline is valid? [True, True] Translation: X:-44.61, Y:17.83, Z:1.95 [[ 9.99534348e-01 -2.65628078e-02 -1.50167966e-02 -4.46136021e+01] [ 2.65522215e-02 9.99647019e-01 -9.03937438e-04 1.78270888e+01] [ 1.50355070e-02 5.04787208e-04 9.99886833e-01 1.95137319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11911593299999 meters 0.015079907408514791 Centerline is valid? [True, True] Translation: X:-44.64, Y:17.83, Z:1.96 [[ 9.99568209e-01 -2.55369382e-02 -1.45347881e-02 -4.46448894e+01] [ 2.55269281e-02 9.99673753e-01 -8.73835923e-04 1.78345772e+01] [ 1.45523613e-02 5.02430117e-04 9.99893983e-01 1.95562675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.14911593299999 meters 0.014693936387811716 Centerline is valid? [True, True] Translation: X:-44.68, Y:17.84, Z:1.96 [[ 9.99597525e-01 -2.60227746e-02 -1.12961939e-02 -4.46755376e+01] [ 2.60167596e-02 9.99661276e-01 -6.79130643e-04 1.78350264e+01] [ 1.13100405e-02 3.84966949e-04 9.99935965e-01 1.96349001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17911593299999 meters 0.015219016905674615 Centerline is valid? [True, True] Translation: X:-44.71, Y:17.84, Z:2.00 [[ 9.99664070e-01 -2.46777960e-02 -7.92171640e-03 -4.47073180e+01] [ 2.46746282e-02 9.99695411e-01 -4.97393284e-04 1.78441338e+01] [ 7.93157810e-03 3.01760788e-04 9.99968499e-01 1.99515909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.20911593299999 meters 0.014650430512936817 Centerline is valid? [True, True] Translation: X:-44.74, Y:17.85, Z:2.00 [[ 9.99707581e-01 -2.15398738e-02 -1.09902850e-02 -4.47392155e+01] [ 2.15337750e-02 9.99767895e-01 -6.72973127e-04 1.78469052e+01] [ 1.10022299e-02 4.36114013e-04 9.99939379e-01 1.99723661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.239115933 meters 0.014830218403214735 Centerline is valid? [True, True] Translation: X:-44.77, Y:17.84, Z:1.98 [[ 9.99775901e-01 -1.72574783e-02 -1.22607822e-02 -4.47711082e+01] [ 1.72495502e-02 9.99850933e-01 -7.52079695e-04 1.78411886e+01] [ 1.22719335e-02 5.40418177e-04 9.99924551e-01 1.97581236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.269115933 meters 0.015299118163538248 Centerline is valid? [True, True] Translation: X:-44.80, Y:17.85, Z:1.99 [[ 9.99827017e-01 -1.52207459e-02 -1.06894685e-02 -4.48003214e+01] [ 1.52147063e-02 9.99884041e-01 -6.46108269e-04 1.78467221e+01] [ 1.06980632e-02 4.83359380e-04 9.99942657e-01 1.98726113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.299115933 meters 0.01602434476967795 Centerline is valid? [True, True] Translation: X:-44.83, Y:17.85, Z:2.00 [[ 9.99877146e-01 -3.85021604e-03 -1.51943975e-02 -4.48306538e+01] [ 3.83658149e-03 9.99992211e-01 -9.26388129e-04 1.78491412e+01] [ 1.51978459e-02 8.67979774e-04 9.99884129e-01 1.99788731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.329115933 meters 0.015778933523103153 Centerline is valid? [True, True] Translation: X:-44.86, Y:17.84, Z:1.98 [[ 9.99881090e-01 -2.30154772e-03 -1.52482381e-02 -4.48602691e+01] [ 2.28803721e-03 9.99996974e-01 -9.03423874e-04 1.78445717e+01] [ 1.52502712e-02 8.68427912e-04 9.99883331e-01 1.97851712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.359115933 meters 0.015561164196120168 Centerline is valid? [True, True] Translation: X:-44.89, Y:17.84, Z:1.98 [[ 9.99773205e-01 -1.54572935e-02 -1.46495847e-02 -4.48906095e+01] [ 1.54460197e-02 9.99880314e-01 -8.82403707e-04 1.78398780e+01] [ 1.46614709e-02 6.55925808e-04 9.99892300e-01 1.97671261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38911593299999 meters 0.015286618962181565 Centerline is valid? [True, True] Translation: X:-44.92, Y:17.85, Z:2.00 [[ 9.99751787e-01 -1.72121497e-02 -1.41458982e-02 -4.49197233e+01] [ 1.72021679e-02 9.99851690e-01 -8.27012157e-04 1.78485843e+01] [ 1.41580348e-02 5.83466767e-04 9.99899600e-01 2.00455345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41911593299999 meters 0.015286618962181565 Centerline is valid? [True, True] Translation: X:-44.95, Y:17.85, Z:2.01 [[ 9.99756680e-01 -1.69258055e-02 -1.41456006e-02 -4.49474236e+01] [ 1.69157250e-02 9.99856573e-01 -8.31978654e-04 1.78468633e+01] [ 1.41576536e-02 5.92493127e-04 9.99899600e-01 2.00521580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44911593299999 meters 0.015243628673529453 Centerline is valid? [True, True] Translation: X:-44.98, Y:17.83, Z:1.94 [[ 9.99784012e-01 -1.39421448e-02 -1.54125119e-02 -4.49771899e+01] [ 1.39297930e-02 9.99902563e-01 -9.08481999e-04 1.78256609e+01] [ 1.54236764e-02 6.93592677e-04 9.99880807e-01 1.94422512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47911593299999 meters 0.014968156062359364 Centerline is valid? [True, True] Translation: X:-45.01, Y:17.82, Z:1.93 [[ 9.99602837e-01 -2.42429952e-02 -1.43682180e-02 -4.50075343e+01] [ 2.42332769e-02 9.99705970e-01 -8.50117259e-04 1.78162436e+01] [ 1.43846027e-02 5.01590619e-04 9.99896410e-01 1.92604267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.50911593299999 meters 0.015522032680916351 Centerline is valid? [True, True] Translation: X:-45.04, Y:17.80, Z:1.89 [[ 9.99558151e-01 -2.50390586e-02 -1.60171006e-02 -4.50387162e+01] [ 2.50270227e-02 9.99686322e-01 -9.51475455e-04 1.78014831e+01] [ 1.60359005e-02 5.50194707e-04 9.99871265e-01 1.89204346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53911593299999 meters 0.015136075647452823 Centerline is valid? [True, True] Translation: X:-45.07, Y:17.81, Z:1.92 [[ 9.99448356e-01 -2.76891282e-02 -1.83383612e-02 -4.50672568e+01] [ 2.76739925e-02 9.99616420e-01 -1.07866519e-03 1.78075348e+01] [ 1.83611942e-02 5.70574482e-04 9.99831256e-01 1.91656247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.56911593299999 meters 0.014782877089516588 Centerline is valid? [True, True] Translation: X:-45.10, Y:17.81, Z:1.92 [[ 9.99246087e-01 -3.40585059e-02 -1.86353600e-02 -4.50957620e+01] [ 3.40440846e-02 9.99419737e-01 -1.09065262e-03 1.78070313e+01] [ 1.86616926e-02 4.55406589e-04 9.99825752e-01 1.92018118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.599115933 meters 0.01572957225942291 Centerline is valid? [True, True] Translation: X:-45.13, Y:17.80, Z:1.90 [[ 9.99096889e-01 -3.85465330e-02 -1.78765709e-02 -4.51268981e+01] [ 3.85333817e-02 9.99256730e-01 -1.07967025e-03 1.77969039e+01] [ 1.79049013e-02 3.89850463e-04 9.99839618e-01 1.90285173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.629115933 meters 0.015543594055862291 Centerline is valid? [True, True] Translation: X:-45.16, Y:17.79, Z:1.88 [[ 9.98879852e-01 -4.41413069e-02 -1.70465901e-02 -4.51583025e+01] [ 4.41299449e-02 9.99025256e-01 -1.04229677e-03 1.77870869e+01] [ 1.70759823e-02 2.88864164e-04 9.99854153e-01 1.87835473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.659115933 meters 0.01630890363498424 Centerline is valid? [True, True] Translation: X:-45.19, Y:17.79, Z:1.88 [[ 9.98776190e-01 -4.64883044e-02 -1.68807297e-02 -4.51900353e+01] [ 4.64773021e-02 9.98918801e-01 -1.04370955e-03 1.77852638e+01] [ 1.69109986e-02 2.57861470e-04 9.99856966e-01 1.87793048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.689115933 meters 0.016385715742132993 Centerline is valid? [True, True] Translation: X:-45.22, Y:17.78, Z:1.88 [[ 9.98320394e-01 -5.60956126e-02 -1.44800722e-02 -4.52218511e+01] [ 5.60883501e-02 9.98425397e-01 -9.07486279e-04 1.77824793e+01] [ 1.45081778e-02 9.37987014e-05 9.99894746e-01 1.88058480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.719115933 meters 0.016221399596387187 Centerline is valid? [True, True] Translation: X:-45.25, Y:17.78, Z:1.89 [[ 9.98296191e-01 -5.65610324e-02 -1.43375480e-02 -4.52542972e+01] [ 5.65537600e-02 9.98399138e-01 -9.12486373e-04 1.77799784e+01] [ 1.43662068e-02 1.00089419e-04 9.99896796e-01 1.88920782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74911593299998 meters 0.01689640168616158 Centerline is valid? [True, True] Translation: X:-45.29, Y:17.77, Z:1.86 [[ 9.98012057e-01 -6.10951353e-02 -1.54699071e-02 -4.52858964e+01] [ 6.10871095e-02 9.98131946e-01 -9.91246994e-04 1.77699559e+01] [ 1.55015688e-02 4.42645444e-05 9.99879842e-01 1.86057749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77911593299999 meters 0.016595033474628002 Centerline is valid? [True, True] Translation: X:-45.32, Y:17.77, Z:1.86 [[ 9.97385392e-01 -7.13817481e-02 -1.12705668e-02 -4.53173342e+01] [ 7.13781342e-02 9.97449066e-01 -7.23088051e-04 1.77726158e+01] [ 1.12934317e-02 -8.32745730e-05 9.99936224e-01 1.86483173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80911593299999 meters 0.01627292896462728 Centerline is valid? [True, True] Translation: X:-45.35, Y:17.77, Z:1.87 [[ 9.97030029e-01 -7.62425165e-02 -1.08720254e-02 -4.53496291e+01] [ 7.62394399e-02 9.97089294e-01 -6.97759507e-04 1.77704977e+01] [ 1.08935791e-02 -1.33189946e-04 9.99940654e-01 1.86987079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83911593299999 meters 0.018060318456792422 Centerline is valid? [True, True] Translation: X:-45.38, Y:17.78, Z:1.89 [[ 9.97027824e-01 -7.62018827e-02 -1.13485937e-02 -4.53814288e+01] [ 7.61985013e-02 9.97092400e-01 -7.30681111e-04 1.77759290e+01] [ 1.13712758e-02 -1.36236430e-04 9.99935336e-01 1.89062135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86911593299999 meters 0.01700448455831009 Centerline is valid? [True, True] Translation: X:-45.41, Y:17.77, Z:1.86 [[ 9.96668897e-01 -8.09737656e-02 -9.71382048e-03 -4.54135663e+01] [ 8.09713011e-02 9.96716223e-01 -6.47370157e-04 1.77651281e+01] [ 9.73434246e-03 -1.41326982e-04 9.99952610e-01 1.85706835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89911593299999 meters 0.016862608219480588 Centerline is valid? [True, True] Translation: X:-45.45, Y:17.77, Z:1.87 [[ 9.95955428e-01 -8.97024375e-02 -5.12423126e-03 -4.54459242e+01] [ 8.97017991e-02 9.95968605e-01 -3.54739017e-04 1.77673226e+01] [ 5.13539441e-03 -1.06348513e-04 9.99986808e-01 1.87168834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.92911593299999 meters 0.016869324117355096 Centerline is valid? [True, True] Translation: X:-45.48, Y:17.76, Z:1.86 [[ 9.95992105e-01 -8.92905958e-02 -5.18808596e-03 -4.54781874e+01] [ 8.92899172e-02 9.96005612e-01 -3.62744000e-04 1.77597396e+01] [ 5.19975236e-03 -1.01953606e-04 9.99986476e-01 1.85970332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95911593299999 meters 0.016691497899773183 Centerline is valid? [True, True] Translation: X:-45.51, Y:17.77, Z:1.87 [[ 9.95225702e-01 -9.75632255e-02 -2.68685150e-03 -4.55097443e+01] [ 9.75630499e-02 9.95229327e-01 -1.96659172e-04 1.77660817e+01] [ 2.69322012e-03 -6.64171651e-05 9.99996371e-01 1.87032547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.989115933 meters 0.01690716022862297 Centerline is valid? [True, True] Translation: X:-45.54, Y:17.76, Z:1.85 [[ 9.95091298e-01 -9.89266178e-02 -2.61383853e-03 -4.55416574e+01] [ 9.89264432e-02 9.95094729e-01 -1.96308490e-04 1.77572718e+01] [ 2.62043708e-03 -6.32328787e-05 9.99996565e-01 1.85440728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.019115933 meters 0.01645197725749359 Centerline is valid? [True, True] Translation: X:-45.57, Y:17.76, Z:1.88 [[ 9.94570656e-01 -1.04061873e-01 -5.80995064e-04 -4.55725702e+01] [ 1.04061857e-01 9.94570825e-01 -5.67102790e-05 1.77620329e+01] [ 5.83742118e-04 -4.05704602e-06 9.99999830e-01 1.88315225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.049115933 meters 0.017243253753629676 Centerline is valid? [True, True] Translation: X:-45.60, Y:17.75, Z:1.85 [[ 9.94840476e-01 -1.01446599e-01 -1.00771972e-03 -4.56045126e+01] [ 1.01446564e-01 9.94840986e-01 -8.63958569e-05 1.77500639e+01] [ 1.01128545e-03 -1.62796076e-05 9.99999489e-01 1.85409574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.079115933 meters 0.017000297512865838 Centerline is valid? [True, True] Translation: X:-45.64, Y:17.75, Z:1.86 [[ 9.93776377e-01 -1.11378893e-01 1.80404065e-03 -4.56359569e+01] [ 1.11378859e-01 9.93778011e-01 1.19931791e-04 1.77487794e+01] [-1.80617380e-03 8.17466079e-05 9.99998366e-01 1.86047034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.109115933 meters 0.016965311024058086 Centerline is valid? [True, True] Translation: X:-45.67, Y:17.74, Z:1.85 [[ 9.93630863e-01 -1.12589904e-01 4.60666647e-03 -4.56677666e+01] [ 1.12589694e-01 9.93641519e-01 3.05735769e-04 1.77441895e+01] [-4.61179783e-03 2.14874673e-04 9.99989343e-01 1.84848288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13911593299999 meters 0.017676462501792493 Centerline is valid? [True, True] Translation: X:-45.70, Y:17.74, Z:1.86 [[ 9.93536475e-01 -1.13445444e-01 3.92490211e-03 -4.57001701e+01] [ 1.13445305e-01 9.93544209e-01 2.58877643e-04 1.77429532e+01] [-3.92893225e-03 1.88057335e-04 9.99992264e-01 1.85742542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16911593299999 meters 0.016362585503847282 Centerline is valid? [True, True] Translation: X:-45.73, Y:17.74, Z:1.85 [[ 9.92752121e-01 -1.19993332e-01 6.69532557e-03 -4.57318232e+01] [ 1.19992938e-01 9.92774638e-01 4.61865340e-04 1.77388790e+01] [-6.70237018e-03 3.44873992e-04 9.99977479e-01 1.84813427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19911593299999 meters 0.016985750345356244 Centerline is valid? [True, True] Translation: X:-45.76, Y:17.74, Z:1.85 [[ 9.92480967e-01 -1.22133882e-01 8.05264731e-03 -4.57631526e+01] [ 1.22133308e-01 9.92513544e-01 5.64849033e-04 1.77367461e+01] [-8.06134873e-03 4.22894541e-04 9.99967417e-01 1.84920620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22911593299999 meters 0.017643536076616055 Centerline is valid? [True, True] Translation: X:-45.79, Y:17.73, Z:1.85 [[ 9.92655881e-01 -1.20857831e-01 5.26190592e-03 -4.57947442e+01] [ 1.20857579e-01 9.92669789e-01 3.66868682e-04 1.77315509e+01] [-5.26767399e-03 2.71766858e-04 9.99986089e-01 1.84881613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25911593299999 meters 0.0163934801545011 Centerline is valid? [True, True] Translation: X:-45.83, Y:17.73, Z:1.86 [[ 9.91550492e-01 -1.29336253e-01 9.98777814e-03 -4.58266682e+01] [ 1.29335483e-01 9.91600628e-01 7.25759537e-04 1.77338946e+01] [-9.99775410e-03 5.72146881e-04 9.99949858e-01 1.85921113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28911593299999 meters 0.016377199577040452 Centerline is valid? [True, True] Translation: X:-45.86, Y:17.72, Z:1.84 [[ 9.90809102e-01 -1.34524499e-01 1.41592023e-02 -4.58580828e+01] [ 1.34523419e-01 9.90909876e-01 1.03302946e-03 1.77247525e+01] [-1.41694611e-02 8.81209305e-04 9.99899220e-01 1.83844165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31911593299999 meters 0.01567668175961166 Centerline is valid? [True, True] Translation: X:-45.89, Y:17.73, Z:1.85 [[ 9.89613895e-01 -1.43183175e-01 1.27639024e-02 -4.58888922e+01] [ 1.43183000e-01 9.89695791e-01 9.32284481e-04 1.77259228e+01] [-1.27658679e-02 9.04972159e-04 9.99918103e-01 1.85207193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.349115933 meters 0.016139394418677275 Centerline is valid? [True, True] Translation: X:-45.92, Y:17.72, Z:1.83 [[ 9.91254278e-01 -1.31429971e-01 1.18793420e-02 -4.59195124e+01] [ 1.31428961e-01 9.91325210e-01 8.69057116e-04 1.77168836e+01] [-1.18905114e-02 6.99832999e-04 9.99929060e-01 1.82556322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.379115933 meters 0.015620793090176005 Centerline is valid? [True, True] Translation: X:-45.95, Y:17.72, Z:1.85 [[ 9.91052307e-01 -1.32985055e-01 1.14149243e-02 -4.59514060e+01] [ 1.32984244e-01 9.91117801e-01 8.33447532e-04 1.77155743e+01] [-1.14243708e-02 6.92014975e-04 9.99934500e-01 1.84731420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.409115933 meters 0.01663106403679279 Centerline is valid? [True, True] Translation: X:-45.98, Y:17.72, Z:1.85 [[ 9.91309328e-01 -1.31194993e-01 9.67937974e-03 -4.59830631e+01] [ 1.31194372e-01 9.91356416e-01 7.01840423e-04 1.77155030e+01] [-9.68779316e-03 5.74139186e-04 9.99952907e-01 1.84818151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.439115933 meters 0.015750767363450165 Centerline is valid? [True, True] Translation: X:-46.01, Y:17.71, Z:1.85 [[ 9.91729128e-01 -1.27808724e-01 1.17586963e-02 -4.60149371e+01] [ 1.27807361e-01 9.91798629e-01 8.70352950e-04 1.77130184e+01] [-1.17734976e-02 6.39693570e-04 9.99930485e-01 1.84958556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.469115933 meters 0.01586877212886464 Centerline is valid? [True, True] Translation: X:-46.05, Y:17.71, Z:1.84 [[ 9.92058826e-01 -1.25341251e-01 1.04333996e-02 -4.60461307e+01] [ 1.25340091e-01 9.92113538e-01 7.67594649e-04 1.77065602e+01] [-1.04473283e-02 5.46224202e-04 9.99945276e-01 1.83540784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49911593299998 meters 0.015517106525049717 Centerline is valid? [True, True] Translation: X:-46.08, Y:17.70, Z:1.82 [[ 9.91371036e-01 -1.30482160e-01 1.25648135e-02 -4.60779285e+01] [ 1.30480674e-01 9.91450406e-01 9.41500932e-04 1.77000022e+01] [-1.25802386e-02 7.06088584e-04 9.99920616e-01 1.81809700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52911593299999 meters 0.01539002896387095 Centerline is valid? [True, True] Translation: X:-46.11, Y:17.70, Z:1.82 [[ 9.92594531e-01 -1.20746871e-01 1.32774636e-02 -4.61085313e+01] [ 1.20744297e-01 9.92683141e-01 9.98209415e-04 1.76965816e+01] [-1.33008449e-02 6.12360805e-04 9.99911352e-01 1.82183814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55911593299999 meters 0.015165589942421865 Centerline is valid? [True, True] Translation: X:-46.14, Y:17.69, Z:1.81 [[ 9.91615749e-01 -1.28593043e-01 1.27293069e-02 -4.61394377e+01] [ 1.28591339e-01 9.91697209e-01 9.55635619e-04 1.76862562e+01] [-1.27465062e-02 6.89255293e-04 9.99918522e-01 1.81483615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58911593299999 meters 0.01524885560076163 Centerline is valid? [True, True] Translation: X:-46.17, Y:17.68, Z:1.80 [[ 9.92180624e-01 -1.24382177e-01 1.03287531e-02 -4.61707230e+01] [ 1.24380881e-01 9.92234248e-01 7.70270487e-04 1.76798415e+01] [-1.03443505e-02 5.20451960e-04 9.99946360e-01 1.80015037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61911593299999 meters 0.016214825295598936 Centerline is valid? [True, True] Translation: X:-46.20, Y:17.68, Z:1.81 [[ 9.93455888e-01 -1.13936959e-01 7.98542924e-03 -4.62011494e+01] [ 1.13935752e-01 9.93487934e-01 6.07387879e-04 1.76796866e+01] [-8.00263153e-03 3.06412823e-04 9.99967931e-01 1.81192896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64911593299999 meters 0.016163971081833175 Centerline is valid? [True, True] Translation: X:-46.23, Y:17.68, Z:1.82 [[ 9.93558360e-01 -1.13198131e-01 5.28861064e-03 -4.62335368e+01] [ 1.13197668e-01 9.93572412e-01 3.87753096e-04 1.76782074e+01] [-5.29851056e-03 2.13403063e-04 9.99985940e-01 1.81547880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67911593299999 meters 0.01515282199549267 Centerline is valid? [True, True] Translation: X:-46.27, Y:17.67, Z:1.78 [[ 9.93807223e-01 -1.10924739e-01 6.55022329e-03 -4.62651393e+01] [ 1.10923902e-01 9.93828781e-01 4.92140683e-04 1.76662200e+01] [-6.56439100e-03 2.37483359e-04 9.99978426e-01 1.78412315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.70911593299999 meters 0.015021911592516514 Centerline is valid? [True, True] Translation: X:-46.30, Y:17.67, Z:1.82 [[ 9.93698790e-01 -1.11783982e-01 8.18875449e-03 -4.62969605e+01] [ 1.11782634e-01 9.93732486e-01 6.23550891e-04 1.76695711e+01] [-8.20713436e-03 2.95738779e-04 9.99966277e-01 1.82193045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.739115933 meters 0.015578964809569492 Centerline is valid? [True, True] Translation: X:-46.33, Y:17.67, Z:1.83 [[ 9.94454237e-01 -1.04960647e-01 6.63575848e-03 -4.63289890e+01] [ 1.04959534e-01 9.94476359e-01 5.16700018e-04 1.76672524e+01] [-6.65333811e-03 1.82651594e-04 9.99977850e-01 1.82585652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.769115933 meters 0.015695581363239033 Centerline is valid? [True, True] Translation: X:-46.36, Y:17.67, Z:1.84 [[ 9.94582327e-01 -1.03686517e-01 7.42295363e-03 -4.63603992e+01] [ 1.03685125e-01 9.94610007e-01 5.73070750e-04 1.76667323e+01] [-7.44236368e-03 1.99683838e-04 9.99972285e-01 1.83753328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.799115933 meters 0.01921692317299154 Centerline is valid? [True, True] Translation: X:-46.39, Y:17.67, Z:1.88 [[ 9.91003140e-01 -1.33385228e-01 1.10071813e-02 -4.63904990e+01] [ 1.33383721e-01 9.91064084e-01 8.74213568e-04 1.76707845e+01] [-1.10254292e-02 6.01830403e-04 9.99939037e-01 1.88314521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.829115933 meters 0.018845897522323428 Centerline is valid? [True, True] Translation: X:-46.42, Y:17.66, Z:1.87 [[ 9.90985525e-01 -1.33703152e-01 8.43545392e-03 -4.64224137e+01] [ 1.33702379e-01 9.91021312e-01 6.58012141e-04 1.76622502e+01] [-8.44769291e-03 4.75759752e-04 9.99964204e-01 1.87075028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.859115933 meters 0.018155847075632132 Centerline is valid? [True, True] Translation: X:-46.45, Y:17.66, Z:1.90 [[ 9.91752237e-01 -1.27866908e-01 8.80644997e-03 -4.64542485e+01] [ 1.27865687e-01 9.91791243e-01 7.03915448e-04 1.76644319e+01] [-8.82416746e-03 4.27933054e-04 9.99960975e-01 1.90084094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88911593299999 meters 0.030466352956918522 Centerline is valid? [True, True] Translation: X:-46.48, Y:17.67, Z:2.02 [[ 9.84717105e-01 -1.73641928e-01 1.34426222e-02 -4.64833151e+01] [ 1.73643211e-01 9.84808036e-01 1.08057435e-03 1.76740477e+01] [-1.34260354e-02 1.27016005e-03 9.99909060e-01 2.02175162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91911593299999 meters 0.020377808905403836 Centerline is valid? [True, True] Translation: X:-46.51, Y:17.65, Z:1.88 [[ 9.93413805e-01 -1.14433243e-01 5.83474631e-03 -4.65148883e+01] [ 1.14432468e-01 9.93430919e-01 4.67584534e-04 1.76451125e+01] [-5.84992460e-03 2.03179490e-04 9.99982868e-01 1.87567335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94911593299999 meters 0.025836418466028837 Centerline is valid? [True, True] Translation: X:-46.55, Y:17.65, Z:1.92 [[ 9.91594042e-01 -1.29141879e-01 7.97688734e-03 -4.65455387e+01] [ 1.29140876e-01 9.91626049e-01 6.42864251e-04 1.76492919e+01] [-7.99310998e-03 3.92681858e-04 9.99967977e-01 1.91941823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97911593299999 meters 0.024739625132640084 Centerline is valid? [True, True] Translation: X:-46.58, Y:17.66, Z:1.97 [[ 9.90900732e-01 -1.34119039e-01 1.13058490e-02 -4.65771466e+01] [ 1.34117429e-01 9.90965034e-01 9.03895131e-04 1.76591919e+01] [-1.13249306e-02 6.20641059e-04 9.99935678e-01 1.96610431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.00911593299999 meters 0.019801874060062855 Centerline is valid? [True, True] Translation: X:-46.61, Y:17.64, Z:1.89 [[ 9.94988320e-01 -9.98956000e-02 4.37174650e-03 -4.66073788e+01] [ 9.98950032e-02 9.94997921e-01 3.55208641e-04 1.76385380e+01] [-4.38536245e-03 8.32871815e-05 9.99990381e-01 1.88601399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03911593299999 meters 0.019190264077510604 Centerline is valid? [True, True] Translation: X:-46.64, Y:17.64, Z:1.88 [[ 9.94120963e-01 -1.08007801e-01 7.60431149e-03 -4.66386000e+01] [ 1.08006307e-01 9.94150023e-01 6.08008173e-04 1.76359078e+01] [-7.62549606e-03 2.16879933e-04 9.99970902e-01 1.88365545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.06911593299999 meters 0.019378603875042692 Centerline is valid? [True, True] Translation: X:-46.67, Y:17.64, Z:1.89 [[ 9.95945645e-01 -8.99399403e-02 1.75483074e-03 -4.66692339e+01] [ 8.99398525e-02 9.95947191e-01 1.29036859e-04 1.76351546e+01] [-1.75932431e-03 2.93155194e-05 9.99998452e-01 1.89271177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.099115933 meters 0.022620674637664814 Centerline is valid? [True, True] Translation: X:-46.70, Y:17.64, Z:1.94 [[ 9.94380161e-01 -1.05582119e-01 7.77897063e-03 -4.67002521e+01] [ 1.05580395e-01 9.94410569e-01 6.33073794e-04 1.76366824e+01] [-7.80233188e-03 1.91790772e-04 9.99969543e-01 1.94154825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.129115933 meters 0.02204941121229707 Centerline is valid? [True, True] Translation: X:-46.73, Y:17.62, Z:1.90 [[ 9.95038794e-01 -9.94557596e-02 2.52017158e-03 -4.67311087e+01] [ 9.94555798e-02 9.95041983e-01 1.96854355e-04 1.76198376e+01] [-2.52725483e-03 5.47674055e-05 9.99996805e-01 1.89920749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.159115933 meters 0.023063020909293713 Centerline is valid? [True, True] Translation: X:-46.76, Y:17.62, Z:1.90 [[ 9.94061408e-01 -1.08651024e-01 6.07217940e-03 -4.67621701e+01] [ 1.08650005e-01 9.94079940e-01 4.98471780e-04 1.76183639e+01] [-6.09039121e-03 1.64230764e-04 9.99981440e-01 1.90478775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.189115933 meters 0.02899810874809387 Centerline is valid? [True, True] Translation: X:-46.79, Y:17.63, Z:1.99 [[ 9.93433305e-01 -1.14045170e-01 9.16338440e-03 -4.67938355e+01] [ 1.14042878e-01 9.93475527e-01 7.74032483e-04 1.76328641e+01] [-9.19187281e-03 2.76069080e-04 9.99957716e-01 1.99134332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.219115933 meters 0.02977250352163885 Centerline is valid? [True, True] Translation: X:-46.83, Y:17.63, Z:2.01 [[ 9.93247047e-01 -1.15838457e-01 6.46188346e-03 -4.68252620e+01] [ 1.15837407e-01 9.93268043e-01 5.37790247e-04 1.76312324e+01] [-6.48067913e-03 2.14369251e-04 9.99978977e-01 2.01082258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24911593299998 meters 0.024979590520059446 Centerline is valid? [True, True] Translation: X:-46.86, Y:17.62, Z:1.97 [[ 9.94302082e-01 -1.06363827e-01 7.07861087e-03 -4.68573906e+01] [ 1.06362226e-01 9.94327267e-01 6.03288012e-04 1.76156654e+01] [-7.10262382e-03 1.53046281e-04 9.99974764e-01 1.96536792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27911593299999 meters 0.03407842809377683 Centerline is valid? [True, True] Translation: X:-46.89, Y:17.62, Z:2.03 [[ 9.93513932e-01 -1.13235293e-01 1.03843679e-02 -4.68882084e+01] [ 1.13232233e-01 9.93568156e-01 8.83986986e-04 1.76234954e+01] [-1.04176758e-02 2.97591784e-04 9.99945690e-01 2.02695058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30911593299999 meters 0.031077677190616892 Centerline is valid? [True, True] Translation: X:-46.92, Y:17.61, Z:1.99 [[ 9.95514677e-01 -9.44995653e-02 4.51218308e-03 -4.69188835e+01] [ 9.44987790e-02 9.95524902e-01 3.87609934e-04 1.76101878e+01] [-4.52861959e-03 4.05244137e-05 9.99989745e-01 1.99368485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33911593299999 meters 0.031077677190616892 Centerline is valid? [True, True] Translation: X:-46.95, Y:17.61, Z:1.99 [[ 9.95441665e-01 -9.52655450e-02 4.51310851e-03 -4.69505998e+01] [ 9.52648146e-02 9.95451894e-01 3.77031485e-04 1.76074239e+01] [-4.52850052e-03 5.46275968e-05 9.99989745e-01 1.99446306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.36911593299999 meters 0.037707287304983836 Centerline is valid? [True, True] Translation: X:-46.98, Y:17.60, Z:1.99 [[ 9.95418472e-01 -9.54991404e-02 4.68816388e-03 -4.69825850e+01] [ 9.54983345e-02 9.95429511e-01 3.95964092e-04 1.76027314e+01] [-4.70455091e-03 5.35618712e-05 9.99988932e-01 1.99122453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39911593299999 meters 0.03746515145528317 Centerline is valid? [True, True] Translation: X:-47.01, Y:17.61, Z:2.03 [[ 9.95145278e-01 -9.81959192e-02 6.59074216e-03 -4.70141923e+01] [ 9.81943016e-02 9.95167099e-01 5.69368330e-04 1.76070763e+01] [-6.61479940e-03 8.05691181e-05 9.99978119e-01 2.03401612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.42911593299999 meters 0.022147511816359954 Centerline is valid? [True, True] Translation: X:-47.05, Y:17.58, Z:1.91 [[ 9.96501804e-01 -8.35455333e-02 2.07306903e-03 -4.70465441e+01] [ 8.35453455e-02 9.96503961e-01 1.77187957e-04 1.75827954e+01] [-2.08062477e-03 -3.37285034e-06 9.99997835e-01 1.91347461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45911593299999 meters 0.02935977390859358 Centerline is valid? [True, True] Translation: X:-47.08, Y:17.59, Z:1.98 [[ 9.96701328e-01 -8.11023301e-02 2.97904825e-03 -4.70784020e+01] [ 8.11019430e-02 9.96705780e-01 2.50724484e-04 1.75876008e+01] [-2.98956895e-03 -8.29082447e-06 9.99995531e-01 1.97614117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.489115933 meters 0.04602714755869918 Centerline is valid? [True, True] Translation: X:-47.11, Y:17.60, Z:2.07 [[ 9.97047070e-01 -7.66951077e-02 3.87296416e-03 -4.71087118e+01] [ 7.66943785e-02 9.97054592e-01 3.36656904e-04 1.75958688e+01] [-3.88737664e-03 -3.86282005e-05 9.99992443e-01 2.07475948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.519115933 meters 0.049058142360126275 Centerline is valid? [True, True] Translation: X:-47.14, Y:17.59, Z:2.07 [[ 9.97636417e-01 -6.87024868e-02 1.24426138e-03 -4.71406639e+01] [ 6.87024056e-02 9.97637192e-01 1.07916329e-04 1.75877712e+01] [-1.24873555e-03 -2.21775097e-05 9.99999220e-01 2.07143755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.549115933 meters 0.06355195551433848 Centerline is valid? [True, True] Translation: X:-47.17, Y:17.61, Z:2.28 [[ 9.97969710e-01 -6.36834475e-02 9.36179995e-04 -4.71699644e+01] [ 6.36834004e-02 9.97970149e-01 8.01143369e-05 1.76097171e+01] [-9.39381646e-04 -2.03325561e-05 9.99999559e-01 2.27588686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.579115933 meters 0.04925030165406934 Centerline is valid? [True, True] Translation: X:-47.20, Y:17.58, Z:2.10 [[ 9.98745236e-01 -5.00395705e-02 -1.99886836e-03 -4.72018861e+01] [ 5.00393013e-02 9.98747232e-01 -1.84505383e-04 1.75764095e+01] [ 2.00559682e-03 8.42518957e-05 9.99997985e-01 2.10092117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.609115933 meters 0.0217915977390239 Centerline is valid? [True, True] Translation: X:-47.24, Y:17.57, Z:1.98 [[ 9.97730588e-01 -6.73264308e-02 -9.08032646e-04 -4.72350563e+01] [ 6.73263819e-02 9.97731001e-01 -8.43040278e-05 1.75656919e+01] [ 9.11648211e-04 2.29781546e-05 9.99999584e-01 1.98391339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63911593299999 meters 0.027086902517660175 Centerline is valid? [True, True] Translation: X:-47.26, Y:17.56, Z:2.01 [[ 9.98723762e-01 -5.03470418e-02 -4.00272337e-03 -4.72649691e+01] [ 5.03459664e-02 9.98731770e-01 -3.69042256e-04 1.75586309e+01] [ 4.01622718e-03 1.67050295e-04 9.99991921e-01 2.01179266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66911593299999 meters 0.02570708561511077 Centerline is valid? [True, True] Translation: X:-47.30, Y:17.55, Z:2.00 [[ 9.98284160e-01 -5.84444522e-02 -3.60308050e-03 -4.72961773e+01] [ 5.84436305e-02 9.98290655e-01 -3.33019814e-04 1.75539654e+01] [ 3.61638475e-03 1.21871300e-04 9.99993453e-01 1.99711378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69911593299999 meters 0.030884918591375224 Centerline is valid? [True, True] Translation: X:-47.33, Y:17.55, Z:2.03 [[ 9.99518085e-01 -3.05913403e-02 -5.26949108e-03 -4.73258279e+01] [ 3.05892024e-02 9.99531923e-01 -4.85853122e-04 1.75460896e+01] [ 5.28188745e-03 3.24429452e-04 9.99985998e-01 2.03269017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72911593299999 meters 0.02475083799818013 Centerline is valid? [True, True] Translation: X:-47.36, Y:17.54, Z:2.00 [[ 9.99087399e-01 -4.23624793e-02 -5.45794464e-03 -4.73566883e+01] [ 4.23603683e-02 9.99102271e-01 -5.01854232e-04 1.75392416e+01] [ 5.47430467e-03 2.70195694e-04 9.99984979e-01 2.00352939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75911593299999 meters 0.025746381075268488 Centerline is valid? [True, True] Translation: X:-47.39, Y:17.54, Z:2.02 [[ 9.99460412e-01 -3.25056334e-02 -4.71904925e-03 -4.73871373e+01] [ 3.25039410e-02 9.99471513e-01 -4.34914045e-04 1.75366875e+01] [ 4.73069245e-03 2.81291672e-04 9.99988771e-01 2.02180809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78911593299999 meters 0.02110212123226987 Centerline is valid? [True, True] Translation: X:-47.42, Y:17.54, Z:2.00 [[ 9.98104020e-01 -6.13391701e-02 -5.08644291e-03 -4.74181694e+01] [ 6.13375811e-02 9.98116968e-01 -4.67948844e-04 1.75357343e+01] [ 5.10556857e-03 1.55071517e-04 9.99986954e-01 1.99662492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81911593299999 meters 0.025439906535275288 Centerline is valid? [True, True] Translation: X:-47.45, Y:17.53, Z:2.00 [[ 9.99544255e-01 -2.93044315e-02 -7.24798629e-03 -4.74479436e+01] [ 2.93003603e-02 9.99570430e-01 -6.67268318e-04 1.75251262e+01] [ 7.26442668e-03 4.54595604e-04 9.99973510e-01 2.00426896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.849115933 meters 0.021248064560759228 Centerline is valid? [True, True] Translation: X:-47.48, Y:17.52, Z:1.96 [[ 9.99127809e-01 -4.11787528e-02 -6.92320197e-03 -4.74789142e+01] [ 4.11753247e-02 9.99151734e-01 -6.37026015e-04 1.75190952e+01] [ 6.94356118e-03 3.51405318e-04 9.99975831e-01 1.95949735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.879115933 meters 0.02275800947204702 Centerline is valid? [True, True] Translation: X:-47.51, Y:17.51, Z:1.98 [[ 9.99640719e-01 -2.55116617e-02 -8.22121271e-03 -4.75086409e+01] [ 2.55062970e-02 9.99674375e-01 -7.56755100e-04 1.75131536e+01] [ 8.23784176e-03 5.46790519e-04 9.99965919e-01 1.97577165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.909115933 meters 0.025014545023561516 Centerline is valid? [True, True] Translation: X:-47.54, Y:17.51, Z:1.98 [[ 9.99908416e-01 -8.96349539e-03 -1.01397820e-02 -4.75391953e+01] [ 8.95448640e-03 9.99959472e-01 -9.33530954e-04 1.75135671e+01] [ 1.01477388e-02 8.42648918e-04 9.99948155e-01 1.98444458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.939115933 meters 0.026996340880757943 Centerline is valid? [True, True] Translation: X:-47.57, Y:17.51, Z:1.97 [[ 9.99934958e-01 -5.80791886e-03 -9.81571696e-03 -4.75679575e+01] [ 5.79943080e-03 9.99982784e-01 -8.92984366e-04 1.75060286e+01] [ 9.82073436e-03 8.36000713e-04 9.99951426e-01 1.97094716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.969115933 meters 0.020334544956445533 Centerline is valid? [True, True] Translation: X:-47.60, Y:17.51, Z:1.94 [[ 9.99164929e-01 -3.97476162e-02 -9.46426329e-03 -4.75989881e+01] [ 3.97411767e-02 9.99209631e-01 -8.67564820e-04 1.75073393e+01] [ 9.49126667e-03 4.90719382e-04 9.99954837e-01 1.93734577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99911593299998 meters 0.01873300017608999 Centerline is valid? [True, True] Translation: X:-47.63, Y:17.51, Z:1.94 [[ 9.98941445e-01 -4.52709327e-02 -8.15670982e-03 -4.76297990e+01] [ 4.52663192e-02 9.98974674e-01 -7.49433760e-04 1.75076146e+01] [ 8.18227410e-03 3.79416213e-04 9.99966453e-01 1.93713774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02911593299999 meters 0.02008603848743537 Centerline is valid? [True, True] Translation: X:-47.66, Y:17.51, Z:1.94 [[ 9.98754732e-01 -4.94535816e-02 -6.58239827e-03 -4.76616271e+01] [ 4.94506372e-02 9.98776383e-01 -6.09418513e-04 1.75078626e+01] [ 6.60448186e-03 2.83155835e-04 9.99978150e-01 1.94106319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05911593299999 meters 0.016366132862807123 Centerline is valid? [True, True] Translation: X:-47.69, Y:17.51, Z:1.93 [[ 9.97986839e-01 -6.30166479e-02 -7.15341989e-03 -4.76935282e+01] [ 6.30135292e-02 9.98012454e-01 -6.60737662e-04 1.75089684e+01] [ 7.18083962e-03 2.08645257e-04 9.99974196e-01 1.93365706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08911593299999 meters 0.01644707948460043 Centerline is valid? [True, True] Translation: X:-47.73, Y:17.51, Z:1.93 [[ 9.98206190e-01 -5.92765102e-02 -8.40814990e-03 -4.77252750e+01] [ 5.92720258e-02 9.98241562e-01 -7.81743605e-04 1.75071681e+01] [ 8.43970372e-03 2.81973227e-04 9.99964345e-01 1.93162923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11911593299999 meters 0.015874798162560384 Centerline is valid? [True, True] Translation: X:-47.76, Y:17.50, Z:1.93 [[ 9.97720813e-01 -6.73321920e-02 -4.42219026e-03 -4.77562356e+01] [ 6.73309629e-02 9.97730605e-01 -4.26378711e-04 1.75020429e+01] [ 4.44086358e-03 1.27656585e-04 9.99990131e-01 1.92698799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.14911593299999 meters 0.015334804958104301 Centerline is valid? [True, True] Translation: X:-47.79, Y:17.50, Z:1.93 [[ 9.97378080e-01 -7.22698977e-02 -3.74539987e-03 -4.77870179e+01] [ 7.22690282e-02 9.97385108e-01 -3.67146053e-04 1.74965476e+01] [ 3.76213966e-03 9.55070167e-05 9.99992919e-01 1.92796982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17911593299999 meters 0.016239947084873765 Centerline is valid? [True, True] Translation: X:-47.82, Y:17.49, Z:1.93 [[ 9.98112923e-01 -6.11959881e-02 -5.06392119e-03 -4.78181280e+01] [ 6.11943485e-02 9.98125755e-01 -4.78230725e-04 1.74899297e+01] [ 5.08369596e-03 1.67444908e-04 9.99987064e-01 1.92774861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.20911593299999 meters 0.015681129271430158 Centerline is valid? [True, True] Translation: X:-47.85, Y:17.49, Z:1.94 [[ 9.98160485e-01 -6.03858585e-02 -5.40311898e-03 -4.78504061e+01] [ 6.03839622e-02 9.98175092e-01 -5.13558339e-04 1.74912098e+01] [ 5.42427045e-03 1.86351908e-04 9.99985271e-01 1.94331847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.239115933 meters 0.016205987660183642 Centerline is valid? [True, True] Translation: X:-47.88, Y:17.48, Z:1.93 [[ 9.98137959e-01 -6.04142179e-02 -8.41052174e-03 -4.78826333e+01] [ 6.04096341e-02 9.98173351e-01 -7.98212962e-04 1.74829448e+01] [ 8.44338208e-03 2.88650115e-04 9.99964312e-01 1.92937215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.269115933 meters 0.01590147612781845 Centerline is valid? [True, True] Translation: X:-47.91, Y:17.49, Z:1.95 [[ 9.97626703e-01 -6.88099787e-02 -2.47952509e-03 -4.79133368e+01] [ 6.88096025e-02 9.97629782e-01 -2.36833111e-04 1.74860520e+01] [ 2.48994455e-03 6.56558998e-05 9.99996898e-01 1.95407533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.299115933 meters 0.01589726084047104 Centerline is valid? [True, True] Translation: X:-47.94, Y:17.49, Z:1.98 [[ 9.97199954e-01 -7.47300410e-02 -2.76987579e-03 -4.79443401e+01] [ 7.47295530e-02 9.97203799e-01 -2.79386928e-04 1.74869304e+01] [ 2.78300925e-03 7.16130528e-05 9.99996125e-01 1.98403134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.329115933 meters 0.015545713005150438 Centerline is valid? [True, True] Translation: X:-47.98, Y:17.47, Z:1.95 [[ 9.96991239e-01 -7.74802775e-02 -2.29684720e-03 -4.79752801e+01] [ 7.74799393e-02 9.96993883e-01 -2.35974710e-04 1.74698227e+01] [ 2.30822600e-03 5.73051364e-05 9.99997334e-01 1.94653825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.359115933 meters 0.016285469087014712 Centerline is valid? [True, True] Translation: X:-48.01, Y:17.47, Z:1.97 [[ 9.97030977e-01 -7.69663921e-02 -2.32486315e-03 -4.80065941e+01] [ 7.69660409e-02 9.97033686e-01 -2.40256938e-04 1.74714752e+01] [ 2.33645859e-03 6.06080969e-05 9.99997269e-01 1.97042742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38911593299999 meters 0.016033808115326145 Centerline is valid? [True, True] Translation: X:-48.04, Y:17.46, Z:1.96 [[ 9.96775111e-01 -8.02077458e-02 -2.46884109e-03 -4.80377138e+01] [ 8.02073580e-02 9.96778167e-01 -2.55876844e-04 1.74598342e+01] [ 2.48141020e-03 5.70324481e-05 9.99996920e-01 1.95747997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41911593299999 meters 0.015542557209447303 Centerline is valid? [True, True] Translation: X:-48.07, Y:17.46, Z:1.95 [[ 9.97009787e-01 -7.69185146e-02 -7.41795712e-03 -4.80698295e+01] [ 7.69151278e-02 9.97037368e-01 -7.41190009e-04 1.74587447e+01] [ 7.45299168e-03 1.68420572e-04 9.99972212e-01 1.94900353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44911593299999 meters 0.015586707491923743 Centerline is valid? [True, True] Translation: X:-48.10, Y:17.46, Z:1.94 [[ 9.97683090e-01 -6.68387415e-02 -1.26899251e-02 -4.81011343e+01] [ 6.68283611e-02 9.97763715e-01 -1.24075759e-03 1.74563109e+01] [ 1.27444775e-02 3.89835976e-04 9.99918710e-01 1.94229938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47911593299999 meters 0.015438188559253538 Centerline is valid? [True, True] Translation: X:-48.13, Y:17.45, Z:1.92 [[ 9.97720695e-01 -6.71753055e-02 -6.39483692e-03 -4.81329691e+01] [ 6.71726412e-02 9.97741168e-01 -6.30752650e-04 1.74468373e+01] [ 6.42276306e-03 1.99756886e-04 9.99979354e-01 1.92319162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50911593299999 meters 0.015633570791553576 Centerline is valid? [True, True] Translation: X:-48.16, Y:17.45, Z:1.94 [[ 9.97986430e-01 -6.29667883e-02 -7.63346556e-03 -4.81646982e+01] [ 6.29627507e-02 9.98015582e-01 -7.68338877e-04 1.74478432e+01] [ 7.66669740e-03 2.86167783e-04 9.99970569e-01 1.94134816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53911593299999 meters 0.016756785042852523 Centerline is valid? [True, True] Translation: X:-48.20, Y:17.44, Z:1.93 [[ 9.97786439e-01 -6.62972309e-02 -5.18650419e-03 -4.81957728e+01] [ 6.62953734e-02 9.97799901e-01 -5.29441223e-04 1.74427367e+01] [ 5.21019386e-03 1.84428041e-04 9.99986410e-01 1.92749259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.56911593299999 meters 0.016261583544731607 Centerline is valid? [True, True] Translation: X:-48.23, Y:17.47, Z:2.00 [[ 9.97235464e-01 -7.43028634e-02 -7.17441753e-04 -4.82272268e+01] [ 7.43028290e-02 9.97235721e-01 -7.45522252e-05 1.74656732e+01] [ 7.20997988e-04 2.10381709e-05 9.99999740e-01 2.00127986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.599115933 meters 0.016147059452604917 Centerline is valid? [True, True] Translation: X:-48.26, Y:17.46, Z:1.99 [[ 9.97503996e-01 -7.04972280e-02 -3.98990270e-03 -4.82600556e+01] [ 7.04961794e-02 9.97511968e-01 -4.03017825e-04 1.74642562e+01] [ 4.00838733e-03 1.20738994e-04 9.99991959e-01 1.99186242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.629115933 meters 0.015725538691958682 Centerline is valid? [True, True] Translation: X:-48.29, Y:17.44, Z:1.93 [[ 9.97812046e-01 -6.58419753e-02 -5.99630133e-03 -4.82907632e+01] [ 6.58394551e-02 9.97830038e-01 -6.16947768e-04 1.74408511e+01] [ 6.02391065e-03 2.20804703e-04 9.99981832e-01 1.93021704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.659115933 meters 0.015991974014397534 Centerline is valid? [True, True] Translation: X:-48.32, Y:17.45, Z:1.96 [[ 9.97772262e-01 -6.65199614e-02 -5.06043873e-03 -4.83220039e+01] [ 6.65181456e-02 9.97785077e-01 -5.26471109e-04 1.74466003e+01] [ 5.08425108e-03 1.88687269e-04 9.99987057e-01 1.96359478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.689115933 meters 0.015933714186660834 Centerline is valid? [True, True] Translation: X:-48.35, Y:17.45, Z:1.99 [[ 9.97235623e-01 -7.42732805e-02 -2.14274414e-03 -4.83530326e+01] [ 7.42729819e-02 9.97237924e-01 -2.18711966e-04 1.74497672e+01] [ 2.15307017e-03 5.89593672e-05 9.99997680e-01 1.99364164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.719115933 meters 0.016245619044783027 Centerline is valid? [True, True] Translation: X:-48.38, Y:17.45, Z:2.00 [[ 9.97365853e-01 -7.24745303e-02 -2.96593903e-03 -4.83848531e+01] [ 7.24739057e-02 9.97370258e-01 -3.17675975e-04 1.74471704e+01] [ 2.98116279e-03 1.01885985e-04 9.99995551e-01 1.99540645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74911593299998 meters 0.01618030305600122 Centerline is valid? [True, True] Translation: X:-48.42, Y:17.44, Z:2.00 [[ 9.97421960e-01 -7.16265143e-02 -4.36763917e-03 -4.84167306e+01] [ 7.16252119e-02 9.97431513e-01 -4.54073108e-04 1.74427281e+01] [ 4.38894462e-03 1.40069409e-04 9.99990359e-01 2.00397961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77911593299999 meters 0.016129501564881178 Centerline is valid? [True, True] Translation: X:-48.45, Y:17.43, Z:1.98 [[ 9.97228289e-01 -7.42093029e-02 -5.35893675e-03 -4.84474698e+01] [ 7.42073298e-02 9.97242674e-01 -5.66353412e-04 1.74300361e+01] [ 5.38618911e-03 1.67111257e-04 9.99985480e-01 1.97677175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80911593299999 meters 0.01620597015105216 Centerline is valid? [True, True] Translation: X:-48.48, Y:17.44, Z:2.01 [[ 9.97139711e-01 -7.53826187e-02 -5.46429669e-03 -4.84797066e+01] [ 7.53805505e-02 9.97154668e-01 -5.83760802e-04 1.74366999e+01] [ 5.49275437e-03 1.70189385e-04 9.99984900e-01 2.00634893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83911593299999 meters 0.016230899504957815 Centerline is valid? [True, True] Translation: X:-48.51, Y:17.44, Z:2.02 [[ 9.96733920e-01 -8.06674398e-02 -3.77577009e-03 -4.85110057e+01] [ 8.06664679e-02 9.96741066e-01 -4.09233615e-04 1.74362517e+01] [ 3.79647694e-03 1.03318989e-04 9.99992788e-01 2.01812739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.86911593299999 meters 0.015818656938472286 Centerline is valid? [True, True] Translation: X:-48.54, Y:17.44, Z:2.04 [[ 9.96570472e-01 -8.26605254e-02 -3.81199643e-03 -4.85423816e+01] [ 8.26595295e-02 9.96577758e-01 -4.18346568e-04 1.74351103e+01] [ 3.83353160e-03 1.01814006e-04 9.99992647e-01 2.04168185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89911593299999 meters 0.01597773068780571 Centerline is valid? [True, True] Translation: X:-48.57, Y:17.42, Z:1.99 [[ 9.97074658e-01 -7.61167591e-02 -6.95453641e-03 -4.85734986e+01] [ 7.61134907e-02 9.97098891e-01 -7.33808555e-04 1.74168914e+01] [ 6.99021567e-03 2.02327871e-04 9.99975548e-01 1.99259057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.92911593299999 meters 0.015971609683150912 Centerline is valid? [True, True] Translation: X:-48.60, Y:17.41, Z:1.98 [[ 9.97731268e-01 -6.62175855e-02 -1.21469559e-02 -4.86039330e+01] [ 6.62069134e-02 9.97805096e-01 -1.27905554e-03 1.74090515e+01] [ 1.22049905e-02 4.71941247e-04 9.99925405e-01 1.98155032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95911593299999 meters 0.01610300093068495 Centerline is valid? [True, True] Translation: X:-48.63, Y:17.40, Z:1.99 [[ 9.97567964e-01 -6.88430651e-02 -1.08990337e-02 -4.86346313e+01] [ 6.88344166e-02 9.97627416e-01 -1.16710020e-03 1.74049436e+01] [ 1.09535216e-02 4.14033142e-04 9.99939923e-01 1.98592643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.989115933 meters 0.014530896662607706 Centerline is valid? [True, True] Translation: X:-48.67, Y:17.40, Z:1.99 [[ 9.97226190e-01 -7.38478588e-02 -9.29623232e-03 -4.86661074e+01] [ 7.38417004e-02 9.97269469e-01 -1.00443629e-03 1.74036619e+01] [ 9.34502414e-03 3.15200577e-04 9.99956285e-01 1.99385347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.019115933 meters 0.015532184972721956 Centerline is valid? [True, True] Translation: X:-48.70, Y:17.41, Z:2.02 [[ 9.97486350e-01 -6.93835675e-02 -1.43840729e-02 -4.86970733e+01] [ 6.93686558e-02 9.97589915e-01 -1.53363545e-03 1.74054582e+01] [ 1.44558151e-02 5.31976627e-04 9.99895368e-01 2.02254604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.049115933 meters 0.015027105770331867 Centerline is valid? [True, True] Translation: X:-48.73, Y:17.39, Z:1.99 [[ 9.97347107e-01 -7.13444141e-02 -1.44472467e-02 -4.87285209e+01] [ 7.13292430e-02 9.97451600e-01 -1.56333154e-03 1.73933442e+01] [ 1.45219643e-02 5.28673023e-04 9.99894411e-01 1.99295135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.079115933 meters 0.015654691179895684 Centerline is valid? [True, True] Translation: X:-48.76, Y:17.38, Z:1.97 [[ 9.97543976e-01 -6.88012962e-02 -1.31300321e-02 -4.87600987e+01] [ 6.87884091e-02 9.97630245e-01 -1.43113760e-03 1.73833084e+01] [ 1.31973813e-02 5.24428671e-04 9.99912773e-01 1.96690569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.109115933 meters 0.015075190074386713 Centerline is valid? [True, True] Translation: X:-48.79, Y:17.39, Z:2.01 [[ 9.97318076e-01 -7.21354102e-02 -1.23749245e-02 -4.87916166e+01] [ 7.21241041e-02 9.97394741e-01 -1.35807881e-03 1.73927488e+01] [ 1.24406502e-02 4.61906201e-04 9.99922505e-01 2.01081609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13911593299999 meters 0.015615497589311656 Centerline is valid? [True, True] Translation: X:-48.82, Y:17.39, Z:2.01 [[ 9.97542540e-01 -6.85956888e-02 -1.42657867e-02 -4.88235022e+01] [ 6.85803732e-02 9.97644374e-01 -1.56061531e-03 1.73876123e+01] [ 1.43392333e-02 5.78427187e-04 9.99897021e-01 2.00851356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16911593299999 meters 0.014837996637570051 Centerline is valid? [True, True] Translation: X:-48.85, Y:17.38, Z:2.00 [[ 9.97398525e-01 -7.06507215e-02 -1.43058964e-02 -4.88547240e+01] [ 7.06352866e-02 9.97500954e-01 -1.58196889e-03 1.73802305e+01] [ 1.43819126e-02 5.67352346e-04 9.99896414e-01 2.00226084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19911593299999 meters 0.014949700418186327 Centerline is valid? [True, True] Translation: X:-48.89, Y:17.37, Z:1.96 [[ 9.97429037e-01 -7.02404066e-02 -1.41986292e-02 -4.88865767e+01] [ 7.02250217e-02 9.97529925e-01 -1.57984955e-03 1.73681749e+01] [ 1.42745268e-02 5.78688772e-04 9.99897946e-01 1.95963232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22911593299999 meters 0.014949700418186327 Centerline is valid? [True, True] Translation: X:-48.92, Y:17.36, Z:1.96 [[ 9.97375411e-01 -7.09980982e-02 -1.41971674e-02 -4.89182312e+01] [ 7.09826028e-02 9.97476282e-01 -1.59302156e-03 1.73646712e+01] [ 1.42744393e-02 5.81088639e-04 9.99897946e-01 1.96042168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25911593299999 meters 0.014501181675536148 Centerline is valid? [True, True] Translation: X:-48.95, Y:17.37, Z:1.99 [[ 9.97664949e-01 -6.70922681e-02 -1.27779598e-02 -4.89504397e+01] [ 6.70794444e-02 9.97746613e-01 -1.43002246e-03 1.73706833e+01] [ 1.28451096e-02 5.69544842e-04 9.99917336e-01 1.98730263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28911593299999 meters 0.014905482415758292 Centerline is valid? [True, True] Translation: X:-48.98, Y:17.37, Z:2.02 [[ 9.97268307e-01 -7.29369970e-02 -1.16669839e-02 -4.89816887e+01] [ 7.29265387e-02 9.97336442e-01 -1.31990734e-03 1.73748697e+01] [ 1.17321783e-02 4.65469003e-04 9.99931067e-01 2.01665280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31911593299999 meters 0.014678874619207666 Centerline is valid? [True, True] Translation: X:-49.01, Y:17.37, Z:2.00 [[ 9.97916435e-01 -6.32417858e-02 -1.27775693e-02 -4.90129194e+01] [ 6.32286341e-02 9.97998042e-01 -1.43104272e-03 1.73690806e+01] [ 1.28424909e-02 6.20152791e-04 9.99917340e-01 1.99785038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.349115933 meters 0.014907753327710717 Centerline is valid? [True, True] Translation: X:-49.04, Y:17.36, Z:1.99 [[ 9.97859118e-01 -6.41595370e-02 -1.26780931e-02 -4.90446441e+01] [ 6.41463196e-02 9.97939455e-01 -1.44686058e-03 1.73634289e+01] [ 1.27447992e-02 6.30510009e-04 9.99918583e-01 1.99412456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.379115933 meters 0.014443146681852818 Centerline is valid? [True, True] Translation: X:-49.08, Y:17.35, Z:1.98 [[ 9.97856464e-01 -6.43283118e-02 -1.20143669e-02 -4.90763552e+01] [ 6.43163351e-02 9.97928606e-01 -1.38099749e-03 1.73544453e+01] [ 1.20783177e-02 6.05317225e-04 9.99926871e-01 1.98342754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.409115933 meters 0.014596911826970087 Centerline is valid? [True, True] Translation: X:-49.11, Y:17.36, Z:2.01 [[ 9.97551122e-01 -6.89372861e-02 -1.18072246e-02 -4.91081169e+01] [ 6.89261746e-02 9.97620855e-01 -1.34591700e-03 1.73575409e+01] [ 1.18719174e-02 5.28794186e-04 9.99929386e-01 2.00991986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.439115933 meters 0.014711429930825904 Centerline is valid? [True, True] Translation: X:-49.14, Y:17.35, Z:2.01 [[ 9.97778987e-01 -6.55005505e-02 -1.21149093e-02 -4.91391873e+01] [ 6.54883705e-02 9.97852351e-01 -1.39978666e-03 1.73542030e+01] [ 1.21805776e-02 6.03292041e-04 9.99925632e-01 2.00994591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.469115933 meters 0.014182601859277229 Centerline is valid? [True, True] Translation: X:-49.17, Y:17.35, Z:2.01 [[ 9.97301835e-01 -7.24703406e-02 -1.17089445e-02 -4.91701106e+01] [ 7.24593596e-02 9.97370439e-01 -1.35991262e-03 1.73485754e+01] [ 1.17767085e-02 5.07820730e-04 9.99930523e-01 2.00607479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49911593299998 meters 0.01475669583704453 Centerline is valid? [True, True] Translation: X:-49.20, Y:17.35, Z:2.01 [[ 9.97394808e-01 -7.11161581e-02 -1.20867153e-02 -4.92012868e+01] [ 7.11042537e-02 9.97467889e-01 -1.41235017e-03 1.73460856e+01] [ 1.21565513e-02 5.49253855e-04 9.99925956e-01 2.00939406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52911593299999 meters 0.014742837407507106 Centerline is valid? [True, True] Translation: X:-49.23, Y:17.35, Z:2.02 [[ 9.97048197e-01 -7.60399247e-02 -1.06218243e-02 -4.92330427e+01] [ 7.60310898e-02 9.97104684e-01 -1.23370643e-03 1.73451157e+01] [ 1.06848817e-02 4.22475893e-04 9.99942826e-01 2.02299577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55911593299999 meters 0.014021386234899423 Centerline is valid? [True, True] Translation: X:-49.26, Y:17.34, Z:2.03 [[ 9.96913791e-01 -7.78195924e-02 -1.03442649e-02 -4.92640440e+01] [ 7.78111352e-02 9.96967373e-01 -1.21814547e-03 1.73431116e+01] [ 1.04076902e-02 4.09487023e-04 9.99945755e-01 2.02670487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58911593299999 meters 0.014579868635264198 Centerline is valid? [True, True] Translation: X:-49.29, Y:17.34, Z:2.04 [[ 9.97279042e-01 -7.28559779e-02 -1.12480233e-02 -4.92947459e+01] [ 7.28458075e-02 9.97342352e-01 -1.31180772e-03 1.73425005e+01] [ 1.13137031e-02 4.88867002e-04 9.99935879e-01 2.04203520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61911593299999 meters 0.015110146482625942 Centerline is valid? [True, True] Translation: X:-49.33, Y:17.34, Z:2.04 [[ 9.97234608e-01 -7.36834388e-02 -9.68959517e-03 -4.93264049e+01] [ 7.36757340e-02 9.97281587e-01 -1.15020658e-03 1.73448256e+01] [ 9.74800602e-03 4.33137771e-04 9.99952393e-01 2.04403092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64911593299999 meters 0.014346948506269946 Centerline is valid? [True, True] Translation: X:-49.36, Y:17.34, Z:2.04 [[ 9.96929508e-01 -7.79562515e-02 -7.37421106e-03 -4.93585498e+01] [ 7.79519504e-02 9.96956738e-01 -8.69332082e-04 1.73417885e+01] [ 7.41953928e-03 2.91828670e-04 9.99972432e-01 2.03654197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67911593299999 meters 0.014693565040035121 Centerline is valid? [True, True] Translation: X:-49.39, Y:17.34, Z:2.05 [[ 9.97101052e-01 -7.58348154e-02 -6.21071432e-03 -4.93901611e+01] [ 7.58316218e-02 9.97120356e-01 -7.48432420e-04 1.73414017e+01] [ 6.24958691e-03 2.75294214e-04 9.99980433e-01 2.04582525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.70911593299999 meters 0.01511210333394276 Centerline is valid? [True, True] Translation: X:-49.42, Y:17.34, Z:2.05 [[ 9.97296683e-01 -7.32077362e-02 -6.32087801e-03 -4.94213224e+01] [ 7.32043503e-02 9.97316668e-01 -7.65687729e-04 1.73390906e+01] [ 6.35997127e-03 3.00902064e-04 9.99979730e-01 2.05360470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.739115933 meters 0.01475303599316789 Centerline is valid? [True, True] Translation: X:-49.45, Y:17.34, Z:2.05 [[ 9.97817108e-01 -6.53247991e-02 -9.67937356e-03 -4.94523976e+01] [ 6.53166976e-02 9.97863921e-01 -1.15109299e-03 1.73360965e+01] [ 9.73389257e-03 5.16355562e-04 9.99952491e-01 2.05226502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.769115933 meters 0.014567395569952268 Centerline is valid? [True, True] Translation: X:-49.48, Y:17.33, Z:2.05 [[ 9.96774125e-01 -7.99935379e-02 -6.50974267e-03 -4.94833185e+01] [ 7.99901906e-02 9.96795351e-01 -7.73353717e-04 1.73338337e+01] [ 6.55074453e-03 2.50143418e-04 9.99978512e-01 2.05090792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.799115933 meters 0.01526613125769375 Centerline is valid? [True, True] Translation: X:-49.52, Y:17.34, Z:2.07 [[ 9.96843455e-01 -7.89483393e-02 -8.38371293e-03 -4.95154268e+01] [ 7.89425749e-02 9.96878647e-01 -1.01679908e-03 1.73384694e+01] [ 8.43781899e-03 3.51757619e-04 9.99964339e-01 2.06816694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.829115933 meters 0.014471121669688345 Centerline is valid? [True, True] Translation: X:-49.55, Y:17.33, Z:2.06 [[ 9.95786187e-01 -9.14623019e-02 -6.67209654e-03 -4.95463567e+01] [ 9.14589966e-02 9.95808522e-01 -7.99480853e-04 1.73318788e+01] [ 6.71725296e-03 1.85888735e-04 9.99977422e-01 2.05950704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.859115933 meters 0.014498676336650316 Centerline is valid? [True, True] Translation: X:-49.58, Y:17.33, Z:2.07 [[ 9.96466128e-01 -8.35413030e-02 -8.72387712e-03 -4.95777065e+01] [ 8.35353174e-02 9.96504265e-01 -1.04890104e-03 1.73285718e+01] [ 8.78100732e-03 3.16442514e-04 9.99961396e-01 2.07250284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88911593299999 meters 0.014289473311038083 Centerline is valid? [True, True] Translation: X:-49.61, Y:17.33, Z:2.07 [[ 9.95422869e-01 -9.54609509e-02 -4.52982941e-03 -4.96090899e+01] [ 9.54594655e-02 9.95433170e-01 -5.43497553e-04 1.73297831e+01] [ 4.56102524e-03 1.08594799e-04 9.99989593e-01 2.06940829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91911593299999 meters 0.014067315219698387 Centerline is valid? [True, True] Translation: X:-49.64, Y:17.33, Z:2.09 [[ 9.96382419e-01 -8.45544166e-02 -8.52208173e-03 -4.96401371e+01] [ 8.45487670e-02 9.96418819e-01 -1.02168776e-03 1.73328859e+01] [ 8.57795083e-03 2.97460222e-04 9.99963164e-01 2.08573620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94911593299999 meters 0.014373998421983262 Centerline is valid? [True, True] Translation: X:-49.67, Y:17.32, Z:2.07 [[ 9.95719781e-01 -9.20239165e-02 -8.58581869e-03 -4.96711705e+01] [ 9.20183794e-02 9.95756767e-01 -1.03856825e-03 1.73244341e+01] [ 8.64496018e-03 2.44069830e-04 9.99962602e-01 2.07446398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97911593299999 meters 0.014787363516474228 Centerline is valid? [True, True] Translation: X:-49.70, Y:17.33, Z:2.08 [[ 9.96527936e-01 -8.20691224e-02 -1.40260939e-02 -4.97022431e+01] [ 8.20535017e-02 9.96626499e-01 -1.68652818e-03 1.73255307e+01] [ 1.41171887e-02 5.29782327e-04 9.99900207e-01 2.08446612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00911593299999 meters 0.014906736052908926 Centerline is valid? [True, True] Translation: X:-49.73, Y:17.31, Z:2.06 [[ 9.96938637e-01 -7.66652550e-02 -1.53555445e-02 -4.97328511e+01] [ 7.66458603e-02 9.97056666e-01 -1.84845673e-03 1.73139108e+01] [ 1.54520604e-02 6.65859017e-04 9.99880388e-01 2.06248442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03911593299999 meters 0.014869515915876248 Centerline is valid? [True, True] Translation: X:-49.76, Y:17.33, Z:2.10 [[ 9.96635713e-01 -8.07515973e-02 -1.40155416e-02 -4.97649067e+01] [ 8.07355128e-02 9.96734092e-01 -1.71057806e-03 1.73261855e+01] [ 1.41079000e-02 5.73271255e-04 9.99900314e-01 2.10448975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.06911593299999 meters 0.014494552765295597 Centerline is valid? [True, True] Translation: X:-49.80, Y:17.32, Z:2.09 [[ 9.96770307e-01 -7.91085065e-02 -1.38130310e-02 -4.97968470e+01] [ 7.90926011e-02 9.96865832e-01 -1.69484391e-03 1.73209737e+01] [ 1.39038152e-02 5.96861539e-04 9.99903159e-01 2.09268148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.099115933 meters 0.014745875441232813 Centerline is valid? [True, True] Translation: X:-49.83, Y:17.32, Z:2.10 [[ 9.96904735e-01 -7.71688484e-02 -1.50305950e-02 -4.98286588e+01] [ 7.71496667e-02 9.97017801e-01 -1.85272487e-03 1.73209634e+01] [ 1.51287434e-02 6.87384797e-04 9.99885318e-01 2.10255540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.129115933 meters 0.014498665787538162 Centerline is valid? [True, True] Translation: X:-49.86, Y:17.32, Z:2.12 [[ 9.96529784e-01 -8.20708340e-02 -1.38840655e-02 -4.98609760e+01] [ 8.20550441e-02 9.96626342e-01 -1.70409275e-03 1.73233540e+01] [ 1.39770818e-02 5.58921573e-04 9.99902160e-01 2.12083377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.159115933 meters 0.014578117098336172 Centerline is valid? [True, True] Translation: X:-49.89, Y:17.31, Z:2.10 [[ 9.96769017e-01 -7.91353164e-02 -1.37523997e-02 -4.98927700e+01] [ 7.91194861e-02 9.96863703e-01 -1.69222803e-03 1.73148056e+01] [ 1.38431831e-02 5.98677671e-04 9.99903999e-01 2.09794722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.189115933 meters 0.015373153610213991 Centerline is valid? [True, True] Translation: X:-49.92, Y:17.31, Z:2.10 [[ 9.97004994e-01 -7.60392387e-02 -1.41094215e-02 -4.99242726e+01] [ 7.60219929e-02 9.97104596e-01 -1.75540490e-03 1.73107504e+01] [ 1.42020487e-02 6.77521114e-04 9.99898916e-01 2.10173477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.219115933 meters 0.014727264184900175 Centerline is valid? [True, True] Translation: X:-49.96, Y:17.31, Z:2.09 [[ 9.96755143e-01 -7.93156009e-02 -1.37193586e-02 -4.99562660e+01] [ 7.92994744e-02 9.96849361e-01 -1.71633714e-03 1.73089714e+01] [ 1.38122661e-02 6.22829944e-04 9.99904412e-01 2.09150698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24911593299998 meters 0.014965208330853711 Centerline is valid? [True, True] Translation: X:-49.99, Y:17.31, Z:2.11 [[ 9.97459049e-01 -6.93744435e-02 -1.62059051e-02 -4.99866805e+01] [ 6.93509363e-02 9.97590303e-01 -2.00872057e-03 1.73100657e+01] [ 1.63062076e-02 8.79721821e-04 9.99866658e-01 2.10517153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27911593299999 meters 0.01465342067490946 Centerline is valid? [True, True] Translation: X:-50.02, Y:17.31, Z:2.11 [[ 9.97414442e-01 -7.00166222e-02 -1.61896365e-02 -5.00191949e+01] [ 6.99927543e-02 9.97545420e-01 -2.03691050e-03 1.73080626e+01] [ 1.62925153e-02 8.98486699e-04 9.99866864e-01 2.11494085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30911593299999 meters 0.014696394628633912 Centerline is valid? [True, True] Translation: X:-50.05, Y:17.30, Z:2.10 [[ 9.97415179e-01 -6.95356989e-02 -1.81038028e-02 -5.00508854e+01] [ 6.95056360e-02 9.97578941e-01 -2.28529573e-03 1.73042953e+01] [ 1.82188821e-02 1.02107232e-03 9.99833501e-01 2.10415426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33911593299999 meters 0.014619513699738188 Centerline is valid? [True, True] Translation: X:-50.08, Y:17.30, Z:2.11 [[ 9.97316150e-01 -7.15818145e-02 -1.53798744e-02 -5.00821160e+01] [ 7.15604560e-02 9.97434387e-01 -1.93531180e-03 1.72987352e+01] [ 1.54789488e-02 8.29526884e-04 9.99879850e-01 2.10600080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36911593299999 meters 0.014874855198858948 Centerline is valid? [True, True] Translation: X:-50.11, Y:17.30, Z:2.11 [[ 9.96815163e-01 -7.83108247e-02 -1.50647312e-02 -5.01130659e+01] [ 7.82911365e-02 9.96928741e-01 -1.89315448e-03 1.72969624e+01] [ 1.51667180e-02 7.07690159e-04 9.99884728e-01 2.10541708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39911593299999 meters 0.014077606087811237 Centerline is valid? [True, True] Translation: X:-50.14, Y:17.30, Z:2.10 [[ 9.97027677e-01 -7.52462829e-02 -1.65471497e-02 -5.01448835e+01] [ 7.52220316e-02 9.97164632e-01 -2.08401416e-03 1.72952734e+01] [ 1.66570468e-02 8.33109577e-04 9.99860915e-01 2.10050389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.42911593299999 meters 0.014220689554557218 Centerline is valid? [True, True] Translation: X:-50.18, Y:17.29, Z:2.10 [[ 9.97045419e-01 -7.51976282e-02 -1.56763746e-02 -5.01764271e+01] [ 7.51754370e-02 9.97168316e-01 -2.00092476e-03 1.72875808e+01] [ 1.57824488e-02 8.16534560e-04 9.99875116e-01 2.09817390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45911593299999 meters 0.014343196656324202 Centerline is valid? [True, True] Translation: X:-50.21, Y:17.29, Z:2.13 [[ 9.96947005e-01 -7.61745299e-02 -1.71496142e-02 -5.02082594e+01] [ 7.61479856e-02 9.97094108e-01 -2.19647773e-03 1.72930515e+01] [ 1.72670950e-02 8.83863319e-04 9.99850522e-01 2.13158720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.489115933 meters 0.01405714904832783 Centerline is valid? [True, True] Translation: X:-50.24, Y:17.29, Z:2.13 [[ 9.96817561e-01 -7.76117317e-02 -1.81980475e-02 -5.02412010e+01] [ 7.75818080e-02 9.96983230e-01 -2.34565377e-03 1.72925317e+01] [ 1.83251984e-02 9.26351444e-04 9.99831650e-01 2.13372885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.519115933 meters 0.014300937732554505 Centerline is valid? [True, True] Translation: X:-50.27, Y:17.29, Z:2.12 [[ 9.97216888e-01 -7.13185100e-02 -2.17289735e-02 -5.02716896e+01] [ 7.12747824e-02 9.97452841e-01 -2.78125187e-03 1.72872310e+01] [ 2.18719811e-02 1.22478348e-03 9.99760029e-01 2.12233019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.549115933 meters 0.014523185986840433 Centerline is valid? [True, True] Translation: X:-50.30, Y:17.28, Z:2.12 [[ 9.97077041e-01 -7.30477916e-02 -2.23918512e-02 -5.03027436e+01] [ 7.30011815e-02 9.97327658e-01 -2.89305407e-03 1.72838145e+01] [ 2.25433437e-02 1.24996619e-03 9.99745085e-01 2.12085616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.579115933 meters 0.014189832274252214 Centerline is valid? [True, True] Translation: X:-50.33, Y:17.28, Z:2.12 [[ 9.96776868e-01 -7.72012292e-02 -2.18139028e-02 -5.03338158e+01] [ 7.71576847e-02 9.97014880e-01 -2.83209517e-03 1.72816046e+01] [ 2.19674269e-02 1.13985672e-03 9.99758037e-01 2.12449248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.609115933 meters 0.014491841884833654 Centerline is valid? [True, True] Translation: X:-50.37, Y:17.28, Z:2.12 [[ 9.96882430e-01 -7.54758049e-02 -2.29961818e-02 -5.03659372e+01] [ 7.54265980e-02 9.97146841e-01 -3.00093779e-03 1.72793036e+01] [ 2.31570682e-02 1.25705839e-03 9.99731049e-01 2.11840346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63911593299999 meters 0.014672238564974502 Centerline is valid? [True, True] Translation: X:-50.40, Y:17.28, Z:2.12 [[ 9.97436822e-01 -6.71833200e-02 -2.46208736e-02 -5.03960804e+01] [ 6.71248121e-02 9.97739467e-01 -3.19609711e-03 1.72750076e+01] [ 2.47799417e-02 1.53523344e-03 9.99691751e-01 2.11650989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66911593299999 meters 0.014420344091148039 Centerline is valid? [True, True] Translation: X:-50.43, Y:17.27, Z:2.12 [[ 9.97275677e-01 -6.93831455e-02 -2.50440268e-02 -5.04275517e+01] [ 6.93225097e-02 9.97588901e-01 -3.28234481e-03 1.72702407e+01] [ 2.52113826e-02 1.53728785e-03 9.99680961e-01 2.12063416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69911593299999 meters 0.0139183422765725 Centerline is valid? [True, True] Translation: X:-50.46, Y:17.28, Z:2.16 [[ 9.96250610e-01 -8.39618644e-02 -2.08596874e-02 -5.04587780e+01] [ 8.39232270e-02 9.96468505e-01 -2.72234691e-03 1.72785692e+01] [ 2.10145949e-02 9.61527491e-04 9.99778707e-01 2.15974509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72911593299999 meters 0.014274008852282492 Centerline is valid? [True, True] Translation: X:-50.49, Y:17.28, Z:2.18 [[ 9.96703930e-01 -7.69111800e-02 -2.58059391e-02 -5.04891201e+01] [ 7.68496437e-02 9.97037000e-01 -3.36938835e-03 1.72786628e+01] [ 2.59886197e-02 1.37510539e-03 9.99661293e-01 2.18064446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75911593299999 meters 0.014530446877978324 Centerline is valid? [True, True] Translation: X:-50.52, Y:17.27, Z:2.17 [[ 9.96882154e-01 -7.48687359e-02 -2.49127230e-02 -5.05209196e+01] [ 7.48099668e-02 9.97192401e-01 -3.28401158e-03 1.72740239e+01] [ 2.50886478e-02 1.41005256e-03 9.99684236e-01 2.17234299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78911593299999 meters 0.014579342974591828 Centerline is valid? [True, True] Translation: X:-50.55, Y:17.27, Z:2.17 [[ 9.96526041e-01 -7.88036071e-02 -2.69414253e-02 -5.05524117e+01] [ 7.87358642e-02 9.96889129e-01 -3.56774585e-03 1.72678571e+01] [ 2.71387652e-02 1.43409524e-03 9.99630647e-01 2.16800059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81911593299999 meters 0.014619085042823079 Centerline is valid? [True, True] Translation: X:-50.58, Y:17.25, Z:2.12 [[ 9.96725242e-01 -7.63395457e-02 -2.66658097e-02 -5.05834904e+01] [ 7.62718323e-02 9.97080746e-01 -3.54876299e-03 1.72502732e+01] [ 2.68588763e-02 1.50329148e-03 9.99638105e-01 2.12170372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.849115933 meters 0.014618150387864978 Centerline is valid? [True, True] Translation: X:-50.61, Y:17.25, Z:2.13 [[ 9.96293324e-01 -8.16686165e-02 -2.70157454e-02 -5.06149978e+01] [ 8.16012427e-02 9.96658596e-01 -3.58884792e-03 1.72476214e+01] [ 2.72185712e-02 1.37102682e-03 9.99628566e-01 2.13459861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.879115933 meters 0.01472458647272297 Centerline is valid? [True, True] Translation: X:-50.65, Y:17.26, Z:2.18 [[ 9.96283973e-01 -8.18113779e-02 -2.69284742e-02 -5.06473941e+01] [ 8.17437049e-02 9.96646859e-01 -3.60620907e-03 1.72602001e+01] [ 2.71332082e-02 1.39157505e-03 9.99630858e-01 2.18030135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.909115933 meters 0.0144885153820954 Centerline is valid? [True, True] Translation: X:-50.68, Y:17.25, Z:2.14 [[ 9.95915603e-01 -8.62587944e-02 -2.66745699e-02 -5.06788260e+01] [ 8.61941488e-02 9.96271977e-01 -3.56601804e-03 1.72454681e+01] [ 2.68827270e-02 1.25226115e-03 9.99637810e-01 2.14420223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.939115933 meters 0.014121627308543137 Centerline is valid? [True, True] Translation: X:-50.71, Y:17.25, Z:2.18 [[ 9.95693383e-01 -8.86979845e-02 -2.69695191e-02 -5.07108461e+01] [ 8.86319895e-02 9.96057808e-01 -3.63501321e-03 1.72495335e+01] [ 2.71856184e-02 1.22899646e-03 9.99629647e-01 2.17650250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.969115933 meters 0.013745556522163494 Centerline is valid? [True, True] Translation: X:-50.74, Y:17.25, Z:2.18 [[ 9.95842440e-01 -8.70112882e-02 -2.69605283e-02 -5.07433395e+01] [ 8.69448286e-02 9.96206515e-01 -3.62982048e-03 1.72485371e+01] [ 2.71740893e-02 1.27065077e-03 9.99629909e-01 2.18238713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99911593299998 meters 0.014804510068825806 Centerline is valid? [True, True] Translation: X:-50.77, Y:17.24, Z:2.18 [[ 9.95820800e-01 -8.60476368e-02 -3.06061938e-02 -5.07745511e+01] [ 8.59614888e-02 9.96289934e-01 -4.12190503e-03 1.72426798e+01] [ 3.08473230e-02 1.47372478e-03 9.99523022e-01 2.17560437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02911593299999 meters 0.014762903272926049 Centerline is valid? [True, True] Translation: X:-50.81, Y:17.24, Z:2.20 [[ 9.95823884e-01 -8.53930228e-02 -3.22927660e-02 -5.08062716e+01] [ 8.52956798e-02 9.96346044e-01 -4.38256962e-03 1.72431623e+01] [ 3.25490105e-02 1.60983408e-03 9.99468844e-01 2.19507326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05911593299999 meters 0.014528039823599848 Centerline is valid? [True, True] Translation: X:-50.84, Y:17.23, Z:2.16 [[ 9.96367985e-01 -7.77210286e-02 -3.47890856e-02 -5.08362079e+01] [ 7.76038848e-02 9.96973160e-01 -4.70702409e-03 1.72304642e+01] [ 3.50496194e-02 1.99015992e-03 9.99383592e-01 2.16477039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08911593299999 meters 0.014684933113717167 Centerline is valid? [True, True] Translation: X:-50.87, Y:17.23, Z:2.18 [[ 9.95766246e-01 -8.59504764e-02 -3.25898690e-02 -5.08669281e+01] [ 8.58520194e-02 9.96298135e-01 -4.41107220e-03 1.72321074e+01] [ 3.28483595e-02 1.59449074e-03 9.99459075e-01 2.17515449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11911593299999 meters 0.01475907410878693 Centerline is valid? [True, True] Translation: X:-50.90, Y:17.22, Z:2.17 [[ 9.95882008e-01 -8.41548747e-02 -3.37191880e-02 -5.08979527e+01] [ 8.40480318e-02 9.96451197e-01 -4.57611519e-03 1.72220957e+01] [ 3.39846276e-02 1.72323939e-03 9.99420870e-01 2.16806918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14911593299999 meters 0.01475907410878693 Centerline is valid? [True, True] Translation: X:-50.93, Y:17.22, Z:2.17 [[ 9.95821636e-01 -8.48682219e-02 -3.37143051e-02 -5.09296646e+01] [ 8.47605741e-02 9.96390674e-01 -4.61202754e-03 1.72177372e+01] [ 3.39840337e-02 1.73511296e-03 9.99420870e-01 2.16885212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17911593299999 meters 0.01443267876342957 Centerline is valid? [True, True] Translation: X:-50.96, Y:17.21, Z:2.15 [[ 9.95936344e-01 -8.30105604e-02 -3.49291408e-02 -5.09619931e+01] [ 8.28940234e-02 9.96546933e-01 -4.77391741e-03 1.72124243e+01] [ 3.52048137e-02 1.85910084e-03 9.99378389e-01 2.15355733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.20911593299999 meters 0.014372717063230008 Centerline is valid? [True, True] Translation: X:-50.99, Y:17.22, Z:2.19 [[ 9.95734023e-01 -8.52548372e-02 -3.52897856e-02 -5.09934181e+01] [ 8.51360893e-02 9.96357495e-01 -4.85679801e-03 1.72172825e+01] [ 3.55753079e-02 1.83164468e-03 9.99365320e-01 2.19410677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.239115933 meters 0.013742306734066853 Centerline is valid? [True, True] Translation: X:-51.02, Y:17.21, Z:2.18 [[ 9.95277497e-01 -9.05483445e-02 -3.49814361e-02 -5.10242619e+01] [ 9.04342129e-02 9.95890697e-01 -4.83447462e-03 1.72102386e+01] [ 3.52754404e-02 1.64812517e-03 9.99376269e-01 2.17887834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.269115933 meters 0.01329096624724189 Centerline is valid? [True, True] Translation: X:-51.06, Y:17.21, Z:2.18 [[ 9.94867958e-01 -9.56785914e-02 -3.29143217e-02 -5.10553346e+01] [ 9.55806331e-02 9.95411336e-01 -4.54043123e-03 1.72056877e+01] [ 3.31977110e-02 1.37115784e-03 9.99447864e-01 2.18389150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.299115933 meters 0.013509784093008242 Centerline is valid? [True, True] Translation: X:-51.09, Y:17.20, Z:2.19 [[ 9.94514796e-01 -9.94977125e-02 -3.22571939e-02 -5.10861423e+01] [ 9.94045854e-02 9.95037005e-01 -4.48194269e-03 1.72007897e+01] [ 3.25430447e-02 1.25084533e-03 9.99469552e-01 2.18521788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.329115933 meters 0.014559452329136933 Centerline is valid? [True, True] Translation: X:-51.12, Y:17.20, Z:2.19 [[ 9.94901140e-01 -9.47463315e-02 -3.45666607e-02 -5.11176949e+01] [ 9.46367819e-02 9.95500318e-01 -4.79539847e-03 1.71980829e+01] [ 3.48654681e-02 1.49966987e-03 9.99390890e-01 2.18672462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.359115933 meters 0.014357304684047558 Centerline is valid? [True, True] Translation: X:-51.15, Y:17.19, Z:2.17 [[ 9.94898560e-01 -9.39271874e-02 -3.68040492e-02 -5.11484544e+01] [ 9.38010665e-02 9.95577679e-01 -5.14251090e-03 1.71892387e+01] [ 3.71243115e-02 1.66401762e-03 9.99309270e-01 2.17357948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38911593299999 meters 0.014961037276023978 Centerline is valid? [True, True] Translation: X:-51.18, Y:17.19, Z:2.19 [[ 9.94668651e-01 -9.68995442e-02 -3.52810609e-02 -5.11800516e+01] [ 9.67856624e-02 9.95293059e-01 -4.92557683e-03 1.71885651e+01] [ 3.55922812e-02 1.48461601e-03 9.99365291e-01 2.19178973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41911593299999 meters 0.014487990133755766 Centerline is valid? [True, True] Translation: X:-51.21, Y:17.19, Z:2.21 [[ 9.94563930e-01 -9.87626558e-02 -3.29928290e-02 -5.12109138e+01] [ 9.86630364e-02 9.95110092e-01 -4.63792683e-03 1.71878434e+01] [ 3.32895511e-02 1.35754204e-03 9.99444827e-01 2.21075038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44911593299999 meters 0.014351052701887742 Centerline is valid? [True, True] Translation: X:-51.24, Y:17.18, Z:2.21 [[ 9.94116129e-01 -1.03543326e-01 -3.18104061e-02 -5.12428359e+01] [ 1.03453296e-01 9.94624279e-01 -4.46759084e-03 1.71844899e+01] [ 3.21019915e-02 1.15041276e-03 9.99483936e-01 2.21230089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47911593299999 meters 0.014685226055064733 Centerline is valid? [True, True] Translation: X:-51.27, Y:17.18, Z:2.21 [[ 9.93943720e-01 -1.05060091e-01 -3.22220375e-02 -5.12749893e+01] [ 1.04967234e-01 9.94465205e-01 -4.56462569e-03 1.71775963e+01] [ 3.25232551e-02 1.15472289e-03 9.99470312e-01 2.20718098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.50911593299999 meters 0.014328999028966437 Centerline is valid? [True, True] Translation: X:-51.31, Y:17.18, Z:2.23 [[ 9.93854117e-01 -1.06008272e-01 -3.18785164e-02 -5.13069749e+01] [ 1.05917269e-01 9.94364605e-01 -4.53470507e-03 1.71817692e+01] [ 3.21795846e-02 1.13034992e-03 9.99481464e-01 2.23313445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53911593299999 meters 0.014776535868244137 Centerline is valid? [True, True] Translation: X:-51.34, Y:17.17, Z:2.22 [[ 9.93468551e-01 -1.08945349e-01 -3.39285802e-02 -5.13380200e+01] [ 1.08843213e-01 9.94047105e-01 -4.84839972e-03 1.71711973e+01] [ 3.42548175e-02 1.12383695e-03 9.99412500e-01 2.22279844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.56911593299999 meters 0.013972967911224246 Centerline is valid? [True, True] Translation: X:-51.37, Y:17.16, Z:2.19 [[ 9.93378608e-01 -1.09796867e-01 -3.38170000e-02 -5.13688801e+01] [ 1.09694923e-01 9.93953417e-01 -4.86090482e-03 1.71552777e+01] [ 3.41462348e-02 1.11916566e-03 9.99416221e-01 2.18796331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.599115933 meters 0.014380597963282546 Centerline is valid? [True, True] Translation: X:-51.40, Y:17.16, Z:2.23 [[ 9.92915603e-01 -1.14324696e-01 -3.23800852e-02 -5.14013579e+01] [ 1.14233862e-01 9.93443016e-01 -4.64751011e-03 1.71631624e+01] [ 3.26990946e-02 9.15683130e-04 9.99464822e-01 2.22981402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.629115933 meters 0.015025960260758624 Centerline is valid? [True, True] Translation: X:-51.43, Y:17.15, Z:2.21 [[ 9.92792847e-01 -1.15342052e-01 -3.25357461e-02 -5.14330456e+01] [ 1.15249591e-01 9.93325402e-01 -4.70927567e-03 1.71511376e+01] [ 3.28617606e-02 9.25603751e-04 9.99459478e-01 2.20679547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.659115933 meters 0.014887013732126383 Centerline is valid? [True, True] Translation: X:-51.46, Y:17.15, Z:2.21 [[ 9.92068918e-01 -1.21562580e-01 -3.19656326e-02 -5.14645705e+01] [ 1.21475913e-01 9.92583503e-01 -4.64668267e-03 1.71515716e+01] [ 3.22934223e-02 7.26775049e-04 9.99478167e-01 2.21487406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.689115933 meters 0.014778348760797326 Centerline is valid? [True, True] Translation: X:-51.50, Y:17.14, Z:2.19 [[ 9.92543812e-01 -1.18344803e-01 -2.91768521e-02 -5.14951413e+01] [ 1.18270580e-01 9.92972255e-01 -4.26275124e-03 1.71369213e+01] [ 2.94762791e-02 7.80204148e-04 9.99565176e-01 2.19377409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.719115933 meters 0.014843941961564836 Centerline is valid? [True, True] Translation: X:-51.53, Y:17.14, Z:2.22 [[ 9.92398556e-01 -1.19954741e-01 -2.74948311e-02 -5.15264255e+01] [ 1.19888914e-01 9.92779108e-01 -4.03621665e-03 1.71353815e+01] [ 2.77804573e-02 7.09210121e-04 9.99613797e-01 2.21724062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74911593299998 meters 0.014902423786764592 Centerline is valid? [True, True] Translation: X:-51.56, Y:17.13, Z:2.22 [[ 9.91458478e-01 -1.27622719e-01 -2.68798893e-02 -5.15579818e+01] [ 1.27562087e-01 9.91822660e-01 -3.96549226e-03 1.71318054e+01] [ 2.71661702e-02 5.02766157e-04 9.99630805e-01 2.22392955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77911593299999 meters 0.014919715710140112 Centerline is valid? [True, True] Translation: X:-51.59, Y:17.11, Z:2.18 [[ 9.91420601e-01 -1.27500656e-01 -2.87884386e-02 -5.15884057e+01] [ 1.27430535e-01 9.91838328e-01 -4.26493087e-03 1.71138699e+01] [ 2.90972583e-02 5.59814197e-04 9.99576428e-01 2.18070509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80911593299999 meters 0.016654703348555077 Centerline is valid? [True, True] Translation: X:-51.62, Y:17.10, Z:2.13 [[ 9.89670982e-01 -1.41076382e-01 -2.54715802e-02 -5.16185837e+01] [ 1.41025533e-01 9.89998702e-01 -3.79074992e-03 1.70963780e+01] [ 2.57516166e-02 1.59452018e-04 9.99668359e-01 2.13472282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83911593299999 meters 0.01573071815206942 Centerline is valid? [True, True] Translation: X:-51.65, Y:17.08, Z:2.10 [[ 9.89370062e-01 -1.43090212e-01 -2.59243533e-02 -5.16494893e+01] [ 1.43037598e-01 9.89709641e-01 -3.88225827e-03 1.70799091e+01] [ 2.62130955e-02 1.32832892e-04 9.99656369e-01 2.10167665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86911593299999 meters 0.01666008872328015 Centerline is valid? [True, True] Translation: X:-51.68, Y:17.08, Z:2.09 [[ 9.89840046e-01 -1.40275387e-01 -2.32271291e-02 -5.16814975e+01] [ 1.40232023e-01 9.90112507e-01 -3.49344811e-03 1.70769297e+01] [ 2.34875158e-02 2.00767542e-04 9.99724110e-01 2.08726699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89911593299999 meters 0.01647414493401555 Centerline is valid? [True, True] Translation: X:-51.71, Y:17.07, Z:2.09 [[ 9.90997332e-01 -1.31673976e-01 -2.42126339e-02 -5.17121299e+01] [ 1.31623909e-01 9.91292980e-01 -3.65702492e-03 1.70691062e+01] [ 2.44833490e-02 4.37140434e-04 9.99700142e-01 2.08526121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.92911593299999 meters 0.017421570615862688 Centerline is valid? [True, True] Translation: X:-51.74, Y:17.07, Z:2.09 [[ 9.91718500e-01 -1.25888409e-01 -2.54268489e-02 -5.17437768e+01] [ 1.25830883e-01 9.92044212e-01 -3.85627849e-03 1.70663825e+01] [ 2.57100190e-02 6.24859887e-04 9.99669248e-01 2.09115965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95911593299999 meters 0.017402772606956992 Centerline is valid? [True, True] Translation: X:-51.77, Y:17.05, Z:2.04 [[ 9.92850725e-01 -1.15754559e-01 -2.91259340e-02 -5.17738246e+01] [ 1.15675174e-01 9.93277343e-01 -4.40158596e-03 1.70492289e+01] [ 2.94396340e-02 1.00097032e-03 9.99566059e-01 2.04440062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.989115933 meters 0.017072280988310443 Centerline is valid? [True, True] Translation: X:-51.80, Y:17.05, Z:2.04 [[ 9.93441610e-01 -1.10285776e-01 -3.01796996e-02 -5.18049088e+01] [ 1.10197820e-01 9.93899180e-01 -4.56740879e-03 1.70466178e+01] [ 3.04992989e-02 1.21171684e-03 9.99534054e-01 2.04149732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.019115933 meters 0.017496852199284964 Centerline is valid? [True, True] Translation: X:-51.84, Y:17.05, Z:2.03 [[ 9.94894589e-01 -9.47499810e-02 -3.47447592e-02 -5.18362522e+01] [ 9.46240616e-02 9.95499210e-01 -5.25444376e-03 1.70474474e+01] [ 3.50862388e-02 1.93992743e-03 9.99382406e-01 2.02997481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.049115933 meters 0.018504204096441667 Centerline is valid? [True, True] Translation: X:-51.87, Y:17.04, Z:2.03 [[ 9.96462297e-01 -7.52085587e-02 -3.75041666e-02 -5.18665958e+01] [ 7.50480026e-02 9.97163787e-01 -5.67259982e-03 1.70438005e+01] [ 3.78244248e-02 2.83791905e-03 9.99280371e-01 2.02617928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.079115933 meters 0.017967697573497376 Centerline is valid? [True, True] Translation: X:-51.90, Y:17.04, Z:2.01 [[ 9.96187050e-01 -7.97362540e-02 -3.54046885e-02 -5.18978108e+01] [ 7.95958397e-02 9.96812806e-01 -5.36014946e-03 1.70383567e+01] [ 3.57192452e-02 2.52164557e-03 9.99358683e-01 2.01430397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.109115933 meters 0.01782742223662394 Centerline is valid? [True, True] Translation: X:-51.93, Y:17.04, Z:2.01 [[ 9.97137061e-01 -6.51778790e-02 -3.83343971e-02 -5.19284110e+01] [ 6.50026056e-02 9.97868225e-01 -5.80229034e-03 1.70361166e+01] [ 3.86308578e-02 3.29384304e-03 9.99248121e-01 2.01309410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13911593299999 meters 0.01814295905058124 Centerline is valid? [True, True] Translation: X:-51.96, Y:17.02, Z:1.96 [[ 9.97644461e-01 -5.15582485e-02 -4.52468434e-02 -5.19578784e+01] [ 5.13000375e-02 9.98659792e-01 -6.85023561e-03 1.70186095e+01] [ 4.55393894e-02 4.51293485e-03 9.98952350e-01 1.96449783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16911593299999 meters 0.01895419708884689 Centerline is valid? [True, True] Translation: X:-51.99, Y:17.02, Z:1.98 [[ 9.97453445e-01 -5.58225964e-02 -4.43899000e-02 -5.19891129e+01] [ 5.55784722e-02 9.98431736e-01 -6.71579174e-03 1.70244529e+01] [ 4.46951779e-02 4.23156678e-03 9.98991709e-01 1.98010550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19911593299999 meters 0.01879967742893075 Centerline is valid? [True, True] Translation: X:-52.02, Y:17.01, Z:1.94 [[ 9.97785872e-01 -4.84538322e-02 -4.55585248e-02 -5.20180832e+01] [ 4.81890248e-02 9.98814446e-01 -6.89353678e-03 1.70070072e+01] [ 4.58385310e-02 4.68285273e-03 9.98937886e-01 1.93763766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22911593299999 meters 0.018570567075082315 Centerline is valid? [True, True] Translation: X:-52.05, Y:17.00, Z:1.92 [[ 9.97786149e-01 -4.85685037e-02 -4.54301867e-02 -5.20467900e+01] [ 4.83072947e-02 9.98809165e-01 -6.83063681e-03 1.69957005e+01] [ 4.57078406e-02 4.62090538e-03 9.98944163e-01 1.92018642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25911593299999 meters 0.017988485673398995 Centerline is valid? [True, True] Translation: X:-52.07, Y:16.99, Z:1.89 [[ 9.98028696e-01 -4.70216861e-02 -4.15653991e-02 -5.20749253e+01] [ 4.68016600e-02 9.98884641e-01 -6.25136160e-03 1.69853349e+01] [ 4.18129883e-02 4.29370859e-03 9.99116229e-01 1.89440637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.28911593299999 meters 0.01813059586051666 Centerline is valid? [True, True] Translation: X:-52.10, Y:16.98, Z:1.88 [[ 9.98164244e-01 -4.37535343e-02 -4.18780494e-02 -5.21049716e+01] [ 4.35271530e-02 9.99032363e-01 -6.30280108e-03 1.69813829e+01] [ 4.21132965e-02 4.46839841e-03 9.99102849e-01 1.87952586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31911593299999 meters 0.01771568183143194 Centerline is valid? [True, True] Translation: X:-52.13, Y:16.99, Z:1.91 [[ 9.98273591e-01 -4.33757764e-02 -3.96027619e-02 -5.21346876e+01] [ 4.31736228e-02 9.99049890e-01 -5.94597960e-03 1.69914280e+01] [ 3.98230464e-02 4.22591971e-03 9.99197812e-01 1.90807597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.349115933 meters 0.01723803383977067 Centerline is valid? [True, True] Translation: X:-52.16, Y:16.98, Z:1.87 [[ 9.98510836e-01 -3.50213024e-02 -4.18284441e-02 -5.21645507e+01] [ 3.47882734e-02 9.99374934e-01 -6.28624238e-03 1.69789605e+01] [ 4.20224510e-02 4.82174178e-03 9.99105032e-01 1.86881833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.379115933 meters 0.01973655519358324 Centerline is valid? [True, True] Translation: X:-52.19, Y:16.96, Z:1.81 [[ 9.98671882e-01 -2.86557334e-02 -4.28172919e-02 -5.21935564e+01] [ 2.84058561e-02 9.99575771e-01 -6.43307912e-03 1.69560943e+01] [ 4.29834722e-02 5.20827340e-03 9.99062208e-01 1.81113771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.409115933 meters 0.017885875268501075 Centerline is valid? [True, True] Translation: X:-52.22, Y:16.96, Z:1.81 [[ 9.98769204e-01 -2.96880546e-02 -3.97328096e-02 -5.22235857e+01] [ 2.94739213e-02 9.99547755e-01 -5.96442529e-03 1.69553590e+01] [ 3.98919128e-02 4.78600259e-03 9.99192539e-01 1.80883505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.439115933 meters 0.017191587569828717 Centerline is valid? [True, True] Translation: X:-52.25, Y:16.96, Z:1.83 [[ 9.98963581e-01 -2.20579678e-02 -3.98147003e-02 -5.22545432e+01] [ 2.18370790e-02 9.99743692e-01 -5.97436348e-03 1.69637822e+01] [ 3.99362778e-02 5.09873478e-03 9.99189220e-01 1.82620282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.469115933 meters 0.017705709459172398 Centerline is valid? [True, True] Translation: X:-52.29, Y:16.97, Z:1.85 [[ 9.99092731e-01 -1.26231401e-02 -4.06739565e-02 -5.22866089e+01] [ 1.23850014e-02 9.99904687e-01 -6.10149648e-03 1.69749223e+01] [ 4.07470998e-02 5.59221378e-03 9.99153843e-01 1.85108817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49911593299998 meters 0.01684448113152821 Centerline is valid? [True, True] Translation: X:-52.31, Y:16.95, Z:1.79 [[ 9.99093354e-01 -1.93052313e-02 -3.79444042e-02 -5.23145555e+01] [ 1.91027804e-02 9.99801329e-01 -5.69082734e-03 1.69509026e+01] [ 3.80467285e-02 4.96082416e-03 9.99263647e-01 1.78857500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52911593299999 meters 0.017020727670391686 Centerline is valid? [True, True] Translation: X:-52.35, Y:16.97, Z:1.85 [[ 9.99140428e-01 -2.15186875e-02 -3.54309338e-02 -5.23465302e+01] [ 2.13435215e-02 9.99758075e-01 -5.31474286e-03 1.69686991e+01] [ 3.55367284e-02 4.55395356e-03 9.99357995e-01 1.85041681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55911593299999 meters 0.01668260454672169 Centerline is valid? [True, True] Translation: X:-52.38, Y:16.95, Z:1.81 [[ 9.99181587e-01 -2.28595778e-02 -3.33705734e-02 -5.23754193e+01] [ 2.27051098e-02 9.99729700e-01 -5.00054962e-03 1.69531012e+01] [ 3.34758637e-02 4.23877457e-03 9.99430538e-01 1.80588023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58911593299999 meters 0.018106213346066966 Centerline is valid? [True, True] Translation: X:-52.41, Y:16.97, Z:1.84 [[ 9.99275772e-01 -1.93120406e-02 -3.27868252e-02 -5.24066957e+01] [ 1.91611926e-02 9.99804357e-01 -4.90888403e-03 1.69657028e+01] [ 3.28752112e-02 4.27709421e-03 9.99450312e-01 1.84083934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61911593299999 meters 0.018360832930881914 Centerline is valid? [True, True] Translation: X:-52.44, Y:16.97, Z:1.85 [[ 9.99295404e-01 -1.52150531e-02 -3.43103241e-02 -5.24375681e+01] [ 1.50474068e-02 9.99873574e-01 -5.13912662e-03 1.69674461e+01] [ 3.43841784e-02 4.61922420e-03 9.99398014e-01 1.84696894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.64911593299999 meters 0.01635590331433289 Centerline is valid? [True, True] Translation: X:-52.47, Y:16.95, Z:1.82 [[ 9.99231796e-01 -2.57695327e-02 -2.95254083e-02 -5.24658002e+01] [ 2.56499822e-02 9.99661210e-01 -4.42075203e-03 1.69524209e+01] [ 2.96293261e-02 3.66002979e-03 9.99554254e-01 1.82229869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67911593299999 meters 0.016745963813640654 Centerline is valid? [True, True] Translation: X:-52.49, Y:16.95, Z:1.81 [[ 9.99276257e-01 -2.52076185e-02 -2.84875213e-02 -5.24940525e+01] [ 2.50965883e-02 9.99676004e-01 -4.24840289e-03 1.69455533e+01] [ 2.85853836e-02 3.53038854e-03 9.99585120e-01 1.80673121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.70911593299999 meters 0.01682312845697477 Centerline is valid? [True, True] Translation: X:-52.52, Y:16.95, Z:1.82 [[ 9.99064808e-01 -3.58118809e-02 -2.42284762e-02 -5.25247817e+01] [ 3.57344810e-02 9.99354762e-01 -3.62017552e-03 1.69462980e+01] [ 2.43424883e-02 2.75099794e-03 9.99699893e-01 1.81817619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.739115933 meters 0.016191473041299937 Centerline is valid? [True, True] Translation: X:-52.56, Y:16.96, Z:1.86 [[ 9.98972191e-01 -4.10094642e-02 -1.93076301e-02 -5.25570365e+01] [ 4.09613077e-02 9.99156573e-01 -2.88323794e-03 1.69643319e+01] [ 1.94095856e-02 2.08940875e-03 9.99809433e-01 1.85844324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.769115933 meters 0.015682828611957744 Centerline is valid? [True, True] Translation: X:-52.59, Y:16.95, Z:1.84 [[ 9.98591138e-01 -5.10789648e-02 -1.43763013e-02 -5.25851482e+01] [ 5.10533117e-02 9.98693624e-01 -2.14601999e-03 1.69488257e+01] [ 1.44671370e-02 1.40903875e-03 9.99894353e-01 1.83601218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.799115933 meters 0.015004296490600378 Centerline is valid? [True, True] Translation: X:-52.62, Y:16.94, Z:1.82 [[ 9.97856656e-01 -6.47730960e-02 -9.30265198e-03 -5.26154388e+01] [ 6.47629345e-02 9.97899710e-01 -1.38976213e-03 1.69431138e+01] [ 9.37313290e-03 7.84316353e-04 9.99955764e-01 1.82211169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.829115933 meters 0.014558345055125132 Centerline is valid? [True, True] Translation: X:-52.65, Y:16.97, Z:1.90 [[ 9.97639554e-01 -6.82463359e-02 -7.59981209e-03 -5.26483304e+01] [ 6.82396454e-02 9.97668311e-01 -1.13651412e-03 1.69663779e+01] [ 7.65965462e-03 6.15222960e-04 9.99970475e-01 1.90033660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.859115933 meters 0.01447531017460684 Centerline is valid? [True, True] Translation: X:-52.68, Y:16.95, Z:1.83 [[ 9.97169124e-01 -7.50250775e-02 -4.99766862e-03 -5.26768637e+01] [ 7.50222747e-02 9.97181579e-01 -7.46205852e-04 1.69456709e+01] [ 5.03956724e-03 3.69156968e-04 9.99987233e-01 1.83020009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88911593299999 meters 0.014229301429112034 Centerline is valid? [True, True] Translation: X:-52.71, Y:16.95, Z:1.87 [[ 9.96483158e-01 -8.37216125e-02 -3.46530066e-03 -5.27084408e+01] [ 8.37203133e-02 9.96489157e-01 -5.18547726e-04 1.69531202e+01] [ 3.49654818e-03 2.26608019e-04 9.99993861e-01 1.87100157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91911593299999 meters 0.013918938400217018 Centerline is valid? [True, True] Translation: X:-52.74, Y:16.95, Z:1.87 [[ 9.95937322e-01 -9.00286051e-02 -1.92395352e-03 -5.27397701e+01] [ 9.00282124e-02 9.95939173e-01 -2.89890228e-04 1.69522639e+01] [ 1.94223909e-03 1.15502400e-04 9.99998107e-01 1.87183815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94911593299999 meters 0.014382633583871107 Centerline is valid? [True, True] Translation: X:-52.77, Y:16.95, Z:1.88 [[ 9.95675118e-01 -9.28702121e-02 -2.48654371e-03 -5.27717155e+01] [ 9.28695281e-02 9.95678211e-01 -3.89397472e-04 1.69526047e+01] [ 2.51196082e-03 1.56789233e-04 9.99996833e-01 1.87684536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97911593299999 meters 0.01400744749784295 Centerline is valid? [True, True] Translation: X:-52.80, Y:16.97, Z:1.93 [[ 9.95252938e-01 -9.73208896e-02 4.82618139e-04 -5.28044419e+01] [ 9.73208670e-02 9.95253055e-01 7.01965298e-05 1.69689008e+01] [-4.87158766e-04 -2.28944869e-05 9.99999881e-01 1.92590310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.00911593299999 meters 0.015126459557774401 Centerline is valid? [True, True] Translation: X:-52.84, Y:16.97, Z:1.92 [[ 9.95822076e-01 -9.12160018e-02 -4.24660393e-03 -5.28352700e+01] [ 9.12141019e-02 9.95831100e-01 -6.39342644e-04 1.69658612e+01] [ 4.28721854e-03 2.49321356e-04 9.99990779e-01 1.92092384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03911593299999 meters 0.015126459557774401 Centerline is valid? [True, True] Translation: X:-52.87, Y:16.96, Z:1.92 [[ 9.95756601e-01 -9.19281376e-02 -4.24370479e-03 -5.28669073e+01] [ 9.19261625e-02 9.95765608e-01 -6.58580631e-04 1.69610536e+01] [ 4.28627737e-03 2.65678515e-04 9.99990779e-01 1.92170278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.06911593299999 meters 0.014640646476192886 Centerline is valid? [True, True] Translation: X:-52.90, Y:16.96, Z:1.93 [[ 9.95841035e-01 -9.10646223e-02 -2.80505200e-03 -5.28973994e+01] [ 9.10637429e-02 9.95844968e-01 -4.39916945e-04 1.69608301e+01] [ 2.83345779e-03 1.82648812e-04 9.99995969e-01 1.93121786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.099115933 meters 0.014820288886222515 Centerline is valid? [True, True] Translation: X:-52.93, Y:16.95, Z:1.93 [[ 9.94918067e-01 -1.00639922e-01 -3.10578634e-03 -5.29281799e+01] [ 1.00638933e-01 9.94922902e-01 -4.73590680e-04 1.69547396e+01] [ 3.13768008e-03 1.58620901e-04 9.99995065e-01 1.92929031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.129115933 meters 0.014895737467586557 Centerline is valid? [True, True] Translation: X:-52.96, Y:16.95, Z:1.93 [[ 9.96089371e-01 -8.82268229e-02 -4.68959184e-03 -5.29584522e+01] [ 8.82244386e-02 9.96100366e-01 -7.13290634e-04 1.69514164e+01] [ 4.73423551e-03 2.96764613e-04 9.99988749e-01 1.92501171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.159115933 meters 0.014771733443206824 Centerline is valid? [True, True] Translation: X:-52.99, Y:16.95, Z:1.93 [[ 9.95604669e-01 -9.34785462e-02 -5.75357785e-03 -5.29893523e+01] [ 9.34749476e-02 9.95621233e-01 -8.91800196e-04 1.69472916e+01] [ 5.81174846e-03 3.50065052e-04 9.99983050e-01 1.92893517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.189115933 meters 0.014710537517086517 Centerline is valid? [True, True] Translation: X:-53.02, Y:16.94, Z:1.92 [[ 9.95711489e-01 -9.23295025e-02 -5.82179763e-03 -5.30215220e+01] [ 9.23258243e-02 9.95728445e-01 -8.97978814e-04 1.69428760e+01] [ 5.87983944e-03 3.56625556e-04 9.99982650e-01 1.92430940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.219115933 meters 0.014340299706813877 Centerline is valid? [True, True] Translation: X:-53.05, Y:16.93, Z:1.91 [[ 9.95929831e-01 -8.98687886e-02 -6.88271910e-03 -5.30526358e+01] [ 8.98635172e-02 9.95953513e-01 -1.07198327e-03 1.69344608e+01] [ 6.95120610e-03 4.49114772e-04 9.99975739e-01 1.91038305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24911593299998 meters 0.014700826153400046 Centerline is valid? [True, True] Translation: X:-53.08, Y:16.94, Z:1.93 [[ 9.95984151e-01 -8.91703346e-02 -8.01388817e-03 -5.30839886e+01] [ 8.91631454e-02 9.96016250e-01 -1.25065696e-03 1.69350550e+01] [ 8.09348434e-03 5.31091030e-04 9.99967106e-01 1.92587540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27911593299999 meters 0.014613303564157585 Centerline is valid? [True, True] Translation: X:-53.11, Y:16.93, Z:1.92 [[ 9.95628836e-01 -9.28608542e-02 -1.00041396e-02 -5.31148732e+01] [ 9.28498064e-02 9.95678897e-01 -1.56418596e-03 1.69265108e+01] [ 1.01061623e-02 6.28466222e-04 9.99948734e-01 1.91519437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30911593299999 meters 0.014228841244049082 Centerline is valid? [True, True] Translation: X:-53.15, Y:16.91, Z:1.89 [[ 9.95394766e-01 -9.53672044e-02 -9.71373038e-03 -5.31452149e+01] [ 9.53568392e-02 9.95441985e-01 -1.52573757e-03 1.69121354e+01] [ 9.81496037e-03 5.92440565e-04 9.99951657e-01 1.89368348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33911593299999 meters 0.013708215757241023 Centerline is valid? [True, True] Translation: X:-53.18, Y:16.92, Z:1.93 [[ 9.94855234e-01 -1.01014651e-01 -7.68787638e-03 -5.31776119e+01] [ 1.01008413e-01 9.94884852e-01 -1.19640445e-03 1.69246608e+01] [ 7.76940614e-03 4.13709037e-04 9.99969732e-01 1.93205279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.36911593299999 meters 0.014272216320658343 Centerline is valid? [True, True] Translation: X:-53.21, Y:16.92, Z:1.93 [[ 9.95062328e-01 -9.88618960e-02 -8.79146381e-03 -5.32090367e+01] [ 9.88534732e-02 9.95101031e-01 -1.38856562e-03 1.69193413e+01] [ 8.88567093e-03 5.12642602e-04 9.99960390e-01 1.92911119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39911593299999 meters 0.013796163296427742 Centerline is valid? [True, True] Translation: X:-53.24, Y:16.90, Z:1.89 [[ 9.94562294e-01 -1.03709889e-01 -9.49223535e-03 -5.32393539e+01] [ 1.03700394e-01 9.94607467e-01 -1.48848505e-03 1.69007677e+01] [ 9.59541878e-03 4.96042560e-04 9.99953840e-01 1.89314811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.42911593299999 meters 0.01371732713248444 Centerline is valid? [True, True] Translation: X:-53.27, Y:16.89, Z:1.90 [[ 9.95354981e-01 -9.53419510e-02 -1.33557156e-02 -5.32698181e+01] [ 9.53224536e-02 9.95444253e-01 -2.09035759e-03 1.68943795e+01] [ 1.34941691e-02 8.07548265e-04 9.99908623e-01 1.89686210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45911593299999 meters 0.01456761798761651 Centerline is valid? [True, True] Translation: X:-53.30, Y:16.90, Z:1.91 [[ 9.94997976e-01 -9.91072176e-02 -1.25214865e-02 -5.33025103e+01] [ 9.90903072e-02 9.95076504e-01 -1.96530524e-03 1.68979243e+01] [ 1.26546130e-02 7.14716789e-04 9.99919672e-01 1.90695366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.489115933 meters 0.014660432573385868 Centerline is valid? [True, True] Translation: X:-53.34, Y:16.90, Z:1.94 [[ 9.94931617e-01 -9.97904043e-02 -1.23674099e-02 -5.33350745e+01] [ 9.97736677e-02 9.95008219e-01 -1.96451207e-03 1.69026638e+01] [ 1.25017140e-02 7.20613319e-04 9.99921591e-01 1.94288102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.519115933 meters 0.01436346799023191 Centerline is valid? [True, True] Translation: X:-53.37, Y:16.90, Z:1.95 [[ 9.95441872e-01 -9.37980137e-02 -1.72456383e-02 -5.33655713e+01] [ 9.37649858e-02 9.95590655e-01 -2.71564136e-03 1.69002469e+01] [ 1.74243181e-02 1.08622609e-03 9.99847595e-01 1.94570076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.549115933 meters 0.014745503481230276 Centerline is valid? [True, True] Translation: X:-53.40, Y:16.89, Z:1.93 [[ 9.94902863e-01 -9.97105866e-02 -1.50363383e-02 -5.33953022e+01] [ 9.96861389e-02 9.95016112e-01 -2.36860439e-03 1.68887217e+01] [ 1.51975738e-02 8.57616782e-04 9.99884142e-01 1.93093629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.579115933 meters 0.014466618538441743 Centerline is valid? [True, True] Translation: X:-53.43, Y:16.88, Z:1.93 [[ 9.94299066e-01 -1.05391775e-01 -1.61846077e-02 -5.34269109e+01] [ 1.05364095e-01 9.94430427e-01 -2.55597697e-03 1.68836157e+01] [ 1.63638453e-02 8.36128980e-04 9.99865754e-01 1.93331888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60911593299998 meters 0.014604438822035685 Centerline is valid? [True, True] Translation: X:-53.46, Y:16.89, Z:1.95 [[ 9.93806595e-01 -1.09937281e-01 -1.61939986e-02 -5.34591381e+01] [ 1.09909801e-01 9.93938217e-01 -2.57997050e-03 1.68861344e+01] [ 1.63794691e-02 7.84112535e-04 9.99865540e-01 1.94589138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63911593299999 meters 0.014565436385780178 Centerline is valid? [True, True] Translation: X:-53.49, Y:16.89, Z:1.97 [[ 9.93921034e-01 -1.09017891e-01 -1.53648083e-02 -5.34906556e+01] [ 1.08992869e-01 9.94039490e-01 -2.45913399e-03 1.68890225e+01] [ 1.55413159e-02 7.69530459e-04 9.99878930e-01 1.96794346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66911593299999 meters 0.014888276937866736 Centerline is valid? [True, True] Translation: X:-53.52, Y:16.89, Z:1.99 [[ 9.93344467e-01 -1.14262054e-01 -1.45242388e-02 -5.35229194e+01] [ 1.14240371e-01 9.93450437e-01 -2.31664812e-03 1.68911852e+01] [ 1.46938163e-02 6.41975167e-04 9.99891834e-01 1.98544294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69911593299999 meters 0.015402486808443912 Centerline is valid? [True, True] Translation: X:-53.55, Y:16.90, Z:2.03 [[ 9.91425417e-01 -1.30043968e-01 -1.28144464e-02 -5.35547316e+01] [ 1.30028436e-01 9.91508164e-01 -2.04137748e-03 1.69012401e+01] [ 1.29710970e-02 3.57631095e-04 9.99915808e-01 2.02691032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72911593299999 meters 0.01459846526170332 Centerline is valid? [True, True] Translation: X:-53.58, Y:16.88, Z:1.99 [[ 9.90984505e-01 -1.33451413e-01 -1.18503588e-02 -5.35840827e+01] [ 1.33438092e-01 9.91055307e-01 -1.91135115e-03 1.68782210e+01] [ 1.19994335e-02 3.12830113e-04 9.99927955e-01 1.98736473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75911593299999 meters 0.014603104639219463 Centerline is valid? [True, True] Translation: X:-53.62, Y:16.87, Z:1.98 [[ 9.90815547e-01 -1.34631973e-01 -1.26009270e-02 -5.36155737e+01] [ 1.34616859e-01 9.90895617e-01 -2.04384872e-03 1.68690831e+01] [ 1.27613707e-02 3.28779865e-04 9.99918516e-01 1.97987402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.78911593299999 meters 0.014042308390147059 Centerline is valid? [True, True] Translation: X:-53.65, Y:16.85, Z:1.95 [[ 9.89233187e-01 -1.45860428e-01 -1.19346991e-02 -5.36458213e+01] [ 1.45847816e-01 9.89305165e-01 -1.92503751e-03 1.68519151e+01] [ 1.20878463e-02 1.63661186e-04 9.99926926e-01 1.95008922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81911593299999 meters 0.0136479408946344 Centerline is valid? [True, True] Translation: X:-53.68, Y:16.87, Z:2.01 [[ 9.88463682e-01 -1.51052083e-01 -1.10823534e-02 -5.36788251e+01] [ 1.51041307e-01 9.88525799e-01 -1.80774895e-03 1.68662361e+01] [ 1.12282565e-02 1.13001029e-04 9.99936955e-01 2.01038361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.849115933 meters 0.013560540406743442 Centerline is valid? [True, True] Translation: X:-53.71, Y:16.84, Z:1.95 [[ 9.87586672e-01 -1.56540431e-01 -1.29483070e-02 -5.37085339e+01] [ 1.56526111e-01 9.87671549e-01 -2.11836847e-03 1.68400758e+01] [ 1.31202847e-02 6.53243315e-05 9.99913923e-01 1.95037500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.879115933 meters 0.01367104240621037 Centerline is valid? [True, True] Translation: X:-53.74, Y:16.83, Z:1.95 [[ 9.86908422e-01 -1.60878064e-01 -1.14024353e-02 -5.37394899e+01] [ 1.60867134e-01 9.86974289e-01 -1.87540577e-03 1.68332890e+01] [ 1.15556222e-02 1.65766576e-05 9.99933231e-01 1.95155041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.909115933 meters 0.013345695732033331 Centerline is valid? [True, True] Translation: X:-53.77, Y:16.84, Z:2.00 [[ 9.84804386e-01 -1.73405853e-01 -9.52528538e-03 -5.37728167e+01] [ 1.73398682e-01 9.84850446e-01 -1.57989971e-03 1.68426356e+01] [ 9.65494541e-03 -9.57797615e-05 9.99953385e-01 2.00055795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.939115933 meters 0.013852681334060674 Centerline is valid? [True, True] Translation: X:-53.80, Y:16.83, Z:1.96 [[ 9.84939885e-01 -1.72434292e-01 -1.26427036e-02 -5.38035724e+01] [ 1.72421579e-01 9.85021016e-01 -2.09694349e-03 1.68272084e+01] [ 1.28149137e-02 -1.14511643e-04 9.99917879e-01 1.95849902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.969115933 meters 0.014013048730464998 Centerline is valid? [True, True] Translation: X:-53.84, Y:16.83, Z:1.99 [[ 9.84636749e-01 -1.74116723e-01 -1.31848518e-02 -5.38351332e+01] [ 1.74102928e-01 9.84725012e-01 -2.19574225e-03 1.68268570e+01] [ 1.33657688e-02 -1.33512807e-04 9.99910665e-01 1.98578228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99911593299998 meters 0.013028052272946854 Centerline is valid? [True, True] Translation: X:-53.87, Y:16.82, Z:1.97 [[ 9.82799511e-01 -1.84417530e-01 -9.76195073e-03 -5.38664559e+01] [ 1.84410362e-01 9.82847973e-01 -1.63722604e-03 1.68217572e+01] [ 9.89644667e-03 -1.91139916e-04 9.99951011e-01 1.96980408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02911593299999 meters 0.013951958772457439 Centerline is valid? [True, True] Translation: X:-53.90, Y:16.82, Z:1.97 [[ 9.83032941e-01 -1.82882867e-01 -1.41454607e-02 -5.38973674e+01] [ 1.82867623e-01 9.83134677e-01 -2.37471340e-03 1.68156832e+01] [ 1.43411873e-02 -2.52325280e-04 9.99897128e-01 1.96915952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05911593299999 meters 0.0135974001311873 Centerline is valid? [True, True] Translation: X:-53.93, Y:16.83, Z:2.01 [[ 9.82208278e-01 -1.87244138e-01 -1.43711971e-02 -5.39301378e+01] [ 1.87228725e-01 9.82313359e-01 -2.42250267e-03 1.68281610e+01] [ 1.45706183e-02 -3.11298734e-04 9.99893794e-01 2.00996679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08911593299999 meters 0.01379777789907943 Centerline is valid? [True, True] Translation: X:-53.96, Y:16.82, Z:2.00 [[ 9.82745326e-01 -1.84385775e-01 -1.46119635e-02 -5.39605159e+01] [ 1.84369378e-01 9.82853914e-01 -2.47306951e-03 1.68178710e+01] [ 1.48174243e-02 -2.63601111e-04 9.99890181e-01 1.99888505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11911593299999 meters 0.014005142880223607 Centerline is valid? [True, True] Translation: X:-53.99, Y:16.83, Z:2.04 [[ 9.81459205e-01 -1.91208096e-01 -1.33151550e-02 -5.39931044e+01] [ 1.91194954e-01 9.81549469e-01 -2.26489690e-03 1.68283980e+01] [ 1.35025499e-02 -3.22886533e-04 9.99908784e-01 2.03951328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.14911593299999 meters 0.013831516907257337 Centerline is valid? [True, True] Translation: X:-54.02, Y:16.83, Z:2.05 [[ 9.82800628e-01 -1.84083631e-01 -1.47017813e-02 -5.40247683e+01] [ 1.84066686e-01 9.82910555e-01 -2.50915229e-03 1.68298317e+01] [ 1.49124299e-02 -2.40111729e-04 9.99888775e-01 2.05134706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17911593299999 meters 0.013861876694807134 Centerline is valid? [True, True] Translation: X:-54.06, Y:16.82, Z:2.02 [[ 9.81365011e-01 -1.91652634e-01 -1.38557799e-02 -5.40555520e+01] [ 1.91638178e-01 9.81462767e-01 -2.37602729e-03 1.68159073e+01] [ 1.40543040e-02 -3.23546370e-04 9.99901181e-01 2.01957068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.20911593299999 meters 0.015340643781916503 Centerline is valid? [True, True] Translation: X:-54.09, Y:16.82, Z:2.03 [[ 9.82682070e-01 -1.84488703e-01 -1.73166933e-02 -5.40887584e+01] [ 1.84464801e-01 9.82834599e-01 -2.98137798e-03 1.68177813e+01] [ 1.75694759e-02 -2.64573706e-04 9.99845610e-01 2.03238413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.239115933 meters 0.014585522025247022 Centerline is valid? [True, True] Translation: X:-54.12, Y:16.81, Z:2.02 [[ 9.82940173e-01 -1.83202741e-01 -1.62902612e-02 -5.41191904e+01] [ 1.83181239e-01 9.83075129e-01 -2.81511362e-03 1.68075315e+01] [ 1.65302871e-02 -2.16981964e-04 9.99863342e-01 2.02317276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.269115933 meters 0.013498808219241099 Centerline is valid? [True, True] Translation: X:-54.15, Y:16.79, Z:1.99 [[ 9.82004938e-01 -1.88214539e-01 -1.55431665e-02 -5.41491928e+01] [ 1.88195399e-01 9.82127900e-01 -2.69819587e-03 1.67935812e+01] [ 1.57732172e-02 -2.75510764e-04 9.99875557e-01 1.99331256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.299115933 meters 0.0140853132450599 Centerline is valid? [True, True] Translation: X:-54.18, Y:16.82, Z:2.06 [[ 9.82048621e-01 -1.88129871e-01 -1.36987880e-02 -5.41837324e+01] [ 1.88114832e-01 9.82144133e-01 -2.38986048e-03 1.68185996e+01] [ 1.39037884e-02 -2.29986000e-04 9.99903311e-01 2.05640455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.329115933 meters 0.014038796691393744 Centerline is valid? [True, True] Translation: X:-54.22, Y:16.82, Z:2.07 [[ 9.82791371e-01 -1.84069630e-01 -1.54755298e-02 -5.42161407e+01] [ 1.84049729e-01 9.82913189e-01 -2.71280325e-03 1.68153773e+01] [ 1.57104471e-02 -1.82147438e-04 9.99876567e-01 2.07139714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35911593299998 meters 0.014408763516158404 Centerline is valid? [True, True] Translation: X:-54.25, Y:16.80, Z:2.03 [[ 9.82645284e-01 -1.84917666e-01 -1.46185586e-02 -5.42466000e+01] [ 1.84899865e-01 9.82754001e-01 -2.57176623e-03 1.67980306e+01] [ 1.48420120e-02 -1.75835563e-04 9.99889836e-01 2.02879271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38911593299999 meters 0.01346109910289946 Centerline is valid? [True, True] Translation: X:-54.28, Y:16.80, Z:2.05 [[ 9.82294435e-01 -1.86784827e-01 -1.44592848e-02 -5.42801242e+01] [ 1.86767401e-01 9.82400831e-01 -2.55828170e-03 1.68035008e+01] [ 1.46826616e-02 -1.87537161e-04 9.99892186e-01 2.05114031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41911593299999 meters 0.014443154897746243 Centerline is valid? [True, True] Translation: X:-54.31, Y:16.79, Z:2.03 [[ 9.83984508e-01 -1.77583123e-01 -1.54506750e-02 -5.43104941e+01] [ 1.77561981e-01 9.84105803e-01 -2.74054097e-03 1.67900546e+01] [ 1.56917728e-02 -4.68026142e-05 9.99876875e-01 2.02547983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44911593299999 meters 0.014378980439891663 Centerline is valid? [True, True] Translation: X:-54.34, Y:16.80, Z:2.06 [[ 9.84665772e-01 -1.73414216e-01 -1.89954569e-02 -5.43437411e+01] [ 1.73381298e-01 9.84848978e-01 -3.37888312e-03 1.68024027e+01] [ 1.92936027e-02 3.36135782e-05 9.99813861e-01 2.05932115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47911593299999 meters 0.013894272724171982 Centerline is valid? [True, True] Translation: X:-54.37, Y:16.80, Z:2.06 [[ 9.84579685e-01 -1.74027512e-01 -1.78120762e-02 -5.43748729e+01] [ 1.73998415e-01 9.84740790e-01 -3.18236000e-03 1.67965896e+01] [ 1.80940962e-02 3.40139773e-05 9.99836288e-01 2.05721416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.50911593299999 meters 0.014003874672769959 Centerline is valid? [True, True] Translation: X:-54.41, Y:16.80, Z:2.06 [[ 9.84486991e-01 -1.74317846e-01 -1.99663189e-02 -5.44073583e+01] [ 1.74281396e-01 9.84689437e-01 -3.56471833e-03 1.67950335e+01] [ 2.02820174e-02 2.96608854e-05 9.99794298e-01 2.06492564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53911593299999 meters 0.014582897322097195 Centerline is valid? [True, True] Translation: X:-54.44, Y:16.80, Z:2.07 [[ 9.84508073e-01 -1.74431175e-01 -1.78218887e-02 -5.44398852e+01] [ 1.74401759e-01 9.84669367e-01 -3.20364436e-03 1.67962020e+01] [ 1.81074833e-02 4.58449964e-05 9.99836045e-01 2.06960984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.56911593299999 meters 0.014735523735858383 Centerline is valid? [True, True] Translation: X:-54.47, Y:16.79, Z:2.07 [[ 9.84795062e-01 -1.72737148e-01 -1.84543525e-02 -5.44715043e+01] [ 1.72705073e-01 9.84967953e-01 -3.32995174e-03 1.67911680e+01] [ 1.87521522e-02 9.21597381e-05 9.99824159e-01 2.06763213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.599115933 meters 0.014795673763950615 Centerline is valid? [True, True] Translation: X:-54.50, Y:16.79, Z:2.08 [[ 9.85439314e-01 -1.68846415e-01 -2.00061558e-02 -5.45045123e+01] [ 1.68808071e-01 9.85642358e-01 -3.60234261e-03 1.67944194e+01] [ 2.03271572e-02 1.72689467e-04 9.99793367e-01 2.08247300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.629115933 meters 0.014364482733197976 Centerline is valid? [True, True] Translation: X:-54.54, Y:16.79, Z:2.08 [[ 9.85113691e-01 -1.70961875e-01 -1.79736604e-02 -5.45356726e+01] [ 1.70930832e-01 9.85277635e-01 -3.26085809e-03 1.67865280e+01] [ 1.82665280e-02 1.40063230e-04 9.99833143e-01 2.07912440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.659115933 meters 0.014461258436339747 Centerline is valid? [True, True] Translation: X:-54.57, Y:16.79, Z:2.10 [[ 9.85983041e-01 -1.65768668e-01 -1.89259705e-02 -5.45684419e+01] [ 1.65733046e-01 9.86164631e-01 -3.44633592e-03 1.67948153e+01] [ 1.92354172e-02 2.61370034e-04 9.99814948e-01 2.10363700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.689115933 meters 0.01446319972481001 Centerline is valid? [True, True] Translation: X:-54.60, Y:16.79, Z:2.11 [[ 9.86208584e-01 -1.64523087e-01 -1.80217348e-02 -5.46009504e+01] [ 1.64490258e-01 9.86373190e-01 -3.29920193e-03 1.67938184e+01] [ 1.83189509e-02 2.89301450e-04 9.99832152e-01 2.10913473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.719115933 meters 0.015584706902604415 Centerline is valid? [True, True] Translation: X:-54.63, Y:16.79, Z:2.10 [[ 9.87214322e-01 -1.58320333e-01 -1.85082118e-02 -5.46317347e+01] [ 1.58284434e-01 9.87387711e-01 -3.39804101e-03 1.67864384e+01] [ 1.88127598e-02 4.25032937e-04 9.99822934e-01 2.10298224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74911593299998 meters 0.015521912931621949 Centerline is valid? [True, True] Translation: X:-54.66, Y:16.79, Z:2.11 [[ 9.86464406e-01 -1.63042441e-01 -1.74682266e-02 -5.46642523e+01] [ 1.63010966e-01 9.86619001e-01 -3.22040794e-03 1.67885299e+01] [ 1.77595474e-02 3.29305306e-04 9.99842233e-01 2.11286000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77911593299999 meters 0.01486792949689446 Centerline is valid? [True, True] Translation: X:-54.70, Y:16.80, Z:2.16 [[ 9.88038557e-01 -1.52979642e-01 -1.94174682e-02 -5.46974499e+01] [ 1.52939087e-01 9.88229186e-01 -3.56544620e-03 1.68017685e+01] [ 1.97343495e-02 5.53108459e-04 9.99805106e-01 2.16156307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80911593299999 meters 0.014636317039734193 Centerline is valid? [True, True] Translation: X:-54.73, Y:16.79, Z:2.13 [[ 9.88188258e-01 -1.52170243e-01 -1.81158440e-02 -5.47291532e+01] [ 1.52134224e-01 9.88354137e-01 -3.35811999e-03 1.67897451e+01] [ 1.84158753e-02 5.62414874e-04 9.99830255e-01 2.12718417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83911593299999 meters 0.015295757321336199 Centerline is valid? [True, True] Translation: X:-54.76, Y:16.79, Z:2.14 [[ 9.87430123e-01 -1.57424553e-01 -1.41160444e-02 -5.47601888e+01] [ 1.57403257e-01 9.87530952e-01 -2.61414888e-03 1.67858994e+01] [ 1.43515620e-02 3.59377989e-04 9.99896946e-01 2.14280925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.86911593299999 meters 0.01597207669676236 Centerline is valid? [True, True] Translation: X:-54.79, Y:16.78, Z:2.13 [[ 9.89739507e-01 -1.41459290e-01 -2.01240700e-02 -5.47904166e+01] [ 1.41412867e-01 9.89943722e-01 -3.71866195e-03 1.67793145e+01] [ 2.04477360e-02 8.34704207e-04 9.99790575e-01 2.12833214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89911593299999 meters 0.015347456749125285 Centerline is valid? [True, True] Translation: X:-54.82, Y:16.78, Z:2.14 [[ 9.89748198e-01 -1.41765573e-01 -1.73501170e-02 -5.48219286e+01] [ 1.41730642e-01 9.89899982e-01 -3.23284612e-03 1.67776783e+01] [ 1.76331868e-02 7.40660394e-04 9.99844249e-01 2.13688308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.92911593299999 meters 0.015714346686676258 Centerline is valid? [True, True] Translation: X:-54.85, Y:16.78, Z:2.14 [[ 9.89403642e-01 -1.44552106e-01 -1.36059750e-02 -5.48532874e+01] [ 1.44530730e-01 9.89497035e-01 -2.54659543e-03 1.67751425e+01] [ 1.38311877e-02 5.53129280e-04 9.99904192e-01 2.14246475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95911593299999 meters 0.015714346686676258 Centerline is valid? [True, True] Translation: X:-54.88, Y:16.77, Z:2.14 [[ 9.89292036e-01 -1.45314196e-01 -1.36033650e-02 -5.48847922e+01] [ 1.45292701e-01 9.89385402e-01 -2.56056372e-03 1.67692713e+01] [ 1.38310570e-02 5.56675651e-04 9.99904191e-01 2.14325397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.989115933 meters 0.016616308526243597 Centerline is valid? [True, True] Translation: X:-54.92, Y:16.77, Z:2.16 [[ 9.90524266e-01 -1.36204347e-01 -1.76083719e-02 -5.49160665e+01] [ 1.36167285e-01 9.90680387e-01 -3.29249375e-03 1.67687841e+01] [ 1.78927206e-02 8.63610764e-04 9.99839539e-01 2.15697155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.019115933 meters 0.015553197495594976 Centerline is valid? [True, True] Translation: X:-54.95, Y:16.77, Z:2.18 [[ 9.90555039e-01 -1.36222108e-01 -1.56285475e-02 -5.49481366e+01] [ 1.36192504e-01 9.90678005e-01 -2.94811536e-03 1.67725532e+01] [ 1.58844568e-02 7.91779508e-04 9.99873521e-01 2.17914357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.049115933 meters 0.016431760208045376 Centerline is valid? [True, True] Translation: X:-54.98, Y:16.78, Z:2.20 [[ 9.91273491e-01 -1.30747979e-01 -1.67878819e-02 -5.49803432e+01] [ 1.30713270e-01 9.91415200e-01 -3.15307880e-03 1.67769619e+01] [ 1.70560200e-02 9.31164481e-04 9.99854102e-01 2.19757019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.079115933 meters 0.01613696926773171 Centerline is valid? [True, True] Translation: X:-55.01, Y:16.77, Z:2.17 [[ 9.91061200e-01 -1.32629281e-01 -1.43934936e-02 -5.50106571e+01] [ 1.32603638e-01 9.91165398e-01 -2.72576570e-03 1.67657894e+01] [ 1.46278491e-02 7.92771012e-04 9.99892693e-01 2.17328386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10911593299998 meters 0.015918298284480423 Centerline is valid? [True, True] Translation: X:-55.04, Y:16.78, Z:2.21 [[ 9.91680250e-01 -1.27596282e-01 -1.70138474e-02 -5.50424709e+01] [ 1.27559990e-01 9.91825676e-01 -3.20595283e-03 1.67752073e+01] [ 1.72838383e-02 1.00899389e-03 9.99850114e-01 2.20592254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13911593299999 meters 0.016054239803695542 Centerline is valid? [True, True] Translation: X:-55.07, Y:16.77, Z:2.21 [[ 9.91567318e-01 -1.28454749e-01 -1.71356834e-02 -5.50740549e+01] [ 1.28417524e-01 9.91714834e-01 -3.25989374e-03 1.67681035e+01] [ 1.74124603e-02 1.03188206e-03 9.99847859e-01 2.21384221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16911593299999 meters 0.01684168018500968 Centerline is valid? [True, True] Translation: X:-55.10, Y:16.75, Z:2.18 [[ 9.92884605e-01 -1.17385524e-01 -2.00199738e-02 -5.51024520e+01] [ 1.17332857e-01 9.93085415e-01 -3.78941799e-03 1.67507059e+01] [ 2.03263668e-02 1.41345406e-03 9.99792399e-01 2.17725477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19911593299999 meters 0.016342496783618946 Centerline is valid? [True, True] Translation: X:-55.13, Y:16.74, Z:2.16 [[ 9.91816208e-01 -1.26729275e-01 -1.55015942e-02 -5.51332627e+01] [ 1.26698828e-01 9.91936891e-01 -2.93466371e-03 1.67448206e+01] [ 1.57485110e-02 9.46613216e-04 9.99875536e-01 2.16181160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22911593299999 meters 0.01673505925498037 Centerline is valid? [True, True] Translation: X:-55.16, Y:16.75, Z:2.21 [[ 9.93387976e-01 -1.13176660e-01 -1.92710519e-02 -5.51640928e+01] [ 1.13127050e-01 9.93573831e-01 -3.64881510e-03 1.67525532e+01] [ 1.95601735e-02 1.44461180e-03 9.99807638e-01 2.20517394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25911593299999 meters 0.015647324658695706 Centerline is valid? [True, True] Translation: X:-55.20, Y:16.77, Z:2.28 [[ 9.92626400e-01 -1.20186143e-01 -1.57518348e-02 -5.51979180e+01] [ 1.20153871e-01 9.92750799e-01 -2.98285061e-03 1.67749396e+01] [ 1.59961439e-02 1.06821233e-03 9.99871483e-01 2.27553615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.28911593299999 meters 0.01633841805541419 Centerline is valid? [True, True] Translation: X:-55.23, Y:16.77, Z:2.26 [[ 9.93695950e-01 -1.10320875e-01 -1.99415185e-02 -5.52282025e+01] [ 1.10267162e-01 9.93894808e-01 -3.77665740e-03 1.67659728e+01] [ 2.02364159e-02 1.55395451e-03 9.99794015e-01 2.26450030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31911593299999 meters 0.016843027044097056 Centerline is valid? [True, True] Translation: X:-55.26, Y:16.75, Z:2.24 [[ 9.94374496e-01 -1.03898065e-01 -2.06046787e-02 -5.52573977e+01] [ 1.03839321e-01 9.94586425e-01 -3.90362927e-03 1.67515800e+01] [ 2.08987133e-02 1.74209355e-03 9.99780080e-01 2.24242424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.349115933 meters 0.015684397022583358 Centerline is valid? [True, True] Translation: X:-55.29, Y:16.77, Z:2.30 [[ 9.95046664e-01 -9.68902993e-02 -2.22352421e-02 -5.52907815e+01] [ 9.68201594e-02 9.95292979e-01 -4.21214119e-03 1.67686497e+01] [ 2.25386960e-02 2.03845735e-03 9.99743893e-01 2.30398400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.379115933 meters 0.01742854877272758 Centerline is valid? [True, True] Translation: X:-55.32, Y:16.75, Z:2.27 [[ 9.94726172e-01 -1.00378746e-01 -2.10701118e-02 -5.53206431e+01] [ 1.00315956e-01 9.94947515e-01 -4.01885063e-03 1.67526272e+01] [ 2.13670626e-02 1.88398750e-03 9.99769923e-01 2.27113448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.409115933 meters 0.016555081047634892 Centerline is valid? [True, True] Translation: X:-55.35, Y:16.75, Z:2.29 [[ 9.95344600e-01 -9.39473296e-02 -2.15180614e-02 -5.53514237e+01] [ 9.38806798e-02 9.95575058e-01 -4.08914794e-03 1.67536978e+01] [ 2.18070098e-02 2.04998109e-03 9.99760097e-01 2.28775490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.439115933 meters 0.016575236824591163 Centerline is valid? [True, True] Translation: X:-55.38, Y:16.75, Z:2.30 [[ 9.95211441e-01 -9.59361910e-02 -1.87199223e-02 -5.53822289e+01] [ 9.58860233e-02 9.95385949e-01 -3.56140019e-03 1.67493890e+01] [ 1.89752147e-02 1.74936732e-03 9.99818424e-01 2.30331615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.469115933 meters 0.016316272642410947 Centerline is valid? [True, True] Translation: X:-55.41, Y:16.72, Z:2.24 [[ 9.94979276e-01 -9.88247185e-02 -1.58087247e-02 -5.54097201e+01] [ 9.87893041e-02 9.95103828e-01 -3.00754131e-03 1.67187566e+01] [ 1.60285419e-02 1.43070836e-03 9.99870511e-01 2.23728587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49911593299998 meters 0.016709270159933905 Centerline is valid? [True, True] Translation: X:-55.44, Y:16.72, Z:2.25 [[ 9.94949067e-01 -9.94213598e-02 -1.38472711e-02 -5.54414392e+01] [ 9.93939044e-02 9.95044614e-01 -2.65872399e-03 1.67150646e+01] [ 1.40429865e-02 1.26896062e-03 9.99900587e-01 2.24592856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52911593299999 meters 0.016393690523094986 Centerline is valid? [True, True] Translation: X:-55.47, Y:16.70, Z:2.24 [[ 9.94736579e-01 -1.01907650e-01 -1.06756568e-02 -5.54715791e+01] [ 1.01891572e-01 9.94793417e-01 -2.04073109e-03 1.67049761e+01] [ 1.08280392e-02 9.42230417e-04 9.99940931e-01 2.23764542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55911593299999 meters 0.01681071906168511 Centerline is valid? [True, True] Translation: X:-55.50, Y:16.67, Z:2.17 [[ 9.95280011e-01 -9.64107287e-02 -1.10756559e-02 -5.54982701e+01] [ 9.63930932e-02 9.95341093e-01 -2.11646403e-03 1.66734688e+01] [ 1.12281053e-02 1.03885761e-03 9.99936423e-01 2.16854963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58911593299999 meters 0.016795556929312054 Centerline is valid? [True, True] Translation: X:-55.53, Y:16.68, Z:2.22 [[ 9.95450742e-01 -9.46922812e-02 -1.05447277e-02 -5.55312046e+01] [ 9.46759688e-02 9.95506059e-01 -2.03667072e-03 1.66831156e+01] [ 1.06901973e-02 1.02907308e-03 9.99942329e-01 2.22043640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61911593299999 meters 0.016814284051289093 Centerline is valid? [True, True] Translation: X:-55.56, Y:16.68, Z:2.23 [[ 9.94045347e-01 -1.08904295e-01 -3.70177086e-03 -5.55616683e+01] [ 1.08902400e-01 9.94052193e-01 -7.10369493e-04 1.66793737e+01] [ 3.75711573e-03 3.03007758e-04 9.99992896e-01 2.23068491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.64911593299999 meters 0.016778115066906338 Centerline is valid? [True, True] Translation: X:-55.59, Y:16.64, Z:2.15 [[ 9.95175617e-01 -9.79456487e-02 -5.66928255e-03 -5.55880883e+01] [ 9.79410252e-02 9.95191626e-01 -1.08817623e-03 1.66431290e+01] [ 5.74860465e-03 5.27671110e-04 9.99983337e-01 2.15396465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67911593299999 meters 0.016945515343294616 Centerline is valid? [True, True] Translation: X:-55.62, Y:16.64, Z:2.18 [[ 9.94780251e-01 -1.01983628e-01 -3.40475347e-03 -5.56194142e+01] [ 1.01981982e-01 9.94786031e-01 -6.54117018e-04 1.66447754e+01] [ 3.45371042e-03 3.03479183e-04 9.99993990e-01 2.18198297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.70911593299999 meters 0.017691415759646972 Centerline is valid? [True, True] Translation: X:-55.64, Y:16.60, Z:2.09 [[ 9.95607092e-01 -9.33612247e-02 -7.08514879e-03 -5.56446699e+01] [ 9.33538862e-02 9.95632061e-01 -1.36023450e-03 1.66015205e+01] [ 7.18119445e-03 6.92832938e-04 9.99973975e-01 2.09093737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.739115933 meters 0.01813089592590071 Centerline is valid? [True, True] Translation: X:-55.68, Y:16.61, Z:2.14 [[ 9.95857274e-01 -9.07131895e-02 -6.27743398e-03 -5.56771665e+01] [ 9.07073651e-02 9.95876858e-01 -1.20699873e-03 1.66112285e+01] [ 6.36104193e-03 6.32588968e-04 9.99979568e-01 2.14330152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.769115933 meters 0.01796518868110633 Centerline is valid? [True, True] Translation: X:-55.71, Y:16.60, Z:2.13 [[ 9.96423748e-01 -8.40859359e-02 -8.32280193e-03 -5.57071846e+01] [ 8.40754760e-02 9.96458106e-01 -1.59939154e-03 1.66011015e+01] [ 8.42780978e-03 8.93928179e-04 9.99964086e-01 2.13415960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.799115933 meters 0.01735063764894629 Centerline is valid? [True, True] Translation: X:-55.74, Y:16.59, Z:2.12 [[ 9.96158080e-01 -8.74753884e-02 -4.13965195e-03 -5.57374811e+01] [ 8.74728274e-02 9.96166588e-01 -7.96066085e-04 1.65934837e+01] [ 4.19341915e-03 4.30900602e-04 9.99991115e-01 2.12446923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.829115933 meters 0.017330358044134225 Centerline is valid? [True, True] Translation: X:-55.77, Y:16.57, Z:2.10 [[ 9.95966598e-01 -8.96752819e-02 -2.97986125e-03 -5.57665935e+01] [ 8.96739128e-02 9.95971004e-01 -5.90194112e-04 1.65737510e+01] [ 3.02078122e-03 3.20597804e-04 9.99995386e-01 2.09868313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85911593299998 meters 0.018211424989994535 Centerline is valid? [True, True] Translation: X:-55.80, Y:16.57, Z:2.12 [[ 9.97168490e-01 -7.46972641e-02 -8.67878716e-03 -5.57975071e+01] [ 7.46854863e-02 9.97205734e-01 -1.67378736e-03 1.65749803e+01] [ 8.77956366e-03 1.02086858e-03 9.99960938e-01 2.11621188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.88911593299999 meters 0.01764858262845389 Centerline is valid? [True, True] Translation: X:-55.83, Y:16.58, Z:2.14 [[ 9.96511131e-01 -8.33352669e-02 -4.56052669e-03 -5.58286822e+01] [ 8.33320972e-02 9.96521443e-01 -8.81014964e-04 1.65756896e+01] [ 4.61808225e-03 4.97902965e-04 9.99989213e-01 2.14349603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91911593299999 meters 0.016978979166098307 Centerline is valid? [True, True] Translation: X:-55.86, Y:16.56, Z:2.14 [[ 9.96763777e-01 -8.03330039e-02 -2.92930033e-03 -5.58588172e+01] [ 8.03316792e-02 9.96768027e-01 -5.67312999e-04 1.65647484e+01] [ 2.96540686e-03 3.30161433e-04 9.99995549e-01 2.13787869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94911593299999 meters 0.017236869884799784 Centerline is valid? [True, True] Translation: X:-55.89, Y:16.56, Z:2.16 [[ 9.97050083e-01 -7.66550607e-02 -3.89015351e-03 -5.58891019e+01] [ 7.66527084e-02 9.97057571e-01 -7.50440250e-04 1.65636864e+01] [ 3.93623205e-03 4.50035711e-04 9.99992152e-01 2.16447795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97911593299999 meters 0.017060664759966593 Centerline is valid? [True, True] Translation: X:-55.92, Y:16.56, Z:2.17 [[ 9.97339773e-01 -7.27814580e-02 -4.02940435e-03 -5.59194183e+01] [ 7.27789031e-02 9.97347796e-01 -7.77302797e-04 1.65605521e+01] [ 4.07529078e-03 4.81979367e-04 9.99991580e-01 2.17387157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.00911593299999 meters 0.017381001600345336 Centerline is valid? [True, True] Translation: X:-55.95, Y:16.56, Z:2.20 [[ 9.97317671e-01 -7.31300581e-02 -3.07523375e-03 -5.59510883e+01] [ 7.31285097e-02 9.97322338e-01 -6.13136242e-04 1.65581391e+01] [ 3.11183800e-03 3.86604348e-04 9.99995083e-01 2.19620902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03911593299999 meters 0.01647033575923837 Centerline is valid? [True, True] Translation: X:-55.98, Y:16.56, Z:2.22 [[ 9.97579445e-01 -6.94663528e-02 -3.11084931e-03 -5.59821281e+01] [ 6.94648047e-02 9.97584221e-01 -6.03081635e-04 1.65574053e+01] [ 3.14522807e-03 3.85527302e-04 9.99994979e-01 2.22231596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.06911593299999 meters 0.01717099044335326 Centerline is valid? [True, True] Translation: X:-56.01, Y:16.54, Z:2.20 [[ 9.98036632e-01 -6.23587728e-02 -5.85355226e-03 -5.60111240e+01] [ 6.23531737e-02 9.98053503e-01 -1.13438215e-03 1.65435928e+01] [ 5.91289702e-03 7.67167382e-04 9.99982224e-01 2.19819862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.099115933 meters 0.01588857144801111 Centerline is valid? [True, True] Translation: X:-56.04, Y:16.54, Z:2.21 [[ 9.96963147e-01 -7.78698377e-02 8.79008233e-04 -5.60410746e+01] [ 7.78697178e-02 9.96963529e-01 1.69855652e-04 1.65376129e+01] [-8.89565783e-04 -1.00891702e-04 9.99999599e-01 2.21327260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.129115933 meters 0.01678630906998487 Centerline is valid? [True, True] Translation: X:-56.07, Y:16.53, Z:2.21 [[ 9.98234847e-01 -5.91895625e-02 -4.87707723e-03 -5.60703607e+01] [ 5.91856345e-02 9.98246546e-01 -9.45965872e-04 1.65278151e+01] [ 4.92451680e-03 6.55643187e-04 9.99987660e-01 2.20507312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.159115933 meters 0.01759252217210285 Centerline is valid? [True, True] Translation: X:-56.10, Y:16.53, Z:2.23 [[ 9.98029651e-01 -6.24445133e-02 -6.12364855e-03 -5.61017070e+01] [ 6.24383716e-02 9.98048113e-01 -1.18924072e-03 1.65277869e+01] [ 6.18595744e-03 8.04546854e-04 9.99980543e-01 2.22842450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.189115933 meters 0.01829806463816468 Centerline is valid? [True, True] Translation: X:-56.13, Y:16.52, Z:2.23 [[ 9.97998031e-01 -6.30777332e-02 -4.59679000e-03 -5.61330858e+01] [ 6.30742022e-02 9.98008426e-01 -9.09242592e-04 1.65214729e+01] [ 4.64498811e-03 6.17483454e-04 9.99989021e-01 2.23443534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.219115933 meters 0.01568307950105801 Centerline is valid? [True, True] Translation: X:-56.16, Y:16.50, Z:2.19 [[ 9.97301258e-01 -7.34164472e-02 -4.76189515e-04 -5.61621226e+01] [ 7.34164110e-02 9.97301370e-01 -9.30701783e-05 1.65023474e+01] [ 4.81737337e-04 5.78588808e-05 9.99999882e-01 2.19067472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24911593299998 meters 0.014988887565320533 Centerline is valid? [True, True] Translation: X:-56.19, Y:16.49, Z:2.20 [[ 9.97555141e-01 -6.98721880e-02 1.27161707e-03 -5.61903811e+01] [ 6.98719300e-02 9.97555940e-01 2.46303772e-04 1.64894514e+01] [-1.28571895e-03 -1.56851255e-04 9.99999161e-01 2.20041099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27911593299999 meters 0.01547799458542969 Centerline is valid? [True, True] Translation: X:-56.22, Y:16.47, Z:2.18 [[ 9.97744289e-01 -6.70941838e-02 -2.16871880e-03 -5.62183258e+01] [ 6.70934210e-02 9.97746608e-01 -4.22637396e-04 1.64699719e+01] [ 2.19218833e-03 2.76177285e-04 9.99997559e-01 2.18354615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30911593299999 meters 0.015022559938701698 Centerline is valid? [True, True] Translation: X:-56.25, Y:16.46, Z:2.17 [[ 9.97183915e-01 -7.49825185e-02 1.36406128e-03 -5.62485498e+01] [ 7.49822256e-02 9.97184835e-01 2.64707371e-04 1.64645676e+01] [-1.38006965e-03 -1.61681583e-04 9.99999035e-01 2.17427587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33911593299999 meters 0.015079300577051022 Centerline is valid? [True, True] Translation: X:-56.28, Y:16.49, Z:2.27 [[ 9.97638118e-01 -6.86521059e-02 -2.25251729e-03 -5.62801426e+01] [ 6.86512906e-02 9.97640621e-01 -4.37363343e-04 1.64860579e+01] [ 2.27722866e-03 2.81692124e-04 9.99997367e-01 2.27169065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.36911593299999 meters 0.014846662749250773 Centerline is valid? [True, True] Translation: X:-56.31, Y:16.48, Z:2.28 [[ 9.96845257e-01 -7.93670019e-02 -6.42867528e-04 -5.63099992e+01] [ 7.93669369e-02 9.96845461e-01 -1.26093774e-04 1.64827143e+01] [ 6.50847262e-04 7.46735540e-05 9.99999785e-01 2.28492892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39911593299999 meters 0.014460254497955911 Centerline is valid? [True, True] Translation: X:-56.34, Y:16.48, Z:2.30 [[ 9.96425992e-01 -8.44685248e-02 5.56941186e-04 -5.63406087e+01] [ 8.44684784e-02 9.96426146e-01 1.06510015e-04 1.64783084e+01] [-5.63947503e-04 -5.90853729e-05 9.99999839e-01 2.29824282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.42911593299999 meters 0.014591955859358248 Centerline is valid? [True, True] Translation: X:-56.37, Y:16.46, Z:2.27 [[ 9.96604982e-01 -8.23307326e-02 4.01351421e-04 -5.63691388e+01] [ 8.23307086e-02 9.96605062e-01 7.59428771e-05 1.64576430e+01] [-4.06241290e-04 -4.26415028e-05 9.99999917e-01 2.26884197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45911593299999 meters 0.014871334345649101 Centerline is valid? [True, True] Translation: X:-56.40, Y:16.44, Z:2.27 [[ 9.96309435e-01 -8.58298593e-02 -8.62768041e-04 -5.63977529e+01] [ 8.58297426e-02 9.96309804e-01 -1.71358946e-04 1.64426860e+01] [ 8.74291973e-04 9.66753756e-05 9.99999613e-01 2.26667365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.489115933 meters 0.015779789384842046 Centerline is valid? [True, True] Translation: X:-56.43, Y:16.44, Z:2.30 [[ 9.96312015e-01 -8.57754691e-02 -2.22189564e-03 -5.64296076e+01] [ 8.57746757e-02 9.96314460e-01 -4.50149074e-04 1.64437348e+01] [ 2.25231850e-03 2.57906554e-04 9.99997430e-01 2.29561902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.519115933 meters 0.014679718076545925 Centerline is valid? [True, True] Translation: X:-56.46, Y:16.43, Z:2.28 [[ 9.95344155e-01 -9.63834933e-02 4.85969320e-04 -5.64585372e+01] [ 9.63834592e-02 9.95344272e-01 9.32217343e-05 1.64269239e+01] [-4.92691816e-04 -4.59483041e-05 9.99999878e-01 2.28174394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.549115933 meters 0.01472247900601266 Centerline is valid? [True, True] Translation: X:-56.49, Y:16.42, Z:2.30 [[ 9.95399340e-01 -9.58131079e-02 -3.63638096e-05 -5.64894850e+01] [ 9.58131071e-02 9.95399341e-01 -2.29077915e-05 1.64205601e+01] [ 3.83913786e-05 1.93182709e-05 9.99999999e-01 2.29587321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.579115933 meters 0.014699934934252234 Centerline is valid? [True, True] Translation: X:-56.52, Y:16.40, Z:2.27 [[ 9.95350539e-01 -9.63097342e-02 -1.31893759e-03 -5.65188414e+01] [ 9.63094530e-02 9.95351402e-01 -2.75274654e-04 1.64002130e+01] [ 1.33931801e-03 1.46968617e-04 9.99999092e-01 2.26570472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60911593299998 meters 0.01539705038700004 Centerline is valid? [True, True] Translation: X:-56.55, Y:16.39, Z:2.27 [[ 9.95251911e-01 -9.72786323e-02 -3.24067040e-03 -5.65487846e+01] [ 9.72770052e-02 9.95257129e-01 -6.56333454e-04 1.63899735e+01] [ 3.28914754e-03 3.37974413e-04 9.99994534e-01 2.26743318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63911593299999 meters 0.013676775551166266 Centerline is valid? [True, True] Translation: X:-56.58, Y:16.39, Z:2.30 [[ 9.93927806e-01 -1.10033253e-01 -4.46282606e-04 -5.65788670e+01] [ 1.10033224e-01 9.93927906e-01 -9.00687079e-05 1.63852673e+01] [ 4.53483288e-04 4.04158794e-05 9.99999896e-01 2.29651019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66911593299999 meters 0.01388455188181928 Centerline is valid? [True, True] Translation: X:-56.61, Y:16.37, Z:2.29 [[ 9.93839318e-01 -1.10830377e-01 1.94408578e-04 -5.66098920e+01] [ 1.10830376e-01 9.93839337e-01 2.03412577e-05 1.63724910e+01] [-1.95465322e-04 1.33043409e-06 9.99999981e-01 2.29302403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69911593299999 meters 0.013917709816030015 Centerline is valid? [True, True] Translation: X:-56.64, Y:16.36, Z:2.29 [[ 9.92694725e-01 -1.20650024e-01 -8.68982526e-04 -5.66384599e+01] [ 1.20649918e-01 9.92695103e-01 -1.73682293e-04 1.63566515e+01] [ 8.83589471e-04 6.75708258e-05 9.99999607e-01 2.28826633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72911593299999 meters 0.013575655121020085 Centerline is valid? [True, True] Translation: X:-56.67, Y:16.35, Z:2.29 [[ 9.92330560e-01 -1.23608763e-01 -9.65933181e-04 -5.66686948e+01] [ 1.23608618e-01 9.92331026e-01 -2.08366543e-04 1.63474242e+01] [ 9.84281395e-04 8.73708227e-05 9.99999512e-01 2.29434196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75911593299999 meters 0.012993941247142595 Centerline is valid? [True, True] Translation: X:-56.70, Y:16.35, Z:2.33 [[ 9.92190775e-01 -1.24675238e-01 -3.68106203e-03 -5.67002454e+01] [ 1.24673302e-01 9.92197562e-01 -7.51846052e-04 1.63490528e+01] [ 3.74607736e-03 2.87044561e-04 9.99992942e-01 2.32654244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.78911593299999 meters 0.015656881237578333 Centerline is valid? [True, True] Translation: X:-56.73, Y:16.34, Z:2.32 [[ 9.92571228e-01 -1.21552932e-01 -5.21936313e-03 -5.67293275e+01] [ 1.21549095e-01 9.92584868e-01 -1.04731190e-03 1.63356701e+01] [ 5.30796470e-03 4.05122796e-04 9.99985831e-01 2.32108687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81911593299999 meters 0.015562548515805137 Centerline is valid? [True, True] Translation: X:-56.76, Y:16.33, Z:2.33 [[ 9.91209526e-01 -1.32271485e-01 -2.81600744e-03 -5.67595269e+01] [ 1.32270412e-01 9.91213508e-01 -5.64885604e-04 1.63286162e+01] [ 2.86598287e-03 1.87445527e-04 9.99995875e-01 2.33146436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.849115933 meters 0.015562548515805137 Centerline is valid? [True, True] Translation: X:-56.79, Y:16.32, Z:2.33 [[ 9.91111798e-01 -1.33001859e-01 -2.81235524e-03 -5.67909324e+01] [ 1.33000737e-01 9.91115767e-01 -5.83102465e-04 1.63222463e+01] [ 2.86492333e-03 2.03874414e-04 9.99995875e-01 2.33224463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.879115933 meters 0.01356764738993877 Centerline is valid? [True, True] Translation: X:-56.82, Y:16.31, Z:2.32 [[ 9.89420789e-01 -1.45071610e-01 8.54800004e-04 -5.68199248e+01] [ 1.45071517e-01 9.89421157e-01 1.70264116e-04 1.63082591e+01] [-8.70457698e-04 -4.44557229e-05 9.99999620e-01 2.31712796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.909115933 meters 0.012893458448094655 Centerline is valid? [True, True] Translation: X:-56.85, Y:16.31, Z:2.36 [[ 9.89827606e-01 -1.42271270e-01 4.43305995e-04 -5.68524053e+01] [ 1.42271246e-01 9.89827705e-01 8.33455904e-05 1.63109091e+01] [-4.50654239e-04 -1.94280697e-05 9.99999898e-01 2.36035389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.939115933 meters 0.013915065888024943 Centerline is valid? [True, True] Translation: X:-56.89, Y:16.31, Z:2.39 [[ 9.89444912e-01 -1.44906633e-01 9.12732030e-04 -5.68851813e+01] [ 1.44906532e-01 9.89445333e-01 1.75482368e-04 1.63141257e+01] [-9.28527006e-04 -4.13693030e-05 9.99999568e-01 2.39374950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.969115933 meters 0.01415747044734289 Centerline is valid? [True, True] Translation: X:-56.91, Y:16.30, Z:2.38 [[ 9.90035693e-01 -1.40813058e-01 1.00471968e-03 -5.69146261e+01] [ 1.40812927e-01 9.90036201e-01 2.00273365e-04 1.63010785e+01] [-1.02290996e-03 -5.68002611e-05 9.99999475e-01 2.38348113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99911593299998 meters 0.01355232686711049 Centerline is valid? [True, True] Translation: X:-56.94, Y:16.27, Z:2.32 [[ 9.89123301e-01 -1.47056863e-01 3.06161860e-03 -5.69413810e+01] [ 1.47055658e-01 9.89128027e-01 6.16204933e-04 1.62713972e+01] [-3.11894993e-03 -1.59274319e-04 9.99995123e-01 2.32208771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02911593299999 meters 0.013373550406238275 Centerline is valid? [True, True] Translation: X:-56.98, Y:16.28, Z:2.38 [[ 9.89030731e-01 -1.47674712e-01 3.22387407e-03 -5.69754959e+01] [ 1.47673428e-01 9.89035973e-01 6.34136721e-04 1.62836174e+01] [-3.28217339e-03 -1.51100171e-04 9.99994602e-01 2.38319660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05911593299999 meters 0.012978289771195334 Centerline is valid? [True, True] Translation: X:-57.01, Y:16.28, Z:2.40 [[ 9.89113950e-01 -1.47116591e-01 3.20989367e-03 -5.70076698e+01] [ 1.47115301e-01 9.89119146e-01 6.35584037e-04 1.62840036e+01] [-3.26847224e-03 -1.56440564e-04 9.99994646e-01 2.40051412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08911593299999 meters 0.014159600614236195 Centerline is valid? [True, True] Translation: X:-57.04, Y:16.27, Z:2.38 [[ 9.89518719e-01 -1.44372864e-01 3.02987961e-03 -5.70370165e+01] [ 1.44371670e-01 9.89523344e-01 6.10418972e-04 1.62660302e+01] [-3.08626454e-03 -1.66592221e-04 9.99995224e-01 2.37902520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11911593299999 meters 0.012931186340531833 Centerline is valid? [True, True] Translation: X:-57.07, Y:16.26, Z:2.38 [[ 9.89719553e-01 -1.42953655e-01 4.41129821e-03 -5.70678293e+01] [ 1.42951132e-01 9.89729353e-01 8.83683722e-04 1.62585430e+01] [-4.49231715e-03 -2.43998984e-04 9.99989880e-01 2.38315561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.14911593299999 meters 0.013181135527190468 Centerline is valid? [True, True] Translation: X:-57.10, Y:16.25, Z:2.39 [[ 9.89687869e-01 -1.43148067e-01 5.15294005e-03 -5.70985543e+01] [ 1.43144560e-01 9.89701239e-01 1.04506478e-03 1.62485377e+01] [-5.24947016e-03 -2.96672601e-04 9.99986177e-01 2.39237959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17911593299999 meters 0.015811325480026985 Centerline is valid? [True, True] Translation: X:-57.13, Y:16.25, Z:2.41 [[ 9.90724393e-01 -1.35872205e-01 1.98007185e-03 -5.71295655e+01] [ 1.35871667e-01 9.90726363e-01 4.04649582e-04 1.62507252e+01] [-2.01669002e-03 -1.31860549e-04 9.99997958e-01 2.41293498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.20911593299999 meters 0.013429428063802163 Centerline is valid? [True, True] Translation: X:-57.16, Y:16.25, Z:2.43 [[ 9.89367788e-01 -1.45315794e-01 5.89062890e-03 -5.71602727e+01] [ 1.45311202e-01 9.89385268e-01 1.20243439e-03 1.62478814e+01] [-6.00283416e-03 -3.33675483e-04 9.99981927e-01 2.42670033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.239115933 meters 0.01237744622526384 Centerline is valid? [True, True] Translation: X:-57.19, Y:16.25, Z:2.47 [[ 9.87484147e-01 -1.57510895e-01 8.08557538e-03 -5.71922403e+01] [ 1.57502636e-01 9.87517185e-01 1.65222688e-03 1.62533178e+01] [-8.24488837e-03 -3.58048419e-04 9.99965946e-01 2.46941124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.269115933 meters 0.013354735540061478 Centerline is valid? [True, True] Translation: X:-57.22, Y:16.23, Z:2.44 [[ 9.88965201e-01 -1.48129045e-01 2.36992295e-03 -5.72195683e+01] [ 1.48128308e-01 9.88968033e-01 4.84342657e-04 1.62311755e+01] [-2.41552325e-03 -1.27945357e-04 9.99997074e-01 2.43908963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.299115933 meters 0.013158922354766416 Centerline is valid? [True, True] Translation: X:-57.25, Y:16.24, Z:2.49 [[ 9.87769856e-01 -1.55865798e-01 4.06998377e-03 -5.72516716e+01] [ 1.55863698e-01 9.87778223e-01 8.29962919e-04 1.62396682e+01] [-4.14960417e-03 -1.85449631e-04 9.99991373e-01 2.48922972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.329115933 meters 0.013108980106732296 Centerline is valid? [True, True] Translation: X:-57.28, Y:16.24, Z:2.51 [[ 9.86906192e-01 -1.61247913e-01 3.90876381e-03 -5.72834792e+01] [ 1.61246023e-01 9.86913921e-01 7.95972322e-04 1.62382227e+01] [-3.98596230e-03 -1.55277394e-04 9.99992044e-01 2.50818149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35911593299998 meters 0.013630405473777474 Centerline is valid? [True, True] Translation: X:-57.32, Y:16.23, Z:2.52 [[ 9.86862032e-01 -1.61508169e-01 4.29437089e-03 -5.73154049e+01] [ 1.61505934e-01 9.86871362e-01 8.64667766e-04 1.62324732e+01] [-4.37764255e-03 -1.59741409e-04 9.99990405e-01 2.51925180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38911593299999 meters 0.013355068394027576 Centerline is valid? [True, True] Translation: X:-57.35, Y:16.24, Z:2.56 [[ 9.87061453e-01 -1.60264382e-01 5.00157269e-03 -5.73489057e+01] [ 1.60261290e-01 9.87074104e-01 1.01558701e-03 1.62409354e+01] [-5.09968530e-03 -2.00888296e-04 9.99986976e-01 2.55789973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41911593299999 meters 0.013994630963222279 Centerline is valid? [True, True] Translation: X:-57.38, Y:16.22, Z:2.48 [[ 9.86489880e-01 -1.63699515e-01 6.33925124e-03 -5.73782597e+01] [ 1.63694566e-01 9.86510218e-01 1.29527578e-03 1.62167726e+01] [-6.46577214e-03 -2.40075467e-04 9.99979068e-01 2.48224581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44911593299999 meters 0.013370321951144279 Centerline is valid? [True, True] Translation: X:-57.41, Y:16.24, Z:2.57 [[ 9.87430472e-01 -1.57822463e-01 8.55174331e-03 -5.74127008e+01] [ 1.57813062e-01 9.87467424e-01 1.76748087e-03 1.62393208e+01] [-8.72351612e-03 -3.95687676e-04 9.99961871e-01 2.56542321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47911593299999 meters 0.013888510877719857 Centerline is valid? [True, True] Translation: X:-57.44, Y:16.23, Z:2.57 [[ 9.86022384e-01 -1.66029913e-01 1.39257618e-02 -5.74419443e+01] [ 1.66005725e-01 9.86120574e-01 2.88335349e-03 1.62294799e+01] [-1.42112031e-02 -5.31294897e-04 9.99898875e-01 2.56532027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.50911593299999 meters 0.014104670856027178 Centerline is valid? [True, True] Translation: X:-57.47, Y:16.23, Z:2.59 [[ 9.85144483e-01 -1.70818797e-01 1.76433228e-02 -5.74745182e+01] [ 1.70780785e-01 9.85302288e-01 3.65033735e-03 1.62338338e+01] [-1.80075525e-02 -5.82969193e-04 9.99837681e-01 2.58811254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53911593299999 meters 0.015285571577105465 Centerline is valid? [True, True] Translation: X:-57.51, Y:16.23, Z:2.59 [[ 9.86758666e-01 -1.61372831e-01 1.63139178e-02 -5.75052136e+01] [ 1.61338817e-01 9.86893258e-01 3.38871462e-03 1.62259355e+01] [-1.66469420e-02 -7.11775318e-04 9.99861177e-01 2.58974020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.56911593299999 meters 0.01547227127391341 Centerline is valid? [True, True] Translation: X:-57.54, Y:16.22, Z:2.58 [[ 9.86495704e-01 -1.62949132e-01 1.65470755e-02 -5.75368201e+01] [ 1.62914360e-01 9.86634227e-01 3.43715460e-03 1.62185759e+01] [-1.68859924e-02 -6.94982024e-04 9.99857180e-01 2.57618249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.599115933 meters 0.014779389789522448 Centerline is valid? [True, True] Translation: X:-57.57, Y:16.23, Z:2.64 [[ 9.86588494e-01 -1.62167459e-01 1.85703839e-02 -5.75702828e+01] [ 1.62123240e-01 9.86762920e-01 3.87237516e-03 1.62326135e+01] [-1.89525395e-02 -8.09749970e-04 9.99820057e-01 2.63963568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.629115933 meters 0.015051536648514044 Centerline is valid? [True, True] Translation: X:-57.60, Y:16.23, Z:2.65 [[ 9.87770919e-01 -1.55030474e-01 1.65579112e-02 -5.76030680e+01] [ 1.54994098e-01 9.87909316e-01 3.46583968e-03 1.62344458e+01] [-1.68950255e-02 -8.57077139e-04 9.99856902e-01 2.64768194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.659115933 meters 0.015823562115615607 Centerline is valid? [True, True] Translation: X:-57.63, Y:16.19, Z:2.54 [[ 9.86637090e-01 -1.61638543e-01 2.04996293e-02 -5.76288959e+01] [ 1.61584081e-01 9.86849595e-01 4.29679736e-03 1.61923492e+01] [-2.09245789e-02 -9.26965878e-04 9.99780627e-01 2.53674208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.689115933 meters 0.015567215431491928 Centerline is valid? [True, True] Translation: X:-57.67, Y:16.24, Z:2.72 [[ 9.89157605e-01 -1.45962632e-01 1.61908175e-02 -5.76667938e+01] [ 1.45926537e-01 9.89289603e-01 3.39514656e-03 1.62420062e+01] [-1.65129719e-02 -9.95665113e-04 9.99863156e-01 2.72034580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.719115933 meters 0.016576865660527674 Centerline is valid? [True, True] Translation: X:-57.70, Y:16.23, Z:2.72 [[ 9.88795279e-01 -1.48244223e-01 1.75369796e-02 -5.76976761e+01] [ 1.48202258e-01 9.88950240e-01 3.67605001e-03 1.62345319e+01] [-1.78881534e-02 -1.03584091e-03 9.99839458e-01 2.71830964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74911593299998 meters 0.01634695092212654 Centerline is valid? [True, True] Translation: X:-57.73, Y:16.23, Z:2.73 [[ 9.89676878e-01 -1.42305169e-01 1.69975353e-02 -5.77284080e+01] [ 1.42264624e-01 9.89822196e-01 3.57730366e-03 1.62285899e+01] [-1.73336065e-02 -1.12222675e-03 9.99849132e-01 2.72599811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77911593299999 meters 0.017163216252565693 Centerline is valid? [True, True] Translation: X:-57.76, Y:16.25, Z:2.82 [[ 9.86447051e-01 -1.62419360e-01 2.32844802e-02 -5.77621919e+01] [ 1.62348726e-01 9.86721253e-01 4.90508267e-03 1.62482059e+01] [-2.37719718e-02 -1.05839864e-03 9.99716846e-01 2.82184894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80911593299999 meters 0.01740777057003725 Centerline is valid? [True, True] Translation: X:-57.79, Y:16.23, Z:2.83 [[ 9.83078196e-01 -1.80879594e-01 2.89798854e-02 -5.77907301e+01] [ 1.80778065e-01 9.83504950e-01 6.10776004e-03 1.62328378e+01] [-2.96066299e-02 -7.65478092e-04 9.99561335e-01 2.83058326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83911593299999 meters 0.018117389529047494 Centerline is valid? [True, True] Translation: X:-57.83, Y:16.26, Z:2.98 [[ 9.77200252e-01 -2.08779077e-01 3.86130126e-02 -5.78263318e+01] [ 2.08620248e-01 9.77962825e-01 8.14277406e-03 1.62624190e+01] [-3.94621317e-02 9.83353946e-05 9.99221062e-01 2.97964569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86911593299999 meters 0.01945208842014343 Centerline is valid? [True, True] Translation: X:-57.86, Y:16.29, Z:3.09 [[ 9.73146536e-01 -2.25340656e-01 4.69830660e-02 -5.78601892e+01] [ 2.25124275e-01 9.74279595e-01 9.91623144e-03 1.62856551e+01] [-4.80091726e-02 9.27082396e-04 9.98846465e-01 3.09039168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89911593299999 meters 0.019737335719166485 Centerline is valid? [True, True] Translation: X:-57.91, Y:16.38, Z:3.38 [[ 9.63723318e-01 -2.59474703e-01 6.25319498e-02 -5.79050684e+01] [ 2.59161665e-01 9.65743645e-01 1.32077276e-02 1.63796027e+01] [-6.38169043e-02 3.47728918e-03 9.97955566e-01 3.37733959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.92911593299999 meters 0.020861639437663455 Centerline is valid? [True, True] Translation: X:-57.93, Y:16.32, Z:3.23 [[ 9.59281000e-01 -2.73503010e-01 7.05412462e-02 -5.79273013e+01] [ 2.73140635e-01 9.61858388e-01 1.49209524e-02 1.63178009e+01] [-7.19316148e-02 4.95429471e-03 9.97397262e-01 3.23455218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95911593299999 meters 0.02145119968033547 Centerline is valid? [True, True] Translation: X:-57.96, Y:16.35, Z:3.38 [[ 9.56302019e-01 -2.82276607e-01 7.61995177e-02 -5.79623461e+01] [ 2.81878155e-01 9.59314130e-01 1.61587472e-02 1.63496430e+01] [-7.76605104e-02 6.02633688e-03 9.96961648e-01 3.37740850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.989115933 meters 0.024116164262662162 Centerline is valid? [True, True] Translation: X:-57.98, Y:16.24, Z:3.05 [[ 9.57305568e-01 -2.78568528e-01 7.72374551e-02 -5.79796970e+01] [ 2.78143189e-01 9.60399110e-01 1.64291124e-02 1.62427955e+01] [-7.87554168e-02 5.75539135e-03 9.96877354e-01 3.05146740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.019115933 meters 0.02375204533911072 Centerline is valid? [True, True] Translation: X:-58.02, Y:16.33, Z:3.38 [[ 9.47356934e-01 -3.07947723e-01 8.76529528e-02 -5.80233850e+01] [ 3.07520561e-01 9.51358176e-01 1.86742044e-02 1.63347402e+01] [-8.91400320e-02 9.26394814e-03 9.95976021e-01 3.37602858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.049115933 meters 0.023341412519112644 Centerline is valid? [True, True] Translation: X:-58.08, Y:16.49, Z:3.93 [[ 9.26461051e-01 -3.60787500e-01 1.07248784e-01 -5.80750366e+01] [ 3.60485515e-01 9.32484369e-01 2.28712609e-02 1.64920409e+01] [-1.08259480e-01 1.74723009e-02 9.93969116e-01 3.92806138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.079115933 meters 0.02388446922282502 Centerline is valid? [True, True] Translation: X:-58.09, Y:16.38, Z:3.59 [[ 9.23861235e-01 -3.66726232e-01 1.09509312e-01 -5.80930775e+01] [ 3.66449961e-01 9.30144190e-01 2.33711651e-02 1.63845184e+01] [-1.10430269e-01 1.85379696e-02 9.93710974e-01 3.59423798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10911593299998 meters 0.02281818135316633 Centerline is valid? [True, True] Translation: X:-58.14, Y:16.53, Z:4.13 [[ 8.95677233e-01 -4.25247268e-01 1.30104018e-01 -5.81435834e+01] [ 4.25429511e-01 9.04564658e-01 2.77940851e-02 1.65329321e+01] [-1.29506856e-01 3.04555596e-02 9.91110707e-01 4.12911008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13911593299999 meters 0.02275098056821321 Centerline is valid? [True, True] Translation: X:-58.18, Y:16.58, Z:4.34 [[ 8.92906051e-01 -4.31065811e-01 1.30004040e-01 -5.81805375e+01] [ 4.31295482e-01 9.01780805e-01 2.78493520e-02 1.65779347e+01] [-1.29240052e-01 3.12033003e-02 9.91122275e-01 4.33685607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16911593299999 meters 0.023128199984408522 Centerline is valid? [True, True] Translation: X:-58.21, Y:16.59, Z:4.38 [[ 9.00291082e-01 -4.16551989e-01 1.26334510e-01 -5.82134875e+01] [ 4.16626402e-01 9.08673525e-01 2.71084299e-02 1.65903685e+01] [-1.26088895e-01 2.82288145e-02 9.91617227e-01 4.37623529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19911593299999 meters 0.02427316395014914 Centerline is valid? [True, True] Translation: X:-58.22, Y:16.41, Z:3.77 [[ 9.26368390e-01 -3.59667145e-01 1.11719075e-01 -5.82206374e+01] [ 3.59311897e-01 9.32908822e-01 2.40018938e-02 1.64080407e+01] [-1.12856403e-01 1.79073970e-02 9.93449927e-01 3.76647855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22911593299999 meters 0.023384505812243987 Centerline is valid? [True, True] Translation: X:-58.25, Y:16.42, Z:3.84 [[ 9.25864001e-01 -3.59835420e-01 1.15301007e-01 -5.82533514e+01] [ 3.59451273e-01 9.32833326e-01 2.48347970e-02 1.64188070e+01] [-1.16493061e-01 1.84514493e-02 9.93020096e-01 3.83931103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25911593299999 meters 0.025053603785572698 Centerline is valid? [True, True] Translation: X:-58.28, Y:16.39, Z:3.75 [[ 9.33787761e-01 -3.40747626e-01 1.09231280e-01 -5.82816229e+01] [ 3.40270159e-01 9.40032470e-01 2.35621399e-02 1.63891211e+01] [-1.10709693e-01 1.51661070e-02 9.93737064e-01 3.75250934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28911593299999 meters 0.02560240482431676 Centerline is valid? [True, True] Translation: X:-58.31, Y:16.36, Z:3.67 [[ 9.41967305e-01 -3.20154226e-01 1.00989450e-01 -5.83093190e+01] [ 3.19626314e-01 9.47292719e-01 2.18065318e-02 1.63591976e+01] [-1.02648024e-01 1.17378457e-02 9.94648484e-01 3.66574025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31911593299999 meters 0.0238706094934075 Centerline is valid? [True, True] Translation: X:-58.38, Y:16.68, Z:4.83 [[ 9.22839836e-01 -3.67253007e-01 1.16154495e-01 -5.83809007e+01] [ 3.66909629e-01 9.29917726e-01 2.51067297e-02 1.66766961e+01] [-1.17234645e-01 1.94487121e-02 9.92913786e-01 4.83004965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.349115933 meters 0.023338119938723968 Centerline is valid? [True, True] Translation: X:-58.41, Y:16.66, Z:4.76 [[ 9.22350538e-01 -3.69138205e-01 1.14045913e-01 -5.84120095e+01] [ 3.68811518e-01 9.29175125e-01 2.47315760e-02 1.66550453e+01] [-1.15097995e-01 1.92502638e-02 9.93167599e-01 4.75975666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.379115933 meters 0.023927132696881778 Centerline is valid? [True, True] Translation: X:-58.43, Y:16.59, Z:4.61 [[ 9.43390342e-01 -3.17498481e-01 9.59654955e-02 -5.84338921e+01] [ 3.16995924e-01 9.48197787e-01 2.08456516e-02 1.65948522e+01] [-9.76127331e-02 1.07550846e-02 9.95166359e-01 4.61465783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.409115933 meters 0.02306395890676724 Centerline is valid? [True, True] Translation: X:-58.44, Y:16.43, Z:4.09 [[ 9.58626031e-01 -2.73409731e-01 7.92669638e-02 -5.84420140e+01] [ 2.72913705e-01 9.61884094e-01 1.72365547e-02 1.64283646e+01] [-8.09582735e-02 5.10963082e-03 9.96704394e-01 4.08845514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.439115933 meters 0.023600457909742908 Centerline is valid? [True, True] Translation: X:-58.48, Y:16.47, Z:4.25 [[ 9.53318335e-01 -2.90667078e-01 8.18339946e-02 -5.84794060e+01] [ 2.90199728e-01 9.56800318e-01 1.78120499e-02 1.64689205e+01] [-8.34761685e-02 6.76764925e-03 9.96486793e-01 4.24601937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.469115933 meters 0.023572664854108773 Centerline is valid? [True, True] Translation: X:-58.50, Y:16.41, Z:4.05 [[ 9.62360741e-01 -2.61903191e-01 7.25845855e-02 -5.85023795e+01] [ 2.61452298e-01 9.65086833e-01 1.58145699e-02 1.64095820e+01] [-7.41923141e-02 3.75808541e-03 9.97236871e-01 4.04587536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49911593299998 meters 0.02394359543309027 Centerline is valid? [True, True] Translation: X:-58.54, Y:16.43, Z:4.21 [[ 9.63896660e-01 -2.57708126e-01 6.70055963e-02 -5.85356489e+01] [ 2.57311568e-01 9.66217716e-01 1.46315433e-02 1.64346491e+01] [-6.85126618e-02 3.13801936e-03 9.97645312e-01 4.21040904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52911593299999 meters 0.023989158087330056 Centerline is valid? [True, True] Translation: X:-58.54, Y:16.19, Z:3.32 [[ 9.75226663e-01 -2.15690973e-01 4.90954227e-02 -5.85352518e+01] [ 2.15423706e-01 9.76461670e-01 1.07347369e-02 1.61883694e+01] [-5.02551843e-02 1.07516209e-04 9.98736404e-01 3.32190963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55911593299999 meters 0.022640642765407924 Centerline is valid? [True, True] Translation: X:-58.58, Y:16.27, Z:3.68 [[ 9.77256682e-01 -2.07532023e-01 4.35871200e-02 -5.85763286e+01] [ 2.07312506e-01 9.78228180e-01 9.54734776e-03 1.62678700e+01] [-4.46195294e-02 -2.94054310e-04 9.99004010e-01 3.68435243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58911593299999 meters 0.02300510896915858 Centerline is valid? [True, True] Translation: X:-58.60, Y:16.23, Z:3.60 [[ 9.82791356e-01 -1.82407857e-01 2.91294497e-02 -5.86012760e+01] [ 1.82298392e-01 9.83222471e-01 6.39286197e-03 1.62254258e+01] [-2.98068378e-02 -9.72597651e-04 9.99555204e-01 3.60060723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61911593299999 meters 0.02203811618379609 Centerline is valid? [True, True] Translation: X:-58.65, Y:16.34, Z:4.06 [[ 9.78746497e-01 -2.02587739e-01 3.18355476e-02 -5.86462258e+01] [ 2.02467463e-01 9.79264035e-01 6.99113391e-03 1.63368486e+01] [-3.25917249e-02 -3.96885256e-04 9.99468670e-01 4.05745652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.64911593299999 meters 0.021627809006806845 Centerline is valid? [True, True] Translation: X:-58.67, Y:16.27, Z:3.87 [[ 9.84230139e-01 -1.76091900e-01 1.68129636e-02 -5.86684141e+01] [ 1.76054482e-01 9.84373501e-01 3.69192393e-03 1.62701119e+01] [-1.72003538e-02 -6.73705186e-04 9.99851836e-01 3.86990916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67911593299999 meters 0.023256068915464428 Centerline is valid? [True, True] Translation: X:-58.67, Y:16.07, Z:3.13 [[ 9.86152702e-01 -1.65721087e-01 6.27460800e-03 -5.86746682e+01] [ 1.65715666e-01 9.86172612e-01 1.37780096e-03 1.60719548e+01] [-6.41617723e-03 -3.18921299e-04 9.99979365e-01 3.12859329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.70911593299999 meters 0.02212295681312058 Centerline is valid? [True, True] Translation: X:-58.72, Y:16.17, Z:3.54 [[ 9.84903604e-01 -1.72994699e-01 6.14206003e-03 -5.87182224e+01] [ 1.72989707e-01 9.84922722e-01 1.33900479e-03 1.61708015e+01] [-6.28109521e-03 -2.56277477e-04 9.99980241e-01 3.54422922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.739115933 meters 0.022487242603855553 Centerline is valid? [True, True] Translation: X:-58.74, Y:16.11, Z:3.33 [[ 9.84444396e-01 -1.75696412e-01 5.32279701e-05 -5.87430767e+01] [ 1.75696412e-01 9.84444397e-01 -4.88525647e-06 1.61118179e+01] [-5.15416550e-05 1.41612267e-05 9.99999999e-01 3.33285388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.769115933 meters 0.022487242603855553 Centerline is valid? [True, True] Translation: X:-58.77, Y:16.10, Z:3.33 [[ 9.84311226e-01 -1.76440949e-01 5.36836086e-05 -5.87744536e+01] [ 1.76440949e-01 9.84311227e-01 -6.91326291e-06 1.61048839e+01] [-5.16215961e-05 1.62767891e-05 9.99999999e-01 3.33364401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.799115933 meters 0.020836222706393313 Centerline is valid? [True, True] Translation: X:-58.82, Y:16.27, Z:4.01 [[ 9.86898489e-01 -1.61183844e-01 -7.15126231e-03 -5.88248660e+01] [ 1.61176548e-01 9.86924311e-01 -1.58892860e-03 1.62665061e+01] [ 7.31386425e-03 4.15495465e-04 9.99973167e-01 4.01406418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.829115933 meters 0.021210274341889192 Centerline is valid? [True, True] Translation: X:-58.84, Y:16.10, Z:3.40 [[ 9.86016647e-01 -1.66269583e-01 -1.12069999e-02 -5.88358814e+01] [ 1.66251736e-01 9.86080143e-01 -2.51223341e-03 1.61014669e+01] [ 1.14687081e-02 6.13920770e-04 9.99934044e-01 3.40006887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85911593299998 meters 0.020681946287845296 Centerline is valid? [True, True] Translation: X:-58.86, Y:16.01, Z:3.09 [[ 9.85216552e-01 -1.70740308e-01 -1.40033160e-02 -5.88562412e+01] [ 1.70712812e-01 9.85315810e-01 -3.14478288e-03 1.60137318e+01] [ 1.43346298e-02 7.07746696e-04 9.99897003e-01 3.09175776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88911593299999 meters 0.020108754854293254 Centerline is valid? [True, True] Translation: X:-58.89, Y:16.07, Z:3.37 [[ 9.86207205e-01 -1.64134840e-01 -2.13331650e-02 -5.88940526e+01] [ 1.64069987e-01 9.86437180e-01 -4.76747119e-03 1.60747878e+01] [ 2.18263352e-02 1.20158234e-03 9.99761055e-01 3.37001398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91911593299999 meters 0.020688863331485705 Centerline is valid? [True, True] Translation: X:-58.92, Y:16.03, Z:3.20 [[ 9.84641388e-01 -1.73244354e-01 -2.16270668e-02 -5.89196279e+01] [ 1.73179787e-01 9.84878346e-01 -4.83779024e-03 1.60297196e+01] [ 2.21381496e-02 1.01811767e-03 9.99754403e-01 3.19896922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94911593299999 meters 0.019525464326810637 Centerline is valid? [True, True] Translation: X:-58.96, Y:16.10, Z:3.55 [[ 9.85466899e-01 -1.67546662e-01 -2.79840448e-02 -5.89593523e+01] [ 1.67436290e-01 9.85863033e-01 -6.25852688e-03 1.61034214e+01] [ 2.86370306e-02 1.48202645e-03 9.99588777e-01 3.54626185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97911593299999 meters 0.01942722809293862 Centerline is valid? [True, True] Translation: X:-58.99, Y:16.07, Z:3.46 [[ 9.86063217e-01 -1.63850617e-01 -2.88497310e-02 -5.89872149e+01] [ 1.63731537e-01 9.86483791e-01 -6.45870365e-03 1.60732847e+01] [ 2.95180546e-02 1.64507931e-03 9.99562894e-01 3.46284408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00911593299999 meters 0.017778165128854752 Centerline is valid? [True, True] Translation: X:-59.03, Y:16.17, Z:3.86 [[ 9.84208011e-01 -1.74802926e-01 -2.79021241e-02 -5.90300292e+01] [ 1.74696093e-01 9.84602625e-01 -6.24060379e-03 1.61695741e+01] [ 2.85633805e-02 1.26766017e-03 9.99591180e-01 3.85928638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03911593299999 meters 0.01725525790004361 Centerline is valid? [True, True] Translation: X:-59.06, Y:16.21, Z:4.03 [[ 9.84042820e-01 -1.75191569e-01 -3.11069412e-02 -5.90639568e+01] [ 1.75060143e-01 9.84533419e-01 -6.92057357e-03 1.62068637e+01] [ 3.18382493e-02 1.36455516e-03 9.99492103e-01 4.03004804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.06911593299999 meters 0.017544807817607914 Centerline is valid? [True, True] Translation: X:-59.09, Y:16.15, Z:3.81 [[ 9.83311619e-01 -1.79412635e-01 -3.01557019e-02 -5.90861979e+01] [ 1.79290859e-01 9.83773181e-01 -6.71692882e-03 1.61467867e+01] [ 3.08714726e-02 1.19819247e-03 9.99522644e-01 3.80924653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.099115933 meters 0.01853498289015786 Centerline is valid? [True, True] Translation: X:-59.11, Y:16.10, Z:3.68 [[ 9.84765156e-01 -1.70589362e-01 -3.37173227e-02 -5.91118529e+01] [ 1.70431710e-01 9.85340818e-01 -7.51696887e-03 1.61043216e+01] [ 3.45053693e-02 1.65594806e-03 9.99403141e-01 3.67725804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.129115933 meters 0.018875497399825508 Centerline is valid? [True, True] Translation: X:-59.13, Y:16.00, Z:3.27 [[ 9.81073312e-01 -1.91659488e-01 -2.76006730e-02 -5.91311479e+01] [ 1.91562048e-01 9.81461193e-01 -6.15696839e-03 1.60021515e+01] [ 2.82690308e-02 7.53195924e-04 9.99600067e-01 3.27388456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.159115933 meters 0.01746399192201152 Centerline is valid? [True, True] Translation: X:-59.18, Y:16.14, Z:3.83 [[ 9.83621359e-01 -1.77259090e-01 -3.26838922e-02 -5.91781698e+01] [ 1.77114560e-01 9.84163254e-01 -7.28856072e-03 1.61353356e+01] [ 3.34582493e-02 1.38039082e-03 9.99439163e-01 3.83037088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.189115933 meters 0.02104661210434968 Centerline is valid? [True, True] Translation: X:-59.20, Y:16.08, Z:3.65 [[ 9.81802057e-01 -1.86923528e-01 -3.35308172e-02 -5.91998859e+01] [ 1.86777316e-01 9.82373885e-01 -7.46891162e-03 1.60786361e+01] [ 3.43359145e-02 1.07019673e-03 9.99409776e-01 3.65076212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.219115933 meters 0.01740536323595734 Centerline is valid? [True, True] Translation: X:-59.24, Y:16.14, Z:3.86 [[ 9.81663457e-01 -1.87718461e-01 -3.31456778e-02 -5.92371574e+01] [ 1.87577277e-01 9.82222373e-01 -7.34678715e-03 1.61362067e+01] [ 3.39355539e-02 9.94696476e-04 9.99423528e-01 3.86368840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24911593299998 meters 0.017088794163923744 Centerline is valid? [True, True] Translation: X:-59.26, Y:16.06, Z:3.62 [[ 9.80814753e-01 -1.91797933e-01 -3.48707957e-02 -5.92598099e+01] [ 1.91642131e-01 9.81433971e-01 -7.78809378e-03 1.60647903e+01] [ 3.57171238e-02 9.55963666e-04 9.99361483e-01 3.62229194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27911593299999 meters 0.017990604794666812 Centerline is valid? [True, True] Translation: X:-59.29, Y:16.04, Z:3.56 [[ 9.84381159e-01 -1.71523772e-01 -3.96652218e-02 -5.92866146e+01] [ 1.71306365e-01 9.85178132e-01 -8.84178951e-03 1.60381561e+01] [ 4.05938862e-02 1.90878604e-03 9.99173905e-01 3.56038589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30911593299999 meters 0.017451242951776306 Centerline is valid? [True, True] Translation: X:-59.32, Y:16.07, Z:3.70 [[ 9.83795748e-01 -1.75272375e-01 -3.77560756e-02 -5.93207412e+01] [ 1.75078422e-01 9.84518578e-01 -8.40929677e-03 1.60695643e+01] [ 3.86454752e-02 1.66275627e-03 9.99251601e-01 3.70337668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33911593299999 meters 0.01862520587759918 Centerline is valid? [True, True] Translation: X:-59.33, Y:15.92, Z:3.17 [[ 9.82691751e-01 -1.81260534e-01 -3.82300981e-02 -5.93341137e+01] [ 1.81064428e-01 9.83433983e-01 -8.55999323e-03 1.59246499e+01] [ 3.91483666e-02 1.48972389e-03 9.99232298e-01 3.16743014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36911593299999 meters 0.016923032127800233 Centerline is valid? [True, True] Translation: X:-59.37, Y:16.01, Z:3.50 [[ 9.82858023e-01 -1.80816797e-01 -3.59915489e-02 -5.93733971e+01] [ 1.80643703e-01 9.83515810e-01 -8.03147509e-03 1.60061941e+01] [ 3.68504830e-02 1.39215305e-03 9.99319821e-01 3.50191025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39911593299999 meters 0.016735386210571086 Centerline is valid? [True, True] Translation: X:-59.40, Y:16.02, Z:3.58 [[ 9.83767157e-01 -1.75007522e-01 -3.96805764e-02 -5.94042263e+01] [ 1.74792426e-01 9.84565498e-01 -8.85369438e-03 1.60166793e+01] [ 4.06175895e-02 1.77410952e-03 9.99173190e-01 3.57584616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.42911593299999 meters 0.017025689594662163 Centerline is valid? [True, True] Translation: X:-59.43, Y:16.02, Z:3.62 [[ 9.83277563e-01 -1.77315541e-01 -4.15263003e-02 -5.94323453e+01] [ 1.77084133e-01 9.84152571e-01 -9.21562401e-03 1.60194636e+01] [ 4.25022885e-02 1.70786743e-03 9.99094910e-01 3.61828430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45911593299999 meters 0.01643556362940724 Centerline is valid? [True, True] Translation: X:-59.46, Y:15.98, Z:3.46 [[ 9.80664866e-01 -1.91794880e-01 -3.88734398e-02 -5.94577147e+01] [ 1.91602819e-01 9.81434496e-01 -8.64237496e-03 1.59751408e+01] [ 3.98092980e-02 1.02701285e-03 9.99206768e-01 3.45944274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.489115933 meters 0.016860068770282774 Centerline is valid? [True, True] Translation: X:-59.48, Y:15.94, Z:3.35 [[ 9.78735712e-01 -2.01787952e-01 -3.68514392e-02 -5.94844042e+01] [ 2.01622157e-01 9.79429052e-01 -8.19987175e-03 1.59392058e+01] [ 3.77480055e-02 5.95440635e-04 9.99287113e-01 3.35159687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.519115933 meters 0.016739620795240828 Centerline is valid? [True, True] Translation: X:-59.52, Y:15.94, Z:3.42 [[ 9.79903171e-01 -1.96001124e-01 -3.70585313e-02 -5.95167589e+01] [ 1.95828836e-01 9.80603315e-01 -8.25868745e-03 1.59430144e+01] [ 3.79584306e-02 8.35584986e-04 9.99278970e-01 3.41941537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.549115933 meters 0.017401873480405446 Centerline is valid? [True, True] Translation: X:-59.54, Y:15.91, Z:3.30 [[ 9.76460396e-01 -2.12794709e-01 -3.52633948e-02 -5.95435238e+01] [ 2.12648400e-01 9.77096909e-01 -7.89236691e-03 1.59054336e+01] [ 3.61352080e-02 2.07879248e-04 9.99346888e-01 3.29666108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.579115933 meters 0.017659014861389585 Centerline is valid? [True, True] Translation: X:-59.58, Y:15.92, Z:3.38 [[ 9.79355365e-01 -1.98354000e-01 -3.89712706e-02 -5.95768180e+01] [ 1.98164277e-01 9.80130112e-01 -8.71106765e-03 1.59209343e+01] [ 3.99247910e-02 8.08517183e-04 9.99202361e-01 3.38426923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60911593299998 meters 0.016829482149676424 Centerline is valid? [True, True] Translation: X:-59.60, Y:15.89, Z:3.29 [[ 9.76454798e-01 -2.12717927e-01 -3.58763234e-02 -5.96042426e+01] [ 2.12566779e-01 9.77113628e-01 -8.02017707e-03 1.58931561e+01] [ 3.67612800e-02 2.05225873e-04 9.99324055e-01 3.29431502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63911593299999 meters 0.017158770961501403 Centerline is valid? [True, True] Translation: X:-59.64, Y:15.89, Z:3.34 [[ 9.75543377e-01 -2.17325496e-01 -3.29355024e-02 -5.96358815e+01] [ 2.17199393e-01 9.76099188e-01 -7.40268833e-03 1.58943877e+01] [ 3.37571100e-02 6.80724518e-05 9.99430064e-01 3.33676496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66911593299999 meters 0.01622975562182773 Centerline is valid? [True, True] Translation: X:-59.66, Y:15.87, Z:3.27 [[ 9.73533255e-01 -2.26650567e-01 -2.93687251e-02 -5.96649750e+01] [ 2.26553915e-01 9.73976118e-01 -6.62164731e-03 1.58736709e+01] [ 3.01052370e-02 -2.07205781e-04 9.99546713e-01 3.27357392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69911593299999 meters 0.0168348053356297 Centerline is valid? [True, True] Translation: X:-59.69, Y:15.84, Z:3.18 [[ 9.76105474e-01 -2.14514483e-01 -3.46646938e-02 -5.96912267e+01] [ 2.14372505e-01 9.76720790e-01 -7.80562129e-03 1.58379522e+01] [ 3.55321459e-02 1.87952440e-04 9.99368516e-01 3.17991775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72911593299999 meters 0.016260620004066882 Centerline is valid? [True, True] Translation: X:-59.73, Y:15.87, Z:3.33 [[ 9.74150015e-01 -2.24253413e-01 -2.72425152e-02 -5.97271816e+01] [ 2.24169467e-01 9.74530857e-01 -6.13675882e-03 1.58720655e+01] [ 2.79248608e-02 -1.28816401e-04 9.99610017e-01 3.32833550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75911593299999 meters 0.016803001236848632 Centerline is valid? [True, True] Translation: X:-59.75, Y:15.83, Z:3.20 [[ 9.72760420e-01 -2.30256606e-01 -2.68152990e-02 -5.97540300e+01] [ 2.30176465e-01 9.73129914e-01 -6.07999069e-03 1.58295047e+01] [ 2.74947276e-02 -2.57876428e-04 9.99621915e-01 3.20143459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78911593299999 meters 0.016864429875705755 Centerline is valid? [True, True] Translation: X:-59.78, Y:15.81, Z:3.17 [[ 9.71675677e-01 -2.34820833e-01 -2.65622709e-02 -5.97842276e+01] [ 2.34743439e-01 9.72038601e-01 -6.03955777e-03 1.58141471e+01] [ 2.72377666e-02 -3.66827417e-04 9.99628916e-01 3.17459043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81911593299999 meters 0.016212116301067992 Centerline is valid? [True, True] Translation: X:-59.82, Y:15.83, Z:3.22 [[ 9.69942093e-01 -2.42326073e-01 -2.21452028e-02 -5.98182550e+01] [ 2.42273799e-01 9.70194754e-01 -5.05434517e-03 1.58258298e+01] [ 2.27099592e-02 -4.62780260e-04 9.99741989e-01 3.22085831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.849115933 meters 0.015828639064742675 Centerline is valid? [True, True] Translation: X:-59.86, Y:15.87, Z:3.41 [[ 9.73247254e-01 -2.28064082e-01 -2.78667867e-02 -5.98558446e+01] [ 2.27974998e-01 9.73646113e-01 -6.37556703e-03 1.58683235e+01] [ 2.85864264e-02 -1.47927530e-04 9.99591314e-01 3.41084349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.879115933 meters 0.015303024511167329 Centerline is valid? [True, True] Translation: X:-59.88, Y:15.84, Z:3.31 [[ 9.71712746e-01 -2.34845004e-01 -2.49432066e-02 -5.98839384e+01] [ 2.34775349e-01 9.72032787e-01 -5.72677977e-03 1.58367850e+01] [ 2.55905203e-02 -2.91265155e-04 9.99672467e-01 3.31335403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.909115933 meters 0.016068383667346055 Centerline is valid? [True, True] Translation: X:-59.91, Y:15.81, Z:3.27 [[ 9.71969073e-01 -2.33690678e-01 -2.57834834e-02 -5.99126365e+01] [ 2.33615362e-01 9.72310960e-01 -5.93793725e-03 1.58145082e+01] [ 2.64572041e-02 -2.51926442e-04 9.99649915e-01 3.26928394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.939115933 meters 0.015962487784727076 Centerline is valid? [True, True] Translation: X:-59.95, Y:15.83, Z:3.29 [[ 9.74756290e-01 -2.21235913e-01 -3.00806647e-02 -5.99478319e+01] [ 2.21127647e-01 9.75220314e-01 -6.92111465e-03 1.58280304e+01] [ 3.08664744e-02 9.47334280e-05 9.99523512e-01 3.28749956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.969115933 meters 0.016385212335101054 Centerline is valid? [True, True] Translation: X:-59.97, Y:15.78, Z:3.13 [[ 9.79575698e-01 -1.97730966e-01 -3.65228264e-02 -5.99730812e+01] [ 1.97555352e-01 9.80255811e-01 -8.39218816e-03 1.57808548e+01] [ 3.74611083e-02 1.00550375e-03 9.99297580e-01 3.12829259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99911593299998 meters 0.01663573564373478 Centerline is valid? [True, True] Translation: X:-60.00, Y:15.79, Z:3.18 [[ 9.82622676e-01 -1.82048796e-01 -3.62065153e-02 -6.00047188e+01] [ 1.81865356e-01 9.83288203e-01 -8.32478127e-03 1.57872636e+01] [ 3.71169558e-02 1.59540807e-03 9.99309655e-01 3.18188832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02911593299999 meters 0.016621012481258385 Centerline is valid? [True, True] Translation: X:-60.04, Y:15.79, Z:3.20 [[ 9.81880155e-01 -1.86686743e-01 -3.25487571e-02 -6.00368731e+01] [ 1.86541001e-01 9.82418662e-01 -7.48518879e-03 1.57910926e+01] [ 3.33738919e-02 1.27788060e-03 9.99442120e-01 3.20447938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05911593299999 meters 0.01669498068939032 Centerline is valid? [True, True] Translation: X:-60.07, Y:15.79, Z:3.21 [[ 9.82320389e-01 -1.84393401e-01 -3.23377173e-02 -6.00693039e+01] [ 1.84247046e-01 9.82851544e-01 -7.47451370e-03 1.57906568e+01] [ 3.31614264e-02 1.38423830e-03 9.99449050e-01 3.20869218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08911593299999 meters 0.016513173822986896 Centerline is valid? [True, True] Translation: X:-60.10, Y:15.81, Z:3.24 [[ 9.81476417e-01 -1.88699620e-01 -3.31133974e-02 -6.01041789e+01] [ 1.88547916e-01 9.82034008e-01 -7.67396161e-03 1.58063905e+01] [ 3.39665560e-02 1.28835027e-03 9.99422140e-01 3.24388066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11911593299999 meters 0.01722550648442009 Centerline is valid? [True, True] Translation: X:-60.14, Y:15.81, Z:3.31 [[ 9.83234492e-01 -1.78801313e-01 -3.57774227e-02 -6.01363922e+01] [ 1.78618121e-01 9.83883647e-01 -8.27869049e-03 1.58148662e+01] [ 3.66810619e-02 1.74939803e-03 9.99325492e-01 3.31075425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14911593299999 meters 0.01705261421643727 Centerline is valid? [True, True] Translation: X:-60.16, Y:15.72, Z:2.98 [[ 9.81316600e-01 -1.88885385e-01 -3.66065865e-02 -6.01551836e+01] [ 1.88700420e-01 9.81998129e-01 -8.47497679e-03 1.57208318e+01] [ 3.75483987e-02 1.40895715e-03 9.99293817e-01 2.98274362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17911593299999 meters 0.016565843643312546 Centerline is valid? [True, True] Translation: X:-60.20, Y:15.80, Z:3.28 [[ 9.83000071e-01 -1.79592784e-01 -3.81745130e-02 -6.01967576e+01] [ 1.79384601e-01 9.83739318e-01 -8.83854110e-03 1.57965000e+01] [ 3.91411075e-02 1.84036676e-03 9.99231998e-01 3.27826007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.20911593299999 meters 0.01722967818165023 Centerline is valid? [True, True] Translation: X:-60.22, Y:15.76, Z:3.16 [[ 9.79196381e-01 -1.99906534e-01 -3.48112880e-02 -6.02235433e+01] [ 1.99746073e-01 9.79814518e-01 -8.06325982e-03 1.57599365e+01] [ 3.57205037e-02 9.42096743e-04 9.99361375e-01 3.15612501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.239115933 meters 0.01634558483679404 Centerline is valid? [True, True] Translation: X:-60.26, Y:15.80, Z:3.28 [[ 9.80935563e-01 -1.90834792e-01 -3.67083690e-02 -6.02617769e+01] [ 1.90649580e-01 9.81621236e-01 -8.51389426e-03 1.57988850e+01] [ 3.76584618e-02 1.35314653e-03 9.99289752e-01 3.28350147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.269115933 meters 0.017433568566334393 Centerline is valid? [True, True] Translation: X:-60.29, Y:15.76, Z:3.19 [[ 9.82572337e-01 -1.80572802e-01 -4.41028918e-02 -6.02880878e+01] [ 1.80295052e-01 9.83559381e-01 -1.02293202e-02 1.57644479e+01] [ 4.52249500e-02 2.09951385e-03 9.98974622e-01 3.18500239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.299115933 meters 0.01711102209449093 Centerline is valid? [True, True] Translation: X:-60.31, Y:15.72, Z:3.07 [[ 9.81069956e-01 -1.88199999e-01 -4.56344264e-02 -6.03128474e+01] [ 1.87908652e-01 9.82128973e-01 -1.06309999e-02 1.57193447e+01] [ 4.68196465e-02 1.85465112e-03 9.98901637e-01 3.06983887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.329115933 meters 0.017106206158665233 Centerline is valid? [True, True] Translation: X:-60.34, Y:15.68, Z:2.94 [[ 9.78627143e-01 -2.00433302e-01 -4.59935513e-02 -6.03374686e+01] [ 2.00151146e-01 9.79706523e-01 -1.07073505e-02 1.56759368e+01] [ 4.72062918e-02 1.27284182e-03 9.98884351e-01 2.93662266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35911593299998 meters 0.01765592020091107 Centerline is valid? [True, True] Translation: X:-60.37, Y:15.69, Z:3.02 [[ 9.78133988e-01 -2.03061042e-01 -4.49456941e-02 -6.03720098e+01] [ 2.02792308e-01 9.79165389e-01 -1.05081250e-02 1.56922134e+01] [ 4.61430589e-02 1.16371315e-03 9.98934164e-01 3.02435718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38911593299999 meters 0.016968457018544346 Centerline is valid? [True, True] Translation: X:-60.40, Y:15.69, Z:3.03 [[ 9.79206592e-01 -1.97528431e-01 -4.62273523e-02 -6.04028364e+01] [ 1.97238453e-01 9.80296078e-01 -1.07977748e-02 1.56879770e+01] [ 4.74493597e-02 1.45544080e-03 9.98872584e-01 3.02505338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41911593299999 meters 0.016525303857595187 Centerline is valid? [True, True] Translation: X:-60.43, Y:15.68, Z:3.00 [[ 9.74348485e-01 -2.21314883e-01 -4.08013910e-02 -6.04327240e+01] [ 2.21109795e-01 9.75202365e-01 -9.52915578e-03 1.56786860e+01] [ 4.18985570e-02 2.63131278e-04 9.99121835e-01 3.00319517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44911593299999 meters 0.017747692315261136 Centerline is valid? [True, True] Translation: X:-60.45, Y:15.61, Z:2.83 [[ 9.77332881e-01 -2.06560845e-01 -4.64010437e-02 -6.04523041e+01] [ 2.06278733e-01 9.78433222e-01 -1.08403781e-02 1.56094902e+01] [ 4.76395204e-02 1.02310945e-03 9.98864070e-01 2.82640735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47911593299999 meters 0.017929819134463294 Centerline is valid? [True, True] Translation: X:-60.49, Y:15.62, Z:2.89 [[ 9.76177539e-01 -2.11852474e-01 -4.68608786e-02 -6.04864107e+01] [ 2.11568471e-01 9.77301313e-01 -1.09966311e-02 1.56245988e+01] [ 4.81268617e-02 8.20379822e-04 9.98840894e-01 2.89261402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50911593299999 meters 0.017171785645493595 Centerline is valid? [True, True] Translation: X:-60.52, Y:15.60, Z:2.84 [[ 9.75576231e-01 -2.14894542e-01 -4.55121126e-02 -6.05150095e+01] [ 2.14628586e-01 9.76637022e-01 -1.07096528e-02 1.56041454e+01] [ 4.67502600e-02 6.79882329e-04 9.98906377e-01 2.84277118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53911593299999 meters 0.017462305689029962 Centerline is valid? [True, True] Translation: X:-60.55, Y:15.58, Z:2.78 [[ 9.74939606e-01 -2.17755431e-01 -4.55558709e-02 -6.05450389e+01] [ 2.17490191e-01 9.76003193e-01 -1.07603072e-02 1.55809624e+01] [ 4.68057908e-02 5.82694593e-04 9.98903838e-01 2.77802338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.56911593299999 meters 0.017899707531804143 Centerline is valid? [True, True] Translation: X:-60.58, Y:15.59, Z:2.83 [[ 9.76660268e-01 -2.09396383e-01 -4.78317357e-02 -6.05788028e+01] [ 2.09094388e-01 9.77830306e-01 -1.12884925e-02 1.55906547e+01] [ 4.91350903e-02 1.02367466e-03 9.98791617e-01 2.82948772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.599115933 meters 0.01753247149802356 Centerline is valid? [True, True] Translation: X:-60.61, Y:15.59, Z:2.85 [[ 9.76113526e-01 -2.12396183e-01 -4.57192049e-02 -6.06110274e+01] [ 2.12121436e-01 9.77183243e-01 -1.08354404e-02 1.55916243e+01] [ 4.69774470e-02 8.78596535e-04 9.98895564e-01 2.85267469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.629115933 meters 0.01743625985638416 Centerline is valid? [True, True] Translation: X:-60.65, Y:15.61, Z:2.91 [[ 9.76761218e-01 -2.10013043e-01 -4.28023999e-02 -6.06462863e+01] [ 2.09768572e-01 9.77698112e-01 -1.01758298e-02 1.56068582e+01] [ 4.39848826e-02 9.60757596e-04 9.99031735e-01 2.90803752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.659115933 meters 0.01743625985638416 Centerline is valid? [True, True] Translation: X:-60.68, Y:15.60, Z:2.91 [[ 9.76598779e-01 -2.10768832e-01 -4.27939685e-02 -6.06775390e+01] [ 2.10523534e-01 9.77535458e-01 -1.02112651e-02 1.55994610e+01] [ 4.39848380e-02 9.63171553e-04 9.99031734e-01 2.90882845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.689115933 meters 0.017482802002161915 Centerline is valid? [True, True] Translation: X:-60.71, Y:15.58, Z:2.86 [[ 9.77663847e-01 -2.05065016e-01 -4.60623733e-02 -6.07072284e+01] [ 2.04774947e-01 9.78747486e-01 -1.09809191e-02 1.55818964e+01] [ 4.73352344e-02 1.30322760e-03 9.98878209e-01 2.85881758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.719115933 meters 0.01757512597452957 Centerline is valid? [True, True] Translation: X:-60.74, Y:15.57, Z:2.82 [[ 9.76166475e-01 -2.12875123e-01 -4.22279029e-02 -6.07367134e+01] [ 2.12638504e-01 9.77079044e-01 -1.00701853e-02 1.55656797e+01] [ 4.34036909e-02 8.50899175e-04 9.99057253e-01 2.81609514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74911593299998 meters 0.01794227007637083 Centerline is valid? [True, True] Translation: X:-60.77, Y:15.57, Z:2.85 [[ 9.77964238e-01 -2.04270251e-01 -4.31232305e-02 -6.07690957e+01] [ 2.04014775e-01 9.78913714e-01 -1.02913335e-02 1.55674054e+01] [ 4.43161350e-02 1.26677997e-03 9.99016754e-01 2.84967879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77911593299999 meters 0.01742774830030112 Centerline is valid? [True, True] Translation: X:-60.80, Y:15.54, Z:2.75 [[ 9.77430587e-01 -2.07454753e-01 -3.98995388e-02 -6.07972725e+01] [ 2.07238323e-01 9.78244053e-01 -9.53152332e-03 1.55359345e+01] [ 4.10088464e-02 1.04768892e-03 9.99158234e-01 2.74868662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80911593299999 meters 0.017191967167472618 Centerline is valid? [True, True] Translation: X:-60.83, Y:15.55, Z:2.80 [[ 9.78247700e-01 -2.03795686e-01 -3.87137752e-02 -6.08315078e+01] [ 2.03587485e-01 9.79012700e-01 -9.28807624e-03 1.55472135e+01] [ 3.97941475e-02 1.20439910e-03 9.99207173e-01 2.79889747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83911593299999 meters 0.017988219716102715 Centerline is valid? [True, True] Translation: X:-60.86, Y:15.54, Z:2.79 [[ 9.81337408e-01 -1.88064765e-01 -4.01065498e-02 -6.08614708e+01] [ 1.87828657e-01 9.82154796e-01 -9.60999569e-03 1.55402633e+01] [ 4.11981418e-02 1.89748889e-03 9.99149194e-01 2.79351188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86911593299999 meters 0.01827534067946878 Centerline is valid? [True, True] Translation: X:-60.89, Y:15.51, Z:2.74 [[ 9.81109911e-01 -1.89724949e-01 -3.77860495e-02 -6.08897022e+01] [ 1.89516209e-01 9.81835752e-01 -9.06436928e-03 1.55143599e+01] [ 3.88194314e-02 1.73207369e-03 9.99244741e-01 2.73795284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89911593299999 meters 0.017634099119725914 Centerline is valid? [True, True] Translation: X:-60.92, Y:15.52, Z:2.76 [[ 9.82947239e-01 -1.80204703e-01 -3.66195339e-02 -6.09231168e+01] [ 1.80002010e-01 9.83627005e-01 -8.78585524e-03 1.55222383e+01] [ 3.76032149e-02 2.04444245e-03 9.99290658e-01 2.76101596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.92911593299999 meters 0.017794485950014444 Centerline is valid? [True, True] Translation: X:-60.96, Y:15.52, Z:2.76 [[ 9.84010575e-01 -1.74542557e-01 -3.54694736e-02 -6.09552195e+01] [ 1.74348498e-01 9.84647182e-01 -8.51638222e-03 1.55202997e+01] [ 3.64113884e-02 2.19616072e-03 9.99334472e-01 2.76270482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95911593299999 meters 0.01875279541331201 Centerline is valid? [True, True] Translation: X:-60.98, Y:15.46, Z:2.57 [[ 9.82879059e-01 -1.81131751e-01 -3.37645455e-02 -6.09775933e+01] [ 1.80959791e-01 9.83457085e-01 -8.10655496e-03 1.54612273e+01] [ 3.46743360e-02 1.85773800e-03 9.99396938e-01 2.56866210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.989115933 meters 0.017944510226266856 Centerline is valid? [True, True] Translation: X:-61.02, Y:15.53, Z:2.83 [[ 9.86210865e-01 -1.61756566e-01 -3.49705985e-02 -6.10200758e+01] [ 1.61559805e-01 9.86827176e-01 -8.39960910e-03 1.55318026e+01] [ 3.58686289e-02 2.63394267e-03 9.99353043e-01 2.82636297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.019115933 meters 0.01845426376570831 Centerline is valid? [True, True] Translation: X:-61.05, Y:15.52, Z:2.83 [[ 9.86696271e-01 -1.58720946e-01 -3.51870812e-02 -6.10507405e+01] [ 1.58519584e-01 9.87319604e-01 -8.45819808e-03 1.55239498e+01] [ 3.60833883e-02 2.76783102e-03 9.99344950e-01 2.82954472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.049115933 meters 0.019092978362861036 Centerline is valid? [True, True] Translation: X:-61.07, Y:15.44, Z:2.56 [[ 9.86017055e-01 -1.62973868e-01 -3.47834228e-02 -6.10684980e+01] [ 1.62778531e-01 9.86626920e-01 -8.39472375e-03 1.54362959e+01] [ 3.56863819e-02 2.61534632e-03 9.99359616e-01 2.55758673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.079115933 meters 0.01826099198377012 Centerline is valid? [True, True] Translation: X:-61.11, Y:15.51, Z:2.81 [[ 9.88121905e-01 -1.50043915e-01 -3.31952350e-02 -6.11105101e+01] [ 1.49859247e-01 9.88674999e-01 -7.99700644e-03 1.55076332e+01] [ 3.40192011e-02 2.92740431e-03 9.99416892e-01 2.81242419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10911593299998 meters 0.01864805137524082 Centerline is valid? [True, True] Translation: X:-61.14, Y:15.47, Z:2.68 [[ 9.87388300e-01 -1.54943108e-01 -3.25112050e-02 -6.11357490e+01] [ 1.54768396e-01 9.87919683e-01 -7.83861034e-03 1.54657972e+01] [ 3.33329980e-02 2.70804510e-03 9.99440632e-01 2.68055917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13911593299999 meters 0.01785515985317188 Centerline is valid? [True, True] Translation: X:-61.17, Y:15.46, Z:2.65 [[ 9.87621709e-01 -1.53925610e-01 -3.01706087e-02 -6.11675434e+01] [ 1.53773477e-01 9.88079062e-01 -7.31335388e-03 1.54550799e+01] [ 3.09366592e-02 2.58338766e-03 9.99518008e-01 2.65397211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16911593299999 meters 0.017698041234699747 Centerline is valid? [True, True] Translation: X:-61.20, Y:15.49, Z:2.80 [[ 9.88561327e-01 -1.47974602e-01 -2.91551025e-02 -6.12045207e+01] [ 1.47830423e-01 9.88987580e-01 -7.05211652e-03 1.54929120e+01] [ 2.98775684e-02 2.66143853e-03 9.99550023e-01 2.80408425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19911593299999 meters 0.01834323272207742 Centerline is valid? [True, True] Translation: X:-61.23, Y:15.49, Z:2.83 [[ 9.89761613e-01 -1.39210720e-01 -3.15011858e-02 -6.12344877e+01] [ 1.39038120e-01 9.90257746e-01 -7.61560101e-03 1.54948203e+01] [ 3.22544665e-02 3.15776391e-03 9.99474701e-01 2.82870566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22911593299999 meters 0.01906310893048281 Centerline is valid? [True, True] Translation: X:-61.25, Y:15.39, Z:2.53 [[ 9.87221467e-01 -1.57046444e-01 -2.70220176e-02 -6.12497955e+01] [ 1.56925941e-01 9.87588739e-01 -6.53696635e-03 1.53948297e+01] [ 2.77132476e-02 2.21297797e-03 9.99613465e-01 2.53353032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25911593299999 meters 0.01778658851704625 Centerline is valid? [True, True] Translation: X:-61.29, Y:15.48, Z:2.82 [[ 9.87694152e-01 -1.54014687e-01 -2.71981208e-02 -6.12935771e+01] [ 1.53891440e-01 9.88065849e-01 -6.58048190e-03 1.54760823e+01] [ 2.78870252e-02 2.31394550e-03 9.99608403e-01 2.81983692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.28911593299999 meters 0.017881283995402817 Centerline is valid? [True, True] Translation: X:-61.32, Y:15.46, Z:2.77 [[ 9.88541427e-01 -1.47914831e-01 -3.01172826e-02 -6.13216118e+01] [ 1.47760888e-01 9.88996270e-01 -7.28676394e-03 1.54561898e+01] [ 3.08637006e-02 2.75311160e-03 9.99519811e-01 2.77474648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31911593299999 meters 0.018407710047750162 Centerline is valid? [True, True] Translation: X:-61.34, Y:15.38, Z:2.55 [[ 9.87263988e-01 -1.56858786e-01 -2.65544626e-02 -6.13403057e+01] [ 1.56742237e-01 9.87618626e-01 -6.42804849e-03 1.53783923e+01] [ 2.72339777e-02 2.18397493e-03 9.99626701e-01 2.54510360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.349115933 meters 0.017397200753046658 Centerline is valid? [True, True] Translation: X:-61.38, Y:15.43, Z:2.76 [[ 9.88835371e-01 -1.46108292e-01 -2.92741437e-02 -6.13796890e+01] [ 1.45961945e-01 9.89264822e-01 -7.08678701e-03 1.54306797e+01] [ 2.99953189e-02 2.73475472e-03 9.99546298e-01 2.75534379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.379115933 meters 0.01810807132102919 Centerline is valid? [True, True] Translation: X:-61.40, Y:15.36, Z:2.55 [[ 9.87394194e-01 -1.55936452e-01 -2.71390508e-02 -6.13998167e+01] [ 1.55814276e-01 9.87764501e-01 -6.57281834e-03 1.53601000e+01] [ 2.78319329e-02 2.26131112e-03 9.99610059e-01 2.54905447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.409115933 meters 0.017786660147987365 Centerline is valid? [True, True] Translation: X:-61.44, Y:15.41, Z:2.75 [[ 9.87847887e-01 -1.52845098e-01 -2.81944712e-02 -6.14400380e+01] [ 1.52711893e-01 9.88247139e-01 -6.83148703e-03 1.54137677e+01] [ 2.89072648e-02 2.44283896e-03 9.99579113e-01 2.74882288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.439115933 meters 0.017846093730828332 Centerline is valid? [True, True] Translation: X:-61.46, Y:15.33, Z:2.50 [[ 9.87285905e-01 -1.56758070e-01 -2.63334268e-02 -6.14580783e+01] [ 1.56643180e-01 9.87634632e-01 -6.38333284e-03 1.53303275e+01] [ 2.70084433e-02 2.17722283e-03 9.99632834e-01 2.50193132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.469115933 meters 0.018027503409203418 Centerline is valid? [True, True] Translation: X:-61.49, Y:15.32, Z:2.50 [[ 9.86910231e-01 -1.59028876e-01 -2.67957675e-02 -6.14884631e+01] [ 1.58909860e-01 9.87271516e-01 -6.52763808e-03 1.53219797e+01] [ 2.74927809e-02 2.18408115e-03 9.99619616e-01 2.50122730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49911593299998 meters 0.018176043389211704 Centerline is valid? [True, True] Translation: X:-61.52, Y:15.33, Z:2.58 [[ 9.87540557e-01 -1.54774388e-01 -2.84347717e-02 -6.15209515e+01] [ 1.54639111e-01 9.87946861e-01 -6.90973262e-03 1.53343774e+01] [ 2.91614931e-02 2.42651338e-03 9.99571768e-01 2.57829639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52911593299999 meters 0.017510604119166478 Centerline is valid? [True, True] Translation: X:-61.55, Y:15.35, Z:2.67 [[ 9.88283222e-01 -1.49705424e-01 -2.97415419e-02 -6.15548106e+01] [ 1.49555066e-01 9.88726965e-01 -7.22983665e-03 1.53539053e+01] [ 3.04886102e-02 2.69712799e-03 9.99531475e-01 2.67336230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55911593299999 meters 0.017647782868960227 Centerline is valid? [True, True] Translation: X:-61.59, Y:15.36, Z:2.73 [[ 9.88161323e-01 -1.50506812e-01 -2.97472658e-02 -6.15879824e+01] [ 1.50355550e-01 9.88605252e-01 -7.27079868e-03 1.53579572e+01] [ 3.05026080e-02 2.71205554e-03 9.99531008e-01 2.72509754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58911593299999 meters 0.018440649684383446 Centerline is valid? [True, True] Translation: X:-61.61, Y:15.30, Z:2.57 [[ 9.86144790e-01 -1.63735248e-01 -2.66312248e-02 -6.16098840e+01] [ 1.63619157e-01 9.86502190e-01 -6.49617292e-03 1.53033624e+01] [ 2.73354141e-02 2.04878853e-03 9.99624218e-01 2.57371826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61911593299999 meters 0.017458405039449308 Centerline is valid? [True, True] Translation: X:-61.65, Y:15.34, Z:2.70 [[ 9.87249135e-01 -1.56450150e-01 -2.93682835e-02 -6.16465228e+01] [ 1.56305734e-01 9.87682736e-01 -7.16458780e-03 1.53381111e+01] [ 3.01274475e-02 2.48280199e-03 9.99542982e-01 2.69909255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.64911593299999 meters 0.01759261563719179 Centerline is valid? [True, True] Translation: X:-61.67, Y:15.32, Z:2.66 [[ 9.86958699e-01 -1.58528618e-01 -2.79500129e-02 -6.16743940e+01] [ 1.58397677e-01 9.87351620e-01 -6.85233086e-03 1.53151757e+01] [ 2.86827810e-02 2.33575045e-03 9.99585835e-01 2.66330683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67911593299999 meters 0.01784484376105261 Centerline is valid? [True, True] Translation: X:-61.70, Y:15.30, Z:2.64 [[ 9.87418476e-01 -1.55429837e-01 -2.90915670e-02 -6.17034168e+01] [ 1.55286908e-01 9.87843730e-01 -7.12331289e-03 1.52971265e+01] [ 2.98450974e-02 2.51615127e-03 9.99551369e-01 2.64091491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.70911593299999 meters 0.017305345822780073 Centerline is valid? [True, True] Translation: X:-61.73, Y:15.30, Z:2.67 [[ 9.88614727e-01 -1.47258354e-01 -3.09176192e-02 -6.17340303e+01] [ 1.47093038e-01 9.89093712e-01 -7.56750485e-03 1.52982014e+01] [ 3.16948010e-02 2.93358022e-03 9.99493288e-01 2.67225581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.739115933 meters 0.01754159584556508 Centerline is valid? [True, True] Translation: X:-61.75, Y:15.23, Z:2.51 [[ 9.85224618e-01 -1.69423368e-01 -2.50634087e-02 -6.17547095e+01] [ 1.69321786e-01 9.85541716e-01 -6.13663615e-03 1.52347630e+01] [ 2.57407243e-02 1.80218388e-03 9.99667028e-01 2.50904390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.769115933 meters 0.016674880614039995 Centerline is valid? [True, True] Translation: X:-61.80, Y:15.30, Z:2.73 [[ 9.86256992e-01 -1.62913057e-01 -2.75042028e-02 -6.17960770e+01] [ 1.62788167e-01 9.86638052e-01 -6.73544870e-03 1.52975300e+01] [ 2.82339857e-02 2.16552461e-03 9.99598996e-01 2.72675650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.799115933 meters 0.01676564139704674 Centerline is valid? [True, True] Translation: X:-61.82, Y:15.28, Z:2.69 [[ 9.88142158e-01 -1.50344384e-01 -3.11711566e-02 -6.18217008e+01] [ 1.50177709e-01 9.88629542e-01 -7.63444061e-03 1.52750200e+01] [ 3.19645215e-02 2.86269975e-03 9.99484904e-01 2.69450998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.829115933 meters 0.01704663481326964 Centerline is valid? [True, True] Translation: X:-61.85, Y:15.27, Z:2.70 [[ 9.87675828e-01 -1.53524426e-01 -3.04419144e-02 -6.18528897e+01] [ 1.53366822e-01 9.88141166e-01 -7.46018066e-03 1.52704513e+01] [ 3.12262287e-02 2.69946044e-03 9.99508697e-01 2.69791206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85911593299998 meters 0.01713349942710417 Centerline is valid? [True, True] Translation: X:-61.88, Y:15.26, Z:2.66 [[ 9.88175836e-01 -1.49714255e-01 -3.30780621e-02 -6.18819171e+01] [ 1.49526036e-01 9.88724557e-01 -8.10642632e-03 1.52559351e+01] [ 3.39187399e-02 3.06454310e-03 9.99419896e-01 2.66440043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88911593299999 meters 0.017012954696845467 Centerline is valid? [True, True] Translation: X:-61.91, Y:15.24, Z:2.63 [[ 9.88635019e-01 -1.45588117e-01 -3.74819761e-02 -6.19095780e+01] [ 1.45343572e-01 9.89338626e-01 -9.18314373e-03 1.52384349e+01] [ 3.84193233e-02 3.63101319e-03 9.99255108e-01 2.63236155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91911593299999 meters 0.017137199833880595 Centerline is valid? [True, True] Translation: X:-61.94, Y:15.23, Z:2.64 [[ 9.87902810e-01 -1.50952288e-01 -3.55168151e-02 -6.19403726e+01] [ 1.50736086e-01 9.88535725e-01 -8.70365740e-03 1.52342613e+01] [ 3.64234776e-02 3.24470192e-03 9.99331177e-01 2.64293330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94911593299999 meters 0.017190226771172136 Centerline is valid? [True, True] Translation: X:-61.97, Y:15.22, Z:2.61 [[ 9.88287024e-01 -1.48094853e-01 -3.68330276e-02 -6.19692273e+01] [ 1.47860050e-01 9.88967031e-01 -9.03421500e-03 1.52165811e+01] [ 3.77645707e-02 3.48226415e-03 9.99280597e-01 2.61385786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97911593299999 meters 0.017086823370758897 Centerline is valid? [True, True] Translation: X:-62.00, Y:15.22, Z:2.65 [[ 9.88017715e-01 -1.50163290e-01 -3.56648570e-02 -6.20026690e+01] [ 1.49944197e-01 9.88655692e-01 -8.75565025e-03 1.52207682e+01] [ 3.65750412e-02 3.30299920e-03 9.99325451e-01 2.64611175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.00911593299999 meters 0.017210104568252095 Centerline is valid? [True, True] Translation: X:-62.04, Y:15.22, Z:2.66 [[ 9.87867152e-01 -1.51709056e-01 -3.32092325e-02 -6.20358192e+01] [ 1.51519743e-01 9.88420553e-01 -8.15952295e-03 1.52226798e+01] [ 3.40625615e-02 3.02867031e-03 9.99415113e-01 2.65921759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03911593299999 meters 0.017205882777547116 Centerline is valid? [True, True] Translation: X:-62.07, Y:15.21, Z:2.63 [[ 9.89172757e-01 -1.42693951e-01 -3.42883737e-02 -6.20658548e+01] [ 1.42486918e-01 9.89760870e-01 -8.42008034e-03 1.52136613e+01] [ 3.51387851e-02 3.44326938e-03 9.99376510e-01 2.63352484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.06911593299999 meters 0.017306367310600132 Centerline is valid? [True, True] Translation: X:-62.10, Y:15.21, Z:2.64 [[ 9.89117064e-01 -1.43661487e-01 -3.17617942e-02 -6.20976978e+01] [ 1.43484008e-01 9.89621818e-01 -7.81005486e-03 1.52091037e+01] [ 3.25541686e-02 3.16774899e-03 9.99464953e-01 2.64048897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.099115933 meters 0.01692486757935567 Centerline is valid? [True, True] Translation: X:-62.13, Y:15.22, Z:2.68 [[ 9.88424167e-01 -1.48340754e-01 -3.18227366e-02 -6.21323969e+01] [ 1.48165051e-01 9.88931704e-01 -7.82327107e-03 1.52236340e+01] [ 3.26310230e-02 3.01769282e-03 9.99462911e-01 2.67522030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.129115933 meters 0.016985084415760136 Centerline is valid? [True, True] Translation: X:-62.16, Y:15.23, Z:2.71 [[ 9.88741307e-01 -1.45857819e-01 -3.34084360e-02 -6.21640930e+01] [ 1.45662610e-01 9.89300197e-01 -8.21735632e-03 1.52257935e+01] [ 3.42495380e-02 3.25847964e-03 9.99408000e-01 2.70577548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.159115933 meters 0.017316957426301058 Centerline is valid? [True, True] Translation: X:-62.20, Y:15.22, Z:2.71 [[ 9.88521484e-01 -1.47614927e-01 -3.21731232e-02 -6.21961271e+01] [ 1.47433748e-01 9.89040016e-01 -7.94583809e-03 1.52249203e+01] [ 3.29934306e-02 3.11122754e-03 9.99450726e-01 2.70709241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.189115933 meters 0.017484689370392124 Centerline is valid? [True, True] Translation: X:-62.22, Y:15.17, Z:2.55 [[ 9.87850855e-01 -1.52721186e-01 -2.87563532e-02 -6.22188660e+01] [ 1.52578871e-01 9.88265845e-01 -7.09283026e-03 1.51707965e+01] [ 2.95021471e-02 2.61904653e-03 9.99561286e-01 2.54927270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.219115933 meters 0.01773215436764675 Centerline is valid? [True, True] Translation: X:-62.25, Y:15.15, Z:2.50 [[ 9.87129163e-01 -1.57799273e-01 -2.59885548e-02 -6.22463443e+01] [ 1.57684714e-01 9.87468686e-01 -6.41287548e-03 1.51470368e+01] [ 2.66748312e-02 2.23233858e-03 9.99641671e-01 2.50442891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24911593299998 meters 0.016745037876405407 Centerline is valid? [True, True] Translation: X:-62.29, Y:15.21, Z:2.69 [[ 9.89539935e-01 -1.41359106e-01 -2.87805435e-02 -6.22884109e+01] [ 1.41211712e-01 9.89953951e-01 -7.10121975e-03 1.52093374e+01] [ 2.94952348e-02 2.96279072e-03 9.99560530e-01 2.69378719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27911593299999 meters 0.017452305227952405 Centerline is valid? [True, True] Translation: X:-62.32, Y:15.18, Z:2.63 [[ 9.89787839e-01 -1.39345886e-01 -3.00459275e-02 -6.23160956e+01] [ 1.39184036e-01 9.90238712e-01 -7.42277124e-03 1.51840135e+01] [ 3.07869732e-02 3.16505525e-03 9.99520958e-01 2.63418972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30911593299999 meters 0.01775829302654641 Centerline is valid? [True, True] Translation: X:-62.34, Y:15.15, Z:2.52 [[ 9.86631261e-01 -1.61490068e-01 -2.19023521e-02 -6.23405752e+01] [ 1.61409485e-01 9.86872691e-01 -5.41014063e-03 1.51453255e+01] [ 2.24885172e-02 1.80256649e-03 9.99745476e-01 2.52442340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33911593299999 meters 0.01711253205750331 Centerline is valid? [True, True] Translation: X:-62.38, Y:15.19, Z:2.69 [[ 9.90101352e-01 -1.37203608e-01 -2.95716474e-02 -6.23770635e+01] [ 1.37045888e-01 9.90537760e-01 -7.30551272e-03 1.51857146e+01] [ 3.02941761e-02 3.18052535e-03 9.99535966e-01 2.68550398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36911593299999 meters 0.016496476906333362 Centerline is valid? [True, True] Translation: X:-62.41, Y:15.18, Z:2.71 [[ 9.89804809e-01 -1.39783760e-01 -2.73301977e-02 -6.24081172e+01] [ 1.39649986e-01 9.90177902e-01 -6.75307273e-03 1.51849628e+01] [ 2.80057277e-02 2.86756214e-03 9.99603650e-01 2.70570458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39911593299999 meters 0.01678238956860025 Centerline is valid? [True, True] Translation: X:-62.44, Y:15.19, Z:2.74 [[ 9.89857835e-01 -1.39139223e-01 -2.86660650e-02 -6.24415201e+01] [ 1.38990797e-01 9.90268101e-01 -7.11660044e-03 1.51902196e+01] [ 2.93772880e-02 3.06010347e-03 9.99563710e-01 2.74129799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.42911593299999 meters 0.017704510259428884 Centerline is valid? [True, True] Translation: X:-62.46, Y:15.11, Z:2.52 [[ 9.89325568e-01 -1.42913855e-01 -2.84701624e-02 -6.24590674e+01] [ 1.42769304e-01 9.89730831e-01 -7.05743067e-03 1.51085510e+01] [ 2.91864021e-02 2.91743134e-03 9.99569729e-01 2.51950534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45911593299999 meters 0.017255837865569276 Centerline is valid? [True, True] Translation: X:-62.50, Y:15.15, Z:2.67 [[ 9.88167954e-01 -1.51328608e-01 -2.49749100e-02 -6.24976638e+01] [ 1.51219982e-01 9.88480734e-01 -6.19314856e-03 1.51502702e+01] [ 2.56244179e-02 2.34316550e-03 9.99668895e-01 2.67268163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.489115933 meters 0.017193787803404796 Centerline is valid? [True, True] Translation: X:-62.53, Y:15.15, Z:2.70 [[ 9.88775320e-01 -1.46851900e-01 -2.75297261e-02 -6.25298130e+01] [ 1.46718179e-01 9.89154775e-01 -6.82693804e-03 1.51546926e+01] [ 2.82337089e-02 2.71119655e-03 9.99597673e-01 2.69890828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.519115933 meters 0.017787038286784542 Centerline is valid? [True, True] Translation: X:-62.55, Y:15.07, Z:2.49 [[ 9.88428599e-01 -1.48967915e-01 -2.85913429e-02 -6.25473362e+01] [ 1.48823553e-01 9.88838103e-01 -7.12433468e-03 1.50719156e+01] [ 2.93335065e-02 2.78683092e-03 9.99565795e-01 2.48776211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.549115933 meters 0.017130597302325905 Centerline is valid? [True, True] Translation: X:-62.58, Y:15.09, Z:2.56 [[ 9.86867458e-01 -1.59677565e-01 -2.44068582e-02 -6.25805877e+01] [ 1.59575871e-01 9.87166996e-01 -6.07153688e-03 1.50867452e+01] [ 2.50631331e-02 2.09705649e-03 9.99683671e-01 2.55868009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.579115933 meters 0.017130597302325905 Centerline is valid? [True, True] Translation: X:-62.61, Y:15.08, Z:2.56 [[ 9.86749623e-01 -1.60405413e-01 -2.43984471e-02 -6.26117929e+01] [ 1.60303112e-01 9.87048954e-01 -6.10530234e-03 1.50789152e+01] [ 2.50617853e-02 2.11325778e-03 9.99683670e-01 2.55946348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60911593299998 meters 0.017576860455664884 Centerline is valid? [True, True] Translation: X:-62.64, Y:15.08, Z:2.59 [[ 9.85306502e-01 -1.69112536e-01 -2.39175147e-02 -6.26423997e+01] [ 1.69017177e-01 9.85595034e-01 -5.96850318e-03 1.50782973e+01] [ 2.45823324e-02 1.83833417e-03 9.99696119e-01 2.58769318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63911593299999 meters 0.01803234626166961 Centerline is valid? [True, True] Translation: X:-62.67, Y:15.06, Z:2.56 [[ 9.85776809e-01 -1.65532076e-01 -2.90381725e-02 -6.26691878e+01] [ 1.65389986e-01 9.86201631e-01 -7.24534944e-03 1.50565859e+01] [ 2.98368309e-02 2.33967451e-03 9.99552044e-01 2.55782113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66911593299999 meters 0.017760291748962206 Centerline is valid? [True, True] Translation: X:-62.70, Y:15.02, Z:2.49 [[ 9.85276994e-01 -1.68643054e-01 -2.80849534e-02 -6.26953105e+01] [ 1.68511105e-01 9.85674774e-01 -7.01761316e-03 1.50224232e+01] [ 2.88661018e-02 2.18166628e-03 9.99580906e-01 2.48942529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69911593299999 meters 0.018134586318470564 Centerline is valid? [True, True] Translation: X:-62.73, Y:15.04, Z:2.57 [[ 9.84267101e-01 -1.74072117e-01 -3.02848584e-02 -6.27294233e+01] [ 1.73921061e-01 9.84730480e-01 -7.57280481e-03 1.50357902e+01] [ 3.11406373e-02 2.18648794e-03 9.99512621e-01 2.57471601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72911593299999 meters 0.017457607105734733 Centerline is valid? [True, True] Translation: X:-62.76, Y:15.05, Z:2.62 [[ 9.84240801e-01 -1.74080159e-01 -3.10828646e-02 -6.27633459e+01] [ 1.73919980e-01 9.84728854e-01 -7.80544201e-03 1.50469423e+01] [ 3.19669662e-02 2.27650331e-03 9.99486333e-01 2.62444407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75911593299999 meters 0.017939623298341735 Centerline is valid? [True, True] Translation: X:-62.79, Y:15.02, Z:2.57 [[ 9.82924804e-01 -1.81662934e-01 -2.92815443e-02 -6.27883188e+01] [ 1.81524528e-01 9.83359025e-01 -7.33991254e-03 1.50153359e+01] [ 3.01276609e-02 1.89926357e-03 9.99544255e-01 2.56663494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78911593299999 meters 0.017918534973276307 Centerline is valid? [True, True] Translation: X:-62.82, Y:15.01, Z:2.57 [[ 9.81770018e-01 -1.87664795e-01 -3.01588624e-02 -6.28191516e+01] [ 1.87519750e-01 9.82231483e-01 -7.59319295e-03 1.50101880e+01] [ 3.10479591e-02 1.79938686e-03 9.99516276e-01 2.57456182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81911593299999 meters 0.017779323484758237 Centerline is valid? [True, True] Translation: X:-62.85, Y:15.01, Z:2.60 [[ 9.80532241e-01 -1.94225243e-01 -2.88631077e-02 -6.28496400e+01] [ 1.94095461e-01 9.80955788e-01 -7.25903269e-03 1.50071341e+01] [ 2.97233199e-02 1.51551739e-03 9.99557016e-01 2.59871298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.849115933 meters 0.017662620958911402 Centerline is valid? [True, True] Translation: X:-62.88, Y:14.99, Z:2.59 [[ 9.79206647e-01 -2.00599988e-01 -3.02322062e-02 -6.28791316e+01] [ 2.00459588e-01 9.79672208e-01 -7.63664758e-03 1.49932803e+01] [ 3.11495636e-02 1.41752049e-03 9.99513729e-01 2.58572243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.879115933 meters 0.017644870786707317 Centerline is valid? [True, True] Translation: X:-62.91, Y:14.98, Z:2.58 [[ 9.79516188e-01 -1.98216708e-01 -3.54707364e-02 -6.29089550e+01] [ 1.98022368e-01 9.80156678e-01 -8.94583308e-03 1.49822003e+01] [ 3.65400927e-02 1.73858910e-03 9.99330675e-01 2.57874765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.909115933 meters 0.01725324383921046 Centerline is valid? [True, True] Translation: X:-62.94, Y:14.99, Z:2.63 [[ 9.77972011e-01 -2.06098228e-01 -3.30796968e-02 -6.29423836e+01] [ 2.05933570e-01 9.78530376e-01 -8.34679104e-03 1.49908262e+01] [ 3.40897470e-02 1.35070797e-03 9.99417863e-01 2.62668267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.939115933 meters 0.017088906922239428 Centerline is valid? [True, True] Translation: X:-62.98, Y:14.99, Z:2.64 [[ 9.78273009e-01 -2.04598505e-01 -3.34869006e-02 -6.29750054e+01] [ 2.04427591e-01 9.78844895e-01 -8.48712822e-03 1.49912810e+01] [ 3.45149354e-02 1.45708205e-03 9.99403120e-01 2.64212236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.969115933 meters 0.017000252894229434 Centerline is valid? [True, True] Translation: X:-63.00, Y:14.97, Z:2.60 [[ 9.79782897e-01 -1.97344095e-01 -3.28752726e-02 -6.30032154e+01] [ 1.97175553e-01 9.80332855e-01 -8.32434966e-03 1.49688383e+01] [ 3.38714711e-02 1.67385537e-03 9.99424795e-01 2.60259569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99911593299998 meters 0.016992567040564434 Centerline is valid? [True, True] Translation: X:-63.04, Y:14.98, Z:2.66 [[ 9.78966571e-01 -2.01062458e-01 -3.46170722e-02 -6.30370166e+01] [ 2.00876566e-01 9.79577011e-01 -8.80254973e-03 1.49776824e+01] [ 3.56799504e-02 1.66364333e-03 9.99361883e-01 2.65697232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02911593299999 meters 0.016342275688127073 Centerline is valid? [True, True] Translation: X:-63.06, Y:14.95, Z:2.57 [[ 9.78001049e-01 -2.05545134e-01 -3.55688953e-02 -6.30639168e+01] [ 2.05350935e-01 9.78646385e-01 -9.06894009e-03 1.49456461e+01] [ 3.66734473e-02 1.56532701e-03 9.99326077e-01 2.57046407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05911593299999 meters 0.016773482464037016 Centerline is valid? [True, True] Translation: X:-63.10, Y:14.95, Z:2.62 [[ 9.79187572e-01 -1.99415368e-01 -3.77519511e-02 -6.30960554e+01] [ 1.99192564e-01 9.79913226e-01 -9.61204547e-03 1.49512583e+01] [ 3.89104258e-02 1.89208753e-03 9.99240911e-01 2.61643649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08911593299999 meters 0.017239006425813483 Centerline is valid? [True, True] Translation: X:-63.13, Y:14.94, Z:2.61 [[ 9.80617159e-01 -1.91844258e-01 -3.98216998e-02 -6.31257824e+01] [ 1.91590046e-01 9.81422653e-01 -1.01405404e-02 1.49438922e+01] [ 4.10273227e-02 2.31454661e-03 9.99155344e-01 2.60911453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11911593299999 meters 0.01721824996546207 Centerline is valid? [True, True] Translation: X:-63.16, Y:14.94, Z:2.62 [[ 9.79878888e-01 -1.95866883e-01 -3.83865769e-02 -6.31567651e+01] [ 1.95633546e-01 9.80628301e-01 -9.78015656e-03 1.49405562e+01] [ 3.95585725e-02 2.07366676e-03 9.99215102e-01 2.61931403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14911593299999 meters 0.016532066705892974 Centerline is valid? [True, True] Translation: X:-63.19, Y:14.93, Z:2.61 [[ 9.78697227e-01 -2.02375511e-01 -3.45816496e-02 -6.31854585e+01] [ 2.02190175e-01 9.79306637e-01 -8.81154324e-03 1.49280431e+01] [ 3.56492796e-02 1.63176313e-03 9.99363030e-01 2.60684180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17911593299999 meters 0.016987838705492808 Centerline is valid? [True, True] Translation: X:-63.21, Y:14.90, Z:2.56 [[ 9.78141833e-01 -2.05038443e-01 -3.46091243e-02 -6.32132426e+01] [ 2.04853054e-01 9.78752653e-01 -8.85831858e-03 1.49040331e+01] [ 3.56900681e-02 1.57490717e-03 9.99361666e-01 2.56271968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.20911593299999 meters 0.016652172111438778 Centerline is valid? [True, True] Translation: X:-63.24, Y:14.90, Z:2.57 [[ 9.79510487e-01 -1.97927033e-01 -3.72034223e-02 -6.32432901e+01] [ 1.97708355e-01 9.80214808e-01 -9.50452550e-03 1.48994467e+01] [ 3.83485480e-02 1.95435497e-03 9.99262513e-01 2.56981305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.239115933 meters 0.016509425754443675 Centerline is valid? [True, True] Translation: X:-63.27, Y:14.88, Z:2.53 [[ 9.79220346e-01 -1.99391742e-01 -3.70195574e-02 -6.32708794e+01] [ 1.99174650e-01 9.79917962e-01 -9.49983734e-03 1.48754485e+01] [ 3.81703184e-02 1.92907662e-03 9.99269386e-01 2.52920719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.269115933 meters 0.016643392641437296 Centerline is valid? [True, True] Translation: X:-63.30, Y:14.88, Z:2.57 [[ 9.78791317e-01 -2.01807504e-01 -3.52319211e-02 -6.33041209e+01] [ 2.01612584e-01 9.79423655e-01 -9.03716374e-03 1.48786345e+01] [ 3.63307444e-02 1.74229875e-03 9.99338302e-01 2.56601173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.299115933 meters 0.016383400060884606 Centerline is valid? [True, True] Translation: X:-63.34, Y:14.88, Z:2.60 [[ 9.76803741e-01 -2.12093046e-01 -2.95125716e-02 -6.33362102e+01] [ 2.11961000e-01 9.77248814e-01 -7.56897532e-03 1.48819016e+01] [ 3.04464526e-02 1.13788922e-03 9.99535752e-01 2.59657106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.329115933 meters 0.01579555802848709 Centerline is valid? [True, True] Translation: X:-63.37, Y:14.89, Z:2.64 [[ 9.77478113e-01 -2.08720406e-01 -3.11822199e-02 -6.33694495e+01] [ 2.08571143e-01 9.77974466e-01 -8.00137181e-03 1.48887277e+01] [ 3.21654645e-02 1.31745456e-03 9.99481689e-01 2.64025725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35911593299998 meters 0.016591632588585 Centerline is valid? [True, True] Translation: X:-63.40, Y:14.86, Z:2.58 [[ 9.78173391e-01 -2.05210964e-01 -3.26385997e-02 -6.33958841e+01] [ 2.05045370e-01 9.78716609e-01 -8.37822538e-03 1.48614461e+01] [ 3.36632433e-02 1.50296337e-03 9.99432102e-01 2.58197803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38911593299999 meters 0.01627886611845253 Centerline is valid? [True, True] Translation: X:-63.43, Y:14.86, Z:2.59 [[ 9.76251618e-01 -2.14481104e-01 -3.05062978e-02 -6.34270291e+01] [ 2.14340849e-01 9.76727508e-01 -7.83423294e-03 1.48585157e+01] [ 3.14766352e-02 1.10943681e-03 9.99503872e-01 2.59392900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41911593299999 meters 0.016323350827012684 Centerline is valid? [True, True] Translation: X:-63.46, Y:14.84, Z:2.57 [[ 9.76764921e-01 -2.12003025e-01 -3.13848052e-02 -6.34569971e+01] [ 2.11852124e-01 9.77268199e-01 -8.09599883e-03 1.48440621e+01] [ 3.23877483e-02 1.25895002e-03 9.99474586e-01 2.57250456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44911593299999 meters 0.016081050523668507 Centerline is valid? [True, True] Translation: X:-63.49, Y:14.86, Z:2.64 [[ 9.75204452e-01 -2.19514534e-01 -2.81006337e-02 -6.34908186e+01] [ 2.19397032e-01 9.75608822e-01 -7.23661495e-03 1.48589431e+01] [ 2.90037683e-02 8.91983481e-04 9.99578904e-01 2.63759498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47911593299999 meters 0.015849831719871123 Centerline is valid? [True, True] Translation: X:-63.52, Y:14.83, Z:2.59 [[ 9.76382857e-01 -2.14251405e-01 -2.78002038e-02 -6.35169136e+01] [ 2.14133270e-01 9.76777962e-01 -7.19407568e-03 1.48293772e+01] [ 2.86959672e-02 1.07122363e-03 9.99587612e-01 2.58958549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50911593299999 meters 0.016214142812268323 Centerline is valid? [True, True] Translation: X:-63.55, Y:14.83, Z:2.60 [[ 9.76068661e-01 -2.15521647e-01 -2.89894571e-02 -6.35491340e+01] [ 2.15393150e-01 9.76498446e-01 -7.52167634e-03 1.48276987e+01] [ 2.99292439e-02 1.09754205e-03 9.99551417e-01 2.59983967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53911593299999 meters 0.01624208085763681 Centerline is valid? [True, True] Translation: X:-63.58, Y:14.83, Z:2.63 [[ 9.78427848e-01 -2.03914256e-01 -3.31349070e-02 -6.35817117e+01] [ 2.03740266e-01 9.78987370e-01 -8.58102443e-03 1.48340916e+01] [ 3.41884487e-02 1.64499849e-03 9.99414050e-01 2.63383588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.56911593299999 meters 0.015499771577281806 Centerline is valid? [True, True] Translation: X:-63.61, Y:14.83, Z:2.62 [[ 9.76496328e-01 -2.13454853e-01 -2.98654788e-02 -6.36121251e+01] [ 2.13317912e-01 9.76952213e-01 -7.73576262e-03 1.48256234e+01] [ 3.08283817e-02 1.18310219e-03 9.99523992e-01 2.62101399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.599115933 meters 0.015748378915570176 Centerline is valid? [True, True] Translation: X:-63.64, Y:14.83, Z:2.65 [[ 9.74647483e-01 -2.22136465e-01 -2.67894587e-02 -6.36441476e+01] [ 2.22029512e-01 9.75015243e-01 -6.94058430e-03 1.48286263e+01] [ 2.76618874e-02 8.16572585e-04 9.99617003e-01 2.64758479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.629115933 meters 0.016342066146305626 Centerline is valid? [True, True] Translation: X:-63.67, Y:14.81, Z:2.60 [[ 9.78021000e-01 -2.06172030e-01 -3.11129671e-02 -6.36709540e+01] [ 2.06019533e-01 9.78514645e-01 -8.06484133e-03 1.48054017e+01] [ 3.21072387e-02 1.47770524e-03 9.99483337e-01 2.60124612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.659115933 meters 0.016013815933993182 Centerline is valid? [True, True] Translation: X:-63.70, Y:14.79, Z:2.58 [[ 9.78342341e-01 -2.04863270e-01 -2.96193226e-02 -6.37027343e+01] [ 2.04723231e-01 9.78789471e-01 -7.71814480e-03 1.47949940e+01] [ 3.05722455e-02 1.48722443e-03 9.99531453e-01 2.58435039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.689115933 meters 0.015908381492289167 Centerline is valid? [True, True] Translation: X:-63.73, Y:14.76, Z:2.51 [[ 9.77943382e-01 -2.07143726e-01 -2.67995920e-02 -6.37287716e+01] [ 2.07029511e-01 9.78309663e-01 -6.99893263e-03 1.47634420e+01] [ 2.76680848e-02 1.29625343e-03 9.99616325e-01 2.51462378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.719115933 meters 0.016036779435881242 Centerline is valid? [True, True] Translation: X:-63.76, Y:14.76, Z:2.53 [[ 9.77170692e-01 -2.11110626e-01 -2.38692839e-02 -6.37598608e+01] [ 2.11020778e-01 9.77461588e-01 -6.25106970e-03 1.47603545e+01] [ 2.46509754e-02 1.07144724e-03 9.99695544e-01 2.52596420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74911593299998 meters 0.016108417493555426 Centerline is valid? [True, True] Translation: X:-63.79, Y:14.73, Z:2.44 [[ 9.76010577e-01 -2.16285617e-01 -2.49776799e-02 -6.37860647e+01] [ 2.16188445e-01 9.76329620e-01 -6.55968352e-03 1.47256743e+01] [ 2.58052139e-02 1.00243473e-03 9.99666487e-01 2.43538186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77911593299999 meters 0.01590064247892092 Centerline is valid? [True, True] Translation: X:-63.82, Y:14.76, Z:2.55 [[ 9.75695135e-01 -2.17756400e-01 -2.45184523e-02 -6.38246930e+01] [ 2.17662779e-01 9.76002676e-01 -6.45691630e-03 1.47566604e+01] [ 2.53361099e-02 9.63227344e-04 9.99678525e-01 2.54560029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80911593299999 meters 0.01620707502676593 Centerline is valid? [True, True] Translation: X:-63.85, Y:14.75, Z:2.54 [[ 9.78455227e-01 -2.04292803e-01 -2.98298389e-02 -6.38544482e+01] [ 2.04148403e-01 9.78908549e-01 -7.84110216e-03 1.47488438e+01] [ 3.08025650e-02 1.58245342e-03 9.99524236e-01 2.53515091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83911593299999 meters 0.015971381056546143 Centerline is valid? [True, True] Translation: X:-63.89, Y:14.75, Z:2.56 [[ 9.76265294e-01 -2.15126531e-01 -2.50330053e-02 -6.38865704e+01] [ 2.15028351e-01 9.76585628e-01 -6.58180400e-03 1.47520517e+01] [ 2.58627939e-02 1.04278097e-03 9.99664958e-01 2.56024727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.86911593299999 meters 0.01549242124940524 Centerline is valid? [True, True] Translation: X:-63.92, Y:14.75, Z:2.57 [[ 9.75826753e-01 -2.17147155e-01 -2.46832328e-02 -6.39183219e+01] [ 2.17051519e-01 9.76138361e-01 -6.52220822e-03 1.47476229e+01] [ 2.55105294e-02 1.00701209e-03 9.99674046e-01 2.57284518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89911593299999 meters 0.01586103899534574 Centerline is valid? [True, True] Translation: X:-63.95, Y:14.73, Z:2.54 [[ 9.76357519e-01 -2.14618361e-01 -2.57867241e-02 -6.39476141e+01] [ 2.14513061e-01 9.76697343e-01 -6.81523295e-03 1.47281737e+01] [ 2.66484990e-02 1.12251481e-03 9.99644235e-01 2.54143231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.92911593299999 meters 0.015714677450596064 Centerline is valid? [True, True] Translation: X:-63.98, Y:14.73, Z:2.55 [[ 9.77390561e-01 -2.09888403e-01 -2.55841530e-02 -6.39806230e+01] [ 2.09783045e-01 9.77724557e-01 -6.76502370e-03 1.47263990e+01] [ 2.64341547e-02 1.24494879e-03 9.99649781e-01 2.55191397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95911593299999 meters 0.016196234293813047 Centerline is valid? [True, True] Translation: X:-64.01, Y:14.72, Z:2.57 [[ 9.78825723e-01 -2.02618019e-01 -2.90885305e-02 -6.40112665e+01] [ 2.02478708e-01 9.79256485e-01 -7.68829311e-03 1.47229452e+01] [ 3.00429189e-02 1.63569097e-03 9.99547271e-01 2.57491788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.989115933 meters 0.01590472358413722 Centerline is valid? [True, True] Translation: X:-64.04, Y:14.72, Z:2.58 [[ 9.75425274e-01 -2.19237573e-01 -2.19185129e-02 -6.40433487e+01] [ 2.19162590e-01 9.75671135e-01 -5.79608353e-03 1.47227953e+01] [ 2.26559797e-02 8.49928298e-04 9.99742959e-01 2.58281524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.019115933 meters 0.016254261805348422 Centerline is valid? [True, True] Translation: X:-64.07, Y:14.69, Z:2.53 [[ 9.73335238e-01 -2.28489270e-01 -2.02772846e-02 -6.40677921e+01] [ 2.28427092e-01 9.73546254e-01 -5.36240514e-03 1.46890026e+01] [ 2.09661265e-02 5.87536726e-04 9.99780014e-01 2.52945852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.049115933 meters 0.0166035793619047 Centerline is valid? [True, True] Translation: X:-64.09, Y:14.65, Z:2.45 [[ 9.71363029e-01 -2.37091117e-01 -1.55456903e-02 -6.40919648e+01] [ 2.37055622e-01 9.71487368e-01 -4.11422792e-03 1.46510970e+01] [ 1.60778886e-02 3.11215611e-04 9.99870694e-01 2.45079151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.079115933 meters 0.017464210579187046 Centerline is valid? [True, True] Translation: X:-64.13, Y:14.67, Z:2.51 [[ 9.65107403e-01 -2.61819928e-01 -4.24567021e-03 -6.41263954e+01] [ 2.61817515e-01 9.65116741e-01 -1.12444509e-03 1.46656882e+01] [ 4.39196953e-03 -2.63805393e-05 9.99990355e-01 2.51276523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10911593299998 meters 0.018130330487816166 Centerline is valid? [True, True] Translation: X:-64.16, Y:14.64, Z:2.47 [[ 9.66647391e-01 -2.56065070e-01 -4.84787472e-03 -6.41555574e+01] [ 2.56061740e-01 9.66659547e-01 -1.30608483e-03 1.46443732e+01] [ 5.02068709e-03 2.11682606e-05 9.99987396e-01 2.47295629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13911593299999 meters 0.019209476382956323 Centerline is valid? [True, True] Translation: X:-64.18, Y:14.63, Z:2.48 [[ 9.62268869e-01 -2.72097156e-01 1.32702666e-03 -6.41840448e+01] [ 2.72096952e-01 9.62269783e-01 3.35667819e-04 1.46304061e+01] [-1.36829191e-03 3.80772158e-05 9.99999063e-01 2.48056902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16911593299999 meters 0.019111143352520718 Centerline is valid? [True, True] Translation: X:-64.22, Y:14.62, Z:2.50 [[ 9.59083962e-01 -2.82991942e-01 8.57404252e-03 -6.42154608e+01] [ 2.82982943e-01 9.59122254e-01 2.27046581e-03 1.46249262e+01] [-8.86607852e-03 2.48740446e-04 9.99960665e-01 2.49527450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19911593299999 meters 0.019374825631721375 Centerline is valid? [True, True] Translation: X:-64.25, Y:14.62, Z:2.50 [[ 9.54459839e-01 -2.97813415e-01 1.77083522e-02 -6.42461257e+01] [ 2.97776906e-01 9.54623794e-01 4.72517649e-03 1.46178661e+01] [-1.83120353e-02 7.63147145e-04 9.99832029e-01 2.49627689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22911593299999 meters 0.02016004199331075 Centerline is valid? [True, True] Translation: X:-64.28, Y:14.62, Z:2.53 [[ 9.56685097e-01 -2.90541650e-01 1.84167262e-02 -6.42789993e+01] [ 2.90500756e-01 9.56862128e-01 4.91715580e-03 1.46224150e+01] [-1.90509064e-02 6.45903211e-04 9.99818306e-01 2.53021180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25911593299999 meters 0.020106012194662987 Centerline is valid? [True, True] Translation: X:-64.31, Y:14.62, Z:2.54 [[ 9.55095522e-01 -2.95638662e-01 1.97566670e-02 -6.43105737e+01] [ 2.95592636e-01 9.55299504e-01 5.27740935e-03 1.46185672e+01] [-2.04337404e-02 7.99495244e-04 9.99790890e-01 2.53521895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.28911593299999 meters 0.019919628050857938 Centerline is valid? [True, True] Translation: X:-64.35, Y:14.64, Z:2.63 [[ 9.50164191e-01 -3.10286497e-01 3.01711739e-02 -6.43467421e+01] [ 3.10185600e-01 9.50641618e-01 8.08744405e-03 1.46428559e+01] [-3.11913982e-02 1.67426393e-03 9.99512028e-01 2.63410060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31911593299999 meters 0.02051457237623895 Centerline is valid? [True, True] Translation: X:-64.37, Y:14.61, Z:2.56 [[ 9.55700529e-01 -2.93283952e-01 2.49203012e-02 -6.43711190e+01] [ 2.93209235e-01 9.56024936e-01 6.68331369e-03 1.46064585e+01] [-2.57845380e-02 9.19616034e-04 9.99667101e-01 2.55705496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.349115933 meters 0.02035972077091339 Centerline is valid? [True, True] Translation: X:-64.41, Y:14.63, Z:2.65 [[ 9.50956163e-01 -3.07517898e-01 3.33934030e-02 -6.44085490e+01] [ 3.07392228e-01 9.51540701e-01 8.96172672e-03 1.46329648e+01] [-3.45310735e-02 1.74266330e-03 9.99402105e-01 2.65453866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.379115933 meters 0.020113696916069485 Centerline is valid? [True, True] Translation: X:-64.44, Y:14.62, Z:2.64 [[ 9.54630718e-01 -2.95946089e-01 3.31074835e-02 -6.44379411e+01] [ 2.95815455e-01 9.55203749e-01 8.88903558e-03 1.46185410e+01] [-3.42550677e-02 1.30795889e-03 9.99412267e-01 2.64426357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.409115933 meters 0.020260893577644774 Centerline is valid? [True, True] Translation: X:-64.47, Y:14.62, Z:2.68 [[ 9.52895249e-01 -3.00907766e-01 3.80152603e-02 -6.44709442e+01] [ 3.00739187e-01 9.53651732e-01 1.02135251e-02 1.46222597e+01] [-3.93266478e-02 1.70025890e-03 9.99224962e-01 2.67507208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.439115933 meters 0.020140394823757464 Centerline is valid? [True, True] Translation: X:-64.51, Y:14.66, Z:2.77 [[ 9.56231859e-01 -2.90270284e-01 3.69295969e-02 -6.45097286e+01] [ 2.90102800e-01 9.56943931e-01 9.93367320e-03 1.46555819e+01] [-3.82230038e-02 1.21448469e-03 9.99268496e-01 2.77397715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.469115933 meters 0.020140394823757464 Centerline is valid? [True, True] Translation: X:-64.54, Y:14.65, Z:2.77 [[ 9.55996842e-01 -2.91044196e-01 3.69230883e-02 -6.45406856e+01] [ 2.90876357e-01 9.56708831e-01 9.95781773e-03 1.46473068e+01] [-3.82228097e-02 1.22041112e-03 9.99268496e-01 2.77476446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49911593299998 meters 0.01993409525405609 Centerline is valid? [True, True] Translation: X:-64.57, Y:14.64, Z:2.76 [[ 9.60176550e-01 -2.77024932e-01 3.63067395e-02 -6.45698870e+01] [ 2.76851545e-01 9.60862529e-01 9.81953297e-03 1.46362875e+01] [-3.76060410e-02 6.23091634e-04 9.99292448e-01 2.75894018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52911593299999 meters 0.019850374442665086 Centerline is valid? [True, True] Translation: X:-64.60, Y:14.60, Z:2.67 [[ 9.62173045e-01 -2.70066693e-01 3.58749705e-02 -6.45950399e+01] [ 2.69891689e-01 9.62841564e-01 9.72622633e-03 1.46009087e+01] [-3.71686425e-02 3.24043594e-04 9.99308955e-01 2.67416903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55911593299999 meters 0.019115513738001615 Centerline is valid? [True, True] Translation: X:-64.63, Y:14.60, Z:2.70 [[ 9.63600174e-01 -2.64172894e-01 4.10778250e-02 -6.46267088e+01] [ 2.63936663e-01 9.64475337e-01 1.11696863e-02 1.45989130e+01] [-4.25692775e-02 7.88323642e-05 9.99093514e-01 2.69940480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58911593299999 meters 0.020019820958794312 Centerline is valid? [True, True] Translation: X:-64.67, Y:14.63, Z:2.80 [[ 9.66263976e-01 -2.54303393e-01 4.07886436e-02 -6.46655488e+01] [ 2.54060394e-01 9.67124417e-01 1.11210780e-02 1.46289205e+01] [-4.22758211e-02 -3.83118132e-04 9.99105904e-01 2.80061550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61911593299999 meters 0.0201494725695139 Centerline is valid? [True, True] Translation: X:-64.70, Y:14.64, Z:2.83 [[ 9.67758651e-01 -2.48524706e-01 4.09715058e-02 -6.47014744e+01] [ 2.48273046e-01 9.68625327e-01 1.12013583e-02 1.46412822e+01] [-4.24698524e-02 -6.68090848e-04 9.99097525e-01 2.83086669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.64911593299999 meters 0.019802313250118293 Centerline is valid? [True, True] Translation: X:-64.73, Y:14.64, Z:2.85 [[ 9.66780797e-01 -2.52006820e-01 4.27487327e-02 -6.47348811e+01] [ 2.51734703e-01 9.67725290e-01 1.17218954e-02 1.46436442e+01] [-4.43230274e-02 -5.71163841e-04 9.99017088e-01 2.85462725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67911593299999 meters 0.019666783741297208 Centerline is valid? [True, True] Translation: X:-64.76, Y:14.61, Z:2.78 [[ 9.69338778e-01 -2.42515885e-01 3.96027644e-02 -6.47607205e+01] [ 2.42273457e-01 9.70146965e-01 1.08829032e-02 1.46082149e+01] [-4.10597786e-02 -9.54521469e-04 9.99156236e-01 2.78016482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.70911593299999 meters 0.01904521689281762 Centerline is valid? [True, True] Translation: X:-64.79, Y:14.59, Z:2.76 [[ 9.72349886e-01 -2.30363459e-01 3.83194013e-02 -6.47883675e+01] [ 2.30126700e-01 9.73103609e-01 1.05388671e-02 1.45888382e+01] [-3.97165176e-02 -1.42914881e-03 9.99209966e-01 2.76114261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.739115933 meters 0.020309180061081532 Centerline is valid? [True, True] Translation: X:-64.82, Y:14.60, Z:2.82 [[ 9.73485894e-01 -2.25972337e-01 3.55206443e-02 -6.48227086e+01] [ 2.25765590e-01 9.74132562e-01 9.78006519e-03 1.45981172e+01] [-3.68118404e-02 -1.50141628e-03 9.99321087e-01 2.82000092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.769115933 meters 0.019302818851913407 Centerline is valid? [True, True] Translation: X:-64.86, Y:14.61, Z:2.87 [[ 9.75110559e-01 -2.18817918e-01 3.57507529e-02 -6.48583916e+01] [ 2.18602949e-01 9.75764044e-01 9.86309016e-03 1.46121601e+01] [-3.70425201e-02 -1.80238333e-03 9.99312065e-01 2.86704161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.799115933 meters 0.020638733288489333 Centerline is valid? [True, True] Translation: X:-64.88, Y:14.54, Z:2.69 [[ 9.79647798e-01 -1.98883836e-01 2.71184796e-02 -6.48758817e+01] [ 1.98752403e-01 9.80021143e-01 7.48608633e-03 1.45402161e+01] [-2.80655450e-02 -1.94386501e-03 9.99604195e-01 2.68512372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.829115933 meters 0.020638796649367533 Centerline is valid? [True, True] Translation: X:-64.91, Y:14.53, Z:2.70 [[ 9.79534112e-01 -1.99422858e-01 2.72662210e-02 -6.49069996e+01] [ 1.99290001e-01 9.79911597e-01 7.53377011e-03 1.45330982e+01] [-2.82208921e-02 -1.94569960e-03 9.99599818e-01 2.70017895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85911593299998 meters 0.020374827484374528 Centerline is valid? [True, True] Translation: X:-64.95, Y:14.57, Z:2.83 [[ 9.77709852e-01 -2.07657150e-01 3.10153699e-02 -6.49461565e+01] [ 2.07488592e-01 9.78199694e-01 8.59315211e-03 1.45707246e+01] [-3.21236548e-02 -1.96627403e-03 9.99481968e-01 2.82956147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88911593299999 meters 0.02017339151187443 Centerline is valid? [True, True] Translation: X:-64.98, Y:14.58, Z:2.89 [[ 9.78656945e-01 -2.03286043e-01 3.00893576e-02 -6.49805911e+01] [ 2.03125128e-01 9.79117239e-01 8.34356521e-03 1.45815160e+01] [-3.11571390e-02 -2.05358344e-03 9.99512389e-01 2.89365498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91911593299999 meters 0.01917151069880497 Centerline is valid? [True, True] Translation: X:-65.02, Y:14.61, Z:2.98 [[ 9.80693296e-01 -1.93923453e-01 2.51863715e-02 -6.50173672e+01] [ 1.93807528e-01 9.81014682e-01 6.98834139e-03 1.46063710e+01] [-2.60634035e-02 -1.97211116e-03 9.99658347e-01 2.98002091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94911593299999 meters 0.021399008386489143 Centerline is valid? [True, True] Translation: X:-65.03, Y:14.53, Z:2.80 [[ 9.85474614e-01 -1.69344787e-01 1.27329546e-02 -6.50323534e+01] [ 1.69313126e-01 9.85555978e-01 3.53249261e-03 1.45298093e+01] [-1.31472487e-02 -1.32532545e-03 9.99912693e-01 2.80192412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97911593299999 meters 0.019698621103741546 Centerline is valid? [True, True] Translation: X:-65.07, Y:14.58, Z:2.98 [[ 9.86769799e-01 -1.61841426e-01 9.62890224e-03 -6.50736367e+01] [ 1.61822952e-01 9.86816187e-01 2.67288892e-03 1.45815650e+01] [-9.93454076e-03 -1.07934867e-03 9.99950069e-01 2.98412894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00911593299999 meters 0.019753976095642656 Centerline is valid? [True, True] Translation: X:-65.10, Y:14.56, Z:2.96 [[ 9.88942677e-01 -1.48277726e-01 2.46920153e-03 -6.50998945e+01] [ 1.48276473e-01 9.88945711e-01 6.84005836e-04 1.45583915e+01] [-2.54332909e-03 -3.10318068e-04 9.99996718e-01 2.96087960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03911593299999 meters 0.019027034611617963 Centerline is valid? [True, True] Translation: X:-65.13, Y:14.56, Z:2.99 [[ 9.89959277e-01 -1.41281270e-01 -4.49805888e-03 -6.51318452e+01] [ 1.41277017e-01 9.89969312e-01 -1.25122158e-03 1.45603141e+01] [ 4.62971443e-03 6.03186068e-04 9.99989101e-01 2.98860385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.06911593299999 meters 0.020734247178144545 Centerline is valid? [True, True] Translation: X:-65.15, Y:14.48, Z:2.77 [[ 9.90677504e-01 -1.35761531e-01 -1.12645585e-02 -6.51476383e+01] [ 1.35734544e-01 9.90740297e-01 -3.13020355e-03 1.44846622e+01] [ 1.15852132e-02 1.57203253e-03 9.99931653e-01 2.77464286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.099115933 meters 0.01978227701540372 Centerline is valid? [True, True] Translation: X:-65.18, Y:14.50, Z:2.83 [[ 9.92983804e-01 -1.16580797e-01 -1.98010962e-02 -6.51818552e+01] [ 1.16493639e-01 9.93176190e-01 -5.50352267e-03 1.44995048e+01] [ 2.03075824e-02 3.15820713e-03 9.99788792e-01 2.82633531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.129115933 meters 0.0194198914464401 Centerline is valid? [True, True] Translation: X:-65.22, Y:14.52, Z:2.96 [[ 9.94275675e-01 -1.03352951e-01 -2.70933436e-02 -6.52152155e+01] [ 1.03184960e-01 9.94633678e-01 -7.53062960e-03 1.45210295e+01] [ 2.77262648e-02 4.69189626e-03 9.99604542e-01 2.95608300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.159115933 meters 0.017928748644792925 Centerline is valid? [True, True] Translation: X:-65.25, Y:14.54, Z:3.01 [[ 9.94177257e-01 -1.03928092e-01 -2.84698809e-02 -6.52480274e+01] [ 1.03743127e-01 9.94572728e-01 -7.90268677e-03 1.45357442e+01] [ 2.91366783e-02 4.90311697e-03 9.99563411e-01 3.00701435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.189115933 meters 0.019193250654276947 Centerline is valid? [True, True] Translation: X:-65.26, Y:14.44, Z:2.74 [[ 9.93266064e-01 -1.11133358e-01 -3.27399334e-02 -6.52611578e+01] [ 1.10892295e-01 9.93790816e-01 -9.09464169e-03 1.44442202e+01] [ 3.35473632e-02 5.40279262e-03 9.99422525e-01 2.74347721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.219115933 meters 0.01782294941648578 Centerline is valid? [True, True] Translation: X:-65.31, Y:14.52, Z:3.02 [[ 9.94612437e-01 -9.66613467e-02 -3.74524226e-02 -6.53057639e+01] [ 9.63360489e-02 9.95294540e-01 -1.03992789e-02 1.45204042e+01] [ 3.82814000e-02 6.73523375e-03 9.99244300e-01 3.02136279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24911593299998 meters 0.018232841363751317 Centerline is valid? [True, True] Translation: X:-65.34, Y:14.53, Z:3.08 [[ 9.95591914e-01 -8.31478915e-02 -4.33954876e-02 -6.53380912e+01] [ 8.26988147e-02 9.96501779e-01 -1.20461968e-02 1.45278259e+01] [ 4.42452964e-02 8.40434079e-03 9.98985346e-01 3.07925008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27911593299999 meters 0.018273910486432374 Centerline is valid? [True, True] Translation: X:-65.38, Y:14.57, Z:3.22 [[ 9.94702433e-01 -9.42446020e-02 -4.10490466e-02 -6.53778104e+01] [ 9.38520047e-02 9.95520973e-01 -1.13927233e-02 1.45704786e+01] [ 4.19388895e-02 7.47983432e-03 9.99092179e-01 3.22395500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30911593299999 meters 0.019529722767601357 Centerline is valid? [True, True] Translation: X:-65.39, Y:14.47, Z:2.90 [[ 9.93413199e-01 -1.07507492e-01 -3.96529453e-02 -6.53886703e+01] [ 1.07151395e-01 9.94181808e-01 -1.10050613e-02 1.44672701e+01] [ 4.06053633e-02 6.68370473e-03 9.99152907e-01 2.90325546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33911593299999 meters 0.017944384079235747 Centerline is valid? [True, True] Translation: X:-65.44, Y:14.55, Z:3.20 [[ 9.94254302e-01 -9.81627608e-02 -4.26902314e-02 -6.54355859e+01] [ 9.77417725e-02 9.95141324e-01 -1.18444425e-02 1.45521782e+01] [ 4.36454965e-02 7.60376898e-03 9.99018145e-01 3.19979087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.36911593299999 meters 0.018669911222476715 Centerline is valid? [True, True] Translation: X:-65.46, Y:14.53, Z:3.17 [[ 9.93802050e-01 -1.02646265e-01 -4.26758741e-02 -6.54618997e+01] [ 1.02229610e-01 9.94690372e-01 -1.18393783e-02 1.45321608e+01] [ 4.36645491e-02 7.40326046e-03 9.99018818e-01 3.16988706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39911593299999 meters 0.018680700350484088 Centerline is valid? [True, True] Translation: X:-65.49, Y:14.51, Z:3.12 [[ 9.91457713e-01 -1.25420406e-01 -3.57955950e-02 -6.54892840e+01] [ 1.25141825e-01 9.92089182e-01 -9.92863465e-03 1.45145463e+01] [ 3.67576760e-02 5.36429534e-03 9.99309811e-01 3.12209373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.42911593299999 meters 0.018875799142422666 Centerline is valid? [True, True] Translation: X:-65.52, Y:14.54, Z:3.20 [[ 9.92090132e-01 -1.18996805e-01 -3.99616005e-02 -6.55249072e+01] [ 1.18644451e-01 9.92874930e-01 -1.10845356e-02 1.45358024e+01] [ 4.09958957e-02 6.25563621e-03 9.99139732e-01 3.20482228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45911593299999 meters 0.018658288096390363 Centerline is valid? [True, True] Translation: X:-65.54, Y:14.47, Z:3.05 [[ 9.88437732e-01 -1.48147522e-01 -3.22979999e-02 -6.55429014e+01] [ 1.47932638e-01 9.88956874e-01 -8.95749080e-03 1.44732428e+01] [ 3.32683590e-02 4.07599359e-03 9.99438143e-01 3.05002979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.489115933 meters 0.018375464035243535 Centerline is valid? [True, True] Translation: X:-65.58, Y:14.49, Z:3.11 [[ 9.85053330e-01 -1.70182738e-01 -2.66039967e-02 -6.55772648e+01] [ 1.70044827e-01 9.85408696e-01 -7.37959405e-03 1.44865028e+01] [ 2.74716892e-02 2.74542169e-03 9.99618812e-01 3.10732262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.519115933 meters 0.01889356550984991 Centerline is valid? [True, True] Translation: X:-65.61, Y:14.48, Z:3.13 [[ 9.83948234e-01 -1.76613475e-01 -2.55646779e-02 -6.56072929e+01] [ 1.76488268e-01 9.84277196e-01 -7.09166913e-03 1.44805936e+01] [ 2.64152138e-02 2.46596960e-03 9.99648016e-01 3.12723021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.549115933 meters 0.018876066284556698 Centerline is valid? [True, True] Translation: X:-65.63, Y:14.45, Z:3.06 [[ 9.82361275e-01 -1.85339645e-01 -2.48101012e-02 -6.56327227e+01] [ 1.85224445e-01 9.82672133e-01 -6.88357250e-03 1.44517566e+01] [ 2.56559940e-02 2.16671782e-03 9.99668483e-01 3.05906212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.579115933 meters 0.019281954577265864 Centerline is valid? [True, True] Translation: X:-65.66, Y:14.43, Z:3.02 [[ 9.81860625e-01 -1.88001118e-01 -2.46026863e-02 -6.56605191e+01] [ 1.87887890e-01 9.82166549e-01 -6.85649043e-03 1.44311406e+01] [ 2.54529634e-02 2.10957116e-03 9.99673795e-01 3.01937985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60911593299998 meters 0.019327842297201702 Centerline is valid? [True, True] Translation: X:-65.69, Y:14.41, Z:2.98 [[ 9.77887425e-01 -2.08233299e-01 -1.93668899e-02 -6.56866699e+01] [ 2.08167243e-01 9.78078402e-01 -5.38874496e-03 1.44078419e+01] [ 2.00644528e-02 1.23803385e-03 9.99797922e-01 2.97632214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63911593299999 meters 0.01944700286036355 Centerline is valid? [True, True] Translation: X:-65.72, Y:14.39, Z:2.94 [[ 9.77511968e-01 -2.10043800e-01 -1.87604268e-02 -6.57154837e+01] [ 2.09981640e-01 9.77691254e-01 -5.24612241e-03 1.43910065e+01] [ 1.94438207e-02 1.18880226e-03 9.99810244e-01 2.94229386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66911593299999 meters 0.02001130376155649 Centerline is valid? [True, True] Translation: X:-65.74, Y:14.38, Z:2.94 [[ 9.75568738e-01 -2.18908961e-01 -1.85608153e-02 -6.57438663e+01] [ 2.18849967e-01 9.75744787e-01 -5.17712196e-03 1.43769782e+01] [ 1.92439372e-02 9.88604518e-04 9.99814330e-01 2.94364818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69911593299999 meters 0.01979925977471041 Centerline is valid? [True, True] Translation: X:-65.78, Y:14.37, Z:2.94 [[ 9.74969603e-01 -2.21579799e-01 -1.83484440e-02 -6.57754236e+01] [ 2.21522072e-01 9.75141776e-01 -5.14663444e-03 1.43703414e+01] [ 1.90327245e-02 9.53226813e-04 9.99818407e-01 2.94246925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72911593299999 meters 0.01892964740663404 Centerline is valid? [True, True] Translation: X:-65.80, Y:14.35, Z:2.89 [[ 9.73967604e-01 -2.25991915e-01 -1.77415218e-02 -6.58039136e+01] [ 2.25938468e-01 9.74128807e-01 -4.98753313e-03 1.43512286e+01] [ 1.84096697e-02 8.49203436e-04 9.99830167e-01 2.89395674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75911593299999 meters 0.019517555180404465 Centerline is valid? [True, True] Translation: X:-65.84, Y:14.36, Z:2.95 [[ 9.73320224e-01 -2.28789133e-01 -1.74147714e-02 -6.58384069e+01] [ 2.28737830e-01 9.73475680e-01 -4.90968487e-03 1.43599827e+01] [ 1.80761390e-02 7.95278557e-04 9.99836297e-01 2.94952614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.78911593299999 meters 0.019134352818099228 Centerline is valid? [True, True] Translation: X:-65.87, Y:14.37, Z:3.02 [[ 9.71842421e-01 -2.35193950e-01 -1.43567078e-02 -6.58730161e+01] [ 2.35159910e-01 9.71948303e-01 -4.03882941e-03 1.43747182e+01] [ 1.49038860e-02 5.48983629e-04 9.99888780e-01 3.01805292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81911593299999 meters 0.018894615649546583 Centerline is valid? [True, True] Translation: X:-65.90, Y:14.36, Z:2.99 [[ 9.70323846e-01 -2.41367198e-01 -1.46119840e-02 -6.59025922e+01] [ 2.41332291e-01 9.70433739e-01 -4.13329278e-03 1.43615365e+01] [ 1.51776036e-02 4.84288958e-04 9.99884696e-01 2.99156910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.849115933 meters 0.01889553536586716 Centerline is valid? [True, True] Translation: X:-65.94, Y:14.38, Z:3.09 [[ 9.72278575e-01 -2.33221690e-01 -1.67933389e-02 -6.59387941e+01] [ 2.33174613e-01 9.72423348e-01 -4.73615799e-03 1.43830978e+01] [ 1.74348096e-02 6.89084649e-04 9.99847765e-01 3.08535903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.879115933 meters 0.01861172981764193 Centerline is valid? [True, True] Translation: X:-65.97, Y:14.39, Z:3.14 [[ 9.72481684e-01 -2.32412364e-01 -1.62439826e-02 -6.59733301e+01] [ 2.32367767e-01 9.72617085e-01 -4.60715051e-03 1.43942744e+01] [ 1.68699338e-02 7.05791519e-04 9.99857443e-01 3.13670813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.909115933 meters 0.019549978127962823 Centerline is valid? [True, True] Translation: X:-66.00, Y:14.36, Z:3.07 [[ 9.73954321e-01 -2.25850759e-01 -2.01100569e-02 -6.59977907e+01] [ 2.25781391e-01 9.74161404e-01 -5.68526118e-03 1.43602806e+01] [ 2.08744618e-02 9.96708077e-04 9.99781608e-01 3.06818243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.939115933 meters 0.01946556255698699 Centerline is valid? [True, True] Translation: X:-66.03, Y:14.37, Z:3.14 [[ 9.71955228e-01 -2.34283737e-01 -2.03510541e-02 -6.60320598e+01] [ 2.34214468e-01 9.72167909e-01 -5.75664598e-03 1.43729673e+01] [ 2.11333302e-02 8.28690850e-04 9.99776323e-01 3.13889135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.969115933 meters 0.018868500303484713 Centerline is valid? [True, True] Translation: X:-66.06, Y:14.37, Z:3.12 [[ 9.73439382e-01 -2.28030837e-01 -2.04378948e-02 -6.60629834e+01] [ 2.27959556e-01 9.73653427e-01 -5.78318545e-03 1.43666356e+01] [ 2.12181709e-02 9.70567038e-04 9.99774398e-01 3.12177905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99911593299998 meters 0.018487815313728197 Centerline is valid? [True, True] Translation: X:-66.10, Y:14.41, Z:3.27 [[ 9.74442255e-01 -2.23556802e-01 -2.20147255e-02 -6.61028876e+01] [ 2.23472907e-01 9.74690222e-01 -6.23151085e-03 1.44054427e+01] [ 2.28506343e-02 1.15255277e-03 9.99738226e-01 3.27237649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02911593299999 meters 0.018042771659964638 Centerline is valid? [True, True] Translation: X:-66.13, Y:14.38, Z:3.21 [[ 9.75737674e-01 -2.17916581e-01 -2.11744241e-02 -6.61307735e+01] [ 2.17837544e-01 9.75966611e-01 -5.99822030e-03 1.43807438e+01] [ 2.19726426e-02 1.24010498e-03 9.99757803e-01 3.20615507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05911593299999 meters 0.01797863220919146 Centerline is valid? [True, True] Translation: X:-66.17, Y:14.39, Z:3.27 [[ 9.75061740e-01 -2.20953583e-01 -2.08355004e-02 -6.61662432e+01] [ 2.20877129e-01 9.75283610e-01 -5.93074102e-03 1.43938225e+01] [ 2.16309405e-02 1.18075314e-03 9.99765327e-01 3.26647746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08911593299999 meters 0.019446129397586335 Centerline is valid? [True, True] Translation: X:-66.17, Y:14.27, Z:2.92 [[ 9.72615572e-01 -2.31684631e-01 -1.84710540e-02 -6.61716122e+01] [ 2.31626688e-01 9.72790600e-01 -5.24648589e-03 1.42672403e+01] [ 1.91839979e-02 8.24424811e-04 9.99815630e-01 2.92072222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11911593299999 meters 0.017405342751187342 Centerline is valid? [True, True] Translation: X:-66.24, Y:14.44, Z:3.46 [[ 9.74860493e-01 -2.22017731e-01 -1.88453028e-02 -6.62390481e+01] [ 2.21955652e-01 9.75042081e-01 -5.35061794e-03 1.44414262e+01] [ 1.95628953e-02 1.03328457e-03 9.99808094e-01 3.46017799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.14911593299999 meters 0.01699456820375853 Centerline is valid? [True, True] Translation: X:-66.27, Y:14.42, Z:3.42 [[ 9.74215191e-01 -2.24975293e-01 -1.70552050e-02 -6.62681642e+01] [ 2.24924385e-01 9.74364044e-01 -4.87141086e-03 1.44226540e+01] [ 1.77139256e-02 9.09670966e-04 9.99842682e-01 3.41831281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17911593299999 meters 0.016882800805307865 Centerline is valid? [True, True] Translation: X:-66.29, Y:14.39, Z:3.37 [[ 9.73395427e-01 -2.28567761e-01 -1.60661402e-02 -6.62936059e+01] [ 2.28522867e-01 9.73527671e-01 -4.60136583e-03 1.43919627e+01] [ 1.66925559e-02 8.07468034e-04 9.99860344e-01 3.36704492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.20911593299999 meters 0.01708091215071357 Centerline is valid? [True, True] Translation: X:-66.32, Y:14.39, Z:3.37 [[ 9.76410719e-01 -2.15014243e-01 -1.97732803e-02 -6.63244781e+01] [ 2.14943855e-01 9.76610099e-01 -5.64387222e-03 1.43903055e+01] [ 2.05242981e-02 1.26059225e-03 9.99788560e-01 3.37200946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.239115933 meters 0.017769351332972413 Centerline is valid? [True, True] Translation: X:-66.34, Y:14.34, Z:3.27 [[ 9.77603127e-01 -2.09172350e-01 -2.32175249e-02 -6.63439485e+01] [ 2.09073622e-01 9.77877439e-01 -6.62840405e-03 1.43390875e+01] [ 2.40903727e-02 1.62577651e-03 9.99708463e-01 3.27116650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.269115933 meters 0.017221154103418557 Centerline is valid? [True, True] Translation: X:-66.38, Y:14.35, Z:3.32 [[ 9.76990534e-01 -2.12155452e-01 -2.18988901e-02 -6.63777190e+01] [ 2.12067714e-01 9.77234791e-01 -6.28070669e-03 1.43469870e+01] [ 2.27328435e-02 1.49214343e-03 9.99740462e-01 3.32271213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.299115933 meters 0.017018974271722113 Centerline is valid? [True, True] Translation: X:-66.41, Y:14.35, Z:3.35 [[ 9.75522639e-01 -2.19093277e-01 -1.88073722e-02 -6.64095291e+01] [ 2.19030065e-01 9.75703262e-01 -5.38291622e-03 1.43490403e+01] [ 1.95297752e-02 1.13177669e-03 9.99808635e-01 3.35447087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.329115933 meters 0.016892743217144627 Centerline is valid? [True, True] Translation: X:-66.43, Y:14.30, Z:3.23 [[ 9.75975125e-01 -2.16922076e-01 -2.04295838e-02 -6.64309775e+01] [ 2.16846898e-01 9.76188081e-01 -5.85262932e-03 1.42975923e+01] [ 2.12126807e-02 1.28192877e-03 9.99774164e-01 3.23309002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35911593299998 meters 0.016606388117061263 Centerline is valid? [True, True] Translation: X:-66.46, Y:14.29, Z:3.26 [[ 9.78100465e-01 -2.06696901e-01 -2.44104757e-02 -6.64603452e+01] [ 2.06586486e-01 9.78403381e-01 -6.98918272e-03 1.42904492e+01] [ 2.53279343e-02 1.79324850e-03 9.99677588e-01 3.26040902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38911593299999 meters 0.016606388117061263 Centerline is valid? [True, True] Translation: X:-66.49, Y:14.28, Z:3.26 [[ 9.77945568e-01 -2.07429730e-01 -2.44002634e-02 -6.64913900e+01] [ 2.07318657e-01 9.78248244e-01 -7.02480025e-03 1.42814899e+01] [ 2.53266673e-02 1.81124242e-03 9.99677588e-01 3.26119476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41911593299999 meters 0.017200775998072525 Centerline is valid? [True, True] Translation: X:-66.51, Y:14.22, Z:3.10 [[ 9.76142162e-01 -2.15699817e-01 -2.49011557e-02 -6.65104632e+01] [ 2.15587245e-01 9.76458390e-01 -7.15215743e-03 1.42214022e+01] [ 2.58576615e-02 1.61315087e-03 9.99664333e-01 3.09547568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44911593299999 meters 0.016966976253840332 Centerline is valid? [True, True] Translation: X:-66.55, Y:14.24, Z:3.19 [[ 9.75511041e-01 -2.18423050e-01 -2.58762350e-02 -6.65471024e+01] [ 2.18301520e-01 9.75852806e-01 -7.46644235e-03 1.42428550e+01] [ 2.68822397e-02 1.63477552e-03 9.99637271e-01 3.18826588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47911593299999 meters 0.01699728690785165 Centerline is valid? [True, True] Translation: X:-66.57, Y:14.22, Z:3.17 [[ 9.77238494e-01 -2.09543370e-01 -3.31134796e-02 -6.65737233e+01] [ 2.09339885e-01 9.77796440e-01 -9.53593295e-03 1.42243174e+01] [ 3.43764340e-02 2.38690876e-03 9.99406105e-01 3.17072964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.50911593299999 meters 0.01742318196183542 Centerline is valid? [True, True] Translation: X:-66.59, Y:14.17, Z:3.06 [[ 9.73937612e-01 -2.24812550e-01 -3.00806527e-02 -6.65931069e+01] [ 2.24651771e-01 9.74400579e-01 -8.66569118e-03 1.41702926e+01] [ 3.12587616e-02 1.68217066e-03 9.99509910e-01 3.05554786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53911593299999 meters 0.01785943400994242 Centerline is valid? [True, True] Translation: X:-66.62, Y:14.15, Z:3.04 [[ 9.76363556e-01 -2.12939295e-01 -3.70278770e-02 -6.66205901e+01] [ 2.12687088e-01 9.77062129e-01 -1.06676243e-02 1.41528526e+01] [ 3.84500927e-02 2.54012826e-03 9.99257293e-01 3.03953947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.56911593299999 meters 0.017028257822415772 Centerline is valid? [True, True] Translation: X:-66.65, Y:14.14, Z:3.01 [[ 9.72273836e-01 -2.31070141e-01 -3.59190457e-02 -6.66499386e+01] [ 2.30844934e-01 9.72935478e-01 -1.03524013e-02 1.41395355e+01] [ 3.73390447e-02 1.77363917e-03 9.99301081e-01 3.00876497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.599115933 meters 0.017544992077461925 Centerline is valid? [True, True] Translation: X:-66.67, Y:14.10, Z:2.94 [[ 9.71762924e-01 -2.32900430e-01 -3.78709532e-02 -6.66746189e+01] [ 2.32649807e-01 9.72498852e-01 -1.09567873e-02 1.41037014e+01] [ 3.93812990e-02 1.83672968e-03 9.99222568e-01 2.94383752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.629115933 meters 0.017211427283458643 Centerline is valid? [True, True] Translation: X:-66.71, Y:14.14, Z:3.05 [[ 9.68339612e-01 -2.47485896e-01 -3.26975055e-02 -6.67127942e+01] [ 2.47307830e-01 9.68890916e-01 -9.44620648e-03 1.41354803e+01] [ 3.40181189e-02 1.06078678e-03 9.99420653e-01 3.05396607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.659115933 meters 0.017083249264325077 Centerline is valid? [True, True] Translation: X:-66.74, Y:14.10, Z:2.98 [[ 9.68365840e-01 -2.47291554e-01 -3.33839428e-02 -6.67380674e+01] [ 2.47104376e-01 9.68940457e-01 -9.68593512e-03 1.41000770e+01] [ 3.47423027e-02 1.13021033e-03 9.99395665e-01 2.97612951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.689115933 meters 0.016918872988192512 Centerline is valid? [True, True] Translation: X:-66.77, Y:14.10, Z:3.01 [[ 9.68566518e-01 -2.46522171e-01 -3.32523488e-02 -6.67705035e+01] [ 2.46335199e-01 9.69136438e-01 -9.67129199e-03 1.41009666e+01] [ 3.46102508e-02 1.17606567e-03 9.99400194e-01 3.00993163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.719115933 meters 0.01670525305515843 Centerline is valid? [True, True] Translation: X:-66.80, Y:14.08, Z:2.98 [[ 9.71578273e-01 -2.33730004e-01 -3.74959203e-02 -6.67971266e+01] [ 2.33483364e-01 9.72299829e-01 -1.08886206e-02 1.40802719e+01] [ 3.90022743e-02 1.82447362e-03 9.99237456e-01 2.97534621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74911593299998 meters 0.017324217931035335 Centerline is valid? [True, True] Translation: X:-66.83, Y:14.07, Z:2.94 [[ 9.71993979e-01 -2.32096299e-01 -3.68648011e-02 -6.68281744e+01] [ 2.31855080e-01 9.72690957e-01 -1.07481642e-02 1.40707880e+01] [ 3.83526678e-02 1.89985942e-03 9.99262460e-01 2.94180664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77911593299999 meters 0.017594798290271458 Centerline is valid? [True, True] Translation: X:-66.86, Y:14.05, Z:2.90 [[ 9.73253891e-01 -2.26828153e-01 -3.64122678e-02 -6.68560945e+01] [ 2.26589428e-01 9.73932588e-01 -1.06087105e-02 1.40503146e+01] [ 3.78694484e-02 2.07433379e-03 9.99280542e-01 2.90224912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80911593299999 meters 0.016944674896972267 Centerline is valid? [True, True] Translation: X:-66.89, Y:14.06, Z:2.95 [[ 9.75868456e-01 -2.15198470e-01 -3.70185905e-02 -6.68908268e+01] [ 2.14943460e-01 9.76566964e-01 -1.07830544e-02 1.40648866e+01] [ 3.84716294e-02 2.56593874e-03 9.99256398e-01 2.95194835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83911593299999 meters 0.017415372360186584 Centerline is valid? [True, True] Translation: X:-66.92, Y:14.06, Z:2.95 [[ 9.75315745e-01 -2.18057614e-01 -3.47861409e-02 -6.69212564e+01] [ 2.17834059e-01 9.75933163e-01 -1.01381961e-02 1.40574135e+01] [ 3.61596594e-02 2.31033601e-03 9.99343355e-01 2.95360926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.86911593299999 meters 0.01738566903216734 Centerline is valid? [True, True] Translation: X:-66.94, Y:14.02, Z:2.86 [[ 9.73950427e-01 -2.24402049e-01 -3.26234066e-02 -6.69442115e+01] [ 2.24208957e-01 9.74494706e-01 -9.50849077e-03 1.40163094e+01] [ 3.39250618e-02 1.94633867e-03 9.99422484e-01 2.85852671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89911593299999 meters 0.017472566217611195 Centerline is valid? [True, True] Translation: X:-66.98, Y:14.04, Z:2.94 [[ 9.74374303e-01 -2.22469429e-01 -3.31974343e-02 -6.69818098e+01] [ 2.22267909e-01 9.74937486e-01 -9.68892548e-03 1.40361593e+01] [ 3.45209128e-02 2.06191572e-03 9.99401849e-01 2.93962709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.92911593299999 meters 0.017246277192553942 Centerline is valid? [True, True] Translation: X:-67.01, Y:14.03, Z:2.95 [[ 9.77113565e-01 -2.09199650e-01 -3.85303592e-02 -6.70119802e+01] [ 2.08918140e-01 9.77868557e-01 -1.12381787e-02 1.40318850e+01] [ 4.00286498e-02 2.93128588e-03 9.99194233e-01 2.94878585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95911593299999 meters 0.017991681266881835 Centerline is valid? [True, True] Translation: X:-67.04, Y:14.01, Z:2.93 [[ 9.76019609e-01 -2.14891001e-01 -3.47502574e-02 -6.70394802e+01] [ 2.14665521e-01 9.76635001e-01 -1.01385061e-02 1.40147418e+01] [ 3.61169914e-02 2.43569870e-03 9.99344600e-01 2.92807481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.989115933 meters 0.017088634447230595 Centerline is valid? [True, True] Translation: X:-67.07, Y:14.01, Z:2.91 [[ 9.73603470e-01 -2.26058924e-01 -3.15221454e-02 -6.70691369e+01] [ 2.25879225e-01 9.74111904e-01 -9.19643787e-03 1.40057620e+01] [ 3.27850339e-02 1.83348606e-03 9.99460745e-01 2.90827955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.019115933 meters 0.01747521844294888 Centerline is valid? [True, True] Translation: X:-67.10, Y:13.99, Z:2.89 [[ 9.73960580e-01 -2.24386557e-01 -3.24262661e-02 -6.70980644e+01] [ 2.24194138e-01 9.74498200e-01 -9.49980117e-03 1.39900740e+01] [ 3.37309656e-02 1.98265307e-03 9.99428982e-01 2.89030846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.049115933 meters 0.01742228813261236 Centerline is valid? [True, True] Translation: X:-67.13, Y:13.98, Z:2.88 [[ 9.71213199e-01 -2.36619769e-01 -2.74955692e-02 -6.71260098e+01] [ 2.36486535e-01 9.71601441e-01 -8.04726475e-03 1.39757487e+01] [ 2.86188766e-02 1.31327787e-03 9.99589533e-01 2.87635239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.079115933 meters 0.01736425242219788 Centerline is valid? [True, True] Translation: X:-67.15, Y:13.95, Z:2.82 [[ 9.75491538e-01 -2.17171512e-01 -3.53948308e-02 -6.71511985e+01] [ 2.16937831e-01 9.76130442e-01 -1.03604403e-02 1.39475883e+01] [ 3.67999643e-02 2.42804400e-03 9.99319702e-01 2.82105466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.10911593299998 meters 0.017045856117250558 Centerline is valid? [True, True] Translation: X:-67.18, Y:13.95, Z:2.87 [[ 9.70844694e-01 -2.37883175e-01 -2.95326238e-02 -6.71841674e+01] [ 2.37729986e-01 9.71292804e-01 -8.64539334e-03 1.39536540e+01] [ 3.07414186e-02 1.37254401e-03 9.99526429e-01 2.86789375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13911593299999 meters 0.017214991063818474 Centerline is valid? [True, True] Translation: X:-67.21, Y:13.92, Z:2.81 [[ 9.73347693e-01 -2.26977875e-01 -3.27919641e-02 -6.72095284e+01] [ 2.26782703e-01 9.73898042e-01 -9.60255750e-03 1.39248545e+01] [ 3.41155977e-02 1.90997692e-03 9.99416068e-01 2.80757370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16911593299999 meters 0.01801422696451255 Centerline is valid? [True, True] Translation: X:-67.23, Y:13.89, Z:2.74 [[ 9.65937339e-01 -2.57735142e-01 -2.31873728e-02 -6.72329792e+01] [ 2.57646353e-01 9.66215429e-01 -6.78982352e-03 1.38908757e+01] [ 2.41539734e-02 5.84402027e-04 9.99708079e-01 2.74466812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19911593299999 meters 0.017765872001974266 Centerline is valid? [True, True] Translation: X:-67.26, Y:13.88, Z:2.73 [[ 9.68535819e-01 -2.47321523e-01 -2.77566369e-02 -6.72615332e+01] [ 2.47189994e-01 9.68932940e-01 -8.12801708e-03 1.38787216e+01] [ 2.89045534e-02 1.01111276e-03 9.99581665e-01 2.73168015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22911593299999 meters 0.01814501864024211 Centerline is valid? [True, True] Translation: X:-67.29, Y:13.86, Z:2.70 [[ 9.64986935e-01 -2.61374029e-01 -2.19961894e-02 -6.72888628e+01] [ 2.61294968e-01 9.65237481e-01 -6.44560150e-03 1.38580014e+01] [ 2.29162592e-02 4.72427640e-04 9.99737276e-01 2.70163365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25911593299999 meters 0.01708703112245728 Centerline is valid? [True, True] Translation: X:-67.32, Y:13.85, Z:2.72 [[ 9.63313072e-01 -2.67381844e-01 -2.31273535e-02 -6.73203521e+01] [ 2.67295393e-01 9.63590580e-01 -6.80925373e-03 1.38542680e+01] [ 2.41059708e-02 3.77608079e-04 9.99709338e-01 2.72311284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.28911593299999 meters 0.0177378331519851 Centerline is valid? [True, True] Translation: X:-67.35, Y:13.83, Z:2.69 [[ 9.66740562e-01 -2.54347770e-01 -2.68308966e-02 -6.73469489e+01] [ 2.54226812e-01 9.67112491e-01 -7.88401525e-03 1.38317745e+01] [ 2.79537769e-02 8.00664059e-04 9.99608896e-01 2.69229486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31911593299999 meters 0.018033371084675762 Centerline is valid? [True, True] Translation: X:-67.38, Y:13.84, Z:2.76 [[ 9.66895939e-01 -2.53635590e-01 -2.79504990e-02 -6.73820613e+01] [ 2.53503420e-01 9.67299447e-01 -8.23380148e-03 1.38418802e+01] [ 2.91248873e-02 8.75682133e-04 9.99575397e-01 2.75516285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.349115933 meters 0.017398249073906788 Centerline is valid? [True, True] Translation: X:-67.41, Y:13.84, Z:2.75 [[ 9.67184000e-01 -2.52666099e-01 -2.67385958e-02 -6.74136993e+01] [ 2.52543885e-01 9.67553119e-01 -7.90869444e-03 1.38351259e+01] [ 2.78692708e-02 8.96493847e-04 9.99611174e-01 2.74969605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.379115933 meters 0.01733178792317884 Centerline is valid? [True, True] Translation: X:-67.44, Y:13.82, Z:2.75 [[ 9.65814023e-01 -2.57745549e-01 -2.77579669e-02 -6.74418768e+01] [ 2.57615422e-01 9.66212502e-01 -8.22771008e-03 1.38169854e+01] [ 2.89407503e-02 7.95557420e-04 9.99580812e-01 2.74618047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.409115933 meters 0.01703131543994967 Centerline is valid? [True, True] Translation: X:-67.48, Y:13.83, Z:2.79 [[ 9.68698750e-01 -2.46353273e-01 -3.05417155e-02 -6.74763106e+01] [ 2.46190571e-01 9.69179313e-01 -9.03672725e-03 1.38275629e+01] [ 3.18266262e-02 1.23478400e-03 9.99492642e-01 2.79016034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.439115933 meters 0.016970638862322314 Centerline is valid? [True, True] Translation: X:-67.51, Y:13.84, Z:2.84 [[ 9.65578519e-01 -2.58948322e-01 -2.45741646e-02 -6.75107688e+01] [ 2.58847028e-01 9.65890951e-01 -7.27230188e-03 1.38415259e+01] [ 2.56191136e-02 6.61029003e-04 9.99671558e-01 2.84496226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.469115933 meters 0.016687668449806174 Centerline is valid? [True, True] Translation: X:-67.54, Y:13.82, Z:2.82 [[ 9.64999424e-01 -2.60969534e-01 -2.59039331e-02 -6.75388413e+01] [ 2.60856761e-01 9.65346802e-01 -7.70080510e-03 1.38223565e+01] [ 2.70159545e-02 6.74056406e-04 9.99634775e-01 2.82474324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49911593299998 meters 0.015871108501983 Centerline is valid? [True, True] Translation: X:-67.57, Y:13.80, Z:2.81 [[ 9.67689138e-01 -2.50344869e-01 -3.00861770e-02 -6.75660595e+01] [ 2.50188080e-01 9.68156087e-01 -8.92839060e-03 1.38045448e+01] [ 3.13632922e-02 1.11270373e-03 9.99507432e-01 2.80678576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52911593299999 meters 0.01626129340084108 Centerline is valid? [True, True] Translation: X:-67.59, Y:13.78, Z:2.77 [[ 9.64644111e-01 -2.62243525e-01 -2.62692516e-02 -6.75932118e+01] [ 2.62128367e-01 9.65001518e-01 -7.79671586e-03 1.37842770e+01] [ 2.73945060e-02 6.35139993e-04 9.99624498e-01 2.77285954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55911593299999 meters 0.015387506204334257 Centerline is valid? [True, True] Translation: X:-67.63, Y:13.79, Z:2.81 [[ 9.64354598e-01 -2.63457981e-01 -2.47002167e-02 -6.76274050e+01] [ 2.63355688e-01 9.64670687e-01 -7.36524495e-03 1.37899236e+01] [ 2.57680076e-02 5.97765279e-04 9.99667771e-01 2.81480174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58911593299999 meters 0.015783575355731303 Centerline is valid? [True, True] Translation: X:-67.66, Y:13.79, Z:2.83 [[ 9.64860196e-01 -2.61393862e-01 -2.67964756e-02 -6.76587173e+01] [ 2.61272172e-01 9.65231953e-01 -8.00809183e-03 1.37863096e+01] [ 2.79580805e-02 7.25515663e-04 9.99608833e-01 2.83145791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61911593299999 meters 0.01629457258118477 Centerline is valid? [True, True] Translation: X:-67.69, Y:13.76, Z:2.78 [[ 9.64383588e-01 -2.63083291e-01 -2.74130708e-02 -6.76852288e+01] [ 2.62955888e-01 9.64772858e-01 -8.21783267e-03 1.37559574e+01] [ 2.86093611e-02 7.16714592e-04 9.99590412e-01 2.77593308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.64911593299999 meters 0.015773493733773455 Centerline is valid? [True, True] Translation: X:-67.73, Y:13.79, Z:2.90 [[ 9.63652419e-01 -2.65983511e-01 -2.50356993e-02 -6.77260646e+01] [ 2.65877762e-01 9.63977396e-01 -7.52302619e-03 1.37927547e+01] [ 2.61348491e-02 5.93146696e-04 9.99658251e-01 2.89779379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67911593299999 meters 0.015041569245578697 Centerline is valid? [True, True] Translation: X:-67.76, Y:13.81, Z:2.95 [[ 9.64343673e-01 -2.63344725e-01 -2.62837621e-02 -6.77625436e+01] [ 2.63227326e-01 9.64701547e-01 -7.89301130e-03 1.38057442e+01] [ 2.74345688e-02 6.92971104e-04 9.99623361e-01 2.95489893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.70911593299999 meters 0.015757065376379116 Centerline is valid? [True, True] Translation: X:-67.79, Y:13.78, Z:2.90 [[ 9.64779377e-01 -2.61697239e-01 -2.67452523e-02 -6.77884007e+01] [ 2.61574193e-01 9.65149700e-01 -8.06217695e-03 1.37757282e+01] [ 2.79230217e-02 7.82354268e-04 9.99609770e-01 2.90158869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.739115933 meters 0.016658228539863942 Centerline is valid? [True, True] Translation: X:-67.81, Y:13.75, Z:2.86 [[ 9.65999120e-01 -2.56923743e-01 -2.89117595e-02 -6.78142349e+01] [ 2.56778125e-01 9.66431177e-01 -8.70484078e-03 1.37484709e+01] [ 3.01777060e-02 9.84961151e-04 9.99544064e-01 2.86015957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.769115933 meters 0.01573613144354892 Centerline is valid? [True, True] Translation: X:-67.85, Y:13.77, Z:2.94 [[ 9.62580572e-01 -2.69858792e-01 -2.47966805e-02 -6.78506430e+01] [ 2.69755971e-01 9.62899779e-01 -7.46530121e-03 1.37699371e+01] [ 2.58912953e-02 4.96901286e-04 9.99664641e-01 2.94015412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.799115933 meters 0.015922681226438567 Centerline is valid? [True, True] Translation: X:-67.87, Y:13.73, Z:2.86 [[ 9.61895594e-01 -2.72458998e-01 -2.28683473e-02 -6.78735241e+01] [ 2.72371889e-01 9.62167307e-01 -6.90125076e-03 1.37297276e+01] [ 2.38834840e-02 4.09587742e-04 9.99714665e-01 2.85689280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.829115933 meters 0.015723607656354534 Centerline is valid? [True, True] Translation: X:-67.91, Y:13.76, Z:2.96 [[ 9.63613170e-01 -2.66078399e-01 -2.55331927e-02 -6.79124968e+01] [ 2.65967550e-01 9.63951183e-01 -7.70578229e-03 1.37574337e+01] [ 2.66630935e-02 6.34392605e-04 9.99644275e-01 2.95514464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85911593299998 meters 0.015967386297537255 Centerline is valid? [True, True] Translation: X:-67.93, Y:13.70, Z:2.83 [[ 9.63192411e-01 -2.67661482e-01 -2.48537953e-02 -6.79320332e+01] [ 2.67556183e-01 9.63512826e-01 -7.53148239e-03 1.37019913e+01] [ 2.59628383e-02 6.04480075e-04 9.99662726e-01 2.83312384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88911593299999 meters 0.015593360691520558 Centerline is valid? [True, True] Translation: X:-67.97, Y:13.71, Z:2.87 [[ 9.65951621e-01 -2.57200612e-01 -2.80234029e-02 -6.79661668e+01] [ 2.57062784e-01 9.66357531e-01 -8.47630979e-03 1.37099368e+01] [ 2.92607385e-02 9.83931200e-04 9.99571329e-01 2.86800175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91911593299999 meters 0.016322888512300984 Centerline is valid? [True, True] Translation: X:-67.98, Y:13.65, Z:2.73 [[ 9.66369680e-01 -2.55546874e-01 -2.87304234e-02 -6.79847360e+01] [ 2.55400180e-01 9.66796046e-01 -8.72656147e-03 1.36494353e+01] [ 3.00065052e-02 1.09532911e-03 9.99549103e-01 2.73021418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94911593299999 meters 0.01649762986046979 Centerline is valid? [True, True] Translation: X:-68.01, Y:13.64, Z:2.75 [[ 9.64229215e-01 -2.63866510e-01 -2.52286753e-02 -6.80149549e+01] [ 2.63756498e-01 9.64558935e-01 -7.65314918e-03 1.36419315e+01] [ 2.63539539e-02 7.25162989e-04 9.99652411e-01 2.74537853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97911593299999 meters 0.015974327349042 Centerline is valid? [True, True] Translation: X:-68.05, Y:13.64, Z:2.77 [[ 9.65408860e-01 -2.59445319e-01 -2.59587992e-02 -6.80480120e+01] [ 2.59326967e-01 9.65757398e-01 -7.88498020e-03 1.36408600e+01] [ 2.71156235e-02 8.80413099e-04 9.99631916e-01 2.76545104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.00911593299999 meters 0.01594594310186244 Centerline is valid? [True, True] Translation: X:-68.08, Y:13.64, Z:2.80 [[ 9.66929130e-01 -2.53232269e-01 -3.03557992e-02 -6.80796324e+01] [ 2.53067525e-01 9.67404729e-01 -9.21514075e-03 1.36426844e+01] [ 3.16999147e-02 1.22832105e-03 9.99496677e-01 2.80426993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03911593299999 meters 0.015740692087105004 Centerline is valid? [True, True] Translation: X:-68.11, Y:13.65, Z:2.85 [[ 9.66017289e-01 -2.56804973e-01 -2.93564750e-02 -6.81138012e+01] [ 2.56651379e-01 9.66462607e-01 -8.94978977e-03 1.36497780e+01] [ 3.06702858e-02 1.11127187e-03 9.99528938e-01 2.84908364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.06911593299999 meters 0.015140781320590355 Centerline is valid? [True, True] Translation: X:-68.16, Y:13.69, Z:2.97 [[ 9.66379758e-01 -2.55312537e-01 -3.04248462e-02 -6.81550395e+01] [ 2.55146124e-01 9.66857805e-01 -9.29732032e-03 1.36869879e+01] [ 3.17902224e-02 1.22196057e-03 9.99493816e-01 2.97186190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.099115933 meters 0.015676787031969383 Centerline is valid? [True, True] Translation: X:-68.17, Y:13.61, Z:2.78 [[ 9.64286623e-01 -2.63784008e-01 -2.38601291e-02 -6.81681647e+01] [ 2.63684531e-01 9.64581498e-01 -7.28023847e-03 1.36090961e+01] [ 2.49354496e-02 7.28689614e-04 9.99688798e-01 2.78193758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.129115933 meters 0.015007519504061954 Centerline is valid? [True, True] Translation: X:-68.21, Y:13.64, Z:2.88 [[ 9.64872034e-01 -2.61444039e-01 -2.58644968e-02 -6.82079947e+01] [ 2.61325370e-01 9.65218226e-01 -7.92633289e-03 1.36387956e+01] [ 2.70371762e-02 8.88847757e-04 9.99634034e-01 2.87581879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.159115933 meters 0.015992079724353833 Centerline is valid? [True, True] Translation: X:-68.23, Y:13.59, Z:2.80 [[ 9.65561270e-01 -2.59000415e-01 -2.47025931e-02 -6.82294345e+01] [ 2.58890884e-01 9.65876760e-01 -7.58913931e-03 1.35945805e+01] [ 2.58252508e-02 9.32502837e-04 9.99666038e-01 2.79508946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.189115933 meters 0.016174778743603898 Centerline is valid? [True, True] Translation: X:-68.27, Y:13.61, Z:2.85 [[ 9.66402625e-01 -2.55739436e-01 -2.57547448e-02 -6.82664738e+01] [ 2.55618731e-01 9.66745144e-01 -7.93038001e-03 1.36111663e+01] [ 2.69263854e-02 1.08054487e-03 9.99636835e-01 2.84885517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21911593299998 meters 0.014397255620163989 Centerline is valid? [True, True] Translation: X:-68.30, Y:13.60, Z:2.85 [[ 9.65321551e-01 -2.60072745e-01 -2.27259939e-02 -6.82961739e+01] [ 2.59980203e-01 9.65588663e-01 -6.98766067e-03 1.36007654e+01] [ 2.37612622e-02 8.37030931e-04 9.99717311e-01 2.85456005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24911593299998 meters 0.01595737816817397 Centerline is valid? [True, True] Translation: X:-68.33, Y:13.60, Z:2.89 [[ 9.64281523e-01 -2.63964721e-01 -2.19947918e-02 -6.83293922e+01] [ 2.63878331e-01 9.64532046e-01 -6.79406473e-03 1.36034644e+01] [ 2.30080749e-02 7.47442149e-04 9.99735000e-01 2.89161508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27911593299999 meters 0.01595737816817397 Centerline is valid? [True, True] Translation: X:-68.36, Y:13.59, Z:2.89 [[ 9.64077109e-01 -2.64710820e-01 -2.19888557e-02 -6.83600992e+01] [ 2.64624186e-01 9.64327548e-01 -6.81328276e-03 1.35940031e+01] [ 2.30080089e-02 7.49746908e-04 9.99735000e-01 2.89240545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30911593299999 meters 0.015002872085222168 Centerline is valid? [True, True] Translation: X:-68.39, Y:13.58, Z:2.89 [[ 9.64382448e-01 -2.63619091e-01 -2.17133407e-02 -6.83903113e+01] [ 2.63534034e-01 9.64626543e-01 -6.74125421e-03 1.35827353e+01] [ 2.27223881e-02 7.78942977e-04 9.99741510e-01 2.89375275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33911593299999 meters 0.01525073688547006 Centerline is valid? [True, True] Translation: X:-68.42, Y:13.58, Z:2.89 [[ 9.63158497e-01 -2.68326408e-01 -1.80734360e-02 -6.84210108e+01] [ 2.68268491e-01 9.63327898e-01 -5.60148848e-03 1.35758872e+01] [ 1.89136724e-02 5.46587803e-04 9.99820971e-01 2.89380615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.36911593299999 meters 0.014654744379530354 Centerline is valid? [True, True] Translation: X:-68.45, Y:13.55, Z:2.85 [[ 9.66690370e-01 -2.54815720e-01 -2.40556937e-02 -6.84451135e+01] [ 2.54708871e-01 9.66989027e-01 -7.45740314e-03 1.35453701e+01] [ 2.51618554e-02 1.08180123e-03 9.99682805e-01 2.84979288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39911593299999 meters 0.014490949563718802 Centerline is valid? [True, True] Translation: X:-68.48, Y:13.56, Z:2.90 [[ 9.67318176e-01 -2.52349305e-01 -2.48067405e-02 -6.84813882e+01] [ 2.52234024e-01 9.67635446e-01 -7.72275013e-03 1.35599382e+01] [ 2.59527121e-02 1.21325257e-03 9.99662435e-01 2.90228714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.42911593299999 meters 0.01551503895606306 Centerline is valid? [True, True] Translation: X:-68.51, Y:13.56, Z:2.93 [[ 9.62219313e-01 -2.71790520e-01 -1.62452392e-02 -6.85136409e+01] [ 2.71743953e-01 9.62356335e-01 -5.05065135e-03 1.35629696e+01] [ 1.70064280e-02 4.45288740e-04 9.99855281e-01 2.92686673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45911593299999 meters 0.01637413112402324 Centerline is valid? [True, True] Translation: X:-68.54, Y:13.52, Z:2.85 [[ 9.63249429e-01 -2.68029881e-01 -1.76216068e-02 -6.85354231e+01] [ 2.67973958e-01 9.63410424e-01 -5.50575132e-03 1.35202872e+01] [ 1.84525456e-02 5.81280082e-04 9.99829568e-01 2.84886943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.489115933 meters 0.014891977404317107 Centerline is valid? [True, True] Translation: X:-68.58, Y:13.56, Z:2.97 [[ 9.62882446e-01 -2.69361026e-01 -1.73790976e-02 -6.85777788e+01] [ 2.69306616e-01 9.63039108e-01 -5.44269402e-03 1.35596432e+01] [ 1.82028003e-02 5.60368575e-04 9.99834158e-01 2.96911998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.519115933 meters 0.015734511370513786 Centerline is valid? [True, True] Translation: X:-68.60, Y:13.52, Z:2.88 [[ 9.64063496e-01 -2.65180846e-01 -1.61460489e-02 -6.86004130e+01] [ 2.65133386e-01 9.64198513e-01 -5.05125367e-03 1.35158821e+01] [ 1.69074921e-02 5.88872649e-04 9.99856885e-01 2.88023345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.549115933 meters 0.01577142263573152 Centerline is valid? [True, True] Translation: X:-68.63, Y:13.49, Z:2.85 [[ 9.65844814e-01 -2.58407230e-01 -1.92223455e-02 -6.86278013e+01] [ 2.58338589e-01 9.66035709e-01 -6.01515504e-03 1.34947633e+01] [ 2.01238317e-02 8.43832700e-04 9.99797139e-01 2.84965852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.579115933 meters 0.016290189964190536 Centerline is valid? [True, True] Translation: X:-68.66, Y:13.51, Z:2.92 [[ 9.63007439e-01 -2.69165376e-01 -1.29101858e-02 -6.86642639e+01] [ 2.69135379e-01 9.63093883e-01 -4.03981844e-03 1.35134159e+01] [ 1.35211002e-02 4.15787466e-04 9.99908499e-01 2.91754389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60911593299998 meters 0.015120592035422402 Centerline is valid? [True, True] Translation: X:-68.69, Y:13.50, Z:2.91 [[ 9.64587951e-01 -2.63223709e-01 -1.68334149e-02 -6.86934152e+01] [ 2.63171740e-01 9.64734601e-01 -5.27112523e-03 1.34997843e+01] [ 1.76272630e-02 6.54384787e-04 9.99844414e-01 2.90843958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63911593299999 meters 0.015664585191412252 Centerline is valid? [True, True] Translation: X:-68.72, Y:13.49, Z:2.92 [[ 9.63862574e-01 -2.65949508e-01 -1.54853859e-02 -6.87237979e+01] [ 2.65905477e-01 9.63986785e-01 -4.87389592e-03 1.34922854e+01] [ 1.62239176e-02 5.80116954e-04 9.99868215e-01 2.91873295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66911593299999 meters 0.015547002392862722 Centerline is valid? [True, True] Translation: X:-68.75, Y:13.47, Z:2.90 [[ 9.63123151e-01 -2.68625791e-01 -1.52964165e-02 -6.87521389e+01] [ 2.68582974e-01 9.63244462e-01 -4.82632098e-03 1.34739867e+01] [ 1.60306628e-02 5.39984429e-04 9.99871355e-01 2.90018526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69911593299999 meters 0.015061428896880568 Centerline is valid? [True, True] Translation: X:-68.78, Y:13.46, Z:2.87 [[ 9.61163953e-01 -2.75651164e-01 -1.34272660e-02 -6.87810008e+01] [ 2.75618959e-01 9.61257667e-01 -4.22921407e-03 1.34566367e+01] [ 1.40728501e-02 3.64159044e-04 9.99900906e-01 2.87225941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72911593299999 meters 0.015425505194646777 Centerline is valid? [True, True] Translation: X:-68.82, Y:13.48, Z:2.96 [[ 9.63054177e-01 -2.68987844e-01 -1.31222189e-02 -6.88194509e+01] [ 2.68956162e-01 9.63143456e-01 -4.15526476e-03 1.34793008e+01] [ 1.37562949e-02 4.72443458e-04 9.99905266e-01 2.96233263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75911593299999 meters 0.015163996860390234 Centerline is valid? [True, True] Translation: X:-68.84, Y:13.43, Z:2.85 [[ 9.61505426e-01 -2.74523073e-01 -1.20166057e-02 -6.88390133e+01] [ 2.74496803e-01 9.61580441e-01 -3.81578563e-03 1.34263818e+01] [ 1.26024542e-02 3.70378761e-04 9.99920517e-01 2.84790947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.78911593299999 meters 0.015625836810167756 Centerline is valid? [True, True] Translation: X:-68.87, Y:13.43, Z:2.88 [[ 9.60869095e-01 -2.76801046e-01 -1.05718280e-02 -6.88715860e+01] [ 2.76780760e-01 9.60927201e-01 -3.36521423e-03 1.34283463e+01] [ 1.10902519e-02 3.07451775e-04 9.99938454e-01 2.88444152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81911593299999 meters 0.015922583507410538 Centerline is valid? [True, True] Translation: X:-68.91, Y:13.45, Z:2.96 [[ 9.63646993e-01 -2.66821016e-01 -1.38209769e-02 -6.89085158e+01] [ 2.66785561e-01 9.63745951e-01 -4.38246220e-03 1.34472937e+01] [ 1.44892436e-02 5.35909437e-04 9.99894882e-01 2.95859492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.849115933 meters 0.015572318191604937 Centerline is valid? [True, True] Translation: X:-68.93, Y:13.41, Z:2.89 [[ 9.62996058e-01 -2.69294427e-01 -1.09134712e-02 -6.89311797e+01] [ 2.69272235e-01 9.63057807e-01 -3.48192821e-03 1.34099870e+01] [ 1.14479675e-02 4.14388366e-04 9.99934384e-01 2.89204981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.879115933 meters 0.016148125033271628 Centerline is valid? [True, True] Translation: X:-68.96, Y:13.41, Z:2.90 [[ 9.63591992e-01 -2.67160052e-01 -1.07694109e-02 -6.89634317e+01] [ 2.67138206e-01 9.63652069e-01 -3.44508213e-03 1.34063587e+01] [ 1.12983534e-02 4.42732454e-04 9.99936074e-01 2.90382405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.909115933 meters 0.015748639608078853 Centerline is valid? [True, True] Translation: X:-68.99, Y:13.40, Z:2.90 [[ 9.61440368e-01 -2.74928348e-01 -6.84262761e-03 -6.89927728e+01] [ 2.74919772e-01 9.61464693e-01 -2.18229897e-03 1.33969823e+01] [ 7.17892071e-03 2.16976705e-04 9.99974208e-01 2.90266819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.939115933 meters 0.01597495778257224 Centerline is valid? [True, True] Translation: X:-69.03, Y:13.40, Z:2.94 [[ 9.66123482e-01 -2.57675378e-01 -1.44505076e-02 -6.90263691e+01] [ 2.57635234e-01 9.66231272e-01 -4.60600078e-03 1.34036264e+01] [ 1.51493853e-02 7.27005602e-04 9.99884977e-01 2.94200557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96911593299998 meters 0.015425330539953592 Centerline is valid? [True, True] Translation: X:-69.06, Y:13.39, Z:2.93 [[ 9.66334347e-01 -2.56769344e-01 -1.63533855e-02 -6.90551752e+01] [ 2.56717353e-01 9.66472326e-01 -5.23859241e-03 1.33894337e+01] [ 1.71502044e-02 8.64033939e-04 9.99852551e-01 2.93300683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99911593299998 meters 0.01724373829714412 Centerline is valid? [True, True] Translation: X:-69.09, Y:13.38, Z:2.95 [[ 9.64760148e-01 -2.62701983e-01 -1.50174884e-02 -6.90856565e+01] [ 2.62659070e-01 9.64876780e-01 -4.79705644e-03 1.33842775e+01] [ 1.57502221e-02 6.83529343e-04 9.99875724e-01 2.95296095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02911593299999 meters 0.015712865024877048 Centerline is valid? [True, True] Translation: X:-69.11, Y:13.36, Z:2.90 [[ 9.64678639e-01 -2.63033510e-01 -1.44393753e-02 -6.91141123e+01] [ 2.62993409e-01 9.64786457e-01 -4.64315385e-03 1.33610976e+01] [ 1.51522188e-02 6.81690811e-04 9.99884966e-01 2.90443396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05911593299999 meters 0.01651021467788635 Centerline is valid? [True, True] Translation: X:-69.15, Y:13.36, Z:2.94 [[ 9.65157132e-01 -2.61232500e-01 -1.51423686e-02 -6.91476872e+01] [ 2.61188057e-01 9.65275616e-01 -4.87683904e-03 1.33634620e+01] [ 1.58905480e-02 7.51910152e-04 9.99873455e-01 2.94071775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08911593299999 meters 0.016298293944138273 Centerline is valid? [True, True] Translation: X:-69.18, Y:13.37, Z:2.97 [[ 9.62686308e-01 -2.70367150e-01 -1.16908489e-02 -6.91809724e+01] [ 2.70341469e-01 9.62757186e-01 -3.75388497e-03 1.33691474e+01] [ 1.22703759e-02 4.53292403e-04 9.99924613e-01 2.96964905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11911593299999 meters 0.015576200272991787 Centerline is valid? [True, True] Translation: X:-69.21, Y:13.36, Z:2.96 [[ 9.64319038e-01 -2.64317650e-01 -1.49990700e-02 -6.92102856e+01] [ 2.64274575e-01 9.64435436e-01 -4.82060400e-03 1.33551032e+01] [ 1.57398054e-02 6.84727354e-04 9.99875887e-01 2.95711145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.14911593299999 meters 0.01596625433351234 Centerline is valid? [True, True] Translation: X:-69.23, Y:13.31, Z:2.88 [[ 9.65280217e-01 -2.60671662e-01 -1.68637643e-02 -6.92314270e+01] [ 2.60616652e-01 9.65427151e-01 -5.41996224e-03 1.33135754e+01] [ 1.76935665e-02 8.36804521e-04 9.99843106e-01 2.88262384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17911593299999 meters 0.016883449565018624 Centerline is valid? [True, True] Translation: X:-69.27, Y:13.33, Z:2.93 [[ 9.66173961e-01 -2.57403422e-01 -1.58542104e-02 -6.92676484e+01] [ 2.57353930e-01 9.66303640e-01 -5.12153207e-03 1.33263192e+01] [ 1.66382811e-02 8.68147566e-04 9.99861197e-01 2.92826509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.20911593299999 meters 0.016764260576227895 Centerline is valid? [True, True] Translation: X:-69.30, Y:13.33, Z:2.99 [[ 9.66768568e-01 -2.55126234e-01 -1.64054995e-02 -6.93019736e+01] [ 2.55072713e-01 9.66907287e-01 -5.31121763e-03 1.33338041e+01] [ 1.72176280e-02 9.50122986e-04 9.99851314e-01 2.98532054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.239115933 meters 0.016959276064916 Centerline is valid? [True, True] Translation: X:-69.32, Y:13.28, Z:2.87 [[ 9.68515387e-01 -2.48206449e-01 -1.92744276e-02 -6.93204592e+01] [ 2.48131540e-01 9.68706358e-01 -6.22335402e-03 1.32801350e+01] [ 2.02159371e-02 1.24482074e-03 9.99794862e-01 2.86677187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.269115933 meters 0.016316227286032384 Centerline is valid? [True, True] Translation: X:-69.36, Y:13.31, Z:2.96 [[ 9.61763141e-01 -2.73675250e-01 -1.06544863e-02 -6.93607788e+01] [ 2.73653887e-01 9.61822074e-01 -3.44217825e-03 1.33123304e+01] [ 1.11897591e-02 3.94918559e-04 9.99937315e-01 2.95899690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.299115933 meters 0.016842099518065597 Centerline is valid? [True, True] Translation: X:-69.40, Y:13.35, Z:3.12 [[ 9.67752248e-01 -2.51040214e-01 -2.08421840e-02 -6.94025513e+01] [ 2.50953176e-01 9.67975803e-01 -6.73406524e-03 1.33533766e+01] [ 2.18652510e-02 1.28649451e-03 9.99760099e-01 3.11538764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.329115933 meters 0.01687062685193949 Centerline is valid? [True, True] Translation: X:-69.42, Y:13.30, Z:3.00 [[ 9.64509366e-01 -2.63550609e-01 -1.62098589e-02 -6.94220872e+01] [ 2.63499702e-01 9.64645254e-01 -5.23841247e-03 1.33032805e+01] [ 1.70173502e-02 7.81204905e-04 9.99854889e-01 2.99721095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35911593299998 meters 0.016504461705535437 Centerline is valid? [True, True] Translation: X:-69.45, Y:13.27, Z:2.95 [[ 9.66152247e-01 -2.57314573e-01 -1.84131875e-02 -6.94465179e+01] [ 2.57247709e-01 9.66327161e-01 -5.95271762e-03 1.32742200e+01] [ 1.93248842e-02 1.01448121e-03 9.99812742e-01 2.95236054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38911593299999 meters 0.016320311835625847 Centerline is valid? [True, True] Translation: X:-69.48, Y:13.27, Z:2.98 [[ 9.65394574e-01 -2.60069022e-01 -1.94272976e-02 -6.94789827e+01] [ 2.59994559e-01 9.65589469e-01 -6.30929156e-03 1.32719005e+01] [ 2.03996452e-02 1.03996418e-03 9.99791365e-01 2.97757777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41911593299999 meters 0.016966974960064662 Centerline is valid? [True, True] Translation: X:-69.51, Y:13.26, Z:2.98 [[ 9.63422092e-01 -2.67399284e-01 -1.77622047e-02 -6.95085026e+01] [ 2.67338489e-01 9.63585484e-01 -5.75733010e-03 1.32616611e+01] [ 1.86549086e-02 7.98218047e-04 9.99825663e-01 2.97860154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44911593299999 meters 0.015618545132924768 Centerline is valid? [True, True] Translation: X:-69.55, Y:13.28, Z:3.04 [[ 9.62917509e-01 -2.69220103e-01 -1.76183398e-02 -6.95464912e+01] [ 2.69160081e-01 9.63078357e-01 -5.73831859e-03 1.32792012e+01] [ 1.85127124e-02 7.83373682e-04 9.99828318e-01 3.04306667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47911593299999 meters 0.015892739988617195 Centerline is valid? [True, True] Translation: X:-69.57, Y:13.26, Z:3.03 [[ 9.61314420e-01 -2.74853379e-01 -1.81715697e-02 -6.95745735e+01] [ 2.74790279e-01 9.61485891e-01 -5.93168009e-03 1.32624283e+01] [ 1.91020502e-02 7.08838896e-04 9.99817288e-01 3.03482117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.50911593299999 meters 0.015347153114502406 Centerline is valid? [True, True] Translation: X:-69.60, Y:13.22, Z:2.96 [[ 9.57280725e-01 -2.88781723e-01 -1.47895250e-02 -6.95950676e+01] [ 2.88741767e-01 9.57394903e-01 -4.81571337e-03 1.32208765e+01] [ 1.55501059e-02 3.39636006e-04 9.99879032e-01 2.96127670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53911593299999 meters 0.01583308778726266 Centerline is valid? [True, True] Translation: X:-69.62, Y:13.20, Z:2.93 [[ 9.57212778e-01 -2.88891797e-01 -1.68886642e-02 -6.96218830e+01] [ 2.88839205e-01 9.57361666e-01 -5.52763594e-03 1.31976640e+01] [ 1.77654484e-02 4.13015404e-04 9.99842097e-01 2.93040442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.56911593299999 meters 0.016398242954907875 Centerline is valid? [True, True] Translation: X:-69.66, Y:13.22, Z:3.00 [[ 9.54418174e-01 -2.98071945e-01 -1.54617270e-02 -6.96601111e+01] [ 2.98029186e-01 9.54543383e-01 -5.05322777e-03 1.32162142e+01] [ 1.62651146e-02 2.14846521e-04 9.99867691e-01 2.99635730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.599115933 meters 0.016392711393284062 Centerline is valid? [True, True] Translation: X:-69.68, Y:13.18, Z:2.95 [[ 9.53335864e-01 -3.01528739e-01 -1.52036388e-02 -6.96844449e+01] [ 3.01487449e-01 9.53457072e-01 -4.99297297e-03 1.31845818e+01] [ 1.60015418e-02 1.76273915e-04 9.99871952e-01 2.95412125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.629115933 meters 0.01739570202336504 Centerline is valid? [True, True] Translation: X:-69.71, Y:13.17, Z:2.93 [[ 9.48885156e-01 -3.15357444e-01 -1.29090147e-02 -6.97128841e+01] [ 3.15328782e-01 9.48972961e-01 -4.25179492e-03 1.31682425e+01] [ 1.35911411e-02 -3.61188083e-05 9.99907636e-01 2.93141728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.659115933 meters 0.016507523903045968 Centerline is valid? [True, True] Translation: X:-69.74, Y:13.15, Z:2.91 [[ 9.48321946e-01 -3.17099475e-01 -1.15503276e-02 -6.97409451e+01] [ 3.17076526e-01 9.48392282e-01 -3.81519810e-03 1.31491573e+01] [ 1.21640389e-02 -4.43016713e-05 9.99926014e-01 2.90970323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.689115933 meters 0.017119516869194416 Centerline is valid? [True, True] Translation: X:-69.77, Y:13.13, Z:2.91 [[ 9.48248660e-01 -3.17201346e-01 -1.44147800e-02 -6.97702906e+01] [ 3.17165719e-01 9.48358214e-01 -4.75442256e-03 1.31345330e+01] [ 1.51784843e-02 -6.34992400e-05 9.99884798e-01 2.90773808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71911593299998 meters 0.017074779577474934 Centerline is valid? [True, True] Translation: X:-69.81, Y:13.18, Z:3.05 [[ 9.51115548e-01 -3.08311222e-01 -1.79834393e-02 -6.98148986e+01] [ 3.08253818e-01 9.51285539e-01 -5.95035379e-03 1.31796288e+01] [ 1.89419466e-02 1.16010189e-04 9.99820579e-01 3.05341049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74911593299998 meters 0.017058814964652433 Centerline is valid? [True, True] Translation: X:-69.83, Y:13.11, Z:2.89 [[ 9.53335950e-01 -3.00971480e-01 -2.38061935e-02 -6.98277052e+01] [ 3.00869028e-01 9.53633084e-01 -7.85930593e-03 1.31056741e+01] [ 2.50678007e-02 3.30012593e-04 9.99685699e-01 2.88600980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77911593299999 meters 0.015419843079663055 Centerline is valid? [True, True] Translation: X:-69.87, Y:13.14, Z:3.01 [[ 9.48913885e-01 -3.15009741e-01 -1.82017116e-02 -6.98691235e+01] [ 3.14952416e-01 9.49088438e-01 -6.00943502e-03 1.31430935e+01] [ 1.91680646e-02 -3.02367076e-05 9.99816275e-01 3.01196921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80911593299999 meters 0.016488662516743895 Centerline is valid? [True, True] Translation: X:-69.89, Y:13.11, Z:2.95 [[ 9.49380621e-01 -3.13668793e-01 -1.69801234e-02 -6.98934101e+01] [ 3.13618175e-01 9.49532457e-01 -5.63497520e-03 1.31096946e+01] [ 1.78906941e-02 2.44609607e-05 9.99839948e-01 2.95031960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83911593299999 meters 0.017232270990888997 Centerline is valid? [True, True] Translation: X:-69.92, Y:13.09, Z:2.92 [[ 9.47101773e-01 -3.20637717e-01 -1.37726843e-02 -6.99217027e+01] [ 3.20604943e-01 9.47201905e-01 -4.58490683e-03 1.30906738e+01] [ 1.45156069e-02 -7.32172943e-05 9.99894640e-01 2.91896247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.86911593299999 meters 0.016188272796626796 Centerline is valid? [True, True] Translation: X:-69.95, Y:13.07, Z:2.90 [[ 9.46976988e-01 -3.20999492e-01 -1.39252091e-02 -6.99490512e+01] [ 3.20965813e-01 9.47079364e-01 -4.65028311e-03 1.30669157e+01] [ 1.46810167e-02 -6.58049562e-05 9.99892226e-01 2.90314396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89911593299999 meters 0.016718863122737206 Centerline is valid? [True, True] Translation: X:-69.98, Y:13.07, Z:2.92 [[ 9.50223147e-01 -3.10901060e-01 -2.04083707e-02 -6.99822057e+01] [ 3.10826918e-01 9.50442275e-01 -6.79030695e-03 1.30677981e+01] [ 2.15080919e-02 1.08835890e-04 9.99768668e-01 2.91736574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.92911593299999 meters 0.017048749987843757 Centerline is valid? [True, True] Translation: X:-70.01, Y:13.05, Z:2.89 [[ 9.44758215e-01 -3.27423466e-01 -1.50263157e-02 -7.00105394e+01] [ 3.27384915e-01 9.44877688e-01 -5.02712701e-03 1.30508594e+01] [ 1.58440297e-02 -1.69969534e-04 9.99874461e-01 2.89256297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95911593299999 meters 0.016118525353464357 Centerline is valid? [True, True] Translation: X:-70.05, Y:13.06, Z:2.94 [[ 9.43734280e-01 -3.30415286e-01 -1.38328299e-02 -7.00462461e+01] [ 3.30382700e-01 9.43835634e-01 -4.64410960e-03 1.30595477e+01] [ 1.45904026e-02 -1.87322267e-04 9.99893537e-01 2.94447828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.989115933 meters 0.016129813378976388 Centerline is valid? [True, True] Translation: X:-70.08, Y:13.05, Z:2.94 [[ 9.39262485e-01 -3.43008178e-01 -1.14618508e-02 -7.00768516e+01] [ 3.42986825e-01 9.39332362e-01 -3.84088519e-03 1.30480778e+01] [ 1.20839424e-02 -3.23664438e-04 9.99926934e-01 2.94279717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.019115933 meters 0.017052824660237633 Centerline is valid? [True, True] Translation: X:-70.11, Y:13.04, Z:2.94 [[ 9.41206545e-01 -3.37470117e-01 -1.56256237e-02 -7.01071805e+01] [ 3.37429254e-01 9.41336187e-01 -5.26132064e-03 1.30366937e+01] [ 1.64845035e-02 -3.20553136e-04 9.99864070e-01 2.94079979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.049115933 meters 0.017593162402626053 Centerline is valid? [True, True] Translation: X:-70.13, Y:12.98, Z:2.83 [[ 9.35457843e-01 -3.53230100e-01 -1.21293442e-02 -7.01256658e+01] [ 3.53206943e-01 9.35536355e-01 -4.07234634e-03 1.29848614e+01] [ 1.27859177e-02 -4.74660262e-04 9.99918144e-01 2.83363490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.079115933 meters 0.01717342846578726 Centerline is valid? [True, True] Translation: X:-70.16, Y:12.98, Z:2.86 [[ 9.34290825e-01 -3.56363382e-01 -1.02855903e-02 -7.01571383e+01] [ 3.56346669e-01 9.34347347e-01 -3.47651258e-03 1.29813618e+01] [ 1.08492158e-02 -4.17162020e-04 9.99941059e-01 2.85746632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10911593299998 meters 0.018124316711475137 Centerline is valid? [True, True] Translation: X:-70.18, Y:12.95, Z:2.80 [[ 9.30306513e-01 -3.66771941e-01 -2.85238068e-03 -7.01816178e+01] [ 3.66770657e-01 9.30310876e-01 -9.79622308e-04 1.29494839e+01] [ 3.01289874e-03 -1.34820523e-04 9.99995452e-01 2.79531927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13911593299999 meters 0.02133761310800998 Centerline is valid? [True, True] Translation: X:-70.21, Y:12.95, Z:2.82 [[ 9.33561666e-01 -3.58416125e-01 7.05099546e-04 -7.02121536e+01] [ 3.58416058e-01 9.33561931e-01 2.23672391e-04 1.29458543e+01] [-7.38421886e-04 4.39070300e-05 9.99999726e-01 2.81883489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16911593299999 meters 0.021262955640260307 Centerline is valid? [True, True] Translation: X:-70.25, Y:12.95, Z:2.85 [[ 9.33130248e-01 -3.59453211e-01 7.83126239e-03 -7.02452188e+01] [ 3.59443747e-01 9.33163041e-01 2.63279154e-03 1.29462234e+01] [-8.25421000e-03 3.58160876e-04 9.99965869e-01 2.85154796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19911593299999 meters 0.021262955640260307 Centerline is valid? [True, True] Translation: X:-70.28, Y:12.94, Z:2.85 [[ 9.32841207e-01 -3.60202685e-01 7.82993460e-03 -7.02756151e+01] [ 3.60193215e-01 9.32873998e-01 2.63673041e-03 1.29360196e+01] [-8.25409976e-03 3.60638540e-04 9.99965869e-01 2.85233762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22911593299999 meters 0.0228294232699356 Centerline is valid? [True, True] Translation: X:-70.31, Y:12.94, Z:2.88 [[ 9.29001984e-01 -3.69788140e-01 1.45617901e-02 -7.03102543e+01] [ 3.69755995e-01 9.29115762e-01 4.94004105e-03 1.29430791e+01] [-1.53563573e-02 7.95001267e-04 9.99881768e-01 2.88201525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25911593299999 meters 0.023962411676427795 Centerline is valid? [True, True] Translation: X:-70.33, Y:12.91, Z:2.81 [[ 9.38037016e-01 -3.46401467e-01 9.62185690e-03 -7.03315227e+01] [ 3.46386187e-01 9.38086324e-01 3.26478608e-03 1.29064975e+01] [-1.01570591e-02 2.70388128e-04 9.99948379e-01 2.81479273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.28911593299999 meters 0.023364471820749175 Centerline is valid? [True, True] Translation: X:-70.36, Y:12.89, Z:2.79 [[ 9.43128719e-01 -3.32158660e-01 1.33732311e-02 -7.03586991e+01] [ 3.32127700e-01 9.43223515e-01 4.53789203e-03 1.28869128e+01] [-1.41212462e-02 1.61804196e-04 9.99900277e-01 2.78773831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31911593299999 meters 0.023809824300140163 Centerline is valid? [True, True] Translation: X:-70.40, Y:12.91, Z:2.90 [[ 9.42446785e-01 -3.33890259e-01 1.76451555e-02 -7.03972578e+01] [ 3.33836348e-01 9.42611925e-01 6.00427188e-03 1.29085232e+01] [-1.86373019e-02 2.31887541e-04 9.99826284e-01 2.90123629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.349115933 meters 0.024362081121461165 Centerline is valid? [True, True] Translation: X:-70.44, Y:12.92, Z:2.96 [[ 9.40708827e-01 -3.38606474e-01 2.03115485e-02 -7.04352449e+01] [ 3.38535638e-01 9.40928016e-01 6.93473991e-03 1.29233631e+01] [-2.14598529e-02 3.52611982e-04 9.99769649e-01 2.95851154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.379115933 meters 0.024289000666327536 Centerline is valid? [True, True] Translation: X:-70.46, Y:12.89, Z:2.89 [[ 9.48227862e-01 -3.16984916e-01 1.96082899e-02 -7.04590500e+01] [ 3.16914133e-01 9.48430569e-01 6.69990893e-03 1.28876805e+01] [-2.07208716e-02 -1.38896132e-04 9.99785290e-01 2.89120650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.409115933 meters 0.024272440008925415 Centerline is valid? [True, True] Translation: X:-70.50, Y:12.92, Z:3.00 [[ 9.45735078e-01 -3.23974011e-01 2.50200545e-02 -7.04996056e+01] [ 3.23860943e-01 9.46065981e-01 8.55858567e-03 1.29172685e+01] [-2.64433818e-02 8.86376704e-06 9.99650313e-01 3.00158301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.439115933 meters 0.024281983496592927 Centerline is valid? [True, True] Translation: X:-70.53, Y:12.90, Z:2.96 [[ 9.47293500e-01 -3.19236720e-01 2.68875855e-02 -7.05276606e+01] [ 3.19103590e-01 9.47674993e-01 9.21985214e-03 1.28974786e+01] [-2.84240077e-02 -1.53980952e-04 9.99595944e-01 2.95759951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46911593299998 meters 0.024579098280571095 Centerline is valid? [True, True] Translation: X:-70.57, Y:12.92, Z:3.05 [[ 9.42469026e-01 -3.32405342e-01 3.54799052e-02 -7.05660955e+01] [ 3.32181518e-01 9.43136578e-01 1.21997229e-02 1.29196522e+01] [-3.75176494e-02 2.87907841e-04 9.99295924e-01 3.05247051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49911593299998 meters 0.023726984601396633 Centerline is valid? [True, True] Translation: X:-70.60, Y:12.92, Z:3.09 [[ 9.43469265e-01 -3.29232050e-01 3.83667099e-02 -7.06001030e+01] [ 3.28966395e-01 9.44249033e-01 1.32240151e-02 1.29237997e+01] [-4.05814984e-02 1.44906432e-04 9.99176221e-01 3.08962781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52911593299999 meters 0.02430107961839762 Centerline is valid? [True, True] Translation: X:-70.63, Y:12.90, Z:3.07 [[ 9.42949716e-01 -3.30682840e-01 3.86612541e-02 -7.06281427e+01] [ 3.30413002e-01 9.43741928e-01 1.33574206e-02 1.29039821e+01] [-4.09033163e-02 1.78805046e-04 9.99163093e-01 3.06580978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55911593299999 meters 0.023109635029049336 Centerline is valid? [True, True] Translation: X:-70.68, Y:12.95, Z:3.23 [[ 9.38633251e-01 -3.41070342e-01 5.13677185e-02 -7.06750162e+01] [ 3.40607571e-01 9.40037430e-01 1.77795802e-02 1.29548923e+01] [-5.43516656e-02 8.07728646e-04 9.98521529e-01 3.23436130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58911593299999 meters 0.023171923186891426 Centerline is valid? [True, True] Translation: X:-70.71, Y:12.95, Z:3.26 [[ 9.40023499e-01 -3.37130364e-01 5.19513068e-02 -7.07071848e+01] [ 3.36649514e-01 9.41457807e-01 1.80083841e-02 1.29530483e+01] [-5.49811365e-02 5.61077991e-04 9.98487236e-01 3.26326144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61911593299999 meters 0.023164748528824317 Centerline is valid? [True, True] Translation: X:-70.73, Y:12.92, Z:3.20 [[ 9.46597498e-01 -3.18758813e-01 4.84354864e-02 -7.07309854e+01] [ 3.18315288e-01 9.47835728e-01 1.68169393e-02 1.29207198e+01] [-5.12694322e-02 -5.01116818e-04 9.98684732e-01 3.20267030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.64911593299999 meters 0.02308029005967319 Centerline is valid? [True, True] Translation: X:-70.77, Y:12.94, Z:3.29 [[ 9.45350296e-01 -3.21793950e-01 5.25497088e-02 -7.07703249e+01] [ 3.21274617e-01 9.46809641e-01 1.82790630e-02 1.29420125e+01] [-5.56366628e-02 -3.97230021e-04 9.98451002e-01 3.28715536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67911593299999 meters 0.022437451243446333 Centerline is valid? [True, True] Translation: X:-70.80, Y:12.92, Z:3.24 [[ 9.50982415e-01 -3.05002566e-01 5.10478361e-02 -7.07962542e+01] [ 3.04487001e-01 9.52350552e-01 1.77789821e-02 1.29190865e+01] [-5.40380700e-02 -1.36409677e-03 9.98537944e-01 3.24380394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.70911593299999 meters 0.02294407538655912 Centerline is valid? [True, True] Translation: X:-70.84, Y:12.95, Z:3.36 [[ 9.53569963e-01 -2.96654735e-01 5.19643524e-02 -7.08370115e+01] [ 2.96107594e-01 9.54982951e-01 1.81067804e-02 1.29477696e+01] [-5.49965328e-02 -1.87904257e-03 9.98484777e-01 3.35821154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.739115933 meters 0.022600953374245003 Centerline is valid? [True, True] Translation: X:-70.87, Y:12.95, Z:3.39 [[ 9.48243977e-01 -3.12276355e-01 5.75919929e-02 -7.08706947e+01] [ 3.11630868e-01 9.49990655e-01 2.00987149e-02 1.29501513e+01] [-6.09882084e-02 -1.11104265e-03 9.98137868e-01 3.39264810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.769115933 meters 0.022031898151033933 Centerline is valid? [True, True] Translation: X:-70.90, Y:12.95, Z:3.43 [[ 9.55696922e-01 -2.89175369e-01 5.49636244e-02 -7.09040818e+01] [ 2.88547806e-01 9.57272893e-01 1.92034529e-02 1.29542686e+01] [-5.81683533e-02 -2.49304754e-03 9.98303675e-01 3.42701610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.799115933 meters 0.021457858804427264 Centerline is valid? [True, True] Translation: X:-70.94, Y:12.97, Z:3.48 [[ 9.57632607e-01 -2.82502362e-01 5.59661143e-02 -7.09404394e+01] [ 2.81839615e-01 9.59262028e-01 1.95651071e-02 1.29665080e+01] [-5.92133573e-02 -2.96271641e-03 9.98240953e-01 3.47878701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.829115933 meters 0.021859661528295087 Centerline is valid? [True, True] Translation: X:-70.96, Y:12.93, Z:3.40 [[ 9.62081155e-01 -2.67675692e-01 5.24363984e-02 -7.09631068e+01] [ 2.67071391e-01 9.63502186e-01 1.83414992e-02 1.29298687e+01] [-5.54321580e-02 -3.64174883e-03 9.98455815e-01 3.40350917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85911593299998 meters 0.022185933801104174 Centerline is valid? [True, True] Translation: X:-71.00, Y:12.94, Z:3.49 [[ 9.64555220e-01 -2.59148497e-01 4.97522326e-02 -7.09981555e+01] [ 2.58592940e-01 9.65829512e-01 1.74081917e-02 1.29431427e+01] [-5.25634812e-02 -3.92558608e-03 9.98609869e-01 3.49483883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88911593299999 meters 0.022482742165208708 Centerline is valid? [True, True] Translation: X:-71.03, Y:12.93, Z:3.48 [[ 9.67643537e-01 -2.48080828e-01 4.60639676e-02 -7.10264695e+01] [ 2.47592012e-01 9.68730257e-01 1.61209208e-02 1.29285984e+01] [-4.86228505e-02 -4.19423442e-03 9.98808403e-01 3.48469706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91911593299999 meters 0.02246626333671341 Centerline is valid? [True, True] Translation: X:-71.07, Y:12.97, Z:3.64 [[ 9.66150245e-01 -2.53426497e-01 4.82567584e-02 -7.10715908e+01] [ 2.52896355e-01 9.67345884e-01 1.68930295e-02 1.29745977e+01] [-5.09621179e-02 -4.11724625e-03 9.98692100e-01 3.64364846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94911593299999 meters 0.02261123235021994 Centerline is valid? [True, True] Translation: X:-71.09, Y:12.94, Z:3.58 [[ 9.70093092e-01 -2.38851196e-01 4.32377059e-02 -7.10948960e+01] [ 2.38411075e-01 9.71046306e-01 1.51403610e-02 1.29413207e+01] [-4.56021079e-02 -4.37921166e-03 9.98950084e-01 3.58257766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97911593299999 meters 0.02264756720346526 Centerline is valid? [True, True] Translation: X:-71.13, Y:12.95, Z:3.66 [[ 9.70167961e-01 -2.38776671e-01 4.19503066e-02 -7.11305859e+01] [ 2.38361593e-01 9.71065130e-01 1.47059309e-02 1.29529501e+01] [-4.42479132e-02 -4.26788104e-03 9.99011465e-01 3.65669556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.00911593299999 meters 0.022730198361705672 Centerline is valid? [True, True] Translation: X:-71.16, Y:12.95, Z:3.70 [[ 9.69659311e-01 -2.41084665e-01 4.04846228e-02 -7.11641490e+01] [ 2.40699240e-01 9.70495695e-01 1.42120681e-02 1.29548173e+01] [-4.27164638e-02 -4.03624625e-03 9.99079082e-01 3.69879670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03911593299999 meters 0.024614236042613136 Centerline is valid? [True, True] Translation: X:-71.14, Y:12.73, Z:3.00 [[ 9.67054462e-01 -2.50786357e-01 4.37249460e-02 -7.11355943e+01] [ 2.50346151e-01 9.68034583e-01 1.53574551e-02 1.27279901e+01] [-4.61787001e-02 -3.90512355e-03 9.98925562e-01 3.00080347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.06911593299999 meters 0.02314202458992178 Centerline is valid? [True, True] Translation: X:-71.23, Y:12.94, Z:3.71 [[ 9.70757769e-01 -2.37200597e-01 3.69490215e-02 -7.12251272e+01] [ 2.36876385e-01 9.71453065e-01 1.29815687e-02 1.29418000e+01] [-3.89734760e-02 -3.84960804e-03 9.99232830e-01 3.71393422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.099115933 meters 0.02244030586556553 Centerline is valid? [True, True] Translation: X:-71.25, Y:12.92, Z:3.71 [[ 9.71992487e-01 -2.32899632e-01 3.14383083e-02 -7.12520377e+01] [ 2.32662631e-01 9.72494748e-01 1.10483088e-02 1.29230920e+01] [-3.31467367e-02 -3.42435360e-03 9.99444630e-01 3.70533296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.129115933 meters 0.023304380394833162 Centerline is valid? [True, True] Translation: X:-71.29, Y:12.94, Z:3.81 [[ 9.71881042e-01 -2.33621886e-01 2.94627602e-02 -7.12911982e+01] [ 2.33413952e-01 9.72322292e-01 1.03579296e-02 1.29443313e+01] [-3.10671376e-02 -3.18965612e-03 9.99512211e-01 3.81188711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.159115933 meters 0.023005142864714615 Centerline is valid? [True, True] Translation: X:-71.31, Y:12.91, Z:3.76 [[ 9.75241626e-01 -2.20275651e-01 1.95552628e-02 -7.13147726e+01] [ 2.20181338e-01 9.75434706e-01 6.87836881e-03 1.29148686e+01] [-2.05900192e-02 -2.40236765e-03 9.99785117e-01 3.75621513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.189115933 meters 0.022482321842275006 Centerline is valid? [True, True] Translation: X:-71.35, Y:12.91, Z:3.79 [[ 9.72814630e-01 -2.30866398e-01 1.82319082e-02 -7.13457899e+01] [ 2.30786212e-01 9.72983337e-01 6.41484172e-03 1.29113381e+01] [-1.92203143e-02 -2.03277884e-03 9.99813206e-01 3.79393814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21911593299998 meters 0.024776954909651688 Centerline is valid? [True, True] Translation: X:-71.30, Y:12.63, Z:2.95 [[ 9.68925603e-01 -2.46879902e-01 1.52803657e-02 -7.13033133e+01] [ 2.46825526e-01 9.69045017e-01 5.37725073e-03 1.26343770e+01] [-1.61348973e-02 -1.43857161e-03 9.99868789e-01 2.94673865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24911593299998 meters 0.021859376573968668 Centerline is valid? [True, True] Translation: X:-71.44, Y:13.02, Z:4.20 [[ 9.66561671e-01 -2.55904160e-01 1.64802091e-02 -7.14378930e+01] [ 2.55842165e-01 9.66701156e-01 5.80191643e-03 1.30162504e+01] [-1.74161718e-02 -1.39157765e-03 9.99847359e-01 4.20426395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27911593299999 meters 0.02129708282008378 Centerline is valid? [True, True] Translation: X:-71.43, Y:12.86, Z:3.72 [[ 9.60919641e-01 -2.76386348e-01 1.56214763e-02 -7.14274610e+01] [ 2.76333307e-01 9.61046122e-01 5.50047499e-03 1.28594938e+01] [-1.65332154e-02 -9.68780247e-04 9.99862848e-01 3.72385681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30911593299999 meters 0.02060366905674248 Centerline is valid? [True, True] Translation: X:-71.47, Y:12.88, Z:3.85 [[ 9.60366796e-01 -2.78471002e-01 1.22277760e-02 -7.14667320e+01] [ 2.78438761e-01 9.60444365e-01 4.29868140e-03 1.28849263e+01] [-1.29411566e-02 -7.23624089e-04 9.99915998e-01 3.84727473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33911593299999 meters 0.01958673666390669 Centerline is valid? [True, True] Translation: X:-71.55, Y:13.06, Z:4.37 [[ 9.41066032e-01 -3.37328498e-01 2.45806391e-02 -7.15462484e+01] [ 3.37216937e-01 9.41386992e-01 8.67575871e-03 1.30554474e+01] [-2.60664746e-02 1.24545995e-04 9.99660204e-01 4.36711372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.36911593299999 meters 0.01884663397011655 Centerline is valid? [True, True] Translation: X:-71.57, Y:13.02, Z:4.32 [[ 9.37773409e-01 -3.46456328e-01 2.34317388e-02 -7.15709193e+01] [ 3.46357762e-01 9.38066034e-01 8.27141332e-03 1.30241433e+01] [-2.48462018e-02 3.59053156e-04 9.99691221e-01 4.32321836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39911593299999 meters 0.017232087349349137 Centerline is valid? [True, True] Translation: X:-71.60, Y:13.01, Z:4.30 [[ 9.23484540e-01 -3.82259196e-01 3.24686135e-02 -7.16008002e+01] [ 3.82091332e-01 9.24053365e-01 1.14713358e-02 1.30134785e+01] [-3.43877552e-02 1.81237452e-03 9.99406923e-01 4.30401050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.42911593299999 meters 0.017581594783164067 Centerline is valid? [True, True] Translation: X:-71.62, Y:12.98, Z:4.22 [[ 9.17621196e-01 -3.95746391e-01 3.68257308e-02 -7.16231118e+01] [ 3.95541038e-01 9.18356091e-01 1.30145114e-02 1.29781285e+01] [-3.89695801e-02 2.62369625e-03 9.99236953e-01 4.21914345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45911593299999 meters 0.017172343960310966 Centerline is valid? [True, True] Translation: X:-71.66, Y:13.00, Z:4.34 [[ 9.22691091e-01 -3.84192316e-01 3.22089229e-02 -7.16616379e+01] [ 3.84028086e-01 9.23251207e-01 1.13858439e-02 1.30023646e+01] [-3.41112807e-02 1.86351429e-03 9.99416304e-01 4.33551219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.489115933 meters 0.018247936239827033 Centerline is valid? [True, True] Translation: X:-71.65, Y:12.85, Z:3.88 [[ 9.19377646e-01 -3.91771697e-01 3.54919974e-02 -7.16526745e+01] [ 3.91577699e-01 9.20059441e-01 1.25511473e-02 1.28506665e+01] [-3.75719316e-02 2.35863041e-03 9.99291142e-01 3.88299109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.519115933 meters 0.016616450569154107 Centerline is valid? [True, True] Translation: X:-71.73, Y:13.00, Z:4.43 [[ 9.16326183e-01 -3.98574624e-01 3.85304575e-02 -7.17257345e+01] [ 3.98351811e-01 9.17131446e-01 1.36288653e-02 1.30047844e+01] [-4.07696140e-02 2.86019145e-03 9.99164480e-01 4.42991032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.549115933 meters 0.01684567604545108 Centerline is valid? [True, True] Translation: X:-71.77, Y:13.04, Z:4.57 [[ 9.18773573e-01 -3.93124965e-01 3.61646783e-02 -7.17681901e+01] [ 3.92924388e-01 9.19481775e-01 1.27941647e-02 1.30427930e+01] [-3.82824681e-02 2.45504370e-03 9.99263942e-01 4.57459377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.579115933 meters 0.0172790616667067 Centerline is valid? [True, True] Translation: X:-71.78, Y:12.97, Z:4.40 [[ 9.14988447e-01 -4.01757351e-01 3.72447730e-02 -7.17807591e+01] [ 4.01551557e-01 9.15741580e-01 1.31797225e-02 1.29710907e+01] [-3.94016377e-02 2.89640284e-03 9.99219256e-01 4.39880225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60911593299998 meters 0.01774054756099263 Centerline is valid? [True, True] Translation: X:-71.81, Y:12.96, Z:4.41 [[ 9.20278917e-01 -3.90060656e-01 3.06496342e-02 -7.18081584e+01] [ 3.89914683e-01 9.20787065e-01 1.08498782e-02 1.29555232e+01] [-3.24538974e-02 1.96582826e-03 9.99471300e-01 4.40661384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63911593299999 meters 0.017106943481245317 Centerline is valid? [True, True] Translation: X:-71.84, Y:12.96, Z:4.46 [[ 9.15657180e-01 -4.00465270e-01 3.46337392e-02 -7.18415316e+01] [ 4.00286058e-01 9.16308156e-01 1.22652067e-02 1.29600513e+01] [-3.66469670e-02 2.63267836e-03 9.99324806e-01 4.46107889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66911593299999 meters 0.018021178119449196 Centerline is valid? [True, True] Translation: X:-71.87, Y:12.93, Z:4.44 [[ 9.24158533e-01 -3.81050771e-01 2.70428424e-02 -7.18666517e+01] [ 3.80933104e-01 9.24552979e-01 9.57911912e-03 1.29348217e+01] [-2.86526712e-02 1.44888921e-03 9.99588378e-01 4.43631700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69911593299999 meters 0.01707051631675267 Centerline is valid? [True, True] Translation: X:-71.90, Y:12.94, Z:4.47 [[ 9.20147841e-01 -3.90526028e-01 2.85897197e-02 -7.19019104e+01] [ 3.90398913e-01 9.20590050e-01 1.01315691e-02 1.29448404e+01] [-3.02760529e-02 1.83885407e-03 9.99539884e-01 4.46839796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72911593299999 meters 0.01769239653886389 Centerline is valid? [True, True] Translation: X:-71.94, Y:12.97, Z:4.61 [[ 9.14067141e-01 -4.04205945e-01 3.31483899e-02 -7.19412572e+01] [ 4.04043889e-01 9.14664150e-01 1.17485194e-02 1.29735372e+01] [-3.50684653e-02 2.65446889e-03 9.99381387e-01 4.60760958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75911593299999 meters 0.017477222979971365 Centerline is valid? [True, True] Translation: X:-71.95, Y:12.89, Z:4.36 [[ 9.18573147e-01 -3.94183441e-01 2.90308264e-02 -7.19496323e+01] [ 3.94054091e-01 9.19029634e-01 1.02910211e-02 1.28865767e+01] [-3.07367399e-02 1.98666024e-03 9.99525540e-01 4.36357455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.78911593299999 meters 0.017590378780606365 Centerline is valid? [True, True] Translation: X:-71.99, Y:12.91, Z:4.47 [[ 9.13588089e-01 -4.05380709e-01 3.19888212e-02 -7.19886465e+01] [ 4.05230336e-01 9.14144255e-01 1.13426502e-02 1.29110067e+01] [-3.38404887e-02 2.60033069e-03 9.99423864e-01 4.47152704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81911593299999 meters 0.017068615411364597 Centerline is valid? [True, True] Translation: X:-72.06, Y:13.06, Z:4.99 [[ 9.13826020e-01 -4.04994306e-01 3.00269445e-02 -7.20617796e+01] [ 4.04861369e-01 9.14316003e-01 1.06544981e-02 1.30583488e+01] [-3.17691269e-02 2.42039225e-03 9.99492303e-01 4.99162987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.849115933 meters 0.017930894651027783 Centerline is valid? [True, True] Translation: X:-72.07, Y:12.99, Z:4.82 [[ 9.12425871e-01 -4.07866649e-01 3.35235247e-02 -7.20748926e+01] [ 4.07702090e-01 9.13037233e-01 1.19170845e-02 1.29893793e+01] [-3.54688076e-02 2.79415485e-03 9.99366878e-01 4.82070791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.879115933 meters 0.018633435480822847 Centerline is valid? [True, True] Translation: X:-72.03, Y:12.71, Z:3.97 [[ 9.16633554e-01 -3.98881743e-01 2.60054280e-02 -7.20306502e+01] [ 3.98779043e-01 9.17000418e-01 9.24706838e-03 1.27109260e+01] [-2.75354751e-02 1.89424653e-03 9.99619032e-01 3.96800094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.909115933 meters 0.018189473948526255 Centerline is valid? [True, True] Translation: X:-72.10, Y:12.86, Z:4.52 [[ 9.16687333e-01 -3.98821382e-01 2.50167633e-02 -7.21039333e+01] [ 3.98726178e-01 9.17026831e-01 8.90086419e-03 1.28607133e+01] [-2.64908981e-02 1.81552896e-03 9.99647406e-01 4.52037771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.939115933 meters 0.017288628115040363 Centerline is valid? [True, True] Translation: X:-72.16, Y:12.93, Z:4.74 [[ 9.06433613e-01 -4.20988066e-01 3.38696613e-02 -7.21561416e+01] [ 4.20827793e-01 9.07060150e-01 1.20769413e-02 1.29314507e+01] [-3.58060682e-02 3.30634925e-03 9.99353288e-01 4.74498995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96911593299998 meters 0.019196690672387207 Centerline is valid? [True, True] Translation: X:-72.13, Y:12.72, Z:4.11 [[ 9.08692114e-01 -4.16324628e-01 3.08617260e-02 -7.21306373e+01] [ 4.16188787e-01 9.09211597e-01 1.10075115e-02 1.27207835e+01] [-3.26425373e-02 2.84186537e-03 9.99463050e-01 4.11135373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99911593299998 meters 0.017490133510725616 Centerline is valid? [True, True] Translation: X:-72.24, Y:13.02, Z:5.09 [[ 8.96563878e-01 -4.41054792e-01 4.05448257e-02 -7.22427839e+01] [ 4.40844720e-01 8.97466785e-01 1.44672859e-02 1.30150026e+01] [-4.27685001e-02 4.90312639e-03 9.99072978e-01 5.08987871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02911593299999 meters 0.017830314309717453 Centerline is valid? [True, True] Translation: X:-72.24, Y:12.87, Z:4.70 [[ 8.96376363e-01 -4.41739391e-01 3.70907902e-02 -7.22364590e+01] [ 4.41563638e-01 8.97132118e-01 1.32482418e-02 1.28741659e+01] [-3.91276094e-02 4.50253342e-03 9.99224078e-01 4.69948949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05911593299999 meters 0.018395281439858177 Centerline is valid? [True, True] Translation: X:-72.29, Y:12.95, Z:4.95 [[ 8.96305091e-01 -4.41812845e-01 3.79287990e-02 -7.22898501e+01] [ 4.41627863e-01 8.97095557e-01 1.35790948e-02 1.29450705e+01] [-4.00251755e-02 4.57940267e-03 9.99188178e-01 4.95257671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08911593299999 meters 0.018395281439858177 Centerline is valid? [True, True] Translation: X:-72.32, Y:12.93, Z:4.95 [[ 8.95940478e-01 -4.42552655e-01 3.79184345e-02 -7.23207926e+01] [ 4.42367120e-01 8.96730815e-01 1.36079888e-02 1.29342220e+01] [-4.00248802e-02 4.58192065e-03 9.99188178e-01 4.95337249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11911593299999 meters 0.018742656870036217 Centerline is valid? [True, True] Translation: X:-72.32, Y:12.80, Z:4.58 [[ 9.01668145e-01 -4.31223754e-01 3.22588048e-02 -7.23159609e+01] [ 4.31081515e-01 9.02238432e-01 1.15991013e-02 1.28016469e+01] [-3.41069415e-02 3.44763432e-03 9.99412242e-01 4.57693141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.14911593299999 meters 0.017697803302070478 Centerline is valid? [True, True] Translation: X:-72.34, Y:12.78, Z:4.56 [[ 9.04801718e-01 -4.24893105e-01 2.82789674e-02 -7.23401714e+01] [ 4.24780456e-01 9.05239188e-01 1.01772886e-02 1.27764177e+01] [-2.99234892e-02 2.80392444e-03 9.99548259e-01 4.55596415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17911593299999 meters 0.017609186366484644 Centerline is valid? [True, True] Translation: X:-72.40, Y:12.87, Z:4.87 [[ 9.00348108e-01 -4.34014530e-01 3.16965647e-02 -7.23976825e+01] [ 4.33878475e-01 9.00899151e-01 1.14099962e-02 1.28673334e+01] [-3.35075123e-02 3.47948869e-03 9.99432409e-01 4.87472876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.20911593299999 meters 0.017982805504884056 Centerline is valid? [True, True] Translation: X:-72.42, Y:12.82, Z:4.76 [[ 8.92889991e-01 -4.48699573e-01 3.76318721e-02 -7.24164441e+01] [ 4.48520377e-01 8.93669878e-01 1.35506962e-02 1.28180336e+01] [-3.97106622e-02 4.77938049e-03 9.99199790e-01 4.75849856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.239115933 meters 0.017749033822889303 Centerline is valid? [True, True] Translation: X:-72.44, Y:12.78, Z:4.65 [[ 8.90773028e-01 -4.52677419e-01 4.00820074e-02 -7.24389821e+01] [ 4.52477777e-01 8.91658761e-01 1.44400798e-02 1.27805596e+01] [-4.22761711e-02 5.27338400e-03 9.99092046e-01 4.64964807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.269115933 meters 0.017848832439036236 Centerline is valid? [True, True] Translation: X:-72.50, Y:12.90, Z:5.10 [[ 8.89739673e-01 -4.54722578e-01 3.98834727e-02 -7.25045359e+01] [ 4.54526145e-01 8.90617200e-01 1.43870402e-02 1.28986961e+01] [-4.20630188e-02 5.32736065e-03 9.99100757e-01 5.09702370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.299115933 meters 0.018041559545232337 Centerline is valid? [True, True] Translation: X:-72.51, Y:12.81, Z:4.84 [[ 8.87535810e-01 -4.59119649e-01 3.85918901e-02 -7.25118359e+01] [ 4.58938971e-01 8.88358405e-01 1.39414693e-02 1.28086523e+01] [-4.06842324e-02 5.33776907e-03 9.99157796e-01 4.83722465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.329115933 meters 0.019097926805470518 Centerline is valid? [True, True] Translation: X:-72.48, Y:12.58, Z:4.15 [[ 8.97407169e-01 -4.40058343e-01 3.17651836e-02 -7.24821195e+01] [ 4.39923925e-01 8.97961673e-01 1.14792923e-02 1.25836100e+01] [-3.35754758e-02 3.67266503e-03 9.99429437e-01 4.14614285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35911593299998 meters 0.019108292506752302 Centerline is valid? [True, True] Translation: X:-72.52, Y:12.62, Z:4.29 [[ 8.91008571e-01 -4.52644935e-01 3.48753301e-02 -7.25244993e+01] [ 4.52491970e-01 8.91679274e-01 1.26130416e-02 1.26194337e+01] [-3.68068384e-02 4.54247862e-03 9.99312075e-01 4.29302727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38911593299999 meters 0.0206837239361743 Centerline is valid? [True, True] Translation: X:-72.52, Y:12.50, Z:3.94 [[ 9.06095717e-01 -4.22500150e-01 2.20039850e-02 -7.25225643e+01] [ 4.22430203e-01 9.06360469e-01 7.96386926e-03 1.25008988e+01] [-2.33082782e-02 2.07912005e-03 9.99726163e-01 3.94488357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41911593299999 meters 0.020204519689883085 Centerline is valid? [True, True] Translation: X:-72.57, Y:12.57, Z:4.21 [[ 8.90041186e-01 -4.54668824e-01 3.32106563e-02 -7.25732912e+01] [ 4.54530873e-01 8.90649760e-01 1.20287126e-02 1.25691761e+01] [-3.50481437e-02 4.38921902e-03 9.99375986e-01 4.21350386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44911593299999 meters 0.018185996566979782 Centerline is valid? [True, True] Translation: X:-72.64, Y:12.71, Z:4.71 [[ 8.80655862e-01 -4.72092740e-01 3.96698668e-02 -7.26436238e+01] [ 4.71912832e-01 8.81528041e-01 1.43732990e-02 1.27073583e+01] [-4.17556301e-02 6.06278921e-03 9.99109458e-01 4.70869109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47911593299999 meters 0.01805294626441969 Centerline is valid? [True, True] Translation: X:-72.67, Y:12.67, Z:4.66 [[ 8.81904933e-01 -4.69829470e-01 3.87808883e-02 -7.26665358e+01] [ 4.69655229e-01 8.82738023e-01 1.40552277e-02 1.26738862e+01] [-4.08369248e-02 5.81827230e-03 9.99148884e-01 4.65554955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.50911593299999 meters 0.018228291898740746 Centerline is valid? [True, True] Translation: X:-72.70, Y:12.69, Z:4.78 [[ 8.89095884e-01 -4.56524414e-01 3.30751756e-02 -7.27014619e+01] [ 4.56388426e-01 8.89699839e-01 1.19916949e-02 1.26865558e+01] [-3.49014800e-02 4.43336075e-03 9.99380924e-01 4.77519313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53911593299999 meters 0.01859214427510753 Centerline is valid? [True, True] Translation: X:-72.70, Y:12.55, Z:4.34 [[ 8.90472607e-01 -4.53824018e-01 3.32008645e-02 -7.26972145e+01] [ 4.53684988e-01 8.91080763e-01 1.20418114e-02 1.25524942e+01] [-3.50495149e-02 4.33983063e-03 9.99376154e-01 4.33898238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.56911593299999 meters 0.018370935750324457 Centerline is valid? [True, True] Translation: X:-72.75, Y:12.61, Z:4.59 [[ 8.79699155e-01 -4.73892401e-01 3.94384228e-02 -7.27459649e+01] [ 4.73715491e-01 8.80561670e-01 1.43100723e-02 1.26124050e+01] [-4.15093980e-02 6.09403336e-03 9.99119529e-01 4.59143047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.599115933 meters 0.01782425045318003 Centerline is valid? [True, True] Translation: X:-72.81, Y:12.72, Z:4.99 [[ 8.87266395e-01 -4.59840596e-01 3.61243910e-02 -7.28067327e+01] [ 4.59680461e-01 8.87987566e-01 1.31131956e-02 1.27153980e+01] [-3.81079898e-02 4.97077890e-03 9.99261263e-01 4.99037631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.629115933 meters 0.018476891340893312 Centerline is valid? [True, True] Translation: X:-72.81, Y:12.60, Z:4.66 [[ 8.87438558e-01 -4.59811771e-01 3.20303219e-02 -7.28088546e+01] [ 4.59685492e-01 8.88005524e-01 1.16377840e-02 1.26032462e+01] [-3.37942928e-02 4.39605602e-03 9.99419142e-01 4.66344914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.659115933 meters 0.018167607891988388 Centerline is valid? [True, True] Translation: X:-72.84, Y:12.61, Z:4.73 [[ 8.89244351e-01 -4.56479279e-01 2.95152906e-02 -7.28429356e+01] [ 4.56369661e-01 8.89725421e-01 1.07427609e-02 1.26089763e+01] [-3.11643522e-02 3.91694370e-03 9.99506599e-01 4.72671901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.689115933 meters 0.018287873794941175 Centerline is valid? [True, True] Translation: X:-72.89, Y:12.66, Z:4.95 [[ 8.93171582e-01 -4.48713304e-01 3.00149226e-02 -7.28879600e+01] [ 4.48595454e-01 8.93668094e-01 1.09296065e-02 1.26562955e+01] [-3.17276385e-02 3.70254393e-03 9.99489694e-01 4.95291646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71911593299998 meters 0.018548231758738595 Centerline is valid? [True, True] Translation: X:-72.92, Y:12.67, Z:5.03 [[ 8.83208052e-01 -4.67774271e-01 3.36268913e-02 -7.29232389e+01] [ 4.67639610e-01 8.83834348e-01 1.22490829e-02 1.26684846e+01] [-3.54504074e-02 4.90677772e-03 9.99359391e-01 5.02997581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74911593299998 meters 0.017248982787940986 Centerline is valid? [True, True] Translation: X:-72.96, Y:12.69, Z:5.13 [[ 8.79434701e-01 -4.74653245e-01 3.60403131e-02 -7.29628486e+01] [ 4.74503989e-01 8.80155373e-01 1.31333538e-02 1.26920230e+01] [-3.79548642e-02 5.55134524e-03 9.99264035e-01 5.12855445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77911593299999 meters 0.0175555206884148 Centerline is valid? [True, True] Translation: X:-72.97, Y:12.59, Z:4.83 [[ 8.82355660e-01 -4.69419657e-01 3.30707603e-02 -7.29671026e+01] [ 4.69290236e-01 8.82961689e-01 1.20552802e-02 1.25913603e+01] [-3.48591998e-02 4.88274021e-03 9.99380306e-01 4.82918829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80911593299999 meters 0.018696982146923252 Centerline is valid? [True, True] Translation: X:-72.99, Y:12.57, Z:4.85 [[ 8.86470809e-01 -4.61894836e-01 2.86821493e-02 -7.29911120e+01] [ 4.61793517e-01 8.86925796e-01 1.04585082e-02 1.25689929e+01] [-3.02696690e-02 3.97406835e-03 9.99533868e-01 4.85435173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83911593299999 meters 0.01934672530757291 Centerline is valid? [True, True] Translation: X:-72.99, Y:12.45, Z:4.49 [[ 8.85299135e-01 -4.64259535e-01 2.66181373e-02 -7.29906710e+01] [ 4.64173230e-01 8.85691225e-01 9.70907597e-03 1.24509347e+01] [-2.80829817e-02 3.75999020e-03 9.99598524e-01 4.49341990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.86911593299999 meters 0.018287126385555283 Centerline is valid? [True, True] Translation: X:-73.03, Y:12.48, Z:4.62 [[ 8.77611477e-01 -4.78267244e-01 3.25351808e-02 -7.30320255e+01] [ 4.78147468e-01 8.78199322e-01 1.18721964e-02 1.24833569e+01] [-3.42504564e-02 5.13743851e-03 9.99400077e-01 4.62493837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89911593299999 meters 0.018983853528389546 Centerline is valid? [True, True] Translation: X:-73.05, Y:12.44, Z:4.52 [[ 8.79477469e-01 -4.75144182e-01 2.75206822e-02 -7.30512811e+01] [ 4.75056792e-01 8.79897757e-01 1.00489639e-02 1.24384994e+01] [-2.89900933e-02 4.23604963e-03 9.99570723e-01 4.52219163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.92911593299999 meters 0.01897616240238206 Centerline is valid? [True, True] Translation: X:-73.08, Y:12.43, Z:4.53 [[ 8.77259846e-01 -4.79111075e-01 2.94574203e-02 -7.30822447e+01] [ 4.79012577e-01 8.77741917e-01 1.07739831e-02 1.24328098e+01] [-3.10179472e-02 4.65889208e-03 9.99507970e-01 4.52853008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95911593299999 meters 0.018926348720843953 Centerline is valid? [True, True] Translation: X:-73.13, Y:12.49, Z:4.78 [[ 8.61256680e-01 -5.06740457e-01 3.80925248e-02 -7.31290738e+01] [ 5.06601229e-01 8.62067815e-01 1.39383401e-02 1.24879648e+01] [-3.99014605e-02 7.29323137e-03 9.99177002e-01 4.78047905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.989115933 meters 0.018363377175390955 Centerline is valid? [True, True] Translation: X:-73.15, Y:12.44, Z:4.64 [[ 8.64371499e-01 -5.01774467e-01 3.29286512e-02 -7.31475304e+01] [ 5.01666752e-01 8.64976978e-01 1.20539199e-02 1.24356416e+01] [-3.45308744e-02 6.10014466e-03 9.99385014e-01 4.63761715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.019115933 meters 0.01874700891155825 Centerline is valid? [True, True] Translation: X:-73.16, Y:12.36, Z:4.43 [[ 8.76667123e-01 -4.80272445e-01 2.81626420e-02 -7.31585301e+01] [ 4.80182609e-01 8.77107914e-01 1.03135275e-02 1.23597995e+01] [-2.96549793e-02 4.48168045e-03 9.99550147e-01 4.42687011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.049115933 meters 0.018869340572720245 Centerline is valid? [True, True] Translation: X:-73.20, Y:12.39, Z:4.59 [[ 8.68469517e-01 -4.94709307e-01 3.19906114e-02 -7.31977550e+01] [ 4.94602576e-01 8.69040201e-01 1.17226548e-02 1.23863593e+01] [-3.36004338e-02 5.64187047e-03 9.99419422e-01 4.58948481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.079115933 meters 0.018048571774516377 Centerline is valid? [True, True] Translation: X:-73.24, Y:12.41, Z:4.70 [[ 8.76639473e-01 -4.80391812e-01 2.69618401e-02 -7.32367756e+01] [ 4.80309213e-01 8.77043528e-01 9.88485282e-03 1.24088746e+01] [-2.83953097e-02 4.28456804e-03 9.99587589e-01 4.70416159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10911593299998 meters 0.021639461666858918 Centerline is valid? [True, True] Translation: X:-73.18, Y:12.09, Z:3.60 [[ 8.87872890e-01 -4.59766543e-01 1.72179321e-02 -7.31806669e+01] [ 4.59728993e-01 8.88036818e-01 6.31365344e-03 1.20904623e+01] [-1.81929642e-02 2.30986084e-03 9.99831826e-01 3.59567999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13911593299999 meters 0.01905664589712415 Centerline is valid? [True, True] Translation: X:-73.29, Y:12.37, Z:4.62 [[ 8.70907143e-01 -4.90525544e-01 3.00905118e-02 -7.32894192e+01] [ 4.90428047e-01 8.71411673e-01 1.10465478e-02 1.23681406e+01] [-3.16398371e-02 5.13671352e-03 9.99486135e-01 4.62174159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16911593299999 meters 0.019627336693372462 Centerline is valid? [True, True] Translation: X:-73.29, Y:12.25, Z:4.26 [[ 8.73887288e-01 -4.85496692e-01 2.47784037e-02 -7.32864534e+01] [ 4.85428501e-01 8.74229005e-01 9.10040861e-03 1.22451412e+01] [-2.60802174e-02 4.07541193e-03 9.99651546e-01 4.26396031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19911593299999 meters 0.01763559577995281 Centerline is valid? [True, True] Translation: X:-73.34, Y:12.32, Z:4.58 [[ 8.74773486e-01 -4.83976017e-01 2.32069373e-02 -7.33412422e+01] [ 4.83915354e-01 8.75073173e-01 8.53658268e-03 1.23231523e+01] [-2.44392695e-02 3.76261706e-03 9.99694236e-01 4.58409115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22911593299999 meters 0.019527892599001145 Centerline is valid? [True, True] Translation: X:-73.30, Y:12.06, Z:3.70 [[ 8.87683063e-01 -4.60178615e-01 1.59506138e-02 -7.33008318e+01] [ 4.60146110e-01 8.87823805e-01 5.86935141e-03 1.20628475e+01] [-1.68622846e-02 2.12948907e-03 9.99855554e-01 3.69989408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25911593299999 meters 0.020046515656467218 Centerline is valid? [True, True] Translation: X:-73.32, Y:12.02, Z:3.55 [[ 8.95168866e-01 -4.45616507e-01 9.93129859e-03 -7.33199238e+01] [ 4.45603009e-01 8.95223211e-01 3.65517934e-03 1.20153665e+01] [-1.05195373e-02 1.15341379e-03 9.99944003e-01 3.54754680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.28911593299999 meters 0.018431790969271646 Centerline is valid? [True, True] Translation: X:-73.41, Y:12.21, Z:4.32 [[ 8.81008688e-01 -4.72674363e-01 2.00658367e-02 -7.34067466e+01] [ 4.72625853e-01 8.81232166e-01 7.39416267e-03 1.22142355e+01] [-2.11776919e-02 2.96931163e-03 9.99771318e-01 4.32336866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31911593299999 meters 0.01831334853989547 Centerline is valid? [True, True] Translation: X:-73.44, Y:12.23, Z:4.44 [[ 8.61398866e-01 -5.07104253e-01 2.89356114e-02 -7.34438510e+01] [ 5.07021610e-01 8.61867301e-01 1.06696853e-02 1.22327736e+01] [-3.03493001e-02 5.48012549e-03 9.99524331e-01 4.43846060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.349115933 meters 0.02008236769650278 Centerline is valid? [True, True] Translation: X:-73.41, Y:11.98, Z:3.63 [[ 8.93575586e-01 -4.48868501e-01 6.30410951e-03 -7.34062727e+01] [ 4.48863135e-01 8.93597503e-01 2.32108308e-03 1.19834888e+01] [-6.67519760e-03 7.55619184e-04 9.99977435e-01 3.62725432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.379115933 meters 0.018416667238962514 Centerline is valid? [True, True] Translation: X:-73.48, Y:12.15, Z:4.27 [[ 8.87744497e-01 -4.60151762e-01 1.30408261e-02 -7.34830728e+01] [ 4.60129834e-01 8.87838595e-01 4.81303710e-03 1.21462916e+01] [-1.37928762e-02 1.72772595e-03 9.99903381e-01 4.26569771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.409115933 meters 0.018427420811151538 Centerline is valid? [True, True] Translation: X:-73.50, Y:12.11, Z:4.18 [[ 8.77310115e-01 -4.79640721e-01 1.64845597e-02 -7.35043360e+01] [ 4.79608975e-01 8.77461219e-01 6.08609103e-03 1.21068627e+01] [-1.73836989e-02 2.56675355e-03 9.99845597e-01 4.18441207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.439115933 meters 0.018006583381085198 Centerline is valid? [True, True] Translation: X:-73.54, Y:12.14, Z:4.35 [[ 8.78967541e-01 -4.76650032e-01 1.48596505e-02 -7.35442305e+01] [ 4.76623842e-01 8.79090230e-01 5.48462763e-03 1.21361074e+01] [-1.56772215e-02 2.26165406e-03 9.99874547e-01 4.35014484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46911593299998 meters 0.017887197315390704 Centerline is valid? [True, True] Translation: X:-73.57, Y:12.10, Z:4.25 [[ 8.77760755e-01 -4.78850015e-01 1.54505782e-02 -7.35683052e+01] [ 4.78821855e-01 8.77893493e-01 5.71366439e-03 1.21013375e+01] [-1.62999504e-02 2.38284417e-03 9.99864308e-01 4.24821387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49911593299998 meters 0.018513012762098584 Centerline is valid? [True, True] Translation: X:-73.58, Y:12.04, Z:4.08 [[ 8.84804646e-01 -4.65840087e-01 1.06654552e-02 -7.35813611e+01] [ 4.65825623e-01 8.84867704e-01 3.95414852e-03 1.20353786e+01] [-1.12795177e-02 1.46959332e-03 9.99935304e-01 4.07607222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52911593299999 meters 0.018859705508938063 Centerline is valid? [True, True] Translation: X:-73.60, Y:11.99, Z:3.96 [[ 8.81008509e-01 -4.72920832e-01 1.30343155e-02 -7.36014631e+01] [ 4.72899985e-01 8.81102861e-01 4.83244021e-03 1.19928035e+01] [-1.37699344e-02 1.90650668e-03 9.99903372e-01 3.96174092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55911593299999 meters 0.01871814231856539 Centerline is valid? [True, True] Translation: X:-73.64, Y:12.01, Z:4.07 [[ 8.78373670e-01 -4.77780032e-01 1.36358842e-02 -7.36372971e+01] [ 4.77757632e-01 8.78477079e-01 5.06618537e-03 1.20055814e+01] [-1.43993339e-02 2.06464393e-03 9.99894193e-01 4.06533893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58911593299999 meters 0.018662492507038327 Centerline is valid? [True, True] Translation: X:-73.67, Y:12.00, Z:4.10 [[ 8.84451478e-01 -4.66539709e-01 9.28887754e-03 -7.36671721e+01] [ 4.66528644e-01 8.84499334e-01 3.45711535e-03 1.19982382e+01] [-9.82888759e-03 1.27587666e-03 9.99950881e-01 4.09760858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61911593299999 meters 0.01827137147762566 Centerline is valid? [True, True] Translation: X:-73.71, Y:12.03, Z:4.24 [[ 8.75278739e-01 -4.83386274e-01 1.49946139e-02 -7.37092045e+01] [ 4.83359747e-01 8.75403992e-01 5.58623549e-03 1.20298923e+01] [-1.58266544e-02 2.35827960e-03 9.99871970e-01 4.23662916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.64911593299999 meters 0.01709402267550943 Centerline is valid? [True, True] Translation: X:-73.72, Y:11.95, Z:4.03 [[ 8.88414287e-01 -4.59003452e-01 5.99055806e-03 -7.37188002e+01] [ 4.58998679e-01 8.88434151e-01 2.22988189e-03 1.19533465e+01] [-6.34573984e-03 7.68599305e-04 9.99979570e-01 4.03191104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67911593299999 meters 0.018020666994000085 Centerline is valid? [True, True] Translation: X:-73.74, Y:11.91, Z:3.91 [[ 8.84449494e-01 -4.66602536e-01 5.58267965e-03 -7.37378326e+01] [ 4.66598532e-01 8.84466781e-01 2.07917967e-03 1.19055453e+01] [-5.90784521e-03 7.65940720e-04 9.99982255e-01 3.90842920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.70911593299999 meters 0.01815114048413094 Centerline is valid? [True, True] Translation: X:-73.77, Y:11.89, Z:3.91 [[ 8.88254227e-01 -4.59336119e-01 3.84163830e-03 -7.37653711e+01] [ 4.59334188e-01 8.88262393e-01 1.42289935e-03 1.18913082e+01] [-4.06597189e-03 5.00699449e-04 9.99991609e-01 3.91379121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.739115933 meters 0.018373334767020494 Centerline is valid? [True, True] Translation: X:-73.80, Y:11.88, Z:3.95 [[ 8.87936972e-01 -4.59953731e-01 3.24022628e-03 -7.37968574e+01] [ 4.59952385e-01 8.87942779e-01 1.19312669e-03 1.18847189e+01] [-3.42591860e-03 4.30928507e-04 9.99994039e-01 3.94875150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.769115933 meters 0.017867505731541094 Centerline is valid? [True, True] Translation: X:-73.82, Y:11.86, Z:3.90 [[ 8.87506901e-01 -4.60775843e-01 4.13815735e-03 -7.38222783e+01] [ 4.60773613e-01 8.87516380e-01 1.53374838e-03 1.18553572e+01] [-4.37939663e-03 5.45541444e-04 9.99990262e-01 3.89850158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.799115933 meters 0.01760324474392259 Centerline is valid? [True, True] Translation: X:-73.85, Y:11.85, Z:3.91 [[ 8.94384934e-01 -4.47298100e-01 -6.87154003e-07 -7.38517486e+01] [ 4.47298100e-01 8.94384934e-01 -7.01637956e-06 1.18498297e+01] [ 3.75299317e-06 5.96798148e-06 1.00000000e+00 3.90965044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.829115933 meters 0.01700345214541448 Centerline is valid? [True, True] Translation: X:-73.88, Y:11.82, Z:3.86 [[ 8.96118399e-01 -4.43796347e-01 -4.07654127e-03 -7.38759365e+01] [ 4.43793885e-01 8.96127568e-01 -1.53941799e-03 1.18185904e+01] [ 4.33628909e-03 -4.29643298e-04 9.99990506e-01 3.85511146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85911593299998 meters 0.017925038265410434 Centerline is valid? [True, True] Translation: X:-73.90, Y:11.78, Z:3.76 [[ 8.95202051e-01 -4.45635378e-01 -4.73252586e-03 -7.38972236e+01] [ 4.45632003e-01 8.95214424e-01 -1.80350003e-03 1.17776579e+01] [ 5.04032883e-03 -4.94468053e-04 9.99987175e-01 3.75705788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88911593299999 meters 0.01757701789812504 Centerline is valid? [True, True] Translation: X:-73.93, Y:11.76, Z:3.74 [[ 8.94606340e-01 -4.46847053e-01 -2.68473803e-03 -7.39272370e+01] [ 4.46845935e-01 8.94610327e-01 -1.03623650e-03 1.17639240e+01] [ 2.86483359e-03 -2.72640538e-04 9.99995859e-01 3.73892674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91911593299999 meters 0.016753000513260986 Centerline is valid? [True, True] Translation: X:-73.97, Y:11.81, Z:3.98 [[ 9.00905948e-01 -4.33932770e-01 -8.41575286e-03 -7.39724883e+01] [ 4.33921687e-01 9.00944923e-01 -3.19606499e-03 1.18130059e+01] [ 8.96900715e-03 -7.72423717e-04 9.99959479e-01 3.98203396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94911593299999 meters 0.017011739645631557 Centerline is valid? [True, True] Translation: X:-73.98, Y:11.73, Z:3.72 [[ 8.94174449e-01 -4.47712687e-01 -2.32498302e-03 -7.39828907e+01] [ 4.47711885e-01 8.94177436e-01 -8.83604149e-04 1.17338607e+01] [ 2.47454814e-03 -2.50826277e-04 9.99996907e-01 3.72193351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97911593299999 meters 0.01692071037400179 Centerline is valid? [True, True] Translation: X:-74.01, Y:11.72, Z:3.76 [[ 8.99899229e-01 -4.35997154e-01 -9.37333947e-03 -7.40103914e+01] [ 4.35983523e-01 8.99947610e-01 -3.55910843e-03 1.17243813e+01] [ 9.98727560e-03 -8.83782632e-04 9.99949735e-01 3.75838421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.00911593299999 meters 0.01692071037400179 Centerline is valid? [True, True] Translation: X:-74.04, Y:11.71, Z:3.76 [[ 8.99541138e-01 -4.36735647e-01 -9.36561696e-03 -7.40406124e+01] [ 4.36721846e-01 8.99589471e-01 -3.57945324e-03 1.17130838e+01] [ 9.98848524e-03 -8.70304086e-04 9.99949735e-01 3.75917173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03911593299999 meters 0.017126438154208962 Centerline is valid? [True, True] Translation: X:-74.07, Y:11.71, Z:3.77 [[ 8.96878859e-01 -4.42223017e-01 -6.86412827e-03 -7.40720052e+01] [ 4.42215838e-01 8.96904858e-01 -2.61309240e-03 1.17060907e+01] [ 7.31203960e-03 -6.91798904e-04 9.99973027e-01 3.76674122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.06911593299999 meters 0.01692675173630262 Centerline is valid? [True, True] Translation: X:-74.09, Y:11.66, Z:3.65 [[ 8.98492081e-01 -4.38948945e-01 -5.98360871e-03 -7.40910931e+01] [ 4.38943412e-01 8.98511819e-01 -2.27877353e-03 1.16608691e+01] [ 6.37660838e-03 -5.79005647e-04 9.99979502e-01 3.65412774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.099115933 meters 0.017737006547764132 Centerline is valid? [True, True] Translation: X:-74.13, Y:11.67, Z:3.75 [[ 8.95859897e-01 -4.44305758e-01 -5.23821397e-03 -7.41256979e+01] [ 4.44301569e-01 8.95875052e-01 -2.00179110e-03 1.16707540e+01] [ 5.58219253e-03 -5.34022316e-04 9.99984277e-01 3.74612063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.129115933 meters 0.016766939610635887 Centerline is valid? [True, True] Translation: X:-74.15, Y:11.64, Z:3.67 [[ 8.96769244e-01 -4.42442458e-01 -7.04239023e-03 -7.41508891e+01] [ 4.42434730e-01 8.96796630e-01 -2.70458022e-03 1.16411216e+01] [ 7.51221294e-03 -6.90413662e-04 9.99971545e-01 3.66990817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.159115933 meters 0.01625575764099227 Centerline is valid? [True, True] Translation: X:-74.19, Y:11.65, Z:3.77 [[ 9.02315709e-01 -4.30967630e-01 -9.65724405e-03 -7.41855963e+01] [ 4.30952570e-01 9.02367009e-01 -3.69639181e-03 1.16519762e+01] [ 1.03074036e-02 -8.26501743e-04 9.99946536e-01 3.77073379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.189115933 meters 0.017288825040304445 Centerline is valid? [True, True] Translation: X:-74.21, Y:11.64, Z:3.76 [[ 8.96353843e-01 -4.43298123e-01 -6.04672763e-03 -7.42138955e+01] [ 4.43292500e-01 8.96374033e-01 -2.31367952e-03 1.16375845e+01] [ 6.44577941e-03 -6.06593480e-04 9.99979042e-01 3.75780115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21911593299998 meters 0.01647918453744198 Centerline is valid? [True, True] Translation: X:-74.24, Y:11.63, Z:3.79 [[ 9.00541526e-01 -4.34709967e-01 -7.22522508e-03 -7.42436118e+01] [ 4.34701618e-01 9.00570279e-01 -2.77054719e-03 1.16303838e+01] [ 7.71120744e-03 -6.45824241e-04 9.99970060e-01 3.78908957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24911593299998 meters 0.017279558617083284 Centerline is valid? [True, True] Translation: X:-74.25, Y:11.56, Z:3.55 [[ 9.04769339e-01 -4.25711397e-01 -1.27377210e-02 -7.42546666e+01] [ 4.25684664e-01 9.04858434e-01 -4.87659905e-03 1.15561890e+01] [ 1.36018581e-02 -1.01005518e-03 9.99906980e-01 3.55294593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27911593299999 meters 0.017578762446607703 Centerline is valid? [True, True] Translation: X:-74.29, Y:11.58, Z:3.70 [[ 8.98457474e-01 -4.38956022e-01 -9.58007328e-03 -7.42942585e+01] [ 4.38941635e-01 8.98508088e-01 -3.66843797e-03 1.15821492e+01] [ 1.02180563e-02 -9.09157512e-04 9.99947381e-01 3.70203824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30911593299999 meters 0.016515016554562723 Centerline is valid? [True, True] Translation: X:-74.32, Y:11.57, Z:3.70 [[ 9.02464326e-01 -4.30537768e-01 -1.39775266e-02 -7.43208923e+01] [ 4.30506024e-01 9.02571791e-01 -5.35971769e-03 1.15671540e+01] [ 1.49232821e-02 -1.18045538e-03 9.99887945e-01 3.69703528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33911593299999 meters 0.01633444947401869 Centerline is valid? [True, True] Translation: X:-74.34, Y:11.54, Z:3.65 [[ 9.06602854e-01 -4.21667203e-01 -1.63717951e-02 -7.43444723e+01] [ 4.21622245e-01 9.06749854e-01 -6.27567200e-03 1.15392591e+01] [ 1.74913679e-02 -1.21317086e-03 9.99846278e-01 3.64827527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.36911593299999 meters 0.01720084154321963 Centerline is valid? [True, True] Translation: X:-74.36, Y:11.48, Z:3.48 [[ 9.04070664e-01 -4.27099122e-01 -1.55748027e-02 -7.43613167e+01] [ 4.27059179e-01 9.04203946e-01 -5.97345910e-03 1.14829803e+01] [ 1.66340572e-02 -1.25093333e-03 9.99860862e-01 3.48060142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39911593299999 meters 0.016143334871693976 Centerline is valid? [True, True] Translation: X:-74.40, Y:11.50, Z:3.60 [[ 9.06788744e-01 -4.21197259e-01 -1.80843127e-02 -7.43994908e+01] [ 4.21142184e-01 9.06968090e-01 -6.93866384e-03 1.15011845e+01] [ 1.93244407e-02 -1.32416467e-03 9.99812389e-01 3.59884117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.42911593299999 meters 0.01671759619428032 Centerline is valid? [True, True] Translation: X:-74.42, Y:11.44, Z:3.42 [[ 8.99457247e-01 -4.36767904e-01 -1.45071962e-02 -7.44154151e+01] [ 4.36734281e-01 8.99573265e-01 -5.57757031e-03 1.14441727e+01] [ 1.54863896e-02 -1.31900388e-03 9.99879209e-01 3.41795825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45911593299999 meters 0.016788178992034452 Centerline is valid? [True, True] Translation: X:-74.44, Y:11.43, Z:3.45 [[ 9.06098717e-01 -4.22593784e-01 -1.99902346e-02 -7.44437260e+01] [ 4.22526541e-01 9.06317985e-01 -7.68327224e-03 1.14337137e+01] [ 2.13644122e-02 -1.48460155e-03 9.99770653e-01 3.45203074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.489115933 meters 0.016417942191720453 Centerline is valid? [True, True] Translation: X:-74.48, Y:11.44, Z:3.50 [[ 9.07323639e-01 -4.19871801e-01 -2.17137122e-02 -7.44778888e+01] [ 4.19790969e-01 9.07582159e-01 -8.37656123e-03 1.14375092e+01] [ 2.32240597e-02 -1.51496830e-03 9.99729137e-01 3.49715364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.519115933 meters 0.017440984732660304 Centerline is valid? [True, True] Translation: X:-74.51, Y:11.43, Z:3.47 [[ 9.06867468e-01 -4.20807410e-01 -2.26388792e-02 -7.45105899e+01] [ 4.20719831e-01 9.07148582e-01 -8.73351796e-03 1.14310687e+01] [ 2.42119562e-02 -1.60448213e-03 9.99705560e-01 3.46565218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.549115933 meters 0.01780861402460776 Centerline is valid? [True, True] Translation: X:-74.54, Y:11.43, Z:3.53 [[ 9.06806549e-01 -4.21006263e-01 -2.13450024e-02 -7.45438459e+01] [ 4.20927867e-01 9.07056500e-01 -8.26053523e-03 1.14337086e+01] [ 2.28388602e-02 -1.49399888e-03 9.99738043e-01 3.52550410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.579115933 meters 0.016963086590707718 Centerline is valid? [True, True] Translation: X:-74.56, Y:11.38, Z:3.39 [[ 9.14111326e-01 -4.04873142e-01 -2.18683160e-02 -7.45602527e+01] [ 4.04786266e-01 9.14372183e-01 -8.46105284e-03 1.13849154e+01] [ 2.34214329e-02 -1.11764974e-03 9.99725056e-01 3.39378603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60911593299998 meters 0.01723360348406759 Centerline is valid? [True, True] Translation: X:-74.59, Y:11.37, Z:3.40 [[ 9.12901653e-01 -4.07652216e-01 -2.07422772e-02 -7.45897847e+01] [ 4.07574170e-01 9.13136602e-01 -8.05245727e-03 1.13739712e+01] [ 2.22231346e-02 -1.10291487e-03 9.99752427e-01 3.39831531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63911593299999 meters 0.017346676694842557 Centerline is valid? [True, True] Translation: X:-74.63, Y:11.39, Z:3.48 [[ 9.10756832e-01 -4.12494400e-01 -1.92448106e-02 -7.46292501e+01] [ 4.12428390e-01 9.10959427e-01 -7.46630328e-03 1.13914619e+01] [ 2.06110499e-02 -1.13711952e-03 9.99786923e-01 3.48060624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66911593299999 meters 0.016944933064095682 Centerline is valid? [True, True] Translation: X:-74.66, Y:11.37, Z:3.40 [[ 9.07468657e-01 -4.19846513e-01 -1.51506603e-02 -7.46561838e+01] [ 4.19806632e-01 9.07594541e-01 -5.87711756e-03 1.13696565e+01] [ 1.62181439e-02 -1.02704772e-03 9.99867950e-01 3.40275121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69911593299999 meters 0.01786189193366558 Centerline is valid? [True, True] Translation: X:-74.67, Y:11.32, Z:3.27 [[ 9.16368377e-01 -3.99551704e-01 -2.50486179e-02 -7.46728669e+01] [ 3.99434292e-01 9.16710030e-01 -9.74510873e-03 1.13208267e+01] [ 2.68559941e-02 -1.07516747e-03 9.99638735e-01 3.26708556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72911593299999 meters 0.01732251377731107 Centerline is valid? [True, True] Translation: X:-74.71, Y:11.35, Z:3.41 [[ 9.13680280e-01 -4.05808023e-01 -2.25431816e-02 -7.47127410e+01] [ 4.05714275e-01 9.13957664e-01 -8.79290074e-03 1.13457070e+01] [ 2.41717433e-02 -1.11219059e-03 9.99707202e-01 3.40675743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75911593299999 meters 0.017080760274391343 Centerline is valid? [True, True] Translation: X:-74.74, Y:11.32, Z:3.37 [[ 9.17791286e-01 -3.96340407e-01 -2.39465600e-02 -7.47381841e+01] [ 3.96231755e-01 9.18103163e-01 -9.32618892e-03 1.13220180e+01] [ 2.56817580e-02 -9.28892563e-04 9.99669738e-01 3.37166687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.78911593299999 meters 0.016833538138804307 Centerline is valid? [True, True] Translation: X:-74.77, Y:11.31, Z:3.36 [[ 9.20383495e-01 -3.90118815e-01 -2.64864655e-02 -7.47660406e+01] [ 3.89982794e-01 9.20764161e-01 -1.03334198e-02 1.13061054e+01] [ 2.84190497e-02 -8.18556810e-04 9.99595762e-01 3.36068776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81911593299999 meters 0.016771968652227666 Centerline is valid? [True, True] Translation: X:-74.80, Y:11.31, Z:3.39 [[ 9.19560159e-01 -3.92249054e-01 -2.34476729e-02 -7.47990308e+01] [ 3.92142486e-01 9.19858741e-01 -9.17424610e-03 1.13066075e+01] [ 2.51671362e-02 -7.58557528e-04 9.99682970e-01 3.39394917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.849115933 meters 0.016000118991127923 Centerline is valid? [True, True] Translation: X:-74.83, Y:11.29, Z:3.37 [[ 9.19678372e-01 -3.91903201e-01 -2.45677331e-02 -7.48267371e+01] [ 3.91785543e-01 9.20006138e-01 -9.63296380e-03 1.12880323e+01] [ 2.63776546e-02 -7.66054200e-04 9.99651756e-01 3.36585676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.879115933 meters 0.016361353112932357 Centerline is valid? [True, True] Translation: X:-74.86, Y:11.28, Z:3.39 [[ 9.17976753e-01 -3.95793396e-01 -2.58121859e-02 -7.48593577e+01] [ 3.95665196e-01 9.18339114e-01 -1.01155572e-02 1.12834203e+01] [ 2.77080107e-02 -9.27137267e-04 9.99615629e-01 3.38869002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.909115933 meters 0.016063811405641858 Centerline is valid? [True, True] Translation: X:-74.88, Y:11.25, Z:3.30 [[ 9.22446634e-01 -3.85017584e-01 -2.92175957e-02 -7.48816768e+01] [ 3.84846833e-01 9.22909008e-01 -1.14838418e-02 1.12465567e+01] [ 3.13866633e-02 -6.51067940e-04 9.99507105e-01 3.29945032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.939115933 meters 0.01598466401811011 Centerline is valid? [True, True] Translation: X:-74.91, Y:11.23, Z:3.28 [[ 9.22543231e-01 -3.84803167e-01 -2.89915479e-02 -7.49082144e+01] [ 3.84634178e-01 9.22998453e-01 -1.14195455e-02 1.12264800e+01] [ 3.11534311e-02 -6.16115741e-04 9.99514424e-01 3.27885866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96911593299998 meters 0.01592138967311159 Centerline is valid? [True, True] Translation: X:-74.94, Y:11.21, Z:3.27 [[ 9.18768249e-01 -3.93986941e-01 -2.52823002e-02 -7.49377349e+01] [ 3.93861126e-01 9.19115704e-01 -9.98674584e-03 1.12131255e+01] [ 2.71720066e-02 -7.82210238e-04 9.99630467e-01 3.26888490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99911593299998 meters 0.01652987266510675 Centerline is valid? [True, True] Translation: X:-74.96, Y:11.17, Z:3.17 [[ 9.22599070e-01 -3.84572315e-01 -3.02504761e-02 -7.49572036e+01] [ 3.84386556e-01 9.23094680e-01 -1.19660489e-02 1.11691993e+01] [ 3.25258647e-02 -5.88010763e-04 9.99470721e-01 3.16593622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02911593299999 meters 0.015818739479005885 Centerline is valid? [True, True] Translation: X:-74.99, Y:11.18, Z:3.24 [[ 9.15251105e-01 -4.02161531e-01 -2.41146793e-02 -7.49937828e+01] [ 4.02048910e-01 9.15568247e-01 -9.56339024e-03 1.11800764e+01] [ 2.59246623e-02 -9.42377039e-04 9.99663455e-01 3.24027975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05911593299999 meters 0.016209371973035864 Centerline is valid? [True, True] Translation: X:-75.02, Y:11.15, Z:3.20 [[ 9.19456641e-01 -3.92310790e-01 -2.63007531e-02 -7.50195940e+01] [ 3.92173043e-01 9.19832434e-01 -1.04210160e-02 1.11548792e+01] [ 2.82805627e-02 -7.32773979e-04 9.99599756e-01 3.20358051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08911593299999 meters 0.01626660182102601 Centerline is valid? [True, True] Translation: X:-75.04, Y:11.12, Z:3.15 [[ 9.23871113e-01 -3.81281078e-01 -3.29682597e-02 -7.50420341e+01] [ 3.81056233e-01 9.24459046e-01 -1.31003639e-02 1.11215118e+01] [ 3.54727268e-02 -4.59713070e-04 9.99370539e-01 3.14947369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11911593299999 meters 0.01536491001852763 Centerline is valid? [True, True] Translation: X:-75.07, Y:11.11, Z:3.15 [[ 9.18394177e-01 -3.94674499e-01 -2.80031328e-02 -7.50721149e+01] [ 3.94517514e-01 9.18820658e-01 -1.11593230e-02 1.11102369e+01] [ 3.01341571e-02 -7.99069083e-04 9.99545544e-01 3.14931907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.14911593299999 meters 0.015790215424249188 Centerline is valid? [True, True] Translation: X:-75.10, Y:11.09, Z:3.14 [[ 9.20336736e-01 -3.90014707e-01 -2.94757563e-02 -7.51002723e+01] [ 3.89837748e-01 9.20808389e-01 -1.17660858e-02 1.10941444e+01] [ 3.17304702e-02 -6.62001481e-04 9.99496243e-01 3.14072313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17911593299999 meters 0.016232642505646485 Centerline is valid? [True, True] Translation: X:-75.13, Y:11.07, Z:3.10 [[ 9.13826341e-01 -4.05413440e-01 -2.36930743e-02 -7.51272704e+01] [ 4.05303651e-01 9.14132956e-01 -9.48097931e-03 1.10726035e+01] [ 2.55023365e-02 -9.38920888e-04 9.99674322e-01 3.09901631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.20911593299999 meters 0.015371841426173373 Centerline is valid? [True, True] Translation: X:-75.16, Y:11.06, Z:3.10 [[ 9.13550217e-01 -4.06028750e-01 -2.38045306e-02 -7.51563708e+01] [ 4.05917496e-01 9.13859822e-01 -9.55049077e-03 1.10578396e+01] [ 2.56317780e-02 -9.37822556e-04 9.99671012e-01 3.09951605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.239115933 meters 0.015500931599850016 Centerline is valid? [True, True] Translation: X:-75.18, Y:11.04, Z:3.10 [[ 9.15120149e-01 -4.02504956e-01 -2.33425079e-02 -7.51829485e+01] [ 4.02396490e-01 9.15417448e-01 -9.37875146e-03 1.10404417e+01] [ 2.51431329e-02 -8.10258810e-04 9.99683533e-01 3.10186069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.269115933 meters 0.01628795593461812 Centerline is valid? [True, True] Translation: X:-75.21, Y:11.02, Z:3.07 [[ 9.14951352e-01 -4.02893398e-01 -2.32579849e-02 -7.52101547e+01] [ 4.02785210e-01 9.15246567e-01 -9.36995952e-03 1.10203368e+01] [ 2.50618856e-02 -7.94915202e-04 9.99685586e-01 3.07457858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.299115933 meters 0.015984822135964 Centerline is valid? [True, True] Translation: X:-75.24, Y:11.00, Z:3.04 [[ 9.12293189e-01 -4.09000128e-01 -2.09769655e-02 -7.52367664e+01] [ 4.08913360e-01 9.12533927e-01 -8.46737362e-03 1.09984178e+01] [ 2.26053496e-02 -8.53034140e-04 9.99744103e-01 3.04067686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.329115933 meters 0.015977922186139387 Centerline is valid? [True, True] Translation: X:-75.27, Y:10.99, Z:3.07 [[ 9.14177316e-01 -4.04688620e-01 -2.25156962e-02 -7.52651009e+01] [ 4.04587000e-01 9.14454209e-01 -9.10270126e-03 1.09868758e+01] [ 2.42733328e-02 -7.88074980e-04 9.99705049e-01 3.07024833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35911593299998 meters 0.016292604789971812 Centerline is valid? [True, True] Translation: X:-75.30, Y:10.98, Z:3.08 [[ 9.11296436e-01 -4.11191573e-01 -2.14545204e-02 -7.52951763e+01] [ 4.11100639e-01 9.11548509e-01 -8.69362377e-03 1.09771126e+01] [ 2.31315809e-02 -8.97498688e-04 9.99732026e-01 3.08067052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38911593299999 meters 0.01546087352305478 Centerline is valid? [True, True] Translation: X:-75.32, Y:10.95, Z:3.03 [[ 9.09753178e-01 -4.14429502e-01 -2.44405989e-02 -7.53181012e+01] [ 4.14312672e-01 9.10080733e-01 -9.90300559e-03 1.09480508e+01] [ 2.63470158e-02 -1.11675899e-03 9.99652233e-01 3.03492061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41911593299999 meters 0.014662614538020907 Centerline is valid? [True, True] Translation: X:-75.35, Y:10.93, Z:3.03 [[ 9.11306656e-01 -4.10836998e-01 -2.70765664e-02 -7.53458988e+01] [ 4.10691158e-01 9.11708156e-01 -1.10004865e-02 1.09325791e+01] [ 2.92053333e-02 -1.09528987e-03 9.99572833e-01 3.02893920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44911593299999 meters 0.01630968251534922 Centerline is valid? [True, True] Translation: X:-75.37, Y:10.90, Z:2.98 [[ 9.06683635e-01 -4.21088593e-01 -2.46816246e-02 -7.53679474e+01] [ 4.20971408e-01 9.07018573e-01 -1.00191045e-02 1.08991202e+01] [ 2.66056225e-02 -1.30610022e-03 9.99645155e-01 2.97680957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47911593299999 meters 0.01574467244595733 Centerline is valid? [True, True] Translation: X:-75.40, Y:10.88, Z:2.98 [[ 9.07746022e-01 -4.18494616e-01 -2.93157901e-02 -7.53953960e+01] [ 4.18326762e-01 9.08218156e-01 -1.19374027e-02 1.08832457e+01] [ 3.16208716e-02 -1.42744976e-03 9.99498916e-01 2.97895851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.50911593299999 meters 0.015148959829740698 Centerline is valid? [True, True] Translation: X:-75.43, Y:10.88, Z:2.98 [[ 9.09907160e-01 -4.13612726e-01 -3.15194130e-02 -7.54286320e+01] [ 4.13414936e-01 9.10451945e-01 -1.28587325e-02 1.08807786e+01] [ 3.40154463e-02 -1.33034335e-03 9.99420422e-01 2.97857935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53911593299999 meters 0.015399848442047066 Centerline is valid? [True, True] Translation: X:-75.46, Y:10.87, Z:2.96 [[ 9.08928766e-01 -4.15754115e-01 -3.15755324e-02 -7.54585312e+01] [ 4.15556032e-01 9.09475995e-01 -1.29073437e-02 1.08700546e+01] [ 3.40834700e-02 -1.38954701e-03 9.99418024e-01 2.95883305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.56911593299999 meters 0.014777593556232788 Centerline is valid? [True, True] Translation: X:-75.49, Y:10.85, Z:2.96 [[ 9.07892375e-01 -4.18109659e-01 -3.02613537e-02 -7.54865292e+01] [ 4.17927978e-01 9.08395503e-01 -1.24022460e-02 1.08537890e+01] [ 3.26747764e-02 -1.38716180e-03 9.99465074e-01 2.95768677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.599115933 meters 0.014431239439212382 Centerline is valid? [True, True] Translation: X:-75.51, Y:10.83, Z:2.92 [[ 9.13034284e-01 -4.06785795e-01 -2.98950440e-02 -7.55105758e+01] [ 4.06602757e-01 9.13523048e-01 -1.22408954e-02 1.08281629e+01] [ 3.22892341e-02 -9.79050174e-04 9.99478087e-01 2.91891967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.629115933 meters 0.015040053133302415 Centerline is valid? [True, True] Translation: X:-75.54, Y:10.81, Z:2.91 [[ 9.15451390e-01 -4.01355287e-01 -2.93715223e-02 -7.55384055e+01] [ 4.01174616e-01 9.15922152e-01 -1.20639829e-02 1.08119016e+01] [ 3.17439712e-02 -7.39119302e-04 9.99495760e-01 2.90548430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.659115933 meters 0.014872346597584534 Centerline is valid? [True, True] Translation: X:-75.57, Y:10.80, Z:2.90 [[ 9.17671962e-01 -3.96279021e-01 -2.90018696e-02 -7.55687085e+01] [ 3.96099582e-01 9.18129976e-01 -1.19360247e-02 1.08012271e+01] [ 3.13574821e-02 -5.34273250e-04 9.99508090e-01 2.90068854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.689115933 meters 0.01503643097595685 Centerline is valid? [True, True] Translation: X:-75.60, Y:10.80, Z:2.90 [[ 9.14865895e-01 -4.02726723e-01 -2.88371440e-02 -7.56019905e+01] [ 4.02552610e-01 9.15319954e-01 -1.18649744e-02 1.07964793e+01] [ 3.11735555e-02 -7.53607155e-04 9.99513703e-01 2.89819311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71911593299998 meters 0.015965557381086095 Centerline is valid? [True, True] Translation: X:-75.63, Y:10.79, Z:2.92 [[ 9.11944111e-01 -4.09495750e-01 -2.59069441e-02 -7.56347957e+01] [ 4.09356844e-01 9.12311630e-01 -1.06987527e-02 1.07914509e+01] [ 2.80163002e-02 -8.48520322e-04 9.99607106e-01 2.92102025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74911593299998 meters 0.014946078008726943 Centerline is valid? [True, True] Translation: X:-75.66, Y:10.77, Z:2.91 [[ 9.15291911e-01 -4.01684747e-01 -2.98342337e-02 -7.56610449e+01] [ 4.01495611e-01 9.15777758e-01 -1.23439220e-02 1.07693432e+01] [ 3.22798929e-02 -6.80021951e-04 9.99478637e-01 2.91109068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77911593299999 meters 0.01453887290110568 Centerline is valid? [True, True] Translation: X:-75.69, Y:10.75, Z:2.88 [[ 9.12873963e-01 -4.07438871e-01 -2.55869916e-02 -7.56868576e+01] [ 4.07301433e-01 9.13232184e-01 -1.06075923e-02 1.07474907e+01] [ 2.76888096e-02 -7.38223556e-04 9.99616319e-01 2.87832457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80911593299999 meters 0.015416066295248068 Centerline is valid? [True, True] Translation: X:-75.72, Y:10.73, Z:2.89 [[ 9.10926990e-01 -4.11739220e-01 -2.61310735e-02 -7.57154093e+01] [ 4.11597052e-01 9.11301301e-01 -1.08538812e-02 1.07348652e+01] [ 2.82822498e-02 -8.68379433e-04 9.99599600e-01 2.89083379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83911593299999 meters 0.015538111708322715 Centerline is valid? [True, True] Translation: X:-75.74, Y:10.72, Z:2.88 [[ 9.13206858e-01 -4.06505160e-01 -2.84040270e-02 -7.57432121e+01] [ 4.06333999e-01 9.13648179e-01 -1.18189045e-02 1.07192063e+01] [ 3.07557332e-02 -7.48417277e-04 9.99526650e-01 2.88045386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.86911593299999 meters 0.014717625868420065 Centerline is valid? [True, True] Translation: X:-75.78, Y:10.72, Z:2.91 [[ 9.08546117e-01 -4.17110882e-01 -2.37163384e-02 -7.57763374e+01] [ 4.16995186e-01 9.08855135e-01 -9.86704591e-03 1.07159868e+01] [ 2.56703681e-02 -9.24932665e-04 9.99670034e-01 2.90907677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89911593299999 meters 0.014717625868420065 Centerline is valid? [True, True] Translation: X:-75.81, Y:10.70, Z:2.91 [[ 9.08213655e-01 -4.17835024e-01 -2.37033778e-02 -7.58058655e+01] [ 4.17718763e-01 9.08522461e-01 -9.89817745e-03 1.07037736e+01] [ 2.56708563e-02 -9.11685706e-04 9.99670034e-01 2.90985842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.92911593299999 meters 0.014365885692896315 Centerline is valid? [True, True] Translation: X:-75.83, Y:10.67, Z:2.83 [[ 9.11535281e-01 -4.10324163e-01 -2.71571958e-02 -7.58264889e+01] [ 4.10168296e-01 9.11939381e-01 -1.13373189e-02 1.06654052e+01] [ 2.94176922e-02 -8.04654544e-04 9.99566882e-01 2.82997885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95911593299999 meters 0.013650730938671357 Centerline is valid? [True, True] Translation: X:-75.85, Y:10.65, Z:2.83 [[ 9.12318956e-01 -4.08440736e-01 -2.91596891e-02 -7.58542117e+01] [ 4.08259068e-01 9.12784516e-01 -1.22049492e-02 1.06485015e+01] [ 3.16015112e-02 -7.69900934e-04 9.99500251e-01 2.82926543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.989115933 meters 0.014316444846540368 Centerline is valid? [True, True] Translation: X:-75.88, Y:10.63, Z:2.83 [[ 9.10600098e-01 -4.12257847e-01 -2.91706757e-02 -7.58823895e+01] [ 4.12077236e-01 9.11066788e-01 -1.22335499e-02 1.06343156e+01] [ 3.16198108e-02 -8.80699679e-04 9.99499581e-01 2.82890679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.019115933 meters 0.013586573880284624 Centerline is valid? [True, True] Translation: X:-75.91, Y:10.62, Z:2.84 [[ 9.17520364e-01 -3.96472174e-01 -3.10837030e-02 -7.59114471e+01] [ 3.96258219e-01 9.18046667e-01 -1.30284458e-02 1.06213636e+01] [ 3.37017061e-02 -3.63308474e-04 9.99431870e-01 2.83620479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.049115933 meters 0.0143054336422671 Centerline is valid? [True, True] Translation: X:-75.94, Y:10.61, Z:2.84 [[ 9.15313347e-01 -4.01530987e-01 -3.12144636e-02 -7.59429136e+01] [ 4.01317814e-01 9.15845277e-01 -1.30935073e-02 1.06126476e+01] [ 3.38450680e-02 -5.42258329e-04 9.99426944e-01 2.84061878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.079115933 meters 0.01419457156001716 Centerline is valid? [True, True] Translation: X:-75.97, Y:10.60, Z:2.82 [[ 9.15976592e-01 -3.99946576e-01 -3.20876635e-02 -7.59727235e+01] [ 3.99718805e-01 9.16538339e-01 -1.35036821e-02 1.05991788e+01] [ 3.48103252e-02 -4.56985831e-04 9.99393832e-01 2.82354866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10911593299998 meters 0.014052265931871285 Centerline is valid? [True, True] Translation: X:-76.00, Y:10.59, Z:2.81 [[ 9.17966723e-01 -3.95516967e-01 -3.00570080e-02 -7.60020220e+01] [ 3.95314104e-01 9.18458636e-01 -1.26686038e-02 1.05874956e+01] [ 3.26167664e-02 -2.52602459e-04 9.99467900e-01 2.81443403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13911593299999 meters 0.014535105143544098 Centerline is valid? [True, True] Translation: X:-76.03, Y:10.57, Z:2.80 [[ 9.19488380e-01 -3.92042922e-01 -2.90424802e-02 -7.60284590e+01] [ 3.91851011e-01 9.19946921e-01 -1.22657347e-02 1.05677574e+01] [ 3.15262347e-02 -1.02124662e-04 9.99502920e-01 2.80266418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16911593299999 meters 0.014335098440909737 Centerline is valid? [True, True] Translation: X:-76.06, Y:10.55, Z:2.79 [[ 9.17286171e-01 -3.97289779e-01 -2.73296935e-02 -7.60552635e+01] [ 3.97121460e-01 9.17693180e-01 -1.15660500e-02 1.05501643e+01] [ 2.96753468e-02 -2.43830079e-04 9.99559560e-01 2.79241669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19911593299999 meters 0.014381008145378084 Centerline is valid? [True, True] Translation: X:-76.09, Y:10.54, Z:2.80 [[ 9.14640181e-01 -4.03317274e-01 -2.77221276e-02 -7.60862058e+01] [ 4.03146171e-01 9.15060105e-01 -1.17545219e-02 1.05424882e+01] [ 3.01082147e-02 -4.24911550e-04 9.99546555e-01 2.80422977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22911593299999 meters 0.014181272449852955 Centerline is valid? [True, True] Translation: X:-76.12, Y:10.53, Z:2.81 [[ 9.16936917e-01 -3.97848019e-01 -3.07187965e-02 -7.61156842e+01] [ 3.97634091e-01 9.17451302e-01 -1.30475403e-02 1.05315540e+01] [ 3.33739379e-02 -2.51069366e-04 9.99442903e-01 2.81228294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25911593299999 meters 0.01465689392638942 Centerline is valid? [True, True] Translation: X:-76.14, Y:10.51, Z:2.78 [[ 9.13188166e-01 -4.06434355e-01 -2.99748015e-02 -7.61421718e+01] [ 4.06234440e-01 9.13679833e-01 -1.27570613e-02 1.05111239e+01] [ 3.25722796e-02 -5.27199315e-04 9.99469243e-01 2.77695742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.28911593299999 meters 0.013896706901184256 Centerline is valid? [True, True] Translation: X:-76.17, Y:10.50, Z:2.79 [[ 9.11108446e-01 -4.11124614e-01 -2.92908071e-02 -7.61720342e+01] [ 4.10935989e-01 9.11578903e-01 -1.24706225e-02 1.04992887e+01] [ 3.18278617e-02 -6.74557287e-04 9.99493138e-01 2.78682227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31911593299999 meters 0.014610020337643876 Centerline is valid? [True, True] Translation: X:-76.19, Y:10.47, Z:2.75 [[ 9.08998743e-01 -4.15599000e-01 -3.16031059e-02 -7.61940678e+01] [ 4.15382039e-01 9.09547509e-01 -1.34570294e-02 1.04684620e+01] [ 3.43372542e-02 -8.94939687e-04 9.99409902e-01 2.75192716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.349115933 meters 0.014174330481927807 Centerline is valid? [True, True] Translation: X:-76.22, Y:10.45, Z:2.73 [[ 9.07580453e-01 -4.18904796e-01 -2.85743342e-02 -7.62205677e+01] [ 4.18727922e-01 9.08029726e-01 -1.22042812e-02 1.04483415e+01] [ 3.10587767e-02 -8.88504541e-04 9.99517165e-01 2.73283656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.379115933 meters 0.014263050442365052 Centerline is valid? [True, True] Translation: X:-76.25, Y:10.44, Z:2.77 [[ 8.98926183e-01 -4.37355393e-01 -2.55338662e-02 -7.62510075e+01] [ 4.37221454e-01 8.99287726e-01 -1.09080178e-02 1.04436881e+01] [ 2.77329729e-02 -1.35845131e-03 9.99614444e-01 2.77244323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.409115933 meters 0.015025072734068654 Centerline is valid? [True, True] Translation: X:-76.28, Y:10.43, Z:2.77 [[ 9.00849051e-01 -4.33407937e-01 -2.50708555e-02 -7.62790108e+01] [ 4.33277222e-01 9.01197032e-01 -1.07125393e-02 1.04271265e+01] [ 2.72366801e-02 -1.21224973e-03 9.99628278e-01 2.76565630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.439115933 meters 0.015161009520776949 Centerline is valid? [True, True] Translation: X:-76.31, Y:10.42, Z:2.80 [[ 8.99256933e-01 -4.36823413e-01 -2.28533112e-02 -7.63115887e+01] [ 4.36714968e-01 8.99546523e-01 -9.80253291e-03 1.04237445e+01] [ 2.48395925e-02 -1.16538740e-03 9.99690770e-01 2.79773790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46911593299998 meters 0.015819083095629575 Centerline is valid? [True, True] Translation: X:-76.34, Y:10.40, Z:2.76 [[ 9.00290964e-01 -4.34642294e-01 -2.37119462e-02 -7.63374260e+01] [ 4.34524400e-01 9.00602461e-01 -1.01859473e-02 1.04020872e+01] [ 2.57822806e-02 -1.13310288e-03 9.99666940e-01 2.75743642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49911593299998 meters 0.0165980664713755 Centerline is valid? [True, True] Translation: X:-76.37, Y:10.39, Z:2.79 [[ 9.01037010e-01 -4.33289174e-01 -1.98191508e-02 -7.63682802e+01] [ 4.33206600e-01 9.01254485e-01 -8.50853175e-03 1.03948632e+01] [ 2.15487532e-02 -9.19284917e-04 9.99767376e-01 2.79204217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52911593299999 meters 0.01615883037291359 Centerline is valid? [True, True] Translation: X:-76.40, Y:10.38, Z:2.78 [[ 9.02985511e-01 -4.29407672e-01 -1.50405780e-02 -7.63962288e+01] [ 4.29359530e-01 9.03110548e-01 -6.46008689e-03 1.03784161e+01] [ 1.63573155e-02 -6.24450645e-04 9.99866015e-01 2.78060626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55911593299999 meters 0.016797740692268266 Centerline is valid? [True, True] Translation: X:-76.42, Y:10.36, Z:2.77 [[ 9.10189901e-01 -4.13881146e-01 -1.60231349e-02 -7.64222756e+01] [ 4.13824036e-01 9.10330854e-01 -6.88498213e-03 1.03602885e+01] [ 1.74359184e-02 -3.64117137e-04 9.99847917e-01 2.76584693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58911593299999 meters 0.01683373625467762 Centerline is valid? [True, True] Translation: X:-76.46, Y:10.36, Z:2.79 [[ 9.10587898e-01 -4.13004520e-01 -1.60295371e-02 -7.64575466e+01] [ 4.12946759e-01 9.10728918e-01 -6.91461082e-03 1.03639371e+01] [ 1.74543285e-02 -3.22984475e-04 9.99847609e-01 2.79284232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61911593299999 meters 0.016842510586178354 Centerline is valid? [True, True] Translation: X:-76.48, Y:10.35, Z:2.77 [[ 9.11535904e-01 -4.10966284e-01 -1.44571667e-02 -7.64845633e+01] [ 4.10918860e-01 9.11650511e-01 -6.24798883e-03 1.03461678e+01] [ 1.57475962e-02 -2.45456313e-04 9.99875969e-01 2.76662876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64911593299999 meters 0.01736995127336779 Centerline is valid? [True, True] Translation: X:-76.51, Y:10.33, Z:2.76 [[ 9.13784010e-01 -4.05957666e-01 -1.40412524e-02 -7.65141389e+01] [ 4.05912143e-01 9.13891871e-01 -6.08104917e-03 1.03347356e+01] [ 1.53008350e-02 -1.42749370e-04 9.99882925e-01 2.76255109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67911593299999 meters 0.017463982338517484 Centerline is valid? [True, True] Translation: X:-76.54, Y:10.32, Z:2.75 [[ 9.10478652e-01 -4.13484179e-01 -7.71082722e-03 -7.65417666e+01] [ 4.13470611e-01 9.10511293e-01 -3.35237623e-03 1.03195042e+01] [ 8.40694980e-03 -1.35933455e-04 9.99964652e-01 2.75302874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.70911593299999 meters 0.01742038214989737 Centerline is valid? [True, True] Translation: X:-76.57, Y:10.32, Z:2.78 [[ 9.17640993e-01 -3.97292513e-01 -9.67819284e-03 -7.65739799e+01] [ 3.97270359e-01 9.17692029e-01 -4.19550743e-03 1.03157909e+01] [ 1.05484441e-02 5.11045478e-06 9.99944364e-01 2.78424741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.739115933 meters 0.017148364104875004 Centerline is valid? [True, True] Translation: X:-76.60, Y:10.30, Z:2.76 [[ 9.19045049e-01 -3.94055583e-01 -8.74039391e-03 -7.66020289e+01] [ 3.94037186e-01 9.19086609e-01 -3.80812551e-03 1.02985602e+01] [ 9.53379211e-03 5.57986739e-05 9.99954551e-01 2.75503513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.769115933 meters 0.017358136684689066 Centerline is valid? [True, True] Translation: X:-76.64, Y:10.30, Z:2.80 [[ 9.16190248e-01 -4.00652046e-01 -8.56547127e-03 -7.66377676e+01] [ 4.00634561e-01 9.16230286e-01 -3.74305498e-03 1.03035520e+01] [ 9.34760683e-03 -2.27334981e-06 9.99956310e-01 2.80447885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.799115933 meters 0.01747964201913208 Centerline is valid? [True, True] Translation: X:-76.66, Y:10.28, Z:2.79 [[ 9.18560182e-01 -3.95203516e-01 -7.83405792e-03 -7.66639133e+01] [ 3.95188615e-01 9.18593587e-01 -3.43234410e-03 1.02823106e+01] [ 8.55278982e-03 5.68841184e-05 9.99963423e-01 2.78557344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.829115933 meters 0.017272781638225036 Centerline is valid? [True, True] Translation: X:-76.69, Y:10.26, Z:2.76 [[ 9.21357324e-01 -3.88607814e-01 -9.20043652e-03 -7.66884097e+01] [ 3.88586923e-01 9.21403249e-01 -4.03188895e-03 1.02571958e+01] [ 1.00441357e-02 1.39641092e-04 9.99949547e-01 2.75688436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85911593299998 meters 0.017022219489578206 Centerline is valid? [True, True] Translation: X:-76.72, Y:10.26, Z:2.78 [[ 9.19892369e-01 -3.92034077e-01 -1.03591592e-02 -7.67230167e+01] [ 3.92007694e-01 9.19950687e-01 -4.54988550e-03 1.02573783e+01] [ 1.13136258e-02 1.24534840e-04 9.99935991e-01 2.77610075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88911593299999 meters 0.017155931756211402 Centerline is valid? [True, True] Translation: X:-76.76, Y:10.26, Z:2.78 [[ 9.25136227e-01 -3.79372068e-01 -1.41349072e-02 -7.67575259e+01] [ 3.79321730e-01 9.25244130e-01 -6.19072231e-03 1.02586255e+01] [ 1.54268271e-02 3.65584024e-04 9.99880933e-01 2.77779597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91911593299999 meters 0.017121091344307948 Centerline is valid? [True, True] Translation: X:-76.79, Y:10.26, Z:2.81 [[ 9.24310562e-01 -3.81585740e-01 -6.50449626e-03 -7.67909254e+01] [ 3.81575122e-01 9.24333435e-01 -2.85076029e-03 1.02581125e+01] [ 7.10013284e-03 1.53033890e-04 9.99974782e-01 2.81481916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94911593299999 meters 0.01774600985551467 Centerline is valid? [True, True] Translation: X:-76.82, Y:10.25, Z:2.82 [[ 9.30282787e-01 -3.66750395e-01 -8.25126028e-03 -7.68205822e+01] [ 3.66732727e-01 9.30319318e-01 -3.61571805e-03 1.02479201e+01] [ 9.00237286e-03 3.37633077e-04 9.99959421e-01 2.82409513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97911593299999 meters 0.017033474940395716 Centerline is valid? [True, True] Translation: X:-76.84, Y:10.22, Z:2.76 [[ 9.29456363e-01 -3.68894435e-01 -5.26920709e-03 -7.68426514e+01] [ 3.68887150e-01 9.29471273e-01 -2.32883923e-03 1.02156518e+01] [ 5.75667245e-03 2.20811652e-04 9.99983406e-01 2.76485184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.00911593299999 meters 0.01687030597034286 Centerline is valid? [True, True] Translation: X:-76.87, Y:10.20, Z:2.75 [[ 9.33140616e-01 -3.59431664e-01 -7.58084194e-03 -7.68690929e+01] [ 3.59416426e-01 9.33171330e-01 -3.33194017e-03 1.01963473e+01] [ 8.27182915e-03 3.84489593e-04 9.99965714e-01 2.74706088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03911593299999 meters 0.01715816188264359 Centerline is valid? [True, True] Translation: X:-76.90, Y:10.19, Z:2.75 [[ 9.31342038e-01 -3.64036789e-01 -8.90080569e-03 -7.69016713e+01] [ 3.64015809e-01 9.31384474e-01 -3.93084156e-03 1.01917537e+01] [ 9.72104316e-03 4.20924009e-04 9.99952661e-01 2.74572398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.06911593299999 meters 0.017238031870503115 Centerline is valid? [True, True] Translation: X:-76.94, Y:10.19, Z:2.78 [[ 9.29288206e-01 -3.69260770e-01 -8.36147344e-03 -7.69357981e+01] [ 3.69242554e-01 9.29325762e-01 -3.68303286e-03 1.01918620e+01] [ 9.13053223e-03 3.35187187e-04 9.99958260e-01 2.78273984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.099115933 meters 0.017008129184904453 Centerline is valid? [True, True] Translation: X:-76.96, Y:10.18, Z:2.78 [[ 9.28099519e-01 -3.72260006e-01 -7.33280095e-03 -7.69647380e+01] [ 3.72246030e-01 9.28128446e-01 -3.23743679e-03 1.01793049e+01] [ 8.01094939e-03 2.75057480e-04 9.99967874e-01 2.78063037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.129115933 meters 0.01772783585159853 Centerline is valid? [True, True] Translation: X:-76.99, Y:10.16, Z:2.75 [[ 9.32154234e-01 -3.61807229e-01 -1.35651030e-02 -7.69890278e+01] [ 3.61758430e-01 9.32252694e-01 -5.97942698e-03 1.01554089e+01] [ 1.48095037e-02 6.66457805e-04 9.99890111e-01 2.74980719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.159115933 meters 0.017282017204959314 Centerline is valid? [True, True] Translation: X:-77.02, Y:10.15, Z:2.76 [[ 9.27790300e-01 -3.72912532e-01 -1.18913013e-02 -7.70189339e+01] [ 3.72875909e-01 9.27866401e-01 -5.24392895e-03 1.01450201e+01] [ 1.29890658e-02 4.31286610e-04 9.99915546e-01 2.76340363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.189115933 meters 0.017749511762381296 Centerline is valid? [True, True] Translation: X:-77.05, Y:10.13, Z:2.76 [[ 9.28897447e-01 -3.70061869e-01 -1.42739880e-02 -7.70467231e+01] [ 3.70008702e-01 9.29006937e-01 -6.29849376e-03 1.01282139e+01] [ 1.55914663e-02 5.69154990e-04 9.99878284e-01 2.76106696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21911593299998 meters 0.017372449083519755 Centerline is valid? [True, True] Translation: X:-77.08, Y:10.12, Z:2.77 [[ 9.25757602e-01 -3.77698046e-01 -1.78058206e-02 -7.70764275e+01] [ 3.77616224e-01 9.25928646e-01 -7.88229041e-03 1.01174679e+01] [ 1.94640451e-02 5.73323526e-04 9.99810393e-01 2.76566527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24911593299998 meters 0.017912687834995986 Centerline is valid? [True, True] Translation: X:-77.10, Y:10.10, Z:2.75 [[ 9.26045996e-01 -3.76872736e-01 -2.01433514e-02 -7.71034452e+01] [ 3.76768002e-01 9.26264813e-01 -8.90892206e-03 1.00971918e+01] [ 2.20156075e-02 6.60701326e-04 9.99757409e-01 2.74557393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27911593299999 meters 0.01846539010332356 Centerline is valid? [True, True] Translation: X:-77.14, Y:10.11, Z:2.84 [[ 9.25314279e-01 -3.78458920e-01 -2.37135160e-02 -7.71427551e+01] [ 3.78313532e-01 9.25617776e-01 -1.05168395e-02 1.01128858e+01] [ 2.59298436e-02 7.60237748e-04 9.99663476e-01 2.84305279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30911593299999 meters 0.017579867103267897 Centerline is valid? [True, True] Translation: X:-77.17, Y:10.09, Z:2.81 [[ 9.24179091e-01 -3.80864508e-01 -2.89004228e-02 -7.71669267e+01] [ 3.80649449e-01 9.24630467e-01 -1.28256147e-02 1.00889176e+01] [ 3.16070328e-02 8.52234923e-04 9.99500010e-01 2.80503062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33911593299999 meters 0.018304073180796916 Centerline is valid? [True, True] Translation: X:-77.19, Y:10.07, Z:2.79 [[ 9.23809802e-01 -3.81368380e-01 -3.36691145e-02 -7.71925208e+01] [ 3.81076957e-01 9.24422641e-01 -1.49376427e-02 1.00684287e+01] [ 3.68212364e-02 9.69017041e-04 9.99321399e-01 2.78912448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.36911593299999 meters 0.017499742370540274 Centerline is valid? [True, True] Translation: X:-77.22, Y:10.04, Z:2.76 [[ 9.21298699e-01 -3.87321294e-01 -3.45097477e-02 -7.72173342e+01] [ 3.87017750e-01 9.21944464e-01 -1.53514205e-02 1.00438643e+01] [ 3.77620029e-02 7.87358843e-04 9.99286451e-01 2.76033230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39911593299999 meters 0.017541314056595297 Centerline is valid? [True, True] Translation: X:-77.24, Y:10.02, Z:2.74 [[ 9.22630128e-01 -3.83668229e-01 -3.93997082e-02 -7.72425411e+01] [ 3.83269624e-01 9.23470392e-01 -1.75165488e-02 1.00222089e+01] [ 4.31050073e-02 1.06058430e-03 9.99069984e-01 2.74198035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.42911593299999 meters 0.01752084418085677 Centerline is valid? [True, True] Translation: X:-77.27, Y:10.00, Z:2.71 [[ 9.22469879e-01 -3.83424997e-01 -4.51064844e-02 -7.72699288e+01] [ 3.82901635e-01 9.23571188e-01 -2.00648570e-02 1.00040613e+01] [ 4.93524171e-02 1.23787959e-03 9.98780660e-01 2.71402358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45911593299999 meters 0.01754688261271522 Centerline is valid? [True, True] Translation: X:-77.30, Y:10.00, Z:2.74 [[ 9.22876557e-01 -3.81722157e-01 -5.08631082e-02 -7.73007924e+01] [ 3.81053733e-01 9.24275898e-01 -2.26300062e-02 9.99675379e+00] [ 5.56499198e-02 1.50312494e-03 9.98449211e-01 2.73778340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.489115933 meters 0.016305876588492065 Centerline is valid? [True, True] Translation: X:-77.33, Y:9.98, Z:2.71 [[ 9.18898591e-01 -3.91281845e-01 -5.02384005e-02 -7.73272130e+01] [ 3.90641155e-01 9.20270392e-01 -2.24029798e-02 9.97768586e+00] [ 5.49987918e-02 9.60879745e-04 9.98485959e-01 2.71045798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.519115933 meters 0.016477031760472032 Centerline is valid? [True, True] Translation: X:-77.36, Y:9.98, Z:2.75 [[ 9.16039073e-01 -3.97873883e-01 -5.06832300e-02 -7.73610869e+01] [ 3.97229536e-01 9.17439918e-01 -2.26427374e-02 9.97876293e+00] [ 5.55077722e-02 6.08756269e-04 9.98458070e-01 2.75468198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.549115933 meters 0.016420034680563633 Centerline is valid? [True, True] Translation: X:-77.39, Y:9.97, Z:2.75 [[ 9.15328848e-01 -3.99399269e-01 -5.15104223e-02 -7.73929296e+01] [ 3.98733845e-01 9.16776913e-01 -2.30523830e-02 9.97262264e+00] [ 5.64306708e-02 5.61562411e-04 9.98406362e-01 2.74860295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.579115933 meters 0.016252022275951072 Centerline is valid? [True, True] Translation: X:-77.42, Y:9.96, Z:2.73 [[ 9.17070812e-01 -3.95203653e-01 -5.28696377e-02 -7.74238629e+01] [ 3.94495443e-01 9.18593141e-01 -2.36640383e-02 9.96152815e+00] [ 5.79178009e-02 8.44767677e-04 9.98320998e-01 2.73484854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60911593299998 meters 0.016269914826824675 Centerline is valid? [True, True] Translation: X:-77.45, Y:9.94, Z:2.70 [[ 9.21498122e-01 -3.84593438e-01 -5.41211453e-02 -7.74491517e+01] [ 3.83832143e-01 9.23084747e-01 -2.42370754e-02 9.93955129e+00] [ 5.92798239e-02 1.56098433e-03 9.98240184e-01 2.70187485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63911593299999 meters 0.01688065508803536 Centerline is valid? [True, True] Translation: X:-77.48, Y:9.93, Z:2.69 [[ 9.21493466e-01 -3.84943930e-01 -5.16523225e-02 -7.74789440e+01] [ 3.84250477e-01 9.22938776e-01 -2.31427384e-02 9.92617136e+00] [ 5.65805880e-02 1.47845273e-03 9.98396941e-01 2.68520550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66911593299999 meters 0.017227316961229942 Centerline is valid? [True, True] Translation: X:-77.51, Y:9.91, Z:2.68 [[ 9.23067501e-01 -3.81096363e-01 -5.20763919e-02 -7.75074086e+01] [ 3.80382253e-01 9.24533611e-01 -2.33868124e-02 9.91281024e+00] [ 5.70590038e-02 1.77867117e-03 9.98369223e-01 2.67944890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69911593299999 meters 0.016949370921350102 Centerline is valid? [True, True] Translation: X:-77.54, Y:9.90, Z:2.67 [[ 9.24068698e-01 -3.78386834e-01 -5.40411399e-02 -7.75364546e+01] [ 3.77613458e-01 9.25645366e-01 -2.42637994e-02 9.89967464e+00] [ 5.92040330e-02 2.01475578e-03 9.98243870e-01 2.67005346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72911593299999 meters 0.017217908348534205 Centerline is valid? [True, True] Translation: X:-77.57, Y:9.89, Z:2.66 [[ 9.22200850e-01 -3.83156532e-01 -5.23131288e-02 -7.75659250e+01] [ 3.82438814e-01 9.23681925e-01 -2.35001005e-02 9.88678996e+00] [ 5.73249085e-02 1.66524177e-03 9.98354187e-01 2.65880112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75911593299999 meters 0.01771197493095301 Centerline is valid? [True, True] Translation: X:-77.60, Y:9.89, Z:2.70 [[ 9.20261833e-01 -3.87938542e-01 -5.12039642e-02 -7.76019059e+01] [ 3.87257655e-01 9.21684255e-01 -2.30139664e-02 9.89049715e+00] [ 5.61218922e-02 1.34974773e-03 9.98423012e-01 2.70379639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.78911593299999 meters 0.01717654570119773 Centerline is valid? [True, True] Translation: X:-77.63, Y:9.87, Z:2.67 [[ 9.24944479e-01 -3.75774083e-01 -5.71974580e-02 -7.76275823e+01] [ 3.74900558e-01 9.26708347e-01 -2.57140396e-02 9.86953200e+00] [ 6.26680314e-02 2.34069998e-03 9.98031682e-01 2.66967566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81911593299999 meters 0.01717654570119773 Centerline is valid? [True, True] Translation: X:-77.66, Y:9.86, Z:2.67 [[ 9.24664393e-01 -3.76466626e-01 -5.71720227e-02 -7.76567981e+01] [ 3.75590932e-01 9.26427185e-01 -2.57705651e-02 9.85636182e+00] [ 6.26674738e-02 2.35583069e-03 9.98031682e-01 2.67045731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.849115933 meters 0.016343336399448603 Centerline is valid? [True, True] Translation: X:-77.68, Y:9.84, Z:2.65 [[ 9.18746342e-01 -3.91519922e-01 -5.11596422e-02 -7.76833742e+01] [ 3.90842500e-01 9.20168870e-01 -2.30518988e-02 9.83816566e+00] [ 5.61007878e-02 1.18348519e-03 9.98424409e-01 2.65355263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.879115933 meters 0.017312911236838317 Centerline is valid? [True, True] Translation: X:-77.71, Y:9.83, Z:2.67 [[ 9.22311629e-01 -3.82108697e-01 -5.77425570e-02 -7.77115390e+01] [ 3.81224301e-01 9.24115171e-01 -2.60611514e-02 9.82693801e+00] [ 6.33189655e-02 2.02363706e-03 9.97991289e-01 2.66695365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.909115933 meters 0.01678846759805535 Centerline is valid? [True, True] Translation: X:-77.74, Y:9.80, Z:2.64 [[ 9.20708015e-01 -3.86141844e-01 -5.64909448e-02 -7.77360236e+01] [ 3.85302651e-01 9.22437825e-01 -2.55015001e-02 9.80210391e+00] [ 6.19565805e-02 1.71332470e-03 9.98077375e-01 2.63822204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.939115933 meters 0.01735012335595001 Centerline is valid? [True, True] Translation: X:-77.77, Y:9.79, Z:2.65 [[ 9.21271907e-01 -3.83938010e-01 -6.20457752e-02 -7.77656631e+01] [ 3.82918156e-01 9.23356536e-01 -2.80427055e-02 9.79331800e+00] [ 6.80570326e-02 2.07650291e-03 9.97679271e-01 2.65464618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96911593299998 meters 0.016561124031194138 Centerline is valid? [True, True] Translation: X:-77.79, Y:9.77, Z:2.62 [[ 9.18569781e-01 -3.90275288e-01 -6.25680172e-02 -7.77912229e+01] [ 3.89248891e-01 9.20696692e-01 -2.83355189e-02 9.77181302e+00] [ 6.86648193e-02 1.67362007e-03 9.97638382e-01 2.62249603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99911593299998 meters 0.016834125280010836 Centerline is valid? [True, True] Translation: X:-77.82, Y:9.76, Z:2.64 [[ 9.16800502e-01 -3.94149197e-01 -6.42125323e-02 -7.78200237e+01] [ 3.93074007e-01 9.19045298e-01 -2.91301311e-02 9.76048121e+00] [ 7.04958437e-02 1.46624148e-03 9.97510996e-01 2.64195769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02911593299999 meters 0.01740765578424509 Centerline is valid? [True, True] Translation: X:-77.84, Y:9.73, Z:2.59 [[ 9.15469230e-01 -3.96706501e-01 -6.73798210e-02 -7.78409834e+01] [ 3.95529147e-01 9.17944535e-01 -3.05699982e-02 9.72783434e+00] [ 7.39782554e-02 1.33520957e-03 9.97258961e-01 2.59456333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05911593299999 meters 0.016660709902166154 Centerline is valid? [True, True] Translation: X:-77.87, Y:9.71, Z:2.60 [[ 9.11966474e-01 -4.04916578e-01 -6.60281419e-02 -7.78685268e+01] [ 4.03806360e-01 9.14353386e-01 -2.99717943e-02 9.71103060e+00] [ 7.25091315e-02 6.70687960e-04 9.97367523e-01 2.60328471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08911593299999 meters 0.015245950580899512 Centerline is valid? [True, True] Translation: X:-77.90, Y:9.69, Z:2.58 [[ 9.06751319e-01 -4.16819138e-01 -6.37483515e-02 -7.78960381e+01] [ 4.15809342e-01 9.08989417e-01 -2.89970755e-02 9.69439691e+00] [ 7.00331129e-02 -2.14023643e-04 9.97544644e-01 2.58052419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11911593299999 meters 0.016007722107714832 Centerline is valid? [True, True] Translation: X:-77.92, Y:9.68, Z:2.58 [[ 9.10671951e-01 -4.07202741e-01 -6.97318047e-02 -7.79242934e+01] [ 4.05966062e-01 9.13337614e-01 -3.17168664e-02 9.68106646e+00] [ 7.66038750e-02 5.74914473e-04 9.97061440e-01 2.57955396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.14911593299999 meters 0.0161731033708571 Centerline is valid? [True, True] Translation: X:-77.95, Y:9.66, Z:2.56 [[ 9.10602620e-01 -4.07739096e-01 -6.74662710e-02 -7.79507907e+01] [ 4.06581805e-01 9.13098325e-01 -3.07031719e-02 9.66090571e+00] [ 7.41222226e-02 5.27830505e-04 9.97249025e-01 2.55966533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17911593299999 meters 0.016049153056506272 Centerline is valid? [True, True] Translation: X:-77.98, Y:9.65, Z:2.55 [[ 9.08356105e-01 -4.13164697e-01 -6.46847631e-02 -7.79797291e+01] [ 4.12113772e-01 9.10656315e-01 -2.94502122e-02 9.64671447e+00] [ 7.10733760e-02 9.37983869e-05 9.97471086e-01 2.55408375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.20911593299999 meters 0.016316583467841886 Centerline is valid? [True, True] Translation: X:-78.01, Y:9.64, Z:2.56 [[ 9.08941930e-01 -4.11687243e-01 -6.58648736e-02 -7.80093746e+01] [ 4.10588940e-01 9.11325156e-01 -3.00530089e-02 9.63619711e+00] [ 7.23967566e-02 2.73051242e-04 9.97375875e-01 2.56487950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.239115933 meters 0.016553961311390235 Centerline is valid? [True, True] Translation: X:-78.04, Y:9.62, Z:2.55 [[ 9.08505184e-01 -4.12619013e-01 -6.60596760e-02 -7.80360875e+01] [ 4.11512781e-01 9.10903666e-01 -3.01950737e-02 9.61841571e+00] [ 7.26330626e-02 2.47980055e-04 9.97358700e-01 2.54776127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.269115933 meters 0.01614649843262906 Centerline is valid? [True, True] Translation: X:-78.07, Y:9.61, Z:2.57 [[ 9.08244323e-01 -4.13160922e-01 -6.62593579e-02 -7.80664334e+01] [ 4.12045574e-01 9.10657997e-01 -3.03390361e-02 9.60927633e+00] [ 7.28745183e-02 2.53382149e-04 9.97341085e-01 2.56892339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.299115933 meters 0.01734690097827972 Centerline is valid? [True, True] Translation: X:-78.10, Y:9.60, Z:2.58 [[ 9.09641744e-01 -4.09399816e-01 -7.03113664e-02 -7.80955831e+01] [ 4.08131341e-01 9.12354881e-01 -3.22083846e-02 9.59945259e+00] [ 7.73350251e-02 6.01818877e-04 9.97004981e-01 2.57930619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.329115933 meters 0.016687001437244848 Centerline is valid? [True, True] Translation: X:-78.12, Y:9.57, Z:2.54 [[ 9.06769826e-01 -4.16326325e-01 -6.66398796e-02 -7.81180329e+01] [ 4.15201554e-01 9.09215259e-01 -3.05823885e-02 9.57131235e+00] [ 7.33222488e-02 6.22055002e-05 9.97308299e-01 2.53535448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35911593299998 meters 0.017514423161869023 Centerline is valid? [True, True] Translation: X:-78.15, Y:9.57, Z:2.58 [[ 9.06432927e-01 -4.16843245e-01 -6.79783602e-02 -7.81529360e+01] [ 4.15669992e-01 9.08978385e-01 -3.12530588e-02 9.57347167e+00] [ 7.48184865e-02 7.22371707e-05 9.97197166e-01 2.58359248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38911593299999 meters 0.015718087092258852 Centerline is valid? [True, True] Translation: X:-78.17, Y:9.54, Z:2.52 [[ 9.03241735e-01 -4.23948558e-01 -6.64980310e-02 -7.81724512e+01] [ 4.22841031e-01 9.05686157e-01 -3.06275689e-02 9.53613765e+00] [ 7.32108598e-02 -4.53997528e-04 9.97316381e-01 2.51631376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41911593299999 meters 0.01590524793442092 Centerline is valid? [True, True] Translation: X:-78.21, Y:9.54, Z:2.55 [[ 9.02520619e-01 -4.25754038e-01 -6.47304564e-02 -7.82062546e+01] [ 4.24705539e-01 9.04838776e-01 -2.98662615e-02 9.53612808e+00] [ 7.12863084e-02 -5.36466546e-04 9.97455751e-01 2.54870140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44911593299999 meters 0.01641957810190611 Centerline is valid? [True, True] Translation: X:-78.23, Y:9.52, Z:2.54 [[ 9.04489139e-01 -4.20778149e-01 -6.96070966e-02 -7.82332021e+01] [ 4.19551155e-01 9.07163560e-01 -3.21108096e-02 9.51858212e+00] [ 7.66565486e-02 -1.59859312e-04 9.97057545e-01 2.54189392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47911593299999 meters 0.015982996051343817 Centerline is valid? [True, True] Translation: X:-78.27, Y:9.51, Z:2.55 [[ 9.05770146e-01 -4.17849310e-01 -7.05860960e-02 -7.82652453e+01] [ 4.16576807e-01 9.08516341e-01 -3.25856060e-02 9.51097133e+00] [ 7.77444946e-02 1.10538616e-04 9.96973310e-01 2.54783415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.50911593299999 meters 0.016929118409740533 Centerline is valid? [True, True] Translation: X:-78.29, Y:9.49, Z:2.53 [[ 9.04676111e-01 -4.20390535e-01 -6.95193010e-02 -7.82908728e+01] [ 4.19158551e-01 9.07343263e-01 -3.21607319e-02 9.49111586e+00] [ 7.65979367e-02 -4.45636279e-05 9.97062061e-01 2.53480972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53911593299999 meters 0.015914001828127914 Centerline is valid? [True, True] Translation: X:-78.31, Y:9.46, Z:2.51 [[ 9.05188556e-01 -4.19314556e-01 -6.93468184e-02 -7.83147776e+01] [ 4.18080418e-01 9.07841006e-01 -3.21476740e-02 9.46472853e+00] [ 7.64358730e-02 1.07159789e-04 9.97074494e-01 2.50626679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.56911593299999 meters 0.016197746855288412 Centerline is valid? [True, True] Translation: X:-78.33, Y:9.42, Z:2.43 [[ 8.98681237e-01 -4.33574211e-01 -6.62226385e-02 -7.83320765e+01] [ 4.32483811e-01 9.01117299e-01 -3.07468338e-02 9.42345820e+00] [ 7.30053993e-02 -1.00861643e-03 9.97331035e-01 2.42678018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.599115933 meters 0.01731300060609745 Centerline is valid? [True, True] Translation: X:-78.36, Y:9.41, Z:2.41 [[ 8.99567872e-01 -4.31717322e-01 -6.63158903e-02 -7.83618974e+01] [ 4.30613936e-01 9.02008600e-01 -3.08564850e-02 9.40924913e+00] [ 7.31387824e-02 -7.99044024e-04 9.97321453e-01 2.40939504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.629115933 meters 0.01719530590926348 Centerline is valid? [True, True] Translation: X:-78.39, Y:9.38, Z:2.38 [[ 8.97941259e-01 -4.35179288e-01 -6.57303832e-02 -7.83870461e+01] [ 4.34100138e-01 9.00343243e-01 -3.06449919e-02 9.38470539e+00] [ 7.25159721e-02 -1.01616580e-03 9.97366734e-01 2.37960353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.659115933 meters 0.015817177388413775 Centerline is valid? [True, True] Translation: X:-78.41, Y:9.37, Z:2.37 [[ 9.00020185e-01 -4.30608587e-01 -6.73788626e-02 -7.84127251e+01] [ 4.29457925e-01 9.02538566e-01 -3.14646926e-02 9.36540224e+00] [ 7.43609889e-02 -6.17528070e-04 9.97231198e-01 2.37416720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.689115933 meters 0.017313554067704563 Centerline is valid? [True, True] Translation: X:-78.45, Y:9.37, Z:2.43 [[ 9.01974603e-01 -4.25924411e-01 -7.09239886e-02 -7.84500378e+01] [ 4.24634464e-01 9.04758718e-01 -3.31245126e-02 9.37303804e+00] [ 7.82776356e-02 -2.39300770e-04 9.96931570e-01 2.42517910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71911593299998 meters 0.016115645687936164 Centerline is valid? [True, True] Translation: X:-78.49, Y:9.38, Z:2.47 [[ 9.04412114e-01 -4.20019023e-01 -7.49849938e-02 -7.84860272e+01] [ 4.18555791e-01 9.07515252e-01 -3.50302301e-02 9.37818205e+00] [ 8.27633886e-02 2.96361056e-04 9.96569182e-01 2.47344645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74911593299998 meters 0.015648431712611866 Centerline is valid? [True, True] Translation: X:-78.52, Y:9.37, Z:2.49 [[ 9.02620335e-01 -4.23936269e-01 -7.45289934e-02 -7.85171333e+01] [ 4.22497888e-01 9.05692023e-01 -3.48926226e-02 9.37017153e+00] [ 8.22925631e-02 6.44842296e-06 9.96608215e-01 2.48519933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77911593299999 meters 0.01892516231722476 Centerline is valid? [True, True] Translation: X:-78.54, Y:9.34, Z:2.45 [[ 9.04965625e-01 -4.18433818e-01 -7.71385625e-02 -7.85395626e+01] [ 4.16872278e-01 9.08247135e-01 -3.61198750e-02 9.34273624e+00] [ 8.51746556e-02 5.30316997e-04 9.96365895e-01 2.44968601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80911593299999 meters 0.015205730988423467 Centerline is valid? [True, True] Translation: X:-78.57, Y:9.34, Z:2.47 [[ 9.01610754e-01 -4.25881113e-01 -7.56526615e-02 -7.85720540e+01] [ 4.24399090e-01 9.04779126e-01 -3.54985149e-02 9.33788494e+00] [ 8.35670960e-02 -1.01077894e-04 9.96502148e-01 2.46603638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83911593299999 meters 0.01555858111518641 Centerline is valid? [True, True] Translation: X:-78.60, Y:9.32, Z:2.46 [[ 9.05215569e-01 -4.17644384e-01 -7.84725590e-02 -7.85988541e+01] [ 4.16017735e-01 9.08610305e-01 -3.68314834e-02 9.32169520e+00] [ 8.66834380e-02 6.94456003e-04 9.96235665e-01 2.46459693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.86911593299999 meters 0.01464626780845902 Centerline is valid? [True, True] Translation: X:-78.63, Y:9.31, Z:2.45 [[ 9.00268571e-01 -4.28672942e-01 -7.58683649e-02 -7.86265967e+01] [ 4.27185668e-01 9.03459698e-01 -3.56788400e-02 9.30707783e+00] [ 8.38385633e-02 -2.89339856e-04 9.96479308e-01 2.44993857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89911593299999 meters 0.015183068693800716 Centerline is valid? [True, True] Translation: X:-78.66, Y:9.30, Z:2.46 [[ 9.01440111e-01 -4.26057477e-01 -7.66860689e-02 -7.86565523e+01] [ 4.24523086e-01 9.04696096e-01 -3.61264965e-02 9.29621908e+00] [ 8.47695511e-02 1.08664473e-05 9.96400584e-01 2.45935361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.92911593299999 meters 0.015248676773983979 Centerline is valid? [True, True] Translation: X:-78.68, Y:9.28, Z:2.46 [[ 9.02582579e-01 -4.23328835e-01 -7.83414677e-02 -7.86834278e+01] [ 4.21716135e-01 9.05976058e-01 -3.69172687e-02 9.27687872e+00] [ 8.66036384e-02 2.83022688e-04 9.96242807e-01 2.45804693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95911593299999 meters 0.01670722237461685 Centerline is valid? [True, True] Translation: X:-78.72, Y:9.28, Z:2.49 [[ 9.04251010e-01 -4.19036993e-01 -8.20859867e-02 -7.87168561e+01] [ 4.17246833e-01 9.07968857e-01 -3.86992917e-02 9.27644668e+00] [ 9.07479544e-02 7.43755630e-04 9.95873614e-01 2.48695796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.989115933 meters 0.015886507953493178 Centerline is valid? [True, True] Translation: X:-78.75, Y:9.27, Z:2.49 [[ 9.02939385e-01 -4.22402840e-01 -7.92231511e-02 -7.87482793e+01] [ 4.20747688e-01 9.06408121e-01 -3.73590900e-02 9.26962690e+00] [ 8.75890932e-02 4.00036102e-04 9.96156610e-01 2.48617293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.019115933 meters 0.015889162591308112 Centerline is valid? [True, True] Translation: X:-78.78, Y:9.25, Z:2.48 [[ 9.03757735e-01 -4.20585531e-01 -7.95598366e-02 -7.87758254e+01] [ 4.18902236e-01 9.07252659e-01 -3.75969254e-02 9.25338396e+00] [ 8.79935961e-02 6.50718647e-04 9.96120828e-01 2.47833612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.049115933 meters 0.015663518741941582 Centerline is valid? [True, True] Translation: X:-78.80, Y:9.23, Z:2.45 [[ 9.05986582e-01 -4.15586989e-01 -8.04721587e-02 -7.88002678e+01] [ 4.13839339e-01 9.09552634e-01 -3.80920780e-02 9.22961529e+00] [ 8.90242359e-02 1.20836654e-03 9.96028727e-01 2.45220467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.079115933 meters 0.015694714615272554 Centerline is valid? [True, True] Translation: X:-78.83, Y:9.21, Z:2.45 [[ 9.04691921e-01 -4.18563788e-01 -7.96045431e-02 -7.88280767e+01] [ 4.16859466e-01 9.08186889e-01 -3.77460048e-02 9.21467873e+00] [ 8.80949131e-02 9.64598254e-04 9.96111618e-01 2.44634312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10911593299998 meters 0.01542608474513915 Centerline is valid? [True, True] Translation: X:-78.86, Y:9.21, Z:2.45 [[ 9.02837759e-01 -4.22863081e-01 -7.79153073e-02 -7.88594108e+01] [ 4.21245923e-01 9.06193426e-01 -3.69506091e-02 9.20655049e+00] [ 8.62313876e-02 5.38899563e-04 9.96274991e-01 2.45450845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13911593299999 meters 0.015482100768423932 Centerline is valid? [True, True] Translation: X:-78.89, Y:9.19, Z:2.46 [[ 9.04233303e-01 -4.19659547e-01 -7.90442808e-02 -7.88888668e+01] [ 4.17976239e-01 9.07681116e-01 -3.75613572e-02 9.19475621e+00] [ 8.75099831e-02 9.25598842e-04 9.96163213e-01 2.45814790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16911593299999 meters 0.015830180836482834 Centerline is valid? [True, True] Translation: X:-78.91, Y:9.17, Z:2.43 [[ 9.03883572e-01 -4.20721521e-01 -7.73814537e-02 -7.89141126e+01] [ 4.19111813e-01 9.07189476e-01 -3.67769476e-02 9.17158542e+00] [ 8.56724937e-02 8.10597503e-04 9.96323023e-01 2.42810302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19911593299999 meters 0.013728147933621336 Centerline is valid? [True, True] Translation: X:-78.94, Y:9.14, Z:2.37 [[ 9.02504469e-01 -4.24150609e-01 -7.47124175e-02 -7.89351592e+01] [ 4.22660683e-01 9.05591535e-01 -3.55234911e-02 9.13868252e+00] [ 8.27262433e-02 4.82108063e-04 9.96572193e-01 2.37102149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22911593299999 meters 0.01480212169975406 Centerline is valid? [True, True] Translation: X:-78.97, Y:9.13, Z:2.39 [[ 9.04803235e-01 -4.19204575e-01 -7.48239970e-02 -7.89668093e+01] [ 4.17691309e-01 9.07891297e-01 -3.56000395e-02 9.13245147e+00] [ 8.28557552e-02 9.57697625e-04 9.96561090e-01 2.39495073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25911593299999 meters 0.01406981935405101 Centerline is valid? [True, True] Translation: X:-78.99, Y:9.12, Z:2.38 [[ 9.09514721e-01 -4.08355515e-01 -7.76449967e-02 -7.89948454e+01] [ 4.06684648e-01 9.12820695e-01 -3.69591178e-02 9.11748029e+00] [ 8.59684194e-02 2.03783357e-03 9.96295778e-01 2.38102895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.28911593299999 meters 0.015877401208176913 Centerline is valid? [True, True] Translation: X:-79.03, Y:9.11, Z:2.39 [[ 9.12132441e-01 -4.02201343e-01 -7.90473890e-02 -7.90251170e+01] [ 4.00444812e-01 9.15547315e-01 -3.76439426e-02 9.10809098e+00] [ 8.75120690e-02 2.68214437e-03 9.96159849e-01 2.39082133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31911593299999 meters 0.01521080420436868 Centerline is valid? [True, True] Translation: X:-79.06, Y:9.10, Z:2.39 [[ 9.13902003e-01 -3.98310681e-01 -7.83053736e-02 -7.90558910e+01] [ 3.96566339e-01 9.17245347e-01 -3.73645731e-02 9.09984093e+00] [ 8.67079482e-02 3.09428284e-03 9.96228968e-01 2.39038751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.349115933 meters 0.015607504534357539 Centerline is valid? [True, True] Translation: X:-79.09, Y:9.09, Z:2.41 [[ 9.16195770e-01 -3.92068246e-01 -8.28722051e-02 -7.90852575e+01] [ 3.90088421e-01 9.19927854e-01 -3.95444910e-02 9.09100626e+00] [ 9.17405890e-02 3.90300773e-03 9.95775291e-01 2.41262527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.379115933 meters 0.014559453051905076 Centerline is valid? [True, True] Translation: X:-79.11, Y:9.08, Z:2.42 [[ 9.12690508e-01 -4.00717989e-01 -8.01319491e-02 -7.91136968e+01] [ 3.98898928e-01 9.16196705e-01 -3.82523608e-02 9.07903002e+00] [ 8.87450368e-02 2.94801799e-03 9.96050013e-01 2.41526823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.409115933 meters 0.014945717816831251 Centerline is valid? [True, True] Translation: X:-79.14, Y:9.06, Z:2.40 [[ 9.12528361e-01 -4.00529765e-01 -8.28727812e-02 -7.91384308e+01] [ 3.98581842e-01 9.16278569e-01 -3.95739670e-02 9.05595504e+00] [ 9.17851051e-02 3.08078144e-03 9.95774072e-01 2.39831801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.439115933 meters 0.014579062504191543 Centerline is valid? [True, True] Translation: X:-79.17, Y:9.04, Z:2.40 [[ 9.10802185e-01 -4.04845103e-01 -8.08691666e-02 -7.91673205e+01] [ 4.03001451e-01 9.14381464e-01 -3.86829228e-02 9.04473940e+00] [ 8.96058588e-02 2.64209912e-03 9.95973800e-01 2.39539345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46911593299998 meters 0.01477349986865292 Centerline is valid? [True, True] Translation: X:-79.20, Y:9.03, Z:2.41 [[ 9.09214510e-01 -4.08856123e-01 -7.85216274e-02 -7.91959798e+01] [ 4.07128263e-01 9.12596127e-01 -3.76149862e-02 9.03381017e+00] [ 8.70376505e-02 2.23171747e-03 9.96202523e-01 2.41267035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49911593299998 meters 0.013407808995666173 Centerline is valid? [True, True] Translation: X:-79.22, Y:9.01, Z:2.38 [[ 9.06862376e-01 -4.14640023e-01 -7.53278268e-02 -7.92182208e+01] [ 4.13065493e-01 9.09984013e-01 -3.61385413e-02 9.00631325e+00] [ 8.35316037e-02 1.65735751e-03 9.96503750e-01 2.37804107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52911593299999 meters 0.014122193936480428 Centerline is valid? [True, True] Translation: X:-79.25, Y:9.01, Z:2.41 [[ 9.11665633e-01 -4.02873352e-01 -8.09866379e-02 -7.92528298e+01] [ 4.01005583e-01 9.15250975e-01 -3.88609806e-02 9.00688467e+00] [ 8.97791528e-02 2.95212659e-03 9.95957323e-01 2.40998374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55911593299999 meters 0.014545144876186319 Centerline is valid? [True, True] Translation: X:-79.28, Y:8.99, Z:2.38 [[ 9.09507521e-01 -4.08296104e-01 -7.80407602e-02 -7.92778783e+01] [ 4.06576193e-01 9.12846420e-01 -3.75128448e-02 8.98567662e+00] [ 8.65555769e-02 2.38869931e-03 9.96244160e-01 2.38447816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58911593299999 meters 0.013984682266793533 Centerline is valid? [True, True] Translation: X:-79.31, Y:8.98, Z:2.41 [[ 9.08495723e-01 -4.10907416e-01 -7.60960994e-02 -7.93102831e+01] [ 4.09280958e-01 9.11674679e-01 -3.65838305e-02 8.98118939e+00] [ 8.44074543e-02 2.09156908e-03 9.96429128e-01 2.40964210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61911593299999 meters 0.013351465494897937 Centerline is valid? [True, True] Translation: X:-79.34, Y:8.98, Z:2.44 [[ 9.08185965e-01 -4.11518219e-01 -7.64918856e-02 -7.93422493e+01] [ 4.09870581e-01 9.11399083e-01 -3.68485884e-02 8.97652549e+00] [ 8.48784999e-02 2.11359719e-03 9.96389067e-01 2.43652866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.64911593299999 meters 0.013432824430114341 Centerline is valid? [True, True] Translation: X:-79.36, Y:8.95, Z:2.40 [[ 9.03292856e-01 -4.22714657e-01 -7.33098576e-02 -7.93649250e+01] [ 4.21233988e-01 9.06262205e-01 -3.53658444e-02 8.94975713e+00] [ 8.13876140e-02 1.06511095e-03 9.96681956e-01 2.40146961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67911593299999 meters 0.014769700940507524 Centerline is valid? [True, True] Translation: X:-79.39, Y:8.94, Z:2.40 [[ 9.04612312e-01 -4.19518406e-01 -7.53715614e-02 -7.93939106e+01] [ 4.17941982e-01 9.07745763e-01 -3.63611006e-02 8.93659124e+00] [ 8.36723664e-02 1.39175956e-03 9.96492347e-01 2.39762565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.70911593299999 meters 0.014769700940507524 Centerline is valid? [True, True] Translation: X:-79.42, Y:8.92, Z:2.40 [[ 9.04305289e-01 -4.20185737e-01 -7.53385050e-02 -7.94227530e+01] [ 4.18605922e-01 9.07437033e-01 -3.64295617e-02 8.92265646e+00] [ 8.36721317e-02 1.40630097e-03 9.96492347e-01 2.39840751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.739115933 meters 0.013762855678199288 Centerline is valid? [True, True] Translation: X:-79.45, Y:8.90, Z:2.38 [[ 9.02665224e-01 -4.23911936e-01 -7.41226254e-02 -7.94464470e+01] [ 4.22393788e-01 9.05702791e-01 -3.58600433e-02 8.89881804e+00] [ 8.23345691e-02 1.06067745e-03 9.96604181e-01 2.38149907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.769115933 meters 0.013754983819132163 Centerline is valid? [True, True] Translation: X:-79.48, Y:8.89, Z:2.40 [[ 9.01059495e-01 -4.27772179e-01 -7.14335314e-02 -7.94773263e+01] [ 4.26373074e-01 9.03886318e-01 -3.45763764e-02 8.89238396e+00] [ 7.93586036e-02 6.98037849e-04 9.96845888e-01 2.40125021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.799115933 meters 0.01337760740444005 Centerline is valid? [True, True] Translation: X:-79.50, Y:8.86, Z:2.35 [[ 9.02088431e-01 -4.25541720e-01 -7.17684318e-02 -7.94967955e+01] [ 4.24116894e-01 9.04938297e-01 -3.48071706e-02 8.85753817e+00] [ 7.97579057e-02 9.60941589e-04 9.96813801e-01 2.35005206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.829115933 meters 0.014012664017159594 Centerline is valid? [True, True] Translation: X:-79.53, Y:8.86, Z:2.38 [[ 9.03802749e-01 -4.21306008e-01 -7.51121669e-02 -7.95317874e+01] [ 4.19730668e-01 9.06917472e-01 -3.64261701e-02 8.85906025e+00] [ 8.34671008e-02 1.39519274e-03 9.96509557e-01 2.38495722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85911593299998 meters 0.01370628564343495 Centerline is valid? [True, True] Translation: X:-79.56, Y:8.84, Z:2.38 [[ 9.03526968e-01 -4.22186888e-01 -7.34659760e-02 -7.95596004e+01] [ 4.20677146e-01 9.06507812e-01 -3.56977042e-02 8.84339725e+00] [ 8.16685838e-02 1.34838138e-03 9.96658630e-01 2.37648228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88911593299999 meters 0.013436888396115294 Centerline is valid? [True, True] Translation: X:-79.59, Y:8.82, Z:2.36 [[ 9.00259618e-01 -4.29326859e-01 -7.21877259e-02 -7.95857421e+01] [ 4.27891705e-01 9.03148917e-01 -3.50816525e-02 8.82229722e+00] [ 8.02577621e-02 6.94065995e-04 9.96773901e-01 2.36116577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91911593299999 meters 0.013439656024701669 Centerline is valid? [True, True] Translation: X:-79.61, Y:8.81, Z:2.35 [[ 9.03801117e-01 -4.21231597e-01 -7.55478769e-02 -7.96131024e+01] [ 4.19630301e-01 9.06951886e-01 -3.67244859e-02 8.80652872e+00] [ 8.39878033e-02 1.48945303e-03 9.96465669e-01 2.35174312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94911593299999 meters 0.013831949759064916 Centerline is valid? [True, True] Translation: X:-79.65, Y:8.80, Z:2.38 [[ 9.06381415e-01 -4.15113128e-01 -7.84462946e-02 -7.96458255e+01] [ 4.13362359e-01 9.09767266e-01 -3.81455420e-02 8.80344682e+00] [ 8.72025863e-02 2.14766499e-03 9.96188284e-01 2.37845010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97911593299999 meters 0.012803584087216224 Centerline is valid? [True, True] Translation: X:-79.67, Y:8.78, Z:2.35 [[ 9.02130319e-01 -4.25123573e-01 -7.36941984e-02 -7.96690906e+01] [ 4.23607306e-01 9.05134574e-01 -3.58922525e-02 8.77981084e+00] [ 8.19618095e-02 1.16208833e-03 9.96634793e-01 2.35256323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.00911593299999 meters 0.01432953501185607 Centerline is valid? [True, True] Translation: X:-79.70, Y:8.77, Z:2.36 [[ 9.02724516e-01 -4.23614634e-01 -7.50938737e-02 -7.96978835e+01] [ 4.22033799e-01 9.05841519e-01 -3.65870966e-02 8.76620362e+00] [ 8.35219782e-02 1.33591622e-03 9.96505040e-01 2.36319105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03911593299999 meters 0.01464380166774157 Centerline is valid? [True, True] Translation: X:-79.72, Y:8.74, Z:2.35 [[ 9.01768510e-01 -4.25709648e-01 -7.47318617e-02 -7.97229130e+01] [ 4.24145309e-01 9.04859024e-01 -3.64815451e-02 8.74418822e+00] [ 8.31523452e-02 1.20074004e-03 9.96536124e-01 2.34607379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.06911593299999 meters 0.01327845780504292 Centerline is valid? [True, True] Translation: X:-79.75, Y:8.73, Z:2.34 [[ 8.98099286e-01 -4.33862516e-01 -7.19790877e-02 -7.97499639e+01] [ 4.32433558e-01 9.00978963e-01 -3.51870279e-02 8.72885654e+00] [ 8.01179762e-02 4.75271701e-04 9.96785275e-01 2.33835711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.099115933 meters 0.014203302587658222 Centerline is valid? [True, True] Translation: X:-79.78, Y:8.71, Z:2.34 [[ 8.99032306e-01 -4.31635004e-01 -7.37030242e-02 -7.97776097e+01] [ 4.30125085e-01 9.02048049e-01 -3.60794747e-02 8.71471041e+00] [ 8.20568334e-02 7.35093830e-04 9.96627381e-01 2.34383653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.129115933 meters 0.01329801351981617 Centerline is valid? [True, True] Translation: X:-79.81, Y:8.70, Z:2.34 [[ 8.94124021e-01 -4.42458736e-01 -6.90833009e-02 -7.98061081e+01] [ 4.41164341e-01 8.96788833e-01 -3.38203105e-02 8.70078126e+00] [ 7.69172246e-02 -2.37536966e-04 9.97037454e-01 2.34495058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.159115933 meters 0.012956723127388688 Centerline is valid? [True, True] Translation: X:-79.83, Y:8.68, Z:2.34 [[ 8.95045751e-01 -4.40291929e-01 -7.09656392e-02 -7.98326511e+01] [ 4.38913567e-01 8.97854675e-01 -3.48118225e-02 8.68269267e+00] [ 7.90441954e-02 1.03918904e-05 9.96871113e-01 2.33566072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.189115933 meters 0.01250348371049807 Centerline is valid? [True, True] Translation: X:-79.86, Y:8.67, Z:2.34 [[ 8.93860114e-01 -4.42725708e-01 -7.07675387e-02 -7.98608550e+01] [ 4.41357262e-01 8.96657085e-01 -3.47827523e-02 8.66745791e+00] [ 7.88534336e-02 -1.42852164e-04 9.96886210e-01 2.33691997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21911593299998 meters 0.014969504044603165 Centerline is valid? [True, True] Translation: X:-79.88, Y:8.64, Z:2.31 [[ 8.93517779e-01 -4.43937003e-01 -6.74234035e-02 -7.98831427e+01] [ 4.42695155e-01 8.96057977e-01 -3.31828574e-02 8.64140377e+00] [ 7.51463768e-02 -1.98541039e-04 9.97172494e-01 2.31100597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24911593299998 meters 0.012437071467641591 Centerline is valid? [True, True] Translation: X:-79.91, Y:8.64, Z:2.33 [[ 8.92861216e-01 -4.45218339e-01 -6.76718558e-02 -7.99147230e+01] [ 4.43966694e-01 8.95422004e-01 -3.33618014e-02 8.63602005e+00] [ 7.54481545e-02 -2.56591606e-04 9.97149693e-01 2.33093445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27911593299999 meters 0.01315219180683352 Centerline is valid? [True, True] Translation: X:-79.95, Y:8.64, Z:2.37 [[ 8.97721207e-01 -4.34811627e-01 -7.09611339e-02 -7.99516600e+01] [ 4.33402317e-01 9.00521195e-01 -3.49858353e-02 8.64117042e+00] [ 7.91142531e-02 6.52806421e-04 9.96865341e-01 2.36677682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30911593299999 meters 0.013063241981104787 Centerline is valid? [True, True] Translation: X:-79.97, Y:8.60, Z:2.31 [[ 8.95440394e-01 -4.39911428e-01 -6.82966728e-02 -7.99693985e+01] [ 4.38619866e-01 8.98041142e-01 -3.36856131e-02 8.60174250e+00] [ 7.61519082e-02 2.07181216e-04 9.97096206e-01 2.31291010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33911593299999 meters 0.013052030649712412 Centerline is valid? [True, True] Translation: X:-80.00, Y:8.59, Z:2.31 [[ 8.96668987e-01 -4.37292886e-01 -6.89902860e-02 -7.99982126e+01] [ 4.35965544e-01 8.99319035e-01 -3.40487608e-02 8.58653675e+00] [ 7.69335583e-02 4.53080293e-04 9.97036119e-01 2.30954974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.36911593299999 meters 0.013011244156649967 Centerline is valid? [True, True] Translation: X:-80.03, Y:8.58, Z:2.32 [[ 8.95645191e-01 -4.39524831e-01 -6.81000392e-02 -8.00287358e+01] [ 4.38233046e-01 8.98230384e-01 -3.36745437e-02 8.57858726e+00] [ 7.59703225e-02 3.16755551e-04 9.97110029e-01 2.32298288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39911593299999 meters 0.013172480139307685 Centerline is valid? [True, True] Translation: X:-80.05, Y:8.56, Z:2.31 [[ 8.94263702e-01 -4.42128366e-01 -6.93897567e-02 -8.00535526e+01] [ 4.40790618e-01 8.96951775e-01 -3.43677969e-02 8.55772196e+00] [ 7.74342433e-02 1.47519535e-04 9.96997450e-01 2.30992240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.42911593299999 meters 0.012523056883203406 Centerline is valid? [True, True] Translation: X:-80.08, Y:8.54, Z:2.29 [[ 8.94538851e-01 -4.41583506e-01 -6.93127100e-02 -8.00794658e+01] [ 4.40241998e-01 8.97220120e-01 -3.43953468e-02 8.53613506e+00] [ 7.73771758e-02 2.53607988e-04 9.97001860e-01 2.28825212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45911593299999 meters 0.012285305595295773 Centerline is valid? [True, True] Translation: X:-80.11, Y:8.52, Z:2.29 [[ 8.95367095e-01 -4.39512083e-01 -7.17418545e-02 -8.01072755e+01] [ 4.38065284e-01 8.98236549e-01 -3.56357732e-02 8.52338432e+00] [ 8.01035088e-02 4.79482897e-04 9.96786435e-01 2.29225363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.489115933 meters 0.013336919459704798 Centerline is valid? [True, True] Translation: X:-80.14, Y:8.52, Z:2.31 [[ 8.96311921e-01 -4.37198843e-01 -7.40412897e-02 -8.01382223e+01] [ 4.35646152e-01 8.99364561e-01 -3.68214283e-02 8.51720350e+00] [ 8.26883978e-02 7.47682140e-04 9.96575170e-01 2.31448906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.519115933 meters 0.012722287027979928 Centerline is valid? [True, True] Translation: X:-80.16, Y:8.49, Z:2.28 [[ 8.95567370e-01 -4.38588410e-01 -7.48284259e-02 -8.01600882e+01] [ 4.37002031e-01 8.98687788e-01 -3.72757857e-02 8.48923029e+00] [ 8.35961201e-02 6.82803265e-04 9.96499484e-01 2.28183793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.549115933 meters 0.01254429848082971 Centerline is valid? [True, True] Translation: X:-80.19, Y:8.48, Z:2.28 [[ 8.94353609e-01 -4.41324288e-01 -7.32427066e-02 -8.01889710e+01] [ 4.39813297e-01 8.97347588e-01 -3.64906763e-02 8.47545958e+00] [ 8.18283878e-02 4.22451739e-04 9.96646345e-01 2.28130028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.579115933 meters 0.013415625716630976 Centerline is valid? [True, True] Translation: X:-80.22, Y:8.46, Z:2.27 [[ 8.94584161e-01 -4.40625379e-01 -7.46220718e-02 -8.02152950e+01] [ 4.39048512e-01 8.97690906e-01 -3.72483797e-02 8.45761417e+00] [ 8.34001367e-02 5.59100959e-04 9.96515983e-01 2.27200784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60911593299998 meters 0.012803387711579154 Centerline is valid? [True, True] Translation: X:-80.24, Y:8.45, Z:2.28 [[ 8.93191492e-01 -4.43345661e-01 -7.51903202e-02 -8.02448400e+01] [ 4.41749165e-01 8.96350653e-01 -3.75923088e-02 8.44586652e+00] [ 8.40632797e-02 3.61869252e-04 9.96460352e-01 2.27772696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63911593299999 meters 0.013281097632579283 Centerline is valid? [True, True] Translation: X:-80.28, Y:8.44, Z:2.31 [[ 8.94300923e-01 -4.40859021e-01 -7.66105918e-02 -8.02784308e+01] [ 4.39191572e-01 8.97576150e-01 -3.83121202e-02 8.44367353e+00] [ 8.56540838e-02 6.15838302e-04 9.96324746e-01 2.30806889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66911593299999 meters 0.01229524160503089 Centerline is valid? [True, True] Translation: X:-80.30, Y:8.41, Z:2.27 [[ 8.92445544e-01 -4.44915323e-01 -7.47750448e-02 -8.03008652e+01] [ 4.43339818e-01 8.95572610e-01 -3.74099664e-02 8.41415206e+00] [ 8.36107494e-02 2.35603013e-04 9.96498463e-01 2.26827155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69911593299999 meters 0.012741590200996895 Centerline is valid? [True, True] Translation: X:-80.33, Y:8.40, Z:2.27 [[ 8.90912963e-01 -4.48329055e-01 -7.26302286e-02 -8.03305409e+01] [ 4.46851587e-01 8.93868590e-01 -3.63676192e-02 8.40326270e+00] [ 8.12265404e-02 -5.45494745e-05 9.96695664e-01 2.27473253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72911593299999 meters 0.012595393945032582 Centerline is valid? [True, True] Translation: X:-80.36, Y:8.39, Z:2.27 [[ 8.93292394e-01 -4.43179944e-01 -7.49682310e-02 -8.03582406e+01] [ 4.41583425e-01 8.96432549e-01 -3.75867434e-02 8.38882966e+00] [ 8.38616533e-02 4.71223825e-04 9.96477296e-01 2.26746411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75911593299999 meters 0.012388645087564968 Centerline is valid? [True, True] Translation: X:-80.39, Y:8.37, Z:2.26 [[ 8.93011436e-01 -4.43834195e-01 -7.44431536e-02 -8.03850248e+01] [ 4.42256968e-01 8.96108806e-01 -3.73869216e-02 8.37187048e+00] [ 8.33027597e-02 4.63945170e-04 9.96524177e-01 2.26418492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.78911593299999 meters 0.012516338872276307 Centerline is valid? [True, True] Translation: X:-80.41, Y:8.36, Z:2.27 [[ 8.93459306e-01 -4.42845976e-01 -7.49527170e-02 -8.04115785e+01] [ 4.41238607e-01 8.96597494e-01 -3.77018081e-02 8.35530502e+00] [ 8.38985123e-02 6.12998872e-04 9.96474116e-01 2.26570135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81911593299999 meters 0.012744175575363708 Centerline is valid? [True, True] Translation: X:-80.44, Y:8.35, Z:2.27 [[ 8.90723696e-01 -4.48594041e-01 -7.33122346e-02 -8.04415233e+01] [ 4.47071341e-01 8.93735628e-01 -3.69302614e-02 8.34526726e+00] [ 8.20884512e-02 1.18859902e-04 9.96625041e-01 2.26713272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.849115933 meters 0.011697431989455661 Centerline is valid? [True, True] Translation: X:-80.46, Y:8.32, Z:2.24 [[ 8.89568638e-01 -4.51325747e-01 -7.05174302e-02 -8.04637605e+01] [ 4.49921670e-01 8.92359268e-01 -3.55728514e-02 8.31921442e+00] [ 7.89818261e-02 -8.28270294e-05 9.96876053e-01 2.24422811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.879115933 meters 0.012622292564333995 Centerline is valid? [True, True] Translation: X:-80.49, Y:8.31, Z:2.25 [[ 8.87611291e-01 -4.55408116e-01 -6.89176674e-02 -8.04941967e+01] [ 4.54075308e-01 8.90282706e-01 -3.48183527e-02 8.31069207e+00] [ 7.72127679e-02 -3.88648027e-04 9.97014562e-01 2.24949184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.909115933 meters 0.012234320211152753 Centerline is valid? [True, True] Translation: X:-80.52, Y:8.30, Z:2.25 [[ 8.90726861e-01 -4.48780537e-01 -7.21227376e-02 -8.05214143e+01] [ 4.47295715e-01 8.93641973e-01 -3.64769334e-02 8.29672629e+00] [ 8.08220433e-02 2.30792849e-04 9.96728521e-01 2.25212265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.939115933 meters 0.012990792177057127 Centerline is valid? [True, True] Translation: X:-80.56, Y:8.31, Z:2.31 [[ 8.90916506e-01 -4.48566854e-01 -7.11024389e-02 -8.05617623e+01] [ 4.47118283e-01 8.93749230e-01 -3.60215841e-02 8.31044748e+00] [ 7.97058387e-02 3.01023464e-04 9.96818383e-01 2.31457728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96911593299998 meters 0.011638158281083253 Centerline is valid? [True, True] Translation: X:-80.58, Y:8.27, Z:2.26 [[ 8.88220431e-01 -4.54120113e-01 -6.95657183e-02 -8.05787683e+01] [ 4.52748960e-01 8.90940454e-01 -3.52631095e-02 8.27161282e+00] [ 7.79925999e-02 -1.74392294e-04 9.96953923e-01 2.26096159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99911593299998 meters 0.012654821919817164 Centerline is valid? [True, True] Translation: X:-80.61, Y:8.26, Z:2.26 [[ 8.88858257e-01 -4.52750273e-01 -7.03433730e-02 -8.06071998e+01] [ 4.51338850e-01 8.91637365e-01 -3.57218662e-02 8.25794888e+00] [ 7.88938644e-02 2.97859970e-06 9.96883021e-01 2.26379607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.02911593299999 meters 0.011573713955874127 Centerline is valid? [True, True] Translation: X:-80.63, Y:8.24, Z:2.25 [[ 8.88365733e-01 -4.54051358e-01 -6.81446124e-02 -8.06344585e+01] [ 4.52730457e-01 8.90975507e-01 -3.46089635e-02 8.24049875e+00] [ 7.64294275e-02 -1.05724250e-04 9.97074988e-01 2.25385894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.059115933 meters 0.01198151957107601 Centerline is valid? [True, True] Translation: X:-80.66, Y:8.23, Z:2.26 [[ 8.86148720e-01 -4.58378179e-01 -6.80433011e-02 -8.06637858e+01] [ 4.57067892e-01 8.88757154e-01 -3.46361587e-02 8.22724782e+00] [ 7.63504300e-02 -4.07620512e-04 9.97080962e-01 2.26160818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.089115933 meters 0.011901228337258835 Centerline is valid? [True, True] Translation: X:-80.69, Y:8.21, Z:2.25 [[ 8.87201422e-01 -4.56395023e-01 -6.76551575e-02 -8.06914373e+01] [ 4.55089929e-01 8.89777246e-01 -3.44907072e-02 8.21144979e+00] [ 7.59394068e-02 -1.88976328e-04 9.97112416e-01 2.25137693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.119115933 meters 0.012001939667144733 Centerline is valid? [True, True] Translation: X:-80.72, Y:8.19, Z:2.25 [[ 8.87230282e-01 -4.56526443e-01 -6.63779586e-02 -8.07171915e+01] [ 4.55266591e-01 8.89709832e-01 -3.38931630e-02 8.19290841e+00] [ 7.45302475e-02 -1.48626333e-04 9.97218742e-01 2.24897290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.149115933 meters 0.012461150370971168 Centerline is valid? [True, True] Translation: X:-80.75, Y:8.19, Z:2.28 [[ 8.87757366e-01 -4.55480373e-01 -6.65168310e-02 -8.07526593e+01] [ 4.54207531e-01 8.90245825e-01 -3.40277782e-02 8.19174384e+00] [ 7.47153162e-02 -4.03480229e-06 9.97204904e-01 2.27764217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.179115933 meters 0.012276022770820565 Centerline is valid? [True, True] Translation: X:-80.77, Y:8.16, Z:2.24 [[ 8.86570611e-01 -4.57553993e-01 -6.80947466e-02 -8.07717151e+01] [ 4.56225649e-01 8.89181821e-01 -3.48402902e-02 8.15533996e+00] [ 7.64899247e-02 -1.78192542e-04 9.97070338e-01 2.23644816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.209115933 meters 0.011781984130612086 Centerline is valid? [True, True] Translation: X:-80.80, Y:8.15, Z:2.24 [[ 8.85510507e-01 -4.60157191e-01 -6.42378501e-02 -8.08024237e+01] [ 4.58981207e-01 8.87837385e-01 -3.28789991e-02 8.14554098e+00] [ 7.21622727e-02 -3.69266793e-04 9.97392836e-01 2.24452627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.239115933 meters 0.011961616025788128 Centerline is valid? [True, True] Translation: X:-80.83, Y:8.12, Z:2.23 [[ 8.83028885e-01 -4.65045788e-01 -6.31854658e-02 -8.08270136e+01] [ 4.63915940e-01 8.85286353e-01 -3.24048370e-02 8.12414429e+00] [ 7.10069636e-02 -6.98337675e-04 9.97475575e-01 2.23074301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.269115933 meters 0.011879223297374232 Centerline is valid? [True, True] Translation: X:-80.86, Y:8.11, Z:2.23 [[ 8.86682155e-01 -4.57787740e-01 -6.50010823e-02 -8.08562800e+01] [ 4.56571905e-01 8.89061512e-01 -3.33425132e-02 8.11028686e+00] [ 7.30537543e-02 -1.13456511e-04 9.97327998e-01 2.23252148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.299115933 meters 0.011639428294174747 Centerline is valid? [True, True] Translation: X:-80.88, Y:8.10, Z:2.22 [[ 8.84679864e-01 -4.61844396e-01 -6.35711539e-02 -8.08838199e+01] [ 4.60687811e-01 8.86960881e-01 -3.26670497e-02 8.09529796e+00] [ 7.14722205e-02 -3.86574643e-04 9.97442516e-01 2.22464299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.329115933 meters 0.012260017901124819 Centerline is valid? [True, True] Translation: X:-80.92, Y:8.10, Z:2.27 [[ 8.85465696e-01 -4.60464395e-01 -6.26342003e-02 -8.09187315e+01] [ 4.59334621e-01 8.87678146e-01 -3.22368692e-02 8.09547229e+00] [ 7.04429413e-02 -2.25414814e-04 9.97515785e-01 2.26574206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.359115933 meters 0.011723636634883971 Centerline is valid? [True, True] Translation: X:-80.94, Y:8.06, Z:2.23 [[ 8.83806137e-01 -4.63644209e-01 -6.26159704e-02 -8.09380896e+01] [ 4.62518792e-01 8.86021369e-01 -3.22877771e-02 8.06071192e+00] [ 7.04491287e-02 -4.24927432e-04 9.97515283e-01 2.23091002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.389115933 meters 0.011389418056681049 Centerline is valid? [True, True] Translation: X:-80.97, Y:8.05, Z:2.24 [[ 8.79284155e-01 -4.72684698e-01 -5.85538315e-02 -8.09706901e+01] [ 4.71720655e-01 8.81230971e-01 -3.01927049e-02 8.05481140e+00] [ 6.58710793e-02 -1.07308473e-03 9.97827565e-01 2.23951707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.419115933 meters 0.01188141670989206 Centerline is valid? [True, True] Translation: X:-80.99, Y:8.03, Z:2.22 [[ 8.80802077e-01 -4.69492380e-01 -6.13563963e-02 -8.09933191e+01] [ 4.68422355e-01 8.82936136e-01 -3.16903268e-02 8.03078315e+00] [ 6.90521464e-02 -8.27801997e-04 9.97612708e-01 2.22496143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.449115933 meters 0.011329555481234625 Centerline is valid? [True, True] Translation: X:-81.02, Y:8.02, Z:2.22 [[ 8.78817548e-01 -4.73534173e-01 -5.86950084e-02 -8.10214132e+01] [ 4.72563753e-01 8.80774770e-01 -3.03200270e-02 8.01512044e+00] [ 6.60546514e-02 -1.09136166e-03 9.97815410e-01 2.21857886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.479115933 meters 0.012596150030734707 Centerline is valid? [True, True] Translation: X:-81.06, Y:8.03, Z:2.30 [[ 8.80857057e-01 -4.69702324e-01 -5.89115610e-02 -8.10626723e+01] [ 4.68712195e-01 8.82824534e-01 -3.04913238e-02 8.02933920e+00] [ 6.63304170e-02 -7.54069328e-04 9.97797428e-01 2.29585761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.509115933 meters 0.01195206790618352 Centerline is valid? [True, True] Translation: X:-81.08, Y:7.99, Z:2.22 [[ 8.80877806e-01 -4.69833325e-01 -5.75407522e-02 -8.10777624e+01] [ 4.68886009e-01 8.82754864e-01 -2.98288465e-02 7.98545146e+00] [ 6.48089650e-02 -7.04484814e-04 9.97897440e-01 2.22404619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53911593299998 meters 0.011587382347114171 Centerline is valid? [True, True] Translation: X:-81.10, Y:7.96, Z:2.20 [[ 8.79429280e-01 -4.72635648e-01 -5.67422837e-02 -8.11017044e+01] [ 4.71717630e-01 8.81257512e-01 -2.94563321e-02 7.96289636e+00] [ 6.39266764e-02 -8.61574634e-04 9.97954226e-01 2.20354703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.56911593299998 meters 0.011557265243695294 Centerline is valid? [True, True] Translation: X:-81.13, Y:7.95, Z:2.22 [[ 8.80298536e-01 -4.70808290e-01 -5.84297973e-02 -8.11322299e+01] [ 4.69827600e-01 8.82235259e-01 -3.03804802e-02 7.95424906e+00] [ 6.58522093e-02 -7.08039200e-04 9.97829136e-01 2.22315482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.59911593299998 meters 0.011479092636746716 Centerline is valid? [True, True] Translation: X:-81.16, Y:7.93, Z:2.20 [[ 8.77520118e-01 -4.76212858e-01 -5.63893404e-02 -8.11551194e+01] [ 4.75307979e-01 8.79329426e-01 -2.93613059e-02 7.92970716e+00] [ 6.35670377e-02 -1.03716679e-03 9.97977032e-01 2.20479163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.62911593299998 meters 0.011479092636746716 Centerline is valid? [True, True] Translation: X:-81.18, Y:7.91, Z:2.21 [[ 8.77174229e-01 -4.76852384e-01 -5.63664507e-02 -8.11834130e+01] [ 4.75946002e-01 8.78982784e-01 -2.94052403e-02 7.91498907e+00] [ 6.35670987e-02 -1.03386786e-03 9.97977031e-01 2.20558176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.65911593299998 meters 0.013057166468470395 Centerline is valid? [True, True] Translation: X:-81.22, Y:7.92, Z:2.26 [[ 8.82317123e-01 -4.66817656e-01 -5.99814142e-02 -8.12229434e+01] [ 4.65768196e-01 8.84353529e-01 -3.12861490e-02 7.92447208e+00] [ 6.76497020e-02 -3.33130078e-04 9.97709079e-01 2.25622556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.68911593299998 meters 0.0114004829418527 Centerline is valid? [True, True] Translation: X:-81.24, Y:7.88, Z:2.18 [[ 8.79032535e-01 -4.72860483e-01 -6.08667901e-02 -8.12360816e+01] [ 4.71792836e-01 8.81136957e-01 -3.17676525e-02 7.87573963e+00] [ 6.86536458e-02 -7.91715370e-04 9.97640241e-01 2.18360667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.71911593299998 meters 0.011730409976862902 Centerline is valid? [True, True] Translation: X:-81.27, Y:7.87, Z:2.19 [[ 8.79275530e-01 -4.72184912e-01 -6.25775595e-02 -8.12659882e+01] [ 4.71050309e-01 8.81499240e-01 -3.27214949e-02 7.86605226e+00] [ 7.06126673e-02 -7.05968914e-04 9.97503560e-01 2.19361943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.74911593299998 meters 0.012293636815013125 Centerline is valid? [True, True] Translation: X:-81.29, Y:7.85, Z:2.19 [[ 8.79919165e-01 -4.70955035e-01 -6.27982254e-02 -8.12936195e+01] [ 4.69804986e-01 8.82157041e-01 -3.28972536e-02 7.84913766e+00] [ 7.08910239e-02 -5.55995479e-04 9.97483911e-01 2.19468554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.77911593299999 meters 0.011623528778203739 Centerline is valid? [True, True] Translation: X:-81.32, Y:7.83, Z:2.19 [[ 8.77698616e-01 -4.75197642e-01 -6.19058987e-02 -8.13215131e+01] [ 4.74087215e-01 8.79878679e-01 -3.24780344e-02 7.83437527e+00] [ 6.99031658e-02 -8.42869227e-04 9.97553426e-01 2.18966833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.809115933 meters 0.01184422592528327 Centerline is valid? [True, True] Translation: X:-81.35, Y:7.82, Z:2.19 [[ 8.79205710e-01 -4.72344752e-01 -6.23518606e-02 -8.13477004e+01] [ 4.71206849e-01 8.81413701e-01 -3.27718322e-02 7.81513904e+00] [ 7.04373872e-02 -5.67441772e-04 9.97516041e-01 2.18621618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.839115933 meters 0.012064422400860655 Centerline is valid? [True, True] Translation: X:-81.37, Y:7.79, Z:2.17 [[ 8.78714065e-01 -4.72921789e-01 -6.48581079e-02 -8.13712666e+01] [ 4.71689119e-01 8.81104203e-01 -3.41285487e-02 7.79328087e+00] [ 7.32868858e-02 -6.03628066e-04 9.97310718e-01 2.17305576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.869115933 meters 0.011949465020755674 Centerline is valid? [True, True] Translation: X:-81.40, Y:7.78, Z:2.18 [[ 8.77840058e-01 -4.74740033e-01 -6.33934799e-02 -8.14008800e+01] [ 4.73563326e-01 8.80125800e-01 -3.34118553e-02 7.78140986e+00] [ 7.16561825e-02 -6.90562177e-04 9.97429153e-01 2.17960120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.899115933 meters 0.013402573022318627 Centerline is valid? [True, True] Translation: X:-81.43, Y:7.77, Z:2.20 [[ 8.78069153e-01 -4.74393989e-01 -6.28084789e-02 -8.14322947e+01] [ 4.73234438e-01 8.80312427e-01 -3.31541568e-02 7.77336346e+00] [ 7.10192172e-02 -6.11492759e-04 9.97474760e-01 2.19519370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.929115933 meters 0.014416758126791494 Centerline is valid? [True, True] Translation: X:-81.47, Y:7.79, Z:2.26 [[ 8.74547083e-01 -4.81226923e-01 -5.99003136e-02 -8.14743712e+01] [ 4.80188155e-01 8.76595356e-01 -3.16214711e-02 7.78752994e+00] [ 6.77254400e-02 -1.10895576e-03 9.97703380e-01 2.26408487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.959115933 meters 0.012474288049485005 Centerline is valid? [True, True] Translation: X:-81.48, Y:7.73, Z:2.16 [[ 8.75709930e-01 -4.78374393e-01 -6.54985355e-02 -8.14798338e+01] [ 4.77119688e-01 8.78155508e-01 -3.46368001e-02 7.72539072e+00] [ 7.40872580e-02 -9.18851019e-04 9.97251339e-01 2.16045999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.989115933 meters 0.012138872638119753 Centerline is valid? [True, True] Translation: X:-81.51, Y:7.71, Z:2.17 [[ 8.73391998e-01 -4.82633509e-01 -6.52020904e-02 -8.15084928e+01] [ 4.81397962e-01 8.75821553e-01 -3.45341894e-02 7.71204472e+00] [ 7.37727531e-02 -1.22626874e-03 9.97274324e-01 2.16749708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.019115933 meters 0.0121963502741966 Centerline is valid? [True, True] Translation: X:-81.53, Y:7.69, Z:2.16 [[ 8.74904477e-01 -4.79947113e-01 -6.47527981e-02 -8.15346114e+01] [ 4.78717371e-01 8.77296912e-01 -3.43483187e-02 7.69338145e+00] [ 7.32928062e-02 -9.46791445e-04 9.97310016e-01 2.16080775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.049115933 meters 0.012743337075912863 Centerline is valid? [True, True] Translation: X:-81.56, Y:7.68, Z:2.16 [[ 8.72637860e-01 -4.84246851e-01 -6.33099670e-02 -8.15636132e+01] [ 4.83078908e-01 8.74930550e-01 -3.36348089e-02 7.68114970e+00] [ 7.16793746e-02 -1.23270206e-03 9.97426964e-01 2.15951583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.079115933 meters 0.012146473496211539 Centerline is valid? [True, True] Translation: X:-81.59, Y:7.66, Z:2.15 [[ 8.73342199e-01 -4.82822239e-01 -6.44677404e-02 -8.15880253e+01] [ 4.81603474e-01 8.75717703e-01 -3.43015772e-02 7.65878867e+00] [ 7.30171058e-02 -1.09087284e-03 9.97330092e-01 2.14944291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.109115933 meters 0.012230883932135965 Centerline is valid? [True, True] Translation: X:-81.61, Y:7.64, Z:2.14 [[ 8.76278942e-01 -4.77095076e-01 -6.71975100e-02 -8.16132066e+01] [ 4.75750137e-01 8.78851486e-01 -3.58032556e-02 7.63900911e+00] [ 7.61381884e-02 -5.95585691e-04 9.97097097e-01 2.13756767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.139115933 meters 0.012513543569125044 Centerline is valid? [True, True] Translation: X:-81.64, Y:7.63, Z:2.16 [[ 8.74507772e-01 -4.80517773e-01 -6.58697688e-02 -8.16444878e+01] [ 4.79231164e-01 8.76984597e-01 -3.51497907e-02 7.63089565e+00] [ 7.46568718e-02 -8.28080788e-04 9.97208938e-01 2.15593217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.169115933 meters 0.01219955535359963 Centerline is valid? [True, True] Translation: X:-81.67, Y:7.61, Z:2.14 [[ 8.75781535e-01 -4.78265785e-01 -6.53340848e-02 -8.16705387e+01] [ 4.76989859e-01 8.78214949e-01 -3.49167201e-02 7.61291473e+00] [ 7.40768425e-02 -5.84277130e-04 9.97252365e-01 2.14466333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.199115933 meters 0.012669431120749577 Centerline is valid? [True, True] Translation: X:-81.70, Y:7.59, Z:2.13 [[ 8.77231107e-01 -4.75467871e-01 -6.63014913e-02 -8.16951714e+01] [ 4.74141896e-01 8.79733033e-01 -3.54859556e-02 7.59157183e+00] [ 7.52000438e-02 -3.06930624e-04 9.97168421e-01 2.13096353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.229115933 meters 0.012436162582334787 Centerline is valid? [True, True] Translation: X:-81.72, Y:7.58, Z:2.13 [[ 8.79443147e-01 -4.71332500e-01 -6.65238676e-02 -8.17243033e+01] [ 4.69981767e-01 8.81955592e-01 -3.56577134e-02 7.57898601e+00] [ 7.54777362e-02 9.39268320e-05 9.97147483e-01 2.12758786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.259115933 meters 0.012662997070827462 Centerline is valid? [True, True] Translation: X:-81.75, Y:7.57, Z:2.13 [[ 8.80552595e-01 -4.68992247e-01 -6.83622721e-02 -8.17523833e+01] [ 4.67554774e-01 8.83202215e-01 -3.66930728e-02 7.56501347e+00] [ 7.75864768e-02 3.47073778e-04 9.96985566e-01 2.13191288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.28911593299998 meters 0.012879493454933885 Centerline is valid? [True, True] Translation: X:-81.78, Y:7.55, Z:2.13 [[ 8.81383767e-01 -4.67538451e-01 -6.76051183e-02 -8.17798747e+01] [ 4.66124228e-01 8.83972584e-01 -3.63410959e-02 7.54967530e+00] [ 7.67519308e-02 5.18068373e-04 9.97050085e-01 2.12727146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.31911593299998 meters 0.01291971108287027 Centerline is valid? [True, True] Translation: X:-81.81, Y:7.53, Z:2.12 [[ 8.81136926e-01 -4.67699762e-01 -6.96753208e-02 -8.18053858e+01] [ 4.66194179e-01 8.83887219e-01 -3.75016105e-02 7.53134183e+00] [ 7.91246199e-02 5.61824808e-04 9.96864574e-01 2.11948733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.34911593299998 meters 0.013024082567024057 Centerline is valid? [True, True] Translation: X:-81.84, Y:7.52, Z:2.12 [[ 8.79611260e-01 -4.71120401e-01 -6.57996859e-02 -8.18356402e+01] [ 4.69783821e-01 8.82068868e-01 -3.54636922e-02 7.52226416e+00] [ 7.47475234e-02 2.82635176e-04 9.97202451e-01 2.12208157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.37911593299998 meters 0.012620962713188905 Centerline is valid? [True, True] Translation: X:-81.86, Y:7.50, Z:2.11 [[ 8.81945158e-01 -4.66178903e-01 -6.96417182e-02 -8.18595088e+01] [ 4.64662401e-01 8.84690125e-01 -3.75797334e-02 7.50135005e+00] [ 7.91302193e-02 7.83375922e-04 9.96863980e-01 2.11125071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.40911593299998 meters 0.01714722906074604 Centerline is valid? [True, True] Translation: X:-81.88, Y:7.48, Z:2.10 [[ 8.79153584e-01 -4.72126897e-01 -6.46928831e-02 -8.18843380e+01] [ 4.70831028e-01 8.81530554e-01 -3.49574740e-02 7.48169185e+00] [ 7.35331168e-02 2.73571896e-04 9.97292738e-01 2.10410623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.43911593299998 meters 0.017586700794202777 Centerline is valid? [True, True] Translation: X:-81.91, Y:7.46, Z:2.10 [[ 8.80924250e-01 -4.68558466e-01 -6.65239004e-02 -8.19087956e+01] [ 4.67174297e-01 8.83432265e-01 -3.59945790e-02 7.46185098e+00] [ 7.56349247e-02 6.30241089e-04 9.97135377e-01 2.09915680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.46911593299998 meters 0.02058816085671883 Centerline is valid? [True, True] Translation: X:-81.93, Y:7.44, Z:2.09 [[ 8.79463629e-01 -4.71796673e-01 -6.28619429e-02 -8.19346628e+01] [ 4.70568451e-01 8.81707311e-01 -3.40227856e-02 7.44345856e+00] [ 7.14776718e-02 3.40955396e-04 9.97442142e-01 2.09271987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.49911593299998 meters 0.020887210559787723 Centerline is valid? [True, True] Translation: X:-81.96, Y:7.43, Z:2.10 [[ 8.79098602e-01 -4.72703280e-01 -6.11331091e-02 -8.19625931e+01] [ 4.71542077e-01 8.81221612e-01 -3.31140616e-02 7.42961103e+00] [ 6.95249424e-02 2.83692071e-04 9.97580173e-01 2.09820076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.52911593299999 meters 0.018573403061467313 Centerline is valid? [True, True] Translation: X:-81.99, Y:7.41, Z:2.09 [[ 8.77246780e-01 -4.76050717e-01 -6.17559783e-02 -8.19894617e+01] [ 4.74869900e-01 8.79417824e-01 -3.35092299e-02 7.41182306e+00] [ 7.02614010e-02 6.98088356e-05 9.97528611e-01 2.08875836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.559115933 meters 0.018397760810060074 Centerline is valid? [True, True] Translation: X:-82.02, Y:7.40, Z:2.09 [[ 8.76396824e-01 -4.77595489e-01 -6.18963376e-02 -8.20187610e+01] [ 4.76408957e-01 8.78579848e-01 -3.36445589e-02 7.39786147e+00] [ 7.04493645e-02 -1.98505304e-06 9.97515357e-01 2.08934720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.589115933 meters 0.01868934100950163 Centerline is valid? [True, True] Translation: X:-82.04, Y:7.37, Z:2.07 [[ 8.77839114e-01 -4.74705304e-01 -6.36660437e-02 -8.20419420e+01] [ 4.73441958e-01 8.80144770e-01 -3.46106263e-02 7.37121645e+00] [ 7.24651833e-02 2.40385143e-04 9.97370914e-01 2.06643395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.619115933 meters 0.02017679391509577 Centerline is valid? [True, True] Translation: X:-82.07, Y:7.36, Z:2.08 [[ 8.77295040e-01 -4.75742786e-01 -6.34209285e-02 -8.20718918e+01] [ 4.74487395e-01 8.79584423e-01 -3.45391747e-02 7.36022755e+00] [ 7.22158240e-02 2.08615499e-04 9.97389007e-01 2.07899687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.649115933 meters 0.019842597995395898 Centerline is valid? [True, True] Translation: X:-82.10, Y:7.34, Z:2.07 [[ 8.77470981e-01 -4.75217025e-01 -6.49111446e-02 -8.20975651e+01] [ 4.73896614e-01 8.79868563e-01 -3.54021492e-02 7.34107058e+00] [ 7.39369795e-02 3.03187032e-04 9.97262870e-01 2.06585504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.679115933 meters 0.01714519594481604 Centerline is valid? [True, True] Translation: X:-82.13, Y:7.33, Z:2.07 [[ 8.80551750e-01 -4.68862608e-01 -6.92565569e-02 -8.21262051e+01] [ 4.67335703e-01 8.83270614e-01 -3.78201364e-02 7.32861205e+00] [ 7.89047293e-02 9.36525570e-04 9.96881721e-01 2.06626179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.709115933 meters 0.02479282263433919 Centerline is valid? [True, True] Translation: X:-82.15, Y:7.31, Z:2.05 [[ 8.82568162e-01 -4.64564477e-01 -7.24795624e-02 -8.21502934e+01] [ 4.62876617e-01 8.85538204e-01 -3.95894709e-02 7.30558353e+00] [ 8.25752834e-02 1.39131188e-03 9.96583858e-01 2.05343725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.739115933 meters 0.018472237187656722 Centerline is valid? [True, True] Translation: X:-82.20, Y:7.33, Z:2.12 [[ 8.83686696e-01 -4.62120107e-01 -7.44501811e-02 -8.21970321e+01] [ 4.60329523e-01 8.86815769e-01 -4.06758213e-02 7.32807395e+00] [ 8.48207095e-02 1.67306580e-03 9.96394825e-01 2.12093939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.769115933 meters 0.022071963634295703 Centerline is valid? [True, True] Translation: X:-82.22, Y:7.30, Z:2.09 [[ 8.85222875e-01 -4.58486130e-01 -7.85552709e-02 -8.22157608e+01] [ 4.56471824e-01 8.88698855e-01 -4.29862750e-02 7.29597755e+00] [ 8.95205901e-02 2.19416612e-03 9.95982555e-01 2.08707429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.799115933 meters 0.02306544757966933 Centerline is valid? [True, True] Translation: X:-82.23, Y:7.26, Z:2.04 [[ 8.82653585e-01 -4.63118895e-01 -8.02716540e-02 -8.22305424e+01] [ 4.61028587e-01 8.86294295e-01 -4.39893666e-02 7.25508444e+00] [ 9.15166159e-02 1.81984491e-03 9.95801887e-01 2.03983771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.829115933 meters 0.02569613057845656 Centerline is valid? [True, True] Translation: X:-82.25, Y:7.23, Z:2.02 [[ 8.82709607e-01 -4.62149428e-01 -8.50979260e-02 -8.22512818e+01] [ 4.59789429e-01 8.86799609e-01 -4.66919202e-02 7.22748402e+00] [ 9.70434517e-02 2.08827976e-03 9.95277955e-01 2.01577942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.859115933 meters 0.02220275518492685 Centerline is valid? [True, True] Translation: X:-82.28, Y:7.22, Z:2.03 [[ 8.82465442e-01 -4.62676371e-01 -8.47662657e-02 -8.22840611e+01] [ 4.60330625e-01 8.86524810e-01 -4.65776525e-02 7.22217675e+00] [ 9.66977768e-02 2.08266066e-03 9.95311611e-01 2.02824977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.889115933 meters 0.028094425743262954 Centerline is valid? [True, True] Translation: X:-82.31, Y:7.21, Z:2.02 [[ 8.82046148e-01 -4.63078240e-01 -8.69087846e-02 -8.23117665e+01] [ 4.60613925e-01 8.86314938e-01 -4.77560802e-02 7.20702405e+00] [ 9.91433556e-02 2.09167015e-03 9.95070962e-01 2.02496149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.919115933 meters 0.025398032583567355 Centerline is valid? [True, True] Translation: X:-82.34, Y:7.19, Z:2.02 [[ 8.85091304e-01 -4.56760240e-01 -8.93502493e-02 -8.23387774e+01] [ 4.54116046e-01 8.89584982e-01 -4.91647927e-02 7.19200663e+00] [ 1.01941162e-01 2.93994863e-03 9.94786086e-01 2.01822424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.949115933 meters 0.02304225461658392 Centerline is valid? [True, True] Translation: X:-82.37, Y:7.18, Z:2.01 [[ 8.90012959e-01 -4.46068098e-01 -9.43407875e-02 -8.23681647e+01] [ 4.43051845e-01 8.94987894e-01 -5.19781985e-02 7.17958996e+00] [ 1.07619679e-01 4.46341037e-03 9.94182117e-01 2.01076657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.979115933 meters 0.02465983742349072 Centerline is valid? [True, True] Translation: X:-82.39, Y:7.16, Z:1.99 [[ 8.91248670e-01 -4.43707921e-01 -9.38034592e-02 -8.23916474e+01] [ 4.40705215e-01 8.96158674e-01 -5.17546568e-02 7.15638943e+00] [ 1.07026735e-01 4.78659540e-03 9.94244621e-01 1.98568591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.009115933 meters 0.025312619456333934 Centerline is valid? [True, True] Translation: X:-82.42, Y:7.14, Z:1.98 [[ 8.93399465e-01 -4.39355975e-01 -9.38281635e-02 -8.24205276e+01] [ 4.36327364e-01 8.98297332e-01 -5.17719470e-02 7.14286981e+00] [ 1.07031903e-01 5.31323445e-03 9.94241390e-01 1.98043245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03911593299998 meters 0.022582236315473198 Centerline is valid? [True, True] Translation: X:-82.45, Y:7.13, Z:1.98 [[ 8.94236651e-01 -4.37270979e-01 -9.55766928e-02 -8.24494067e+01] [ 4.34110881e-01 8.99311664e-01 -5.27851614e-02 7.12948277e+00] [ 1.09034654e-01 5.71154358e-03 9.94021540e-01 1.97913530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.06911593299998 meters 0.019794735406502683 Centerline is valid? [True, True] Translation: X:-82.48, Y:7.12, Z:1.99 [[ 8.94287000e-01 -4.37582637e-01 -9.36600121e-02 -8.24818244e+01] [ 4.34542491e-01 8.99160620e-01 -5.17977158e-02 7.12429209e+00] [ 1.06881176e-01 5.62276891e-03 9.94255902e-01 1.99029909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.09911593299998 meters 0.021466867052899293 Centerline is valid? [True, True] Translation: X:-82.50, Y:7.10, Z:1.98 [[ 8.93333877e-01 -4.38892796e-01 -9.65800042e-02 -8.25035573e+01] [ 4.35660254e-01 8.98521393e-01 -5.34738228e-02 7.09900172e+00] [ 1.10248475e-01 5.69390824e-03 9.93887747e-01 1.97585270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.12911593299998 meters 0.023187878841363214 Centerline is valid? [True, True] Translation: X:-82.52, Y:7.07, Z:1.95 [[ 8.92106330e-01 -4.40915809e-01 -9.86891336e-02 -8.25247300e+01] [ 4.37544864e-01 8.97530848e-01 -5.47071162e-02 7.07191911e+00] [ 1.12697774e-01 5.62364109e-03 9.93613399e-01 1.95098748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.15911593299998 meters 0.021308083103047406 Centerline is valid? [True, True] Translation: X:-82.56, Y:7.07, Z:1.95 [[ 8.93048788e-01 -4.39204021e-01 -9.77941263e-02 -8.25583715e+01] [ 4.35873832e-01 8.98368187e-01 -5.43010342e-02 7.06634983e+00] [ 1.11704365e-01 5.86757216e-03 9.93724160e-01 1.95122180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.18911593299998 meters 0.02213088270780384 Centerline is valid? [True, True] Translation: X:-82.59, Y:7.06, Z:1.95 [[ 8.93878688e-01 -4.36960381e-01 -1.00232313e-01 -8.25878269e+01] [ 4.33440785e-01 8.99458302e-01 -5.57121928e-02 7.05619491e+00] [ 1.14498807e-01 6.35516924e-03 9.93403058e-01 1.95369861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.21911593299998 meters 0.02183167225283062 Centerline is valid? [True, True] Translation: X:-82.61, Y:7.03, Z:1.91 [[ 8.94388202e-01 -4.35778054e-01 -1.00832697e-01 -8.26100853e+01] [ 4.32206216e-01 9.00030221e-01 -5.60659245e-02 7.02695432e+00] [ 1.15184774e-01 6.56418297e-03 9.93322394e-01 1.90561320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.24911593299998 meters 0.019704055208603605 Centerline is valid? [True, True] Translation: X:-82.64, Y:7.01, Z:1.91 [[ 8.94550572e-01 -4.35266191e-01 -1.01600285e-01 -8.26387414e+01] [ 4.31625991e-01 9.00276420e-01 -5.65806626e-02 7.01392654e+00] [ 1.16095990e-01 6.76094057e-03 9.93214987e-01 1.90561373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.27911593299999 meters 0.021996868781383863 Centerline is valid? [True, True] Translation: X:-82.66, Y:7.00, Z:1.91 [[ 8.91621824e-01 -4.41188447e-01 -1.01800183e-01 -8.26640974e+01] [ 4.37563921e-01 8.97393985e-01 -5.67613541e-02 6.99545778e+00] [ 1.16397326e-01 6.06557481e-03 9.93184208e-01 1.90673571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.309115933 meters 0.021969368487223452 Centerline is valid? [True, True] Translation: X:-82.69, Y:6.98, Z:1.89 [[ 8.88733412e-01 -4.46802632e-01 -1.02568664e-01 -8.26895652e+01] [ 4.43150429e-01 8.94615984e-01 -5.72707438e-02 6.97590693e+00] [ 1.17348285e-01 5.44507607e-03 9.93075894e-01 1.89116682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.339115933 meters 0.021632656822265197 Centerline is valid? [True, True] Translation: X:-82.72, Y:6.96, Z:1.89 [[ 8.86247406e-01 -4.51076083e-01 -1.05337091e-01 -8.27156399e+01] [ 4.47244955e-01 8.92471074e-01 -5.88840587e-02 6.95968267e+00] [ 1.20571498e-01 5.07436156e-03 9.92691677e-01 1.88502080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.369115933 meters 0.021097079784640604 Centerline is valid? [True, True] Translation: X:-82.74, Y:6.94, Z:1.87 [[ 8.85637999e-01 -4.52314282e-01 -1.05152860e-01 -8.27401144e+01] [ 4.48495066e-01 8.91844752e-01 -5.88652131e-02 6.93865874e+00] [ 1.20405603e-01 4.97273058e-03 9.92712326e-01 1.86552483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.399115933 meters 0.020952130419448715 Centerline is valid? [True, True] Translation: X:-82.77, Y:6.92, Z:1.86 [[ 8.83905495e-01 -4.56113770e-01 -1.03302009e-01 -8.27674104e+01] [ 4.52451542e-01 8.89910619e-01 -5.78506023e-02 6.92256497e+00] [ 1.18316011e-01 4.39531202e-03 9.92966265e-01 1.85749276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.429115933 meters 0.01879211698398068 Centerline is valid? [True, True] Translation: X:-82.80, Y:6.91, Z:1.85 [[ 8.85111205e-01 -4.54263739e-01 -1.01106923e-01 -8.27965390e+01] [ 4.50741659e-01 8.90855572e-01 -5.66419164e-02 6.90858833e+00] [ 1.15802035e-01 4.56129247e-03 9.93261840e-01 1.85346253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.459115933 meters 0.01986898910886563 Centerline is valid? [True, True] Translation: X:-82.82, Y:6.89, Z:1.84 [[ 8.86326140e-01 -4.51775241e-01 -1.01612528e-01 -8.28200580e+01] [ 4.48191697e-01 8.92117858e-01 -5.70081609e-02 6.88614424e+00] [ 1.16405226e-01 4.98593195e-03 9.93189289e-01 1.83524978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.489115933 meters 0.018730511033449342 Centerline is valid? [True, True] Translation: X:-82.87, Y:6.91, Z:1.89 [[ 8.84618626e-01 -4.57119372e-01 -9.21507786e-02 -8.28665872e+01] [ 4.54202076e-01 8.89396859e-01 -5.17078420e-02 6.90656193e+00] [ 1.05595269e-01 3.88664517e-03 9.94401595e-01 1.89318879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.519115933 meters 0.018730511033449342 Centerline is valid? [True, True] Translation: X:-82.89, Y:6.89, Z:1.89 [[ 8.84309071e-01 -4.57726316e-01 -9.21091072e-02 -8.28945150e+01] [ 4.54804581e-01 8.89084592e-01 -5.17820503e-02 6.89083623e+00] [ 1.05594795e-01 3.89969288e-03 9.94401595e-01 1.89397197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.549115933 meters 0.01928031911595647 Centerline is valid? [True, True] Translation: X:-82.92, Y:6.86, Z:1.87 [[ 8.84608039e-01 -4.56837942e-01 -9.36360581e-02 -8.29152757e+01] [ 4.53806983e-01 8.89540376e-01 -5.26986017e-02 6.86359697e+00] [ 1.07367775e-01 4.12490973e-03 9.94210816e-01 1.87048249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.579115933 meters 0.019920089522924386 Centerline is valid? [True, True] Translation: X:-82.95, Y:6.86, Z:1.88 [[ 8.86060973e-01 -4.54567525e-01 -9.09082899e-02 -8.29478300e+01] [ 4.51696897e-01 8.90701946e-01 -5.11855155e-02 6.85745013e+00] [ 1.04239464e-01 4.29049527e-03 9.94542973e-01 1.87818503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.609115933 meters 0.019412169743279428 Centerline is valid? [True, True] Translation: X:-82.98, Y:6.85, Z:1.88 [[ 8.84707458e-01 -4.58646782e-01 -8.32817116e-02 -8.29779290e+01] [ 4.56254734e-01 8.88611747e-01 -4.69124869e-02 6.84791303e+00] [ 9.55213683e-02 3.50615187e-03 9.95421205e-01 1.88317600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.639115933 meters 0.017933106169829113 Centerline is valid? [True, True] Translation: X:-83.01, Y:6.85, Z:1.90 [[ 8.83420393e-01 -4.61923788e-01 -7.87071969e-02 -8.30116520e+01] [ 4.59794694e-01 8.86914419e-01 -4.44032839e-02 6.84534136e+00] [ 9.03174810e-02 3.03761501e-03 9.95908392e-01 1.89909869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.669115933 meters 0.017797399040293007 Centerline is valid? [True, True] Translation: X:-83.03, Y:6.82, Z:1.88 [[ 8.85319459e-01 -4.58391788e-01 -7.80155447e-02 -8.30338538e+01] [ 4.56283998e-01 8.88743758e-01 -4.40391386e-02 6.81796174e+00] [ 8.95230079e-02 3.39146166e-03 9.95978980e-01 1.87648918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.699115933 meters 0.01624740672605243 Centerline is valid? [True, True] Translation: X:-83.05, Y:6.79, Z:1.85 [[ 8.87983667e-01 -4.52903688e-01 -7.97700253e-02 -8.30520845e+01] [ 4.50672500e-01 8.91550088e-01 -4.50859024e-02 6.78647208e+00] [ 9.15385445e-02 4.08538819e-03 9.95793153e-01 1.85090249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.729115933 meters 0.016148683314612406 Centerline is valid? [True, True] Translation: X:-83.08, Y:6.78, Z:1.85 [[ 8.87799443e-01 -4.53696540e-01 -7.72761189e-02 -8.30816575e+01] [ 4.51601053e-01 8.91147591e-01 -4.37316846e-02 6.77642419e+00] [ 8.87053411e-02 3.92698855e-03 9.96050170e-01 1.85326069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.759115933 meters 0.016376215578522674 Centerline is valid? [True, True] Translation: X:-83.11, Y:6.76, Z:1.85 [[ 8.89702513e-01 -4.49830153e-01 -7.79889210e-02 -8.31081822e+01] [ 4.47680782e-01 8.93103506e-01 -4.41366555e-02 6.75878364e+00] [ 8.95061773e-02 4.35435215e-03 9.95976749e-01 1.84872357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.78911593299998 meters 0.015973989020102403 Centerline is valid? [True, True] Translation: X:-83.14, Y:6.74, Z:1.85 [[ 8.89149609e-01 -4.51777790e-01 -7.28683864e-02 -8.31356688e+01] [ 4.49903032e-01 8.92121794e-01 -4.13033392e-02 6.74427955e+00] [ 8.36674070e-02 3.94113985e-03 9.96485942e-01 1.84672476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.81911593299998 meters 0.015713356340436253 Centerline is valid? [True, True] Translation: X:-83.16, Y:6.73, Z:1.84 [[ 8.88467847e-01 -4.53713139e-01 -6.90599215e-02 -8.31641042e+01] [ 4.52034972e-01 8.91140658e-01 -3.91498652e-02 6.72935819e+00] [ 7.93049121e-02 3.56589678e-03 9.96844028e-01 1.84476604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.84911593299998 meters 0.015530017097615801 Centerline is valid? [True, True] Translation: X:-83.19, Y:6.71, Z:1.85 [[ 8.88895747e-01 -4.53170740e-01 -6.70867526e-02 -8.31918270e+01] [ 4.51580787e-01 8.91416599e-01 -3.80951382e-02 6.71462574e+00] [ 7.70658468e-02 3.56751781e-03 9.97019623e-01 1.84585328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.87911593299998 meters 0.015067351445768897 Centerline is valid? [True, True] Translation: X:-83.22, Y:6.70, Z:1.86 [[ 8.87490182e-01 -4.56586202e-01 -6.23715974e-02 -8.32216816e+01] [ 4.55217393e-01 8.89673848e-01 -3.54622352e-02 6.70483510e+00] [ 7.16819463e-02 3.07974961e-03 9.97422786e-01 1.85870347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.90911593299998 meters 0.014705369714357368 Centerline is valid? [True, True] Translation: X:-83.25, Y:6.69, Z:1.86 [[ 8.88941798e-01 -4.54456547e-01 -5.70239063e-02 -8.32479339e+01] [ 4.53305505e-01 8.90763823e-01 -3.24642954e-02 6.68732281e+00] [ 6.55484444e-02 3.00961855e-03 9.97844849e-01 1.85693252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.93911593299998 meters 0.01479639755261796 Centerline is valid? [True, True] Translation: X:-83.28, Y:6.68, Z:1.86 [[ 8.88555974e-01 -4.55450058e-01 -5.50774425e-02 -8.32784320e+01] [ 4.54378090e-01 8.90256812e-01 -3.13585775e-02 6.67635673e+00] [ 6.33153343e-02 2.83786829e-03 9.97989536e-01 1.86180930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.96911593299998 meters 0.015238509501651476 Centerline is valid? [True, True] Translation: X:-83.31, Y:6.67, Z:1.88 [[ 8.89517928e-01 -4.53718392e-01 -5.38282217e-02 -8.33134740e+01] [ 4.52687538e-01 8.91140238e-01 -3.07094455e-02 6.67388197e+00] [ 6.19019345e-02 2.94923717e-03 9.98077879e-01 1.87998871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.99911593299998 meters 0.013970098564126749 Centerline is valid? [True, True] Translation: X:-83.33, Y:6.64, Z:1.86 [[ 8.90861533e-01 -4.51175074e-01 -5.29790641e-02 -8.33331467e+01] [ 4.50169649e-01 8.92430037e-01 -3.02641036e-02 6.64325897e+00] [ 6.09345173e-02 3.11155905e-03 9.98136916e-01 1.85824880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.02911593299999 meters 0.013881545150759149 Centerline is valid? [True, True] Translation: X:-83.36, Y:6.63, Z:1.86 [[ 8.86965857e-01 -4.58789787e-01 -5.29480786e-02 -8.33598817e+01] [ 4.57796756e-01 8.88540975e-01 -3.02831080e-02 6.62753952e+00] [ 6.09401180e-02 2.62062421e-03 9.98137984e-01 1.86400400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.059115933 meters 0.013201991217119768 Centerline is valid? [True, True] Translation: X:-83.39, Y:6.61, Z:1.87 [[ 8.85318983e-01 -4.62141641e-01 -5.13361653e-02 -8.33885713e+01] [ 4.61213775e-01 8.86803096e-01 -2.93619203e-02 6.61387523e+00] [ 5.90944364e-02 2.31771887e-03 9.98249706e-01 1.86709897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.089115933 meters 0.01372850844821758 Centerline is valid? [True, True] Translation: X:-83.41, Y:6.59, Z:1.85 [[ 8.81812761e-01 -4.68881629e-01 -5.05596000e-02 -8.34122976e+01] [ 4.67992054e-01 8.83259081e-01 -2.89280639e-02 6.59025398e+00] [ 5.82210635e-02 1.84764486e-03 9.98302005e-01 1.85041569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.119115933 meters 0.013394488544933282 Centerline is valid? [True, True] Translation: X:-83.44, Y:6.58, Z:1.86 [[ 8.81886365e-01 -4.68893541e-01 -4.91455671e-02 -8.34412013e+01] [ 4.68050181e-01 8.83252772e-01 -2.81703497e-02 6.57685395e+00] [ 5.66168534e-02 1.84045566e-03 9.98394283e-01 1.85735951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.149115933 meters 0.013507723668334333 Centerline is valid? [True, True] Translation: X:-83.47, Y:6.56, Z:1.85 [[ 8.80758763e-01 -4.71051981e-01 -4.87240456e-02 -8.34684964e+01] [ 4.70224121e-01 8.82103773e-01 -2.79680096e-02 6.56023469e+00] [ 5.61540508e-02 1.72184797e-03 9.98420632e-01 1.85499379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.179115933 meters 0.013366204752939705 Centerline is valid? [True, True] Translation: X:-83.50, Y:6.55, Z:1.86 [[ 8.80115818e-01 -4.72241328e-01 -4.88290489e-02 -8.34994678e+01] [ 4.71409075e-01 8.81467679e-01 -2.80751531e-02 6.54951186e+00] [ 5.62994759e-02 1.69092949e-03 9.98412495e-01 1.86486094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.209115933 meters 0.016401294443330987 Centerline is valid? [True, True] Translation: X:-83.54, Y:6.56, Z:1.90 [[ 8.82215264e-01 -4.68229328e-01 -4.95734333e-02 -8.35379245e+01] [ 4.67363400e-01 8.83604708e-01 -2.85337015e-02 6.55610004e+00] [ 5.71636349e-02 2.00405867e-03 9.98362811e-01 1.90252358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.239115933 meters 0.015479847563903148 Centerline is valid? [True, True] Translation: X:-83.57, Y:6.54, Z:1.90 [[ 8.82077279e-01 -4.68754307e-01 -4.70007767e-02 -8.35660406e+01] [ 4.67974788e-01 8.83326549e-01 -2.70888491e-02 6.54286244e+00] [ 5.42150485e-02 1.89927984e-03 9.98527476e-01 1.90261390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.269115933 meters 0.01671991249609832 Centerline is valid? [True, True] Translation: X:-83.60, Y:6.54, Z:1.92 [[ 8.82469204e-01 -4.67984175e-01 -4.73171943e-02 -8.36003742e+01] [ 4.67190910e-01 8.83734597e-01 -2.73096378e-02 6.54108289e+00] [ 5.45963199e-02 1.99375129e-03 9.98506518e-01 1.92417311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.299115933 meters 0.016423203574218587 Centerline is valid? [True, True] Translation: X:-83.63, Y:6.53, Z:1.93 [[ 8.82964019e-01 -4.67254588e-01 -4.52514108e-02 -8.36290315e+01] [ 4.66526447e-01 8.84120599e-01 -2.61503411e-02 6.52895079e+00] [ 5.22265713e-02 1.97883041e-03 9.98633301e-01 1.93063697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.329115933 meters 0.012906994793848098 Centerline is valid? [True, True] Translation: X:-83.64, Y:6.48, Z:1.87 [[ 8.77544096e-01 -4.77581005e-01 -4.28105545e-02 -8.36383614e+01] [ 4.76939896e-01 8.78586728e-01 -2.47729157e-02 6.48007078e+00] [ 4.94438590e-02 1.32126453e-03 9.98776030e-01 1.86747635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.359115933 meters 0.012372615882715496 Centerline is valid? [True, True] Translation: X:-83.67, Y:6.46, Z:1.87 [[ 8.79257754e-01 -4.74557313e-01 -4.12451027e-02 -8.36666171e+01] [ 4.73956948e-01 8.80223373e-01 -2.39086858e-02 6.46386227e+00] [ 4.76509451e-02 1.47349438e-03 9.98862962e-01 1.87001425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.389115933 meters 0.012965961527527135 Centerline is valid? [True, True] Translation: X:-83.69, Y:6.45, Z:1.86 [[ 8.77237084e-01 -4.78165377e-01 -4.25789868e-02 -8.36936890e+01] [ 4.77527837e-01 8.78268775e-01 -2.47209376e-02 6.44622434e+00] [ 4.92164910e-02 1.35347175e-03 9.98787217e-01 1.86315226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.419115933 meters 0.01330268785657554 Centerline is valid? [True, True] Translation: X:-83.72, Y:6.43, Z:1.86 [[ 8.81100275e-01 -4.71003443e-01 -4.26387396e-02 -8.37203790e+01] [ 4.70354528e-01 8.82129580e-01 -2.47794677e-02 6.43094944e+00] [ 4.92841081e-02 1.77787161e-03 9.98783218e-01 1.86330836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.449115933 meters 0.012374255757095148 Centerline is valid? [True, True] Translation: X:-83.75, Y:6.41, Z:1.85 [[ 8.81564178e-01 -4.70176693e-01 -4.21719902e-02 -8.37450757e+01] [ 4.69539195e-01 8.82570397e-01 -2.45446399e-02 6.41097094e+00] [ 4.87600677e-02 1.83627296e-03 9.98808833e-01 1.85411470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.479115933 meters 0.012634478602256154 Centerline is valid? [True, True] Translation: X:-83.78, Y:6.40, Z:1.86 [[ 8.81379394e-01 -4.71026864e-01 -3.61117386e-02 -8.37753308e+01] [ 4.70559050e-01 8.82117493e-01 -2.10454029e-02 6.40103887e+00] [ 4.17677464e-02 1.55627903e-03 9.99126135e-01 1.86067193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.509115933 meters 0.012529121107794692 Centerline is valid? [True, True] Translation: X:-83.80, Y:6.39, Z:1.86 [[ 8.84350749e-01 -4.65310620e-01 -3.75470242e-02 -8.38029040e+01] [ 4.64798671e-01 8.85145377e-01 -2.19056366e-02 6.38699481e+00] [ 4.34275003e-02 1.92045922e-03 9.99054735e-01 1.85785214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53911593299998 meters 0.012145901563302164 Centerline is valid? [True, True] Translation: X:-83.83, Y:6.37, Z:1.85 [[ 8.87109768e-01 -4.59966969e-01 -3.82968204e-02 -8.38283748e+01] [ 4.59428250e-01 8.87933179e-01 -2.23685543e-02 6.36964550e+00] [ 4.42938136e-02 2.24872185e-03 9.99016017e-01 1.85457509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.56911593299998 meters 0.012607653524043047 Centerline is valid? [True, True] Translation: X:-83.86, Y:6.36, Z:1.86 [[ 8.88577000e-01 -4.57300816e-01 -3.61507769e-02 -8.38574850e+01] [ 4.56817269e-01 8.89309159e-01 -2.11471357e-02 6.35626245e+00] [ 4.18198194e-02 2.27655923e-03 9.99122575e-01 1.85518980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.59911593299998 meters 0.0120131264961864 Centerline is valid? [True, True] Translation: X:-83.89, Y:6.35, Z:1.86 [[ 8.88626617e-01 -4.57301546e-01 -3.49003107e-02 -8.38875786e+01] [ 4.56849742e-01 8.89308920e-01 -2.04440399e-02 6.34606048e+00] [ 4.03862486e-02 2.22292008e-03 9.99181670e-01 1.86306233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.62911593299998 meters 0.011719604798845979 Centerline is valid? [True, True] Translation: X:-83.91, Y:6.33, Z:1.86 [[ 8.88958574e-01 -4.56590708e-01 -3.57432302e-02 -8.39129721e+01] [ 4.56115061e-01 8.89673802e-01 -2.09661188e-02 6.32710586e+00] [ 4.13727505e-02 2.33498543e-03 9.99141053e-01 1.85928069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.65911593299998 meters 0.012206132259179913 Centerline is valid? [True, True] Translation: X:-83.94, Y:6.32, Z:1.87 [[ 8.85499443e-01 -4.63246942e-01 -3.59584107e-02 -8.39423050e+01] [ 4.62769974e-01 8.86226852e-01 -2.11167459e-02 6.31644307e+00] [ 4.16495771e-02 2.05839392e-03 9.99130160e-01 1.86978077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.68911593299998 meters 0.0121801704803514 Centerline is valid? [True, True] Translation: X:-83.97, Y:6.30, Z:1.87 [[ 8.80895626e-01 -4.72240682e-01 -3.18062148e-02 -8.39681034e+01] [ 4.71872409e-01 8.81468425e-01 -1.87041837e-02 6.29902691e+00] [ 3.68690505e-02 1.46795839e-03 9.99319027e-01 1.86679524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.71911593299998 meters 0.014170449188951011 Centerline is valid? [True, True] Translation: X:-84.01, Y:6.31, Z:1.91 [[ 8.82182144e-01 -4.69720926e-01 -3.34202860e-02 -8.40097121e+01] [ 4.69312742e-01 8.82813421e-01 -1.96472551e-02 6.30942225e+00] [ 3.87326039e-02 1.64789158e-03 9.99248252e-01 1.91177702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.74911593299998 meters 0.013266045109316832 Centerline is valid? [True, True] Translation: X:-84.03, Y:6.28, Z:1.89 [[ 8.79146654e-01 -4.75447965e-01 -3.24097603e-02 -8.40276559e+01] [ 4.75066623e-01 8.79742754e-01 -1.90890208e-02 6.27719217e+00] [ 3.75880879e-02 1.38525341e-03 9.99292358e-01 1.88690134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.77911593299999 meters 0.01397420101668634 Centerline is valid? [True, True] Translation: X:-84.05, Y:6.26, Z:1.88 [[ 8.76092176e-01 -4.81151081e-01 -3.09214420e-02 -8.40537353e+01] [ 4.80807628e-01 8.76637017e-01 -1.82089559e-02 6.25790208e+00] [ 3.58681394e-02 1.08545861e-03 9.99355942e-01 1.88289725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.809115933 meters 0.012190777597333932 Centerline is valid? [True, True] Translation: X:-84.08, Y:6.23, Z:1.87 [[ 8.73666585e-01 -4.85687129e-01 -2.85431442e-02 -8.40762859e+01] [ 4.85396482e-01 8.74132315e-01 -1.68211331e-02 6.23374811e+00] [ 3.31202926e-02 8.41320146e-04 9.99451019e-01 1.86882807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.839115933 meters 0.011505192724128673 Centerline is valid? [True, True] Translation: X:-84.11, Y:6.22, Z:1.87 [[ 8.74184114e-01 -4.84789448e-01 -2.79521920e-02 -8.41062840e+01] [ 4.84508998e-01 8.74630434e-01 -1.65116325e-02 6.22223722e+00] [ 3.24525030e-02 8.91118263e-04 9.99472882e-01 1.87368623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.869115933 meters 0.011860231978348738 Centerline is valid? [True, True] Translation: X:-84.13, Y:6.20, Z:1.87 [[ 8.71334007e-01 -4.89942888e-01 -2.70742450e-02 -8.41307894e+01] [ 4.89681607e-01 8.71754256e-01 -1.60137715e-02 6.20157375e+00] [ 3.14479218e-02 6.95583833e-04 9.99505150e-01 1.86605788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.899115933 meters 0.012081490841290348 Centerline is valid? [True, True] Translation: X:-84.16, Y:6.19, Z:1.88 [[ 8.73528792e-01 -4.86046064e-01 -2.65833358e-02 -8.41625435e+01] [ 4.85791688e-01 8.73932788e-01 -1.57453882e-02 6.19329962e+00] [ 3.08850327e-02 8.40086356e-04 9.99522591e-01 1.87886528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.929115933 meters 0.01512336565734027 Centerline is valid? [True, True] Translation: X:-84.21, Y:6.22, Z:1.94 [[ 8.80175147e-01 -4.73668289e-01 -3.04969183e-02 -8.42128355e+01] [ 4.73326320e-01 8.80702124e-01 -1.80544466e-02 6.21996539e+00] [ 3.54105195e-02 1.45608106e-03 9.99371790e-01 1.94466219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.959115933 meters 0.011515845480658066 Centerline is valid? [True, True] Translation: X:-84.21, Y:6.16, Z:1.87 [[ 8.76816025e-01 -4.80187130e-01 -2.47786015e-02 -8.42147148e+01] [ 4.79963113e-01 8.77165508e-01 -1.46997344e-02 6.15906837e+00] [ 2.87935579e-02 9.96147899e-04 9.99584883e-01 1.87216504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.989115933 meters 0.011719017655775682 Centerline is valid? [True, True] Translation: X:-84.25, Y:6.15, Z:1.89 [[ 8.78521116e-01 -4.76845787e-01 -2.86137243e-02 -8.42455222e+01] [ 4.76544717e-01 8.78986022e-01 -1.69913095e-02 6.15137480e+00] [ 3.32532980e-02 1.29150502e-03 9.99446122e-01 1.88675682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.019115933 meters 0.011638013590677315 Centerline is valid? [True, True] Translation: X:-84.27, Y:6.13, Z:1.88 [[ 8.75926268e-01 -4.81817818e-01 -2.45919150e-02 -8.42713682e+01] [ 4.81597463e-01 8.76270903e-01 -1.46009731e-02 6.13163507e+00] [ 2.85841886e-02 9.45972063e-04 9.99590941e-01 1.88098566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.049115933 meters 0.011337551696711516 Centerline is valid? [True, True] Translation: X:-84.30, Y:6.12, Z:1.88 [[ 8.75716288e-01 -4.82222635e-01 -2.41311596e-02 -8.43008332e+01] [ 4.82009558e-01 8.76048190e-01 -1.43650678e-02 6.11749955e+00] [ 2.80672195e-02 9.48274286e-04 9.99605588e-01 1.88052449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.079115933 meters 0.01167886645927673 Centerline is valid? [True, True] Translation: X:-84.33, Y:6.10, Z:1.88 [[ 8.72687601e-01 -4.87808083e-01 -2.14388613e-02 -8.43288232e+01] [ 4.87641230e-01 8.72950623e-01 -1.27765520e-02 6.10432506e+00] [ 2.49475727e-02 6.95465869e-04 9.99688519e-01 1.88489414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.109115933 meters 0.011993856713298607 Centerline is valid? [True, True] Translation: X:-84.35, Y:6.08, Z:1.88 [[ 8.73760172e-01 -4.85910406e-01 -2.08383917e-02 -8.43532498e+01] [ 4.85751761e-01 8.74008307e-01 -1.24380698e-02 6.08274122e+00] [ 2.42567150e-02 7.45604559e-04 9.99705485e-01 1.87901800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.139115933 meters 0.011708219445643585 Centerline is valid? [True, True] Translation: X:-84.38, Y:6.07, Z:1.89 [[ 8.74977823e-01 -4.83589939e-01 -2.35495318e-02 -8.43825556e+01] [ 4.83386154e-01 8.75294187e-01 -1.40681130e-02 6.07242682e+00] [ 2.74159661e-02 9.25769246e-04 9.99623683e-01 1.88843904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.169115933 meters 0.011776306567812544 Centerline is valid? [True, True] Translation: X:-84.41, Y:6.06, Z:1.89 [[ 8.74702970e-01 -4.84052625e-01 -2.42439950e-02 -8.44126720e+01] [ 4.83836200e-01 8.75038365e-01 -1.45048834e-02 6.06075389e+00] [ 2.82355527e-02 9.57342208e-04 9.99600839e-01 1.89288015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.199115933 meters 0.011459772741720341 Centerline is valid? [True, True] Translation: X:-84.44, Y:6.05, Z:1.90 [[ 8.74184844e-01 -4.84927597e-01 -2.54181872e-02 -8.44415841e+01] [ 4.84689461e-01 8.74553739e-01 -1.52277447e-02 6.04830065e+00] [ 2.96139243e-02 9.91936104e-04 9.99560919e-01 1.89572132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.229115933 meters 0.011534028750982276 Centerline is valid? [True, True] Translation: X:-84.47, Y:6.03, Z:1.89 [[ 8.73881022e-01 -4.85473619e-01 -2.54425935e-02 -8.44681583e+01] [ 4.85234468e-01 8.74250748e-01 -1.52689409e-02 6.03005931e+00] [ 2.96558743e-02 9.97614341e-04 9.99559670e-01 1.89069065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.259115933 meters 0.011767098554243793 Centerline is valid? [True, True] Translation: X:-84.49, Y:6.01, Z:1.89 [[ 8.71621661e-01 -4.89454975e-01 -2.66365960e-02 -8.44940544e+01] [ 4.89194113e-01 8.72028086e-01 -1.60042769e-02 6.01188387e+00] [ 3.10612328e-02 9.19208432e-04 9.99517061e-01 1.88810077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.28911593299998 meters 0.011681037723276541 Centerline is valid? [True, True] Translation: X:-84.52, Y:5.99, Z:1.88 [[ 8.71835255e-01 -4.89133916e-01 -2.55205894e-02 -8.45180265e+01] [ 4.88893668e-01 8.72208222e-01 -1.53557396e-02 5.99061293e+00] [ 2.97702809e-02 9.10820631e-04 9.99556352e-01 1.88068296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.31911593299998 meters 0.011638291389583057 Centerline is valid? [True, True] Translation: X:-84.55, Y:5.98, Z:1.89 [[ 8.71525246e-01 -4.89661445e-01 -2.59887476e-02 -8.45499313e+01] [ 4.89411898e-01 8.71912157e-01 -1.56583877e-02 5.98216232e+00] [ 3.03272137e-02 9.27477938e-04 9.99539594e-01 1.89220744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.34911593299998 meters 0.011511322292880105 Centerline is valid? [True, True] Translation: X:-84.58, Y:5.97, Z:1.90 [[ 8.71130917e-01 -4.90355258e-01 -2.61275017e-02 -8.45792323e+01] [ 4.90102521e-01 8.71522147e-01 -1.57691643e-02 5.96765187e+00] [ 3.05031890e-02 9.31852111e-04 9.99534235e-01 1.89690799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.37911593299998 meters 0.013823600776025211 Centerline is valid? [True, True] Translation: X:-84.62, Y:5.97, Z:1.92 [[ 8.71466335e-01 -4.89736517e-01 -2.65437544e-02 -8.46160575e+01] [ 4.89474786e-01 8.71869929e-01 -1.60393680e-02 5.96917056e+00] [ 3.09977655e-02 9.85270763e-04 9.99518968e-01 1.92495216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.40911593299998 meters 0.01294031121427963 Centerline is valid? [True, True] Translation: X:-84.64, Y:5.94, Z:1.91 [[ 8.73883733e-01 -4.85297007e-01 -2.85313209e-02 -8.46382557e+01] [ 4.84992386e-01 8.74348509e-01 -1.72357226e-02 5.94372714e+00] [ 3.33107625e-02 1.22454419e-03 9.99444292e-01 1.90758914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.43911593299998 meters 0.01294031121427963 Centerline is valid? [True, True] Translation: X:-84.67, Y:5.93, Z:1.91 [[ 8.73548903e-01 -4.85900509e-01 -2.85133071e-02 -8.46654884e+01] [ 4.85595238e-01 8.74013253e-01 -1.72655255e-02 5.92718732e+00] [ 3.33103359e-02 1.23635470e-03 9.99444292e-01 1.90836899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.46911593299998 meters 0.01406114490558424 Centerline is valid? [True, True] Translation: X:-84.71, Y:5.94, Z:1.96 [[ 8.72599085e-01 -4.87538366e-01 -2.96171863e-02 -8.47099415e+01] [ 4.87209201e-01 8.73100687e-01 -1.79551064e-02 5.94154500e+00] [ 3.46125889e-02 1.23784380e-03 9.99400038e-01 1.95626376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.49911593299998 meters 0.01171883013818126 Centerline is valid? [True, True] Translation: X:-84.72, Y:5.89, Z:1.90 [[ 8.71687467e-01 -4.89287788e-01 -2.75394286e-02 -8.47169224e+01] [ 4.89003822e-01 8.72121703e-01 -1.67031974e-02 5.88817575e+00] [ 3.21904039e-02 1.09308198e-03 9.99481157e-01 1.89502131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.52911593299999 meters 0.011782956993195755 Centerline is valid? [True, True] Translation: X:-84.74, Y:5.87, Z:1.89 [[ 8.70751852e-01 -4.91219683e-01 -2.22359153e-02 -8.47418356e+01] [ 4.91035172e-01 8.71035327e-01 -1.34877463e-02 5.86714823e+00] [ 2.59937142e-02 8.25863562e-04 9.99661765e-01 1.89012944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.559115933 meters 0.011988907760886349 Centerline is valid? [True, True] Translation: X:-84.77, Y:5.85, Z:1.89 [[ 8.71336201e-01 -4.90121920e-01 -2.35314323e-02 -8.47691541e+01] [ 4.89913998e-01 8.71653386e-01 -1.43055506e-02 5.85130878e+00] [ 2.75227166e-02 9.36566093e-04 9.99620740e-01 1.88863587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.589115933 meters 0.012236979322246173 Centerline is valid? [True, True] Translation: X:-84.80, Y:5.84, Z:1.89 [[ 8.72548819e-01 -4.87939620e-01 -2.39475666e-02 -8.47967438e+01] [ 4.87722909e-01 8.72876764e-01 -1.45780006e-02 5.83599469e+00] [ 2.80164585e-02 1.04024031e-03 9.99606921e-01 1.89082393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.619115933 meters 0.01205655124628283 Centerline is valid? [True, True] Translation: X:-84.82, Y:5.82, Z:1.89 [[ 8.72292866e-01 -4.88560500e-01 -2.03419187e-02 -8.48227134e+01] [ 4.88404429e-01 8.72529595e-01 -1.23781728e-02 5.81712653e+00] [ 2.37964124e-02 8.62308684e-04 9.99716453e-01 1.88798347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.649115933 meters 0.01167069840040571 Centerline is valid? [True, True] Translation: X:-84.85, Y:5.80, Z:1.89 [[ 8.72957670e-01 -4.87203074e-01 -2.40430958e-02 -8.48508789e+01] [ 4.86983782e-01 8.73288031e-01 -1.46564222e-02 5.80442686e+00] [ 2.81372018e-02 1.08583844e-03 9.99603481e-01 1.88940231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.679115933 meters 0.012295888042543973 Centerline is valid? [True, True] Translation: X:-84.88, Y:5.80, Z:1.91 [[ 8.74384162e-01 -4.84684160e-01 -2.30998389e-02 -8.48846715e+01] [ 4.84480273e-01 8.74688496e-01 -1.41032152e-02 5.80024989e+00] [ 2.70407684e-02 1.14021178e-03 9.99633681e-01 1.90712804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.709115933 meters 0.01164813529748399 Centerline is valid? [True, True] Translation: X:-84.91, Y:5.77, Z:1.88 [[ 8.73890924e-01 -4.85564577e-01 -2.32743358e-02 -8.49050783e+01] [ 4.85357230e-01 8.74200054e-01 -1.42346465e-02 5.77096222e+00] [ 2.72582657e-02 1.14316123e-03 9.99627771e-01 1.88110766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.739115933 meters 0.013280653749959376 Centerline is valid? [True, True] Translation: X:-84.95, Y:5.78, Z:1.93 [[ 8.74968311e-01 -4.83561072e-01 -2.44774225e-02 -8.49478976e+01] [ 4.83330465e-01 8.75309685e-01 -1.49872220e-02 5.78219121e+00] [ 2.86725621e-02 1.28266030e-03 9.99588035e-01 1.92804946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.769115933 meters 0.01172270216577702 Centerline is valid? [True, True] Translation: X:-84.96, Y:5.74, Z:1.89 [[ 8.72745362e-01 -4.87607600e-01 -2.35448796e-02 -8.49636920e+01] [ 4.87395866e-01 8.73062207e-01 -1.44101638e-02 5.74495171e+00] [ 2.75826499e-02 1.10072659e-03 9.99618920e-01 1.89330994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.799115933 meters 0.01238776972961521 Centerline is valid? [True, True] Translation: X:-84.99, Y:5.73, Z:1.89 [[ 8.71828995e-01 -4.89353105e-01 -2.11599054e-02 -8.49890466e+01] [ 4.89182358e-01 8.72085225e-01 -1.29607793e-02 5.72541777e+00] [ 2.47956385e-02 9.48530740e-04 9.99692091e-01 1.88907133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.829115933 meters 0.012921372387141259 Centerline is valid? [True, True] Translation: X:-85.01, Y:5.70, Z:1.88 [[ 8.72118663e-01 -4.88845924e-01 -2.09451715e-02 -8.50126424e+01] [ 4.88677807e-01 8.72369594e-01 -1.28566230e-02 5.70300886e+00] [ 2.45568385e-02 9.77060345e-04 9.99697958e-01 1.88301152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.859115933 meters 0.01442744121133374 Centerline is valid? [True, True] Translation: X:-85.06, Y:5.72, Z:1.92 [[ 8.75011590e-01 -4.83504989e-01 -2.40342132e-02 -8.50566709e+01] [ 4.83281793e-01 8.75340658e-01 -1.47458580e-02 5.71683015e+00] [ 2.81678199e-02 1.28749899e-03 9.99602379e-01 1.92377079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.889115933 meters 0.012483311652952463 Centerline is valid? [True, True] Translation: X:-85.08, Y:5.69, Z:1.90 [[ 8.73574511e-01 -4.86176677e-01 -2.23564894e-02 -8.50774294e+01] [ 4.85983700e-01 8.73859791e-01 -1.37443801e-02 5.69006179e+00] [ 2.62186342e-02 1.14185065e-03 9.99655580e-01 1.90162465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.919115933 meters 0.011812374445606568 Centerline is valid? [True, True] Translation: X:-85.09, Y:5.66, Z:1.87 [[ 8.71734999e-01 -4.89574937e-01 -1.98613186e-02 -8.50947708e+01] [ 4.89423629e-01 8.71960742e-01 -1.22055541e-02 5.65597673e+00] [ 2.32938235e-02 9.19410020e-04 9.99728239e-01 1.87467272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.949115933 meters 0.012106239219036603 Centerline is valid? [True, True] Translation: X:-85.12, Y:5.64, Z:1.87 [[ 8.71723612e-01 -4.89521918e-01 -2.15925075e-02 -8.51212641e+01] [ 4.89342303e-01 8.71990388e-01 -1.32994086e-02 5.63820955e+00] [ 2.53388110e-02 1.02728117e-03 9.99678393e-01 1.87473035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.979115933 meters 0.01324152712191965 Centerline is valid? [True, True] Translation: X:-85.17, Y:5.65, Z:1.92 [[ 8.72488383e-01 -4.88065773e-01 -2.35758844e-02 -8.51671786e+01] [ 4.87850613e-01 8.72806050e-01 -1.45388753e-02 5.65478197e+00] [ 2.76731020e-02 1.18349016e-03 9.99616326e-01 1.92215342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.009115933 meters 0.01209960773763997 Centerline is valid? [True, True] Translation: X:-85.17, Y:5.60, Z:1.87 [[ 8.71093825e-01 -4.90750489e-01 -1.89606371e-02 -8.51726556e+01] [ 4.90612077e-01 8.71299710e-01 -1.16877840e-02 5.59980899e+00] [ 2.22561833e-02 8.78838923e-04 9.99751914e-01 1.86522727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03911593299998 meters 0.011687973720198115 Centerline is valid? [True, True] Translation: X:-85.20, Y:5.59, Z:1.87 [[ 8.72731372e-01 -4.87771298e-01 -2.04722603e-02 -8.52031229e+01] [ 4.87609026e-01 8.72970842e-01 -1.26232661e-02 5.58842464e+00] [ 2.40289532e-02 1.03426137e-03 9.99710728e-01 1.86763073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.06911593299998 meters 0.012537759011718096 Centerline is valid? [True, True] Translation: X:-85.22, Y:5.56, Z:1.85 [[ 8.72483965e-01 -4.88272944e-01 -1.90069078e-02 -8.52242449e+01] [ 4.88132547e-01 8.72690430e-01 -1.17486529e-02 5.56221767e+00] [ 2.23236958e-02 9.72620943e-04 9.99750322e-01 1.85105857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.09911593299998 meters 0.01210661321610279 Centerline is valid? [True, True] Translation: X:-85.25, Y:5.55, Z:1.86 [[ 8.72299050e-01 -4.88635871e-01 -1.81480611e-02 -8.52547640e+01] [ 4.88507615e-01 8.72487314e-01 -1.12337046e-02 5.55256773e+00] [ 2.13231442e-02 9.33683835e-04 9.99772200e-01 1.85877325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.12911593299998 meters 0.011830685059771005 Centerline is valid? [True, True] Translation: X:-85.29, Y:5.55, Z:1.88 [[ 8.70540083e-01 -4.91807405e-01 -1.68949561e-02 -8.52882296e+01] [ 4.91696560e-01 8.70703636e-01 -1.04724152e-02 5.54705016e+00] [ 1.98609111e-02 8.09465396e-04 9.99802425e-01 1.87689621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.15911593299998 meters 0.01245314928405455 Centerline is valid? [True, True] Translation: X:-85.31, Y:5.52, Z:1.86 [[ 8.68853131e-01 -4.94799127e-01 -1.63725470e-02 -8.53083215e+01] [ 4.94695315e-01 8.69007073e-01 -1.01613705e-02 5.51956684e+00] [ 1.92556964e-02 7.29316240e-04 9.99814326e-01 1.86205091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.18911593299998 meters 0.014005445187974513 Centerline is valid? [True, True] Translation: X:-85.35, Y:5.53, Z:1.90 [[ 8.73009940e-01 -4.87260964e-01 -2.07460321e-02 -8.53479154e+01] [ 4.87091949e-01 8.73255660e-01 -1.28835123e-02 5.52660603e+00] [ 2.43942226e-02 1.14220913e-03 9.99701764e-01 1.89610970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.21911593299998 meters 0.012505469654468396 Centerline is valid? [True, True] Translation: X:-85.36, Y:5.49, Z:1.87 [[ 8.69644620e-01 -4.93393518e-01 -1.67651628e-02 -8.53649971e+01] [ 4.93283928e-01 8.69805838e-01 -1.04292811e-02 5.49411043e+00] [ 1.97281762e-02 7.99782812e-04 9.99805061e-01 1.87067717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.24911593299998 meters 0.012934519536343251 Centerline is valid? [True, True] Translation: X:-85.38, Y:5.47, Z:1.85 [[ 8.70078468e-01 -4.92580597e-01 -1.81056439e-02 -8.53849834e+01] [ 4.92452290e-01 8.70266368e-01 -1.12778854e-02 5.46540942e+00] [ 2.13120005e-02 8.96479442e-04 9.99772472e-01 1.85078081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.27911593299999 meters 0.012226964505834215 Centerline is valid? [True, True] Translation: X:-85.42, Y:5.46, Z:1.86 [[ 8.66940807e-01 -4.98168633e-01 -1.55450784e-02 -8.54157305e+01] [ 4.98075072e-01 8.67079925e-01 -9.67610078e-03 5.45511524e+00] [ 1.82991553e-02 6.45990592e-04 9.99832348e-01 1.86004384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.309115933 meters 0.012564293936661846 Centerline is valid? [True, True] Translation: X:-85.44, Y:5.44, Z:1.86 [[ 8.65928913e-01 -4.99950776e-01 -1.47084359e-02 -8.54413560e+01] [ 4.99866831e-01 8.66053615e-01 -9.18083671e-03 5.43610977e+00] [ 1.73282605e-02 5.97692706e-04 9.99849676e-01 1.85640244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.339115933 meters 0.016538834383889936 Centerline is valid? [True, True] Translation: X:-85.48, Y:5.45, Z:1.90 [[ 8.67995366e-01 -4.96309383e-01 -1.61567567e-02 -8.54841002e+01] [ 4.96207300e-01 8.68145404e-01 -1.00931780e-02 5.44879915e+00] [ 1.90357530e-02 7.43731079e-04 9.99818527e-01 1.90126227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.369115933 meters 0.012568226162163434 Centerline is valid? [True, True] Translation: X:-85.49, Y:5.40, Z:1.85 [[ 8.65427132e-01 -5.00824535e-01 -1.45142676e-02 -8.54911296e+01] [ 5.00742876e-01 8.65548644e-01 -9.06180735e-03 5.39737285e+00] [ 1.71011801e-02 5.74417849e-04 9.99853599e-01 1.84750524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.399115933 meters 0.012789273839037019 Centerline is valid? [True, True] Translation: X:-85.52, Y:5.38, Z:1.85 [[ 8.65977585e-01 -4.99851364e-01 -1.52130121e-02 -8.55198837e+01] [ 4.99761405e-01 8.66110975e-01 -9.50357424e-03 5.38219275e+00] [ 1.79265312e-02 6.27005999e-04 9.99839110e-01 1.84788788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.429115933 meters 0.01252677766182241 Centerline is valid? [True, True] Translation: X:-85.55, Y:5.37, Z:1.84 [[ 8.67953799e-01 -4.96402559e-01 -1.55145781e-02 -8.55466474e+01] [ 4.96308008e-01 8.68092139e-01 -9.71593244e-03 5.36562445e+00] [ 1.82910970e-02 7.32971111e-04 9.99832435e-01 1.84345723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.459115933 meters 0.01269938721985898 Centerline is valid? [True, True] Translation: X:-85.58, Y:5.36, Z:1.85 [[ 8.67743451e-01 -4.96843887e-01 -1.29404549e-02 -8.55780699e+01] [ 4.96777977e-01 8.67839717e-01 -8.11582499e-03 5.35757096e+00] [ 1.52625388e-02 6.13920962e-04 9.99883332e-01 1.85424708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.489115933 meters 0.012489440927256922 Centerline is valid? [True, True] Translation: X:-85.60, Y:5.33, Z:1.84 [[ 8.62989625e-01 -5.05147989e-01 -8.62649465e-03 -8.55995472e+01] [ 5.05119125e-01 8.63032683e-01 -5.40896721e-03 5.33113942e+00] [ 1.01772757e-02 3.10475151e-04 9.99948162e-01 1.83734665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.519115933 meters 0.012287332087618466 Centerline is valid? [True, True] Translation: X:-85.63, Y:5.32, Z:1.84 [[ 8.65368795e-01 -5.01036242e-01 -9.97660156e-03 -8.56289508e+01] [ 5.00997174e-01 8.65426196e-01 -6.27143199e-03 5.31926636e+00] [ 1.17762270e-02 4.28852355e-04 9.99930566e-01 1.84344496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.549115933 meters 0.012750478325214632 Centerline is valid? [True, True] Translation: X:-85.65, Y:5.30, Z:1.85 [[ 8.63538614e-01 -5.04214445e-01 -8.29786664e-03 -8.56548791e+01] [ 5.04187455e-01 8.63578418e-01 -5.22748842e-03 5.30124738e+00] [ 9.80163372e-03 3.30457842e-04 9.99951908e-01 1.84511640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.579115933 meters 0.013349847548324563 Centerline is valid? [True, True] Translation: X:-85.68, Y:5.29, Z:1.85 [[ 8.61737209e-01 -5.07323521e-01 -5.64161288e-03 -8.56843472e+01] [ 5.07311100e-01 8.61755652e-01 -3.55584118e-03 5.28793123e+00] [ 6.66565365e-03 2.02147816e-04 9.99977764e-01 1.85004621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.609115933 meters 0.01266808291497352 Centerline is valid? [True, True] Translation: X:-85.71, Y:5.28, Z:1.85 [[ 8.66618178e-01 -4.98897275e-01 -8.62801284e-03 -8.57136705e+01] [ 4.98867883e-01 8.66661034e-01 -5.43023867e-03 5.27506483e+00] [ 1.01866938e-02 4.01705045e-04 9.99948034e-01 1.84575456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.639115933 meters 0.01275008210207056 Centerline is valid? [True, True] Translation: X:-85.74, Y:5.27, Z:1.85 [[ 8.67748873e-01 -4.96928575e-01 -8.59565537e-03 -8.57441543e+01] [ 4.96899117e-01 8.67791333e-01 -5.42854667e-03 5.26505279e+00] [ 1.01568352e-02 4.39441688e-04 9.99948321e-01 1.85030651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.669115933 meters 0.014699517052879705 Centerline is valid? [True, True] Translation: X:-85.79, Y:5.28, Z:1.89 [[ 8.69618877e-01 -4.93634892e-01 -9.35961782e-03 -8.57883064e+01] [ 4.93599724e-01 8.69669086e-01 -5.91552355e-03 5.27789187e+00] [ 1.10598791e-02 5.24346177e-04 9.99938700e-01 1.88746742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.699115933 meters 0.013222510226661032 Centerline is valid? [True, True] Translation: X:-85.80, Y:5.24, Z:1.85 [[ 8.68970948e-01 -4.94802546e-01 -7.74165075e-03 -8.58004224e+01] [ 4.94778437e-01 8.69005325e-01 -4.90330433e-03 5.23568432e+00] [ 9.15370319e-03 4.30427156e-04 9.99958011e-01 1.84885452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.729115933 meters 0.012129655717055208 Centerline is valid? [True, True] Translation: X:-85.82, Y:5.21, Z:1.84 [[ 8.67934503e-01 -4.96651202e-01 -5.22326990e-03 -8.58237283e+01] [ 4.96640199e-01 8.67950172e-01 -3.31833309e-03 5.21363309e+00] [ 6.18159213e-03 2.86009979e-04 9.99980853e-01 1.84144794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.759115933 meters 0.012593979274218209 Centerline is valid? [True, True] Translation: X:-85.85, Y:5.20, Z:1.84 [[ 8.66806762e-01 -4.98619226e-01 -4.99048079e-03 -8.58492477e+01] [ 4.98609183e-01 8.66821087e-01 -3.17565128e-03 5.19547951e+00] [ 5.90929477e-03 2.64376448e-04 9.99982505e-01 1.84388756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.78911593299998 meters 0.012890427057153502 Centerline is valid? [True, True] Translation: X:-85.88, Y:5.19, Z:1.85 [[ 8.66716263e-01 -4.98745855e-01 -7.44925999e-03 -8.58798857e+01] [ 4.98723502e-01 8.66748186e-01 -4.73811873e-03 5.18560356e+00] [ 8.81974966e-03 3.91483531e-04 9.99961029e-01 1.85279567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.81911593299998 meters 0.012073256944142565 Centerline is valid? [True, True] Translation: X:-85.90, Y:5.17, Z:1.85 [[ 8.60894366e-01 -5.08762383e-01 -4.66141392e-03 -8.59039414e+01] [ 5.08753724e-01 8.60906965e-01 -2.97421508e-03 5.16512829e+00] [ 5.52621246e-03 1.88973313e-04 9.99984713e-01 1.85140128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.84911593299998 meters 0.014190526521642304 Centerline is valid? [True, True] Translation: X:-85.95, Y:5.18, Z:1.89 [[ 8.58384634e-01 -5.13005222e-01 -1.20902663e-03 -8.59469682e+01] [ 5.13004624e-01 8.58385484e-01 -7.84709128e-04 5.17672127e+00] [ 1.44037079e-03 5.33460037e-05 9.99998961e-01 1.89489568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.87911593299998 meters 0.01199447225787382 Centerline is valid? [True, True] Translation: X:-85.95, Y:5.13, Z:1.85 [[ 8.54969205e-01 -5.18675938e-01 -1.71148572e-03 -8.59542582e+01] [ 5.18674764e-01 8.54970916e-01 -1.10533674e-03 5.12793843e+00] [ 2.03658209e-03 5.73244240e-05 9.99997925e-01 1.84803401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.90911593299998 meters 0.012824378058219827 Centerline is valid? [True, True] Translation: X:-85.99, Y:5.12, Z:1.87 [[ 8.52465869e-01 -5.22782689e-01 4.50784873e-04 -8.59854427e+01] [ 5.22782620e-01 8.52465988e-01 2.69158422e-04 5.11916841e+00] [-5.24990136e-04 6.21412888e-06 9.99999862e-01 1.86673124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.93911593299998 meters 0.011727500237432659 Centerline is valid? [True, True] Translation: X:-86.01, Y:5.10, Z:1.86 [[ 8.54672560e-01 -5.19164258e-01 -1.81328945e-03 -8.60106092e+01] [ 5.19162960e-01 8.54674482e-01 -1.16199517e-03 5.09793563e+00] [ 2.15303858e-03 5.17326633e-05 9.99997681e-01 1.85859208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.96911593299998 meters 0.012433519459025 Centerline is valid? [True, True] Translation: X:-86.03, Y:5.07, Z:1.85 [[ 8.52967543e-01 -5.21963516e-01 -6.77433003e-04 -8.60321333e+01] [ 5.21963323e-01 8.52967811e-01 -4.50307346e-04 5.07282749e+00] [ 8.12872551e-04 3.05023690e-05 9.99999669e-01 1.84796907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.99911593299998 meters 0.011629858190634484 Centerline is valid? [True, True] Translation: X:-86.06, Y:5.06, Z:1.86 [[ 8.50037564e-01 -5.26722035e-01 1.91879798e-04 -8.60629051e+01] [ 5.26722025e-01 8.50037586e-01 1.04616515e-04 5.06345297e+00] [-2.18208864e-04 1.21393485e-05 9.99999976e-01 1.85585480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.02911593299999 meters 0.011800490716555733 Centerline is valid? [True, True] Translation: X:-86.09, Y:5.05, Z:1.86 [[ 8.48212846e-01 -5.29654905e-01 8.05516756e-04 -8.60913373e+01] [ 5.29654672e-01 8.48213229e-01 4.97471530e-04 5.04893345e+00] [-9.46738205e-04 4.68397010e-06 9.99999552e-01 1.85799877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.059115933 meters 0.011763476337130239 Centerline is valid? [True, True] Translation: X:-86.12, Y:5.03, Z:1.87 [[ 8.50760458e-01 -5.25553650e-01 -6.45990594e-05 -8.61193322e+01] [ 5.25553647e-01 8.50760460e-01 -5.92956975e-05 5.03393747e+00] [ 8.61213952e-05 1.64961635e-05 9.99999996e-01 1.86852298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.089115933 meters 0.011506813624118279 Centerline is valid? [True, True] Translation: X:-86.15, Y:5.02, Z:1.86 [[ 8.50959147e-01 -5.25231355e-01 7.44750768e-04 -8.61472777e+01] [ 5.25231156e-01 8.50959472e-01 4.57489657e-04 5.01706956e+00] [-8.74040634e-04 1.86129801e-06 9.99999618e-01 1.86161162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.119115933 meters 0.012048163120509237 Centerline is valid? [True, True] Translation: X:-86.19, Y:5.02, Z:1.89 [[ 8.57508252e-01 -5.14469040e-01 -1.09763647e-03 -8.61862598e+01] [ 5.14468554e-01 8.57508953e-01 -7.08478148e-04 5.02054145e+00] [ 1.30572317e-03 4.28264125e-05 9.99999147e-01 1.88515000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.149115933 meters 0.011795832377811325 Centerline is valid? [True, True] Translation: X:-86.20, Y:4.99, Z:1.86 [[ 8.56674144e-01 -5.15857934e-01 -5.50468552e-05 -8.62040369e+01] [ 5.15857931e-01 8.56674146e-01 -5.33356127e-05 4.98914560e+00] [ 7.46708160e-05 1.72948835e-05 9.99999997e-01 1.85545110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.179115933 meters 0.011638871350878254 Centerline is valid? [True, True] Translation: X:-86.24, Y:4.98, Z:1.87 [[ 8.58209829e-01 -5.13299008e-01 1.31272526e-04 -8.62384480e+01] [ 5.13299002e-01 8.58209839e-01 7.81080446e-05 4.98318638e+00] [-1.52752156e-04 3.48965032e-07 9.99999988e-01 1.86591350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.209115933 meters 0.01180257510909005 Centerline is valid? [True, True] Translation: X:-86.26, Y:4.96, Z:1.86 [[ 8.57073590e-01 -5.15192558e-01 1.22087601e-03 -8.62612952e+01] [ 5.15191985e-01 8.57074459e-01 7.68461385e-04 4.95984269e+00] [-1.44228723e-03 -2.96424221e-05 9.99998959e-01 1.85520892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.239115933 meters 0.011844504919798169 Centerline is valid? [True, True] Translation: X:-86.29, Y:4.94, Z:1.85 [[ 8.53549070e-01 -5.21006855e-01 2.41695826e-03 -8.62894214e+01] [ 5.21004552e-01 8.53552490e-01 1.55048655e-03 4.94386458e+00] [-2.87081486e-03 -6.41701017e-05 9.99995877e-01 1.85448086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.269115933 meters 0.011778058361270771 Centerline is valid? [True, True] Translation: X:-86.32, Y:4.94, Z:1.87 [[ 8.49519173e-01 -5.27550673e-01 2.73179548e-03 -8.63206241e+01] [ 5.27547786e-01 8.49523564e-01 1.74580501e-03 4.93562545e+00] [-3.24172524e-03 -4.19421709e-05 9.99994745e-01 1.86955842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.299115933 meters 0.011240006556125972 Centerline is valid? [True, True] Translation: X:-86.35, Y:4.92, Z:1.87 [[ 8.42349069e-01 -5.38919870e-01 3.66338478e-03 -8.63476231e+01] [ 5.38914752e-01 8.42357035e-01 2.34872238e-03 4.91945650e+00] [-4.35165110e-03 -4.19200502e-06 9.99990532e-01 1.87043999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.329115933 meters 0.011240006556125972 Centerline is valid? [True, True] Translation: X:-86.37, Y:4.90, Z:1.87 [[ 8.41961937e-01 -5.39524494e-01 3.66281348e-03 -8.63742975e+01] [ 5.39519378e-01 8.41969904e-01 2.34961603e-03 4.90215962e+00] [-4.35165412e-03 -2.12841461e-06 9.99990532e-01 1.87122838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.359115933 meters 0.011546337592283152 Centerline is valid? [True, True] Translation: X:-86.40, Y:4.89, Z:1.88 [[ 8.35935565e-01 -5.48825785e-01 1.41038529e-03 -8.64043637e+01] [ 5.48825055e-01 8.35936754e-01 8.95581308e-04 4.89061478e+00] [-1.67051102e-03 2.54065177e-05 9.99998604e-01 1.87796887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.389115933 meters 0.01137587047787418 Centerline is valid? [True, True] Translation: X:-86.43, Y:4.87, Z:1.88 [[ 8.33477044e-01 -5.52554082e-01 5.22888563e-05 -8.64270828e+01] [ 5.52554082e-01 8.33477046e-01 1.55949814e-05 4.86724528e+00] [-5.21986326e-05 1.58943620e-05 9.99999999e-01 1.87506050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.419115933 meters 0.012801413164840651 Centerline is valid? [True, True] Translation: X:-86.46, Y:4.87, Z:1.90 [[ 8.30112554e-01 -5.57595019e-01 -9.70802071e-04 -8.64627741e+01] [ 5.57594641e-01 8.30113122e-01 -6.49270453e-04 4.86594948e+00] [ 1.16790551e-03 -2.34647840e-06 9.99999318e-01 1.89985142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.449115933 meters 0.011558068212110407 Centerline is valid? [True, True] Translation: X:-86.48, Y:4.84, Z:1.88 [[ 8.24673038e-01 -5.65605831e-01 2.10348706e-03 -8.64819146e+01] [ 5.65604224e-01 8.24675717e-01 1.35041134e-03 4.83692657e+00] [-2.49849523e-03 7.60933398e-05 9.99996876e-01 1.87755544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.479115933 meters 0.01103199617416979 Centerline is valid? [True, True] Translation: X:-86.51, Y:4.82, Z:1.88 [[ 8.25442047e-01 -5.64486846e-01 1.64288736e-04 -8.65100854e+01] [ 5.64486840e-01 8.25442063e-01 8.61394335e-05 4.82163907e+00] [-1.84235411e-04 2.16357191e-05 9.99999983e-01 1.88292998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.509115933 meters 0.010989632089990617 Centerline is valid? [True, True] Translation: X:-86.54, Y:4.81, Z:1.89 [[ 8.26774052e-01 -5.62530647e-01 1.98423021e-03 -8.65407336e+01] [ 5.62529202e-01 8.26776431e-01 1.27683839e-03 4.81133503e+00] [-2.35877550e-03 6.05305869e-05 9.99997216e-01 1.89235620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53911593299998 meters 0.010636026804098274 Centerline is valid? [True, True] Translation: X:-86.57, Y:4.79, Z:1.89 [[ 8.27772254e-01 -5.61062950e-01 1.20877261e-03 -8.65668604e+01] [ 5.61062425e-01 8.27773136e-01 7.69247003e-04 4.79123404e+00] [-1.43218549e-03 4.14355650e-05 9.99998974e-01 1.88877951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.56911593299998 meters 0.013477062858842186 Centerline is valid? [True, True] Translation: X:-86.61, Y:4.79, Z:1.92 [[ 8.32383775e-01 -5.54198312e-01 -1.21725631e-03 -8.66054528e+01] [ 5.54197713e-01 8.32384665e-01 -8.14994323e-04 4.79333834e+00] [ 1.46489396e-03 3.78738762e-06 9.99998927e-01 1.92211484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.59911593299998 meters 0.01173588855077729 Centerline is valid? [True, True] Translation: X:-86.62, Y:4.75, Z:1.88 [[ 8.26963714e-01 -5.62243413e-01 3.65516081e-03 -8.66172982e+01] [ 5.62238403e-01 8.26971787e-01 2.37536632e-03 4.75119634e+00] [-4.35824893e-03 9.07300209e-05 9.99990499e-01 1.88220183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.62911593299998 meters 0.012464176123798647 Centerline is valid? [True, True] Translation: X:-86.65, Y:4.75, Z:1.91 [[ 8.31301151e-01 -5.55820905e-01 1.23218288e-03 -8.66517834e+01] [ 5.55820343e-01 8.31302064e-01 7.90781146e-04 4.74675899e+00] [-1.46384887e-03 2.74950354e-05 9.99998928e-01 1.90547144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.65911593299998 meters 0.011038579630723272 Centerline is valid? [True, True] Translation: X:-86.67, Y:4.71, Z:1.88 [[ 8.27867083e-01 -5.60914563e-01 3.30853377e-03 -8.66673885e+01] [ 5.60910430e-01 8.27873691e-01 2.15454172e-03 4.71104207e+00] [-3.94756189e-03 7.21169281e-05 9.99992206e-01 1.87968915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.68911593299998 meters 0.011358216236220502 Centerline is valid? [True, True] Translation: X:-86.70, Y:4.70, Z:1.89 [[ 8.30208668e-01 -5.57452384e-01 6.37611440e-04 -8.66968771e+01] [ 5.57452242e-01 8.30208913e-01 3.99030075e-04 4.69812452e+00] [-7.51790968e-04 2.41596996e-05 9.99999717e-01 1.89384141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.71911593299998 meters 0.01093410101110454 Centerline is valid? [True, True] Translation: X:-86.72, Y:4.68, Z:1.90 [[ 8.26432804e-01 -5.63020198e-01 4.13248000e-03 -8.67223486e+01] [ 5.63013708e-01 8.26443131e-01 2.70485496e-03 4.67834255e+00] [-4.93814768e-03 9.12620230e-05 9.99987803e-01 1.89547494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.74911593299998 meters 0.0113360672102526 Centerline is valid? [True, True] Translation: X:-86.75, Y:4.66, Z:1.89 [[ 8.29786672e-01 -5.58080573e-01 3.90251684e-04 -8.67493504e+01] [ 5.58080522e-01 8.29786764e-01 2.39495437e-04 4.66210101e+00] [-4.57483433e-04 1.90617421e-05 9.99999895e-01 1.89189629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.77911593299999 meters 0.010969174827862053 Centerline is valid? [True, True] Translation: X:-86.78, Y:4.65, Z:1.90 [[ 8.33702419e-01 -5.52213943e-01 1.92588054e-04 -8.67811185e+01] [ 5.52213932e-01 8.33702442e-01 1.09196364e-04 4.65302721e+00] [-2.20860886e-04 1.53125339e-05 9.99999975e-01 1.90346141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.809115933 meters 0.011109502803136833 Centerline is valid? [True, True] Translation: X:-86.81, Y:4.64, Z:1.89 [[ 8.31847378e-01 -5.54997651e-01 2.74707105e-03 -8.68081111e+01] [ 5.54994729e-01 8.31851914e-01 1.80118916e-03 4.63609223e+00] [-3.28481206e-03 2.62954704e-05 9.99994605e-01 1.89459000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.839115933 meters 0.011805161549700509 Centerline is valid? [True, True] Translation: X:-86.84, Y:4.62, Z:1.90 [[ 8.33952351e-01 -5.51833333e-01 1.85701476e-03 -8.68368789e+01] [ 5.51832004e-01 8.33954419e-01 1.21104652e-03 4.62124749e+00] [-2.21696150e-03 1.48050887e-05 9.99997542e-01 1.89929551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.869115933 meters 0.012029431337753856 Centerline is valid? [True, True] Translation: X:-86.87, Y:4.61, Z:1.91 [[ 8.32654471e-01 -5.53789762e-01 1.85239183e-03 -8.68670993e+01] [ 5.53788441e-01 8.32656532e-01 1.20970234e-03 4.60849571e+00] [-2.21232693e-03 1.85691265e-05 9.99997553e-01 1.90923255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.899115933 meters 0.011608342809813384 Centerline is valid? [True, True] Translation: X:-86.89, Y:4.58, Z:1.89 [[ 8.27275257e-01 -5.61793367e-01 1.96515143e-03 -8.68858093e+01] [ 5.61791890e-01 8.27277590e-01 1.28897442e-03 4.57915711e+00] [-2.34986302e-03 3.76694906e-05 9.99997238e-01 1.89460266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.929115933 meters 0.011225784790601299 Centerline is valid? [True, True] Translation: X:-86.92, Y:4.57, Z:1.91 [[ 8.25495337e-01 -5.64408936e-01 3.72026475e-05 -8.69156976e+01] [ 5.64408936e-01 8.25495338e-01 6.30246275e-06 4.56753244e+00] [-3.42677790e-05 1.57948531e-05 9.99999999e-01 1.90579173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.959115933 meters 0.01141925787443346 Centerline is valid? [True, True] Translation: X:-86.95, Y:4.56, Z:1.92 [[ 8.26109889e-01 -5.63501611e-01 -2.89585098e-03 -8.69481441e+01] [ 5.63498235e-01 8.26114964e-01 -1.95046997e-03 4.56048520e+00] [ 3.49139880e-03 -2.05043846e-05 9.99993905e-01 1.92004939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.989115933 meters 0.011867442590041957 Centerline is valid? [True, True] Translation: X:-86.97, Y:4.54, Z:1.92 [[ 8.26572027e-01 -5.62802002e-01 -5.70877148e-03 -8.69717714e+01] [ 5.62788956e-01 8.26591740e-01 -3.83236992e-03 4.53918980e+00] [ 6.87568882e-03 -4.51037640e-05 9.99976361e-01 1.91807359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.019115933 meters 0.012716632868040477 Centerline is valid? [True, True] Translation: X:-87.01, Y:4.53, Z:1.94 [[ 8.23971900e-01 -5.66624806e-01 -2.57616621e-03 -8.70054165e+01] [ 5.66622129e-01 8.23975927e-01 -1.74193453e-03 4.53444032e+00] [ 3.10972226e-03 -2.44076836e-05 9.99995165e-01 1.94409888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.049115933 meters 0.012368677235999437 Centerline is valid? [True, True] Translation: X:-87.02, Y:4.50, Z:1.92 [[ 8.23745403e-01 -5.66943959e-01 -4.24959110e-03 -8.70222209e+01] [ 5.66936794e-01 8.23756362e-01 -2.85094528e-03 4.49989792e+00] [ 5.11695391e-03 -6.07964898e-05 9.99986906e-01 1.91550592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.079115933 meters 0.012003035214325953 Centerline is valid? [True, True] Translation: X:-87.05, Y:4.48, Z:1.91 [[ 8.26028596e-01 -5.63601343e-01 -5.50326602e-03 -8.70473750e+01] [ 5.63589131e-01 8.26046927e-01 -3.71021156e-03 4.47883848e+00] [ 6.63703620e-03 -3.68400681e-05 9.99977974e-01 1.91330804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.109115933 meters 0.011720637018412555 Centerline is valid? [True, True] Translation: X:-87.08, Y:4.46, Z:1.91 [[ 8.25132281e-01 -5.64918884e-01 -4.83463685e-03 -8.70756328e+01] [ 5.64909437e-01 8.25146444e-01 -3.26723277e-03 4.46271335e+00] [ 5.83500489e-03 -3.52327565e-05 9.99982976e-01 1.91483172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.139115933 meters 0.011499772432358606 Centerline is valid? [True, True] Translation: X:-87.10, Y:4.44, Z:1.90 [[ 8.23756189e-01 -5.66929363e-01 -4.10349841e-03 -8.70974362e+01] [ 5.66922544e-01 8.23766409e-01 -2.78065491e-03 4.43677127e+00] [ 4.95675906e-03 -3.57840670e-05 9.99987715e-01 1.90426270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.169115933 meters 0.011586885733800793 Centerline is valid? [True, True] Translation: X:-87.13, Y:4.43, Z:1.92 [[ 8.27071589e-01 -5.62042721e-01 -7.78243923e-03 -8.71309372e+01] [ 5.62018118e-01 8.27108203e-01 -5.25887066e-03 4.43034177e+00] [ 9.39262930e-03 -2.44093350e-05 9.99955888e-01 1.92107292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.199115933 meters 0.01106807778193404 Centerline is valid? [True, True] Translation: X:-87.15, Y:4.40, Z:1.90 [[ 8.24908515e-01 -5.65232954e-01 -6.13587247e-03 -8.71494313e+01] [ 5.65217678e-01 8.24931334e-01 -4.15584610e-03 4.40076985e+00] [ 7.41069463e-03 -3.99107486e-05 9.99972540e-01 1.90330299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.229115933 meters 0.011482909148129388 Centerline is valid? [True, True] Translation: X:-87.17, Y:4.38, Z:1.90 [[ 8.25569159e-01 -5.64245237e-01 -7.92945024e-03 -8.71733986e+01] [ 5.64219661e-01 8.25607238e-01 -5.37244954e-03 4.37900584e+00] [ 9.57799058e-03 -3.86230750e-05 9.99954129e-01 1.90091115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.259115933 meters 0.012674234607367723 Centerline is valid? [True, True] Translation: X:-87.21, Y:4.38, Z:1.93 [[ 8.25600880e-01 -5.64200179e-01 -7.83234209e-03 -8.72099120e+01] [ 5.64175118e-01 8.25638031e-01 -5.31781051e-03 4.37702893e+00] [ 9.46698914e-03 -2.84234840e-05 9.99955187e-01 1.92937810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.28911593299998 meters 0.012624543275212674 Centerline is valid? [True, True] Translation: X:-87.24, Y:4.36, Z:1.93 [[ 8.25339167e-01 -5.64584509e-01 -7.71963195e-03 -8.72355084e+01] [ 5.64560102e-01 8.25375267e-01 -5.24967227e-03 4.35721141e+00] [ 9.33547692e-03 -2.54360618e-05 9.99956423e-01 1.92933330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.31911593299998 meters 0.012279539176435776 Centerline is valid? [True, True] Translation: X:-87.26, Y:4.33, Z:1.93 [[ 8.23998121e-01 -5.66533067e-01 -8.20861498e-03 -8.72583868e+01] [ 5.66505532e-01 8.24039005e-01 -5.58575278e-03 4.33449330e+00] [ 9.92873257e-03 -4.75760000e-05 9.99950708e-01 1.92911682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.34911593299998 meters 0.011306214135324032 Centerline is valid? [True, True] Translation: X:-87.28, Y:4.32, Z:1.93 [[ 8.22310917e-01 -5.68951094e-01 -9.97038742e-03 -8.72831699e+01] [ 5.68910585e-01 8.22371354e-01 -6.78987812e-03 4.31529568e+00] [ 1.20624696e-02 -8.88680425e-05 9.99927242e-01 1.92817087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.37911593299998 meters 0.011832398464787354 Centerline is valid? [True, True] Translation: X:-87.31, Y:4.29, Z:1.92 [[ 8.20406946e-01 -5.71709958e-01 -8.95364404e-03 -8.73073597e+01] [ 5.71677300e-01 8.20455796e-01 -6.11153805e-03 4.29334236e+00] [ 1.08400963e-02 -1.04646791e-04 9.99941239e-01 1.92038757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.40911593299998 meters 0.01239280843861779 Centerline is valid? [True, True] Translation: X:-87.34, Y:4.28, Z:1.93 [[ 8.21033712e-01 -5.70820228e-01 -8.24082751e-03 -8.73359428e+01] [ 5.70792454e-01 8.21075064e-01 -5.63151462e-03 4.28020955e+00] [ 9.98092044e-03 -8.01388003e-05 9.99950186e-01 1.92626043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.43911593299998 meters 0.014275716459146241 Centerline is valid? [True, True] Translation: X:-87.38, Y:4.29, Z:1.97 [[ 8.20139845e-01 -5.72131439e-01 -6.02084667e-03 -8.73773510e+01] [ 5.72116572e-01 8.20161943e-01 -4.12498915e-03 4.28597388e+00] [ 7.29810528e-03 -6.15581933e-05 9.99973367e-01 1.96516236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.46911593299998 meters 0.014461290031200199 Centerline is valid? [True, True] Translation: X:-87.40, Y:4.26, Z:1.96 [[ 8.17268155e-01 -5.76240164e-01 -4.47625269e-03 -8.74002908e+01] [ 5.76231940e-01 8.17280411e-01 -3.07909553e-03 4.26192896e+00] [ 5.43265215e-03 -6.29130540e-05 9.99985241e-01 1.95927563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.49911593299998 meters 0.012246130634813491 Centerline is valid? [True, True] Translation: X:-87.41, Y:4.22, Z:1.92 [[ 8.13882740e-01 -5.81012672e-01 -4.37723827e-03 -8.74114765e+01] [ 5.81004868e-01 8.13894506e-01 -3.01288000e-03 4.22142068e+00] [ 5.31313164e-03 -9.10657158e-05 9.99985881e-01 1.92320479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.52911593299999 meters 0.013987763527385075 Centerline is valid? [True, True] Translation: X:-87.45, Y:4.22, Z:1.95 [[ 8.16759744e-01 -5.76936917e-01 -6.87859031e-03 -8.74489975e+01] [ 5.76917507e-01 8.16788702e-01 -4.73360310e-03 4.22120712e+00] [ 8.34934523e-03 -1.02162714e-04 9.99965138e-01 1.95482143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.559115933 meters 0.010998527094419947 Centerline is valid? [True, True] Translation: X:-87.46, Y:4.18, Z:1.91 [[ 8.14565698e-01 -5.80044435e-01 -5.58354198e-03 -8.74626719e+01] [ 5.80031650e-01 8.14584828e-01 -3.85255663e-03 4.18136128e+00] [ 6.78292262e-03 -1.00470584e-04 9.99976991e-01 1.91363280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.589115933 meters 0.011257607890060115 Centerline is valid? [True, True] Translation: X:-87.49, Y:4.16, Z:1.91 [[ 8.16587051e-01 -5.77165322e-01 -8.11042186e-03 -8.74892829e+01] [ 5.77138252e-01 8.16627319e-01 -5.59107030e-03 4.16499288e+00] [ 9.85016395e-03 -1.15239093e-04 9.99951479e-01 1.91346609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.619115933 meters 0.0219961973663622 Centerline is valid? [True, True] Translation: X:-87.52, Y:4.15, Z:1.91 [[ 8.18385486e-01 -5.74592384e-01 -9.42278806e-03 -8.75167631e+01] [ 5.74555564e-01 8.18439725e-01 -6.50536099e-03 4.14848240e+00] [ 1.14499150e-02 -9.00222902e-05 9.99934444e-01 1.91300390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.649115933 meters 0.012094765983468713 Centerline is valid? [True, True] Translation: X:-87.54, Y:4.13, Z:1.92 [[ 8.16749298e-01 -5.76954108e-01 -6.67391500e-03 -8.75435404e+01] [ 5.76935651e-01 8.16776561e-01 -4.61563014e-03 4.13267036e+00] [ 8.11410411e-03 -8.06068234e-05 9.99967077e-01 1.91678680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.679115933 meters 0.012242948982396461 Centerline is valid? [True, True] Translation: X:-87.58, Y:4.13, Z:1.95 [[ 8.18388165e-01 -5.74658295e-01 -2.94191047e-03 -8.75775090e+01] [ 5.74654645e-01 8.18393453e-01 -2.04823933e-03 4.12741997e+00] [ 3.58467799e-03 -1.43276896e-05 9.99993575e-01 1.94691535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.709115933 meters 0.014400198780177604 Centerline is valid? [True, True] Translation: X:-87.61, Y:4.13, Z:1.98 [[ 8.19998232e-01 -5.72365399e-01 8.65697226e-04 -8.76133576e+01] [ 5.72365105e-01 8.19998689e-01 5.80845561e-04 4.12595869e+00] [-1.04232649e-03 1.92025498e-05 9.99999457e-01 1.97764274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.739115933 meters 0.011428155061814028 Centerline is valid? [True, True] Translation: X:-87.62, Y:4.08, Z:1.94 [[ 8.16214223e-01 -5.77736419e-01 3.86944460e-03 -8.76217830e+01] [ 5.77730304e-01 8.16223392e-01 2.65897154e-03 4.08180456e+00] [-4.69451590e-03 6.52050146e-05 9.99988979e-01 1.94074752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.769115933 meters 0.012483532792011202 Centerline is valid? [True, True] Translation: X:-87.65, Y:4.07, Z:1.96 [[ 8.17740634e-01 -5.75586854e-01 1.70219703e-04 -8.76516024e+01] [ 5.75586845e-01 8.17740652e-01 9.92658666e-05 4.06981531e+00] [-1.96331699e-04 1.68024891e-05 9.99999981e-01 1.95563174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.799115933 meters 0.011712619916441853 Centerline is valid? [True, True] Translation: X:-87.67, Y:4.04, Z:1.94 [[ 8.14024682e-01 -5.80820158e-01 -3.42939243e-03 -8.76699553e+01] [ 5.80815213e-01 8.14031905e-01 -2.39720353e-03 4.03955542e+00] [ 4.18397899e-03 -4.04604477e-05 9.99991246e-01 1.93818078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.829115933 meters 0.013030009116712987 Centerline is valid? [True, True] Translation: X:-87.70, Y:4.03, Z:1.95 [[ 8.15222467e-01 -5.79066853e-01 -9.69068525e-03 -8.77006876e+01] [ 5.79027538e-01 8.15280055e-01 -6.74848883e-03 4.02847173e+00] [ 1.18084486e-02 -1.09653917e-04 9.99930272e-01 1.94676668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.859115933 meters 0.01141398575920321 Centerline is valid? [True, True] Translation: X:-87.72, Y:4.00, Z:1.93 [[ 8.12755504e-01 -5.82540253e-01 -8.68016070e-03 -8.77213136e+01] [ 5.82508759e-01 8.12801843e-01 -6.05883063e-03 4.00046716e+00] [ 1.05847633e-02 -1.31921695e-04 9.99943971e-01 1.92968081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.889115933 meters 0.01131209941091359 Centerline is valid? [True, True] Translation: X:-87.75, Y:3.98, Z:1.92 [[ 8.14891633e-01 -5.79583544e-01 -5.87716047e-03 -8.77459976e+01] [ 5.79568961e-01 8.14912825e-01 -4.11179842e-03 3.98081979e+00] [ 7.17250414e-03 -5.55496583e-05 9.99974276e-01 1.92244290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.919115933 meters 0.012637499054630963 Centerline is valid? [True, True] Translation: X:-87.78, Y:3.97, Z:1.94 [[ 8.15387776e-01 -5.78904510e-01 -3.51319070e-03 -8.77793297e+01] [ 5.78899254e-01 8.15395344e-01 -2.46713887e-03 3.97498620e+00] [ 4.29287716e-03 -2.21086009e-05 9.99990785e-01 1.94320995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.949115933 meters 0.014017399569753161 Centerline is valid? [True, True] Translation: X:-87.81, Y:3.97, Z:1.96 [[ 8.18866945e-01 -5.73971553e-01 -3.68556859e-03 -8.78141364e+01] [ 5.73965700e-01 8.18875239e-01 -2.59206416e-03 3.96992032e+00] [ 4.50579195e-03 7.16569728e-06 9.99989849e-01 1.96463972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.979115933 meters 0.0110552969203302 Centerline is valid? [True, True] Translation: X:-87.83, Y:3.93, Z:1.92 [[ 8.16011156e-01 -5.78013721e-01 -5.09239547e-03 -8.78261343e+01] [ 5.78002638e-01 8.16027045e-01 -3.57939823e-03 3.93044257e+00] [ 6.22447371e-03 -2.25891316e-05 9.99980628e-01 1.92131060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.009115933 meters 0.011832039926184274 Centerline is valid? [True, True] Translation: X:-87.85, Y:3.91, Z:1.93 [[ 8.16662139e-01 -5.77079471e-01 -6.49890768e-03 -8.78524815e+01] [ 5.77061385e-01 8.16687997e-01 -4.56878989e-03 3.91412210e+00] [ 7.94413475e-03 -1.91109417e-05 9.99968445e-01 1.92974595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03911593299998 meters 0.013717457252875325 Centerline is valid? [True, True] Translation: X:-87.90, Y:3.93, Z:1.98 [[ 8.16604749e-01 -5.77143870e-01 -7.85098869e-03 -8.78994247e+01] [ 5.77117445e-01 8.16642488e-01 -5.52284223e-03 3.92839055e+00] [ 9.59892548e-03 -2.09633462e-05 9.99953929e-01 1.98353962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.06911593299998 meters 0.014231636812225685 Centerline is valid? [True, True] Translation: X:-87.91, Y:3.89, Z:1.96 [[ 8.16520932e-01 -5.77166254e-01 -1.31408908e-02 -8.79134958e+01] [ 5.77092265e-01 8.16626667e-01 -9.24142837e-03 3.89342116e+00] [ 1.60650424e-02 -3.76867201e-05 9.99870948e-01 1.95739796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.09911593299998 meters 0.012978768090887357 Centerline is valid? [True, True] Translation: X:-87.93, Y:3.86, Z:1.94 [[ 8.13014693e-01 -5.82057049e-01 -1.47207330e-02 -8.79311481e+01] [ 5.81964757e-01 8.13147940e-01 -1.03657883e-02 3.86373893e+00] [ 1.80036138e-02 -1.39409572e-04 9.99837912e-01 1.94265127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.12911593299998 meters 0.01429963947926754 Centerline is valid? [True, True] Translation: X:-87.96, Y:3.84, Z:1.94 [[ 8.13555394e-01 -5.81197713e-01 -1.83532023e-02 -8.79562930e+01] [ 5.81053747e-01 8.13762373e-01 -1.29361299e-02 3.84399804e+00] [ 2.24535945e-02 -1.39938697e-04 9.99747876e-01 1.93950507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.15911593299998 meters 0.014716296916082791 Centerline is valid? [True, True] Translation: X:-87.98, Y:3.82, Z:1.93 [[ 8.14179135e-01 -5.80177509e-01 -2.25031978e-02 -8.79784974e+01] [ 5.79960310e-01 8.14490051e-01 -1.58743996e-02 3.82166052e+00] [ 2.75386004e-02 -1.26356642e-04 9.99620733e-01 1.93287454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.18911593299998 meters 0.015737313608099816 Centerline is valid? [True, True] Translation: X:-88.01, Y:3.82, Z:1.95 [[ 8.13212387e-01 -5.81357343e-01 -2.66318081e-02 -8.80110489e+01] [ 5.81053172e-01 8.13648331e-01 -1.88043778e-02 3.81545737e+00] [ 3.26009893e-02 -1.82543638e-04 9.99468430e-01 1.95036578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.21911593299998 meters 0.015408888588338585 Centerline is valid? [True, True] Translation: X:-88.03, Y:3.78, Z:1.92 [[ 8.11180576e-01 -5.83964374e-01 -3.11718161e-02 -8.80281172e+01] [ 5.83549861e-01 8.11779214e-01 -2.20015468e-02 3.78343383e+00] [ 3.81527519e-02 -3.43081529e-04 9.99271860e-01 1.92267407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.24911593299998 meters 0.015408888588338585 Centerline is valid? [True, True] Translation: X:-88.05, Y:3.77, Z:1.92 [[ 8.10762680e-01 -5.84545708e-01 -3.11478952e-02 -8.80541313e+01] [ 5.84130322e-01 8.11360713e-01 -2.20354162e-02 3.76505108e+00] [ 3.81528865e-02 -3.28936945e-04 9.99271859e-01 1.92345180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.27911593299999 meters 0.015203002709803754 Centerline is valid? [True, True] Translation: X:-88.08, Y:3.75, Z:1.93 [[ 8.09346038e-01 -5.86385373e-01 -3.33344386e-02 -8.80819788e+01] [ 5.85911357e-01 8.10032094e-01 -2.35772993e-02 3.74825627e+00] [ 4.08273485e-02 -4.48832429e-04 9.99166115e-01 1.92597162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.309115933 meters 0.015461222976922885 Centerline is valid? [True, True] Translation: X:-88.11, Y:3.73, Z:1.93 [[ 8.07999312e-01 -5.88159981e-01 -3.47123599e-02 -8.81105603e+01] [ 5.87645692e-01 8.08744435e-01 -2.45963316e-02 3.73443765e+00] [ 4.25400059e-02 -5.24749701e-04 9.99094626e-01 1.92892930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.339115933 meters 0.015380512143053585 Centerline is valid? [True, True] Translation: X:-88.14, Y:3.71, Z:1.93 [[ 8.08130521e-01 -5.87842332e-01 -3.69655739e-02 -8.81352123e+01] [ 5.87257232e-01 8.08975357e-01 -2.62262127e-02 3.71419575e+00] [ 4.53211163e-02 -5.14097691e-04 9.98972338e-01 1.92904891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.369115933 meters 0.015660557984662538 Centerline is valid? [True, True] Translation: X:-88.16, Y:3.70, Z:1.93 [[ 8.08314568e-01 -5.87512680e-01 -3.81629430e-02 -8.81616923e+01] [ 5.86888667e-01 8.09214798e-01 -2.70758776e-02 3.69542123e+00] [ 4.67894396e-02 -5.11572425e-04 9.98904643e-01 1.92746952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.399115933 meters 0.015207362420360127 Centerline is valid? [True, True] Translation: X:-88.19, Y:3.68, Z:1.93 [[ 8.12337525e-01 -5.81726589e-01 -4.12543562e-02 -8.81907226e+01] [ 5.80987468e-01 8.13384382e-01 -2.93156904e-02 3.68204167e+00] [ 5.06093656e-02 -1.54028528e-04 9.98718513e-01 1.93208353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.429115933 meters 0.015295014832670291 Centerline is valid? [True, True] Translation: X:-88.21, Y:3.66, Z:1.93 [[ 8.09629710e-01 -5.85620610e-01 -3.93476135e-02 -8.82146240e+01] [ 5.84950966e-01 8.10585209e-01 -2.79997554e-02 3.66124390e+00] [ 4.82918273e-02 -3.46990632e-04 9.98833209e-01 1.92859062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.459115933 meters 0.015846722508737147 Centerline is valid? [True, True] Translation: X:-88.25, Y:3.65, Z:1.94 [[ 8.11193157e-01 -5.83278930e-01 -4.18491529e-02 -8.82458655e+01] [ 5.82516302e-01 8.12271909e-01 -2.98178459e-02 3.65160903e+00] [ 5.13850125e-02 -1.89781218e-04 9.98678900e-01 1.94014589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.489115933 meters 0.015093366627203805 Centerline is valid? [True, True] Translation: X:-88.27, Y:3.63, Z:1.94 [[ 8.08884632e-01 -5.86569965e-01 -4.05133047e-02 -8.82697401e+01] [ 5.85857456e-01 8.09898482e-01 -2.89048458e-02 3.63074731e+00] [ 4.97663783e-02 -3.54336055e-04 9.98760823e-01 1.93821239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.519115933 meters 0.015270648925966683 Centerline is valid? [True, True] Translation: X:-88.29, Y:3.60, Z:1.93 [[ 8.07870941e-01 -5.87881006e-01 -4.17188950e-02 -8.82899084e+01] [ 5.87125197e-01 8.08947309e-01 -2.98035939e-02 3.60462550e+00] [ 5.12693546e-02 -4.16757046e-04 9.98684775e-01 1.92650379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.549115933 meters 0.01596236251146846 Centerline is valid? [True, True] Translation: X:-88.32, Y:3.59, Z:1.93 [[ 8.03012890e-01 -5.94650287e-01 -3.95137243e-02 -8.83169327e+01] [ 5.93979854e-01 8.03984084e-01 -2.82404851e-02 3.58852840e+00] [ 4.85616180e-02 -7.92882663e-04 9.98819874e-01 1.92690544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.579115933 meters 0.01638445742828721 Centerline is valid? [True, True] Translation: X:-88.34, Y:3.57, Z:1.92 [[ 8.03102466e-01 -5.94549798e-01 -3.92041561e-02 -8.83406524e+01] [ 5.93887503e-01 8.04058446e-01 -2.80650890e-02 3.56765277e+00] [ 4.82085259e-02 -7.43716193e-04 9.98837016e-01 1.92216709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.609115933 meters 0.01687040707372014 Centerline is valid? [True, True] Translation: X:-88.37, Y:3.56, Z:1.94 [[ 8.03736668e-01 -5.93776393e-01 -3.79072981e-02 -8.83714515e+01] [ 5.93154839e-01 8.04629837e-01 -2.71691438e-02 3.55776966e+00] [ 4.66337393e-02 -6.48060178e-04 9.98911845e-01 1.93989436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.639115933 meters 0.016813608474020005 Centerline is valid? [True, True] Translation: X:-88.40, Y:3.54, Z:1.94 [[ 8.05422611e-01 -5.91628192e-01 -3.56440780e-02 -8.83978407e+01] [ 5.91076628e-01 8.06210791e-01 -2.55456518e-02 3.53991306e+00] [ 4.38501680e-02 -4.93335895e-04 9.99037997e-01 1.94303455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.669115933 meters 0.01748987777792669 Centerline is valid? [True, True] Translation: X:-88.43, Y:3.53, Z:1.95 [[ 8.08506321e-01 -5.87382975e-01 -3.60384426e-02 -8.84272715e+01] [ 5.86812476e-01 8.09309083e-01 -2.58829324e-02 3.52561439e+00] [ 4.43694328e-02 -2.21293276e-04 9.99015167e-01 1.94877805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.699115933 meters 0.01797619758193357 Centerline is valid? [True, True] Translation: X:-88.45, Y:3.51, Z:1.95 [[ 8.09912692e-01 -5.85518702e-01 -3.47747025e-02 -8.84521555e+01] [ 5.84984643e-01 8.10658893e-01 -2.50025385e-02 3.50692816e+00] [ 4.28298758e-02 -9.27936696e-05 9.99082376e-01 1.94734094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.729115933 meters 0.018357753479991395 Centerline is valid? [True, True] Translation: X:-88.47, Y:3.48, Z:1.94 [[ 8.10458500e-01 -5.84933268e-01 -3.17819335e-02 -8.84739991e+01] [ 5.84486838e-01 8.11081419e-01 -2.28488049e-02 3.48227579e+00] [ 3.91427618e-02 -5.81136235e-05 9.99233627e-01 1.93714755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.759115933 meters 0.019079390030962987 Centerline is valid? [True, True] Translation: X:-88.50, Y:3.47, Z:1.94 [[ 8.11469993e-01 -5.83587312e-01 -3.06969054e-02 -8.85036770e+01] [ 5.83168288e-01 8.12050397e-01 -2.21110788e-02 3.46913823e+00] [ 3.78311793e-02 4.10151562e-05 9.99284144e-01 1.94415097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.78911593299998 meters 0.01892998932602094 Centerline is valid? [True, True] Translation: X:-88.53, Y:3.45, Z:1.95 [[ 8.09871119e-01 -5.86007301e-01 -2.65370262e-02 -8.85293701e+01] [ 5.85695602e-01 8.10305769e-01 -1.91108035e-02 3.44982665e+00] [ 3.27021758e-02 -6.53317144e-05 9.99465139e-01 1.94969545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.81911593299998 meters 0.01931583744292086 Centerline is valid? [True, True] Translation: X:-88.55, Y:3.43, Z:1.95 [[ 8.09562848e-01 -5.86563250e-01 -2.34850932e-02 -8.85541197e+01] [ 5.86318832e-01 8.09903420e-01 -1.69315482e-02 3.42987757e+00] [ 2.89520812e-02 -6.26000027e-05 9.99580799e-01 1.94894646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.84911593299998 meters 0.020169584579726677 Centerline is valid? [True, True] Translation: X:-88.58, Y:3.41, Z:1.94 [[ 8.08149856e-01 -5.88528201e-01 -2.29862288e-02 -8.85765375e+01] [ 5.88294000e-01 8.08476682e-01 -1.66019307e-02 3.40719841e+00] [ 2.83545344e-02 -1.05812632e-04 9.99597924e-01 1.94381781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.87911593299998 meters 0.019855847840079533 Centerline is valid? [True, True] Translation: X:-88.60, Y:3.39, Z:1.94 [[ 8.08070685e-01 -5.88790833e-01 -1.86312184e-02 -8.86019718e+01] [ 5.88637159e-01 8.08285435e-01 -1.34517386e-02 3.38796605e+00] [ 2.29796029e-02 -9.70719021e-05 9.99735929e-01 1.94384334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.90911593299998 meters 0.020361561634652213 Centerline is valid? [True, True] Translation: X:-88.63, Y:3.37, Z:1.94 [[ 8.09332385e-01 -5.87036007e-01 -1.92306098e-02 -8.86271056e+01] [ 5.86871039e-01 8.09560823e-01 -1.39161157e-02 3.36822330e+00] [ 2.37376093e-02 -2.31248438e-05 9.99718223e-01 1.94358028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.93911593299998 meters 0.020301573012580915 Centerline is valid? [True, True] Translation: X:-88.65, Y:3.35, Z:1.94 [[ 8.07264119e-01 -5.90023624e-01 -1.40273374e-02 -8.86504870e+01] [ 5.89936027e-01 8.07385979e-01 -1.01668654e-02 3.34734162e+00] [ 1.73241663e-02 -6.78860476e-05 9.99849923e-01 1.93988954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.96911593299998 meters 0.020526179919477416 Centerline is valid? [True, True] Translation: X:-88.68, Y:3.33, Z:1.95 [[ 8.08756541e-01 -5.87989571e-01 -1.34581767e-02 -8.86789872e+01] [ 5.87908410e-01 8.08868509e-01 -9.76917454e-03 3.33272227e+00] [ 1.66300681e-02 -1.12914595e-05 9.99861711e-01 1.94728955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.99911593299998 meters 0.021117617043667766 Centerline is valid? [True, True] Translation: X:-88.70, Y:3.31, Z:1.95 [[ 8.09348183e-01 -5.87217130e-01 -1.14700157e-02 -8.87032242e+01] [ 5.87157937e-01 8.09429455e-01 -8.33754888e-03 3.31337597e+00] [ 1.41801200e-02 1.32693003e-05 9.99899457e-01 1.95453081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.02911593299999 meters 0.021097741784420487 Centerline is valid? [True, True] Translation: X:-88.73, Y:3.29, Z:1.95 [[ 8.10132981e-01 -5.86114028e-01 -1.24458524e-02 -8.87281856e+01] [ 5.86044024e-01 8.10228575e-01 -9.05853869e-03 3.29459013e+00] [ 1.53933219e-02 4.48035013e-05 9.99881515e-01 1.95326007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.059115933 meters 0.02073729463925893 Centerline is valid? [True, True] Translation: X:-88.75, Y:3.28, Z:1.95 [[ 8.06648645e-01 -5.90983506e-01 -7.51392982e-03 -8.87535505e+01] [ 5.90958226e-01 8.06683639e-01 -5.46631256e-03 3.27533873e+00] [ 9.29186482e-03 -3.10250160e-05 9.99956829e-01 1.95141907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.089115933 meters 0.020769631973035572 Centerline is valid? [True, True] Translation: X:-88.78, Y:3.25, Z:1.95 [[ 8.10975689e-01 -5.85013700e-01 -8.79786532e-03 -8.87776557e+01] [ 5.84978475e-01 8.11023407e-01 -6.42004336e-03 3.25386340e+00] [ 1.08910880e-02 5.99372520e-05 9.99940689e-01 1.94572607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.119115933 meters 0.02071762409921414 Centerline is valid? [True, True] Translation: X:-88.81, Y:3.24, Z:1.96 [[ 8.09730368e-01 -5.86753132e-01 -7.58248925e-03 -8.88058471e+01] [ 5.86726950e-01 8.09765868e-01 -5.54302483e-03 3.24017477e+00] [ 9.39242817e-03 3.95047488e-05 9.99955889e-01 1.95940415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.149115933 meters 0.020337211722470723 Centerline is valid? [True, True] Translation: X:-88.83, Y:3.22, Z:1.95 [[ 8.08682826e-01 -5.88234111e-01 -3.56633667e-03 -8.88295983e+01] [ 5.88228274e-01 8.08690689e-01 -2.62051369e-03 3.21868747e+00] [ 4.42553880e-03 2.13443513e-05 9.99990207e-01 1.95477623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.179115933 meters 0.01960336508884575 Centerline is valid? [True, True] Translation: X:-88.86, Y:3.20, Z:1.96 [[ 8.08829645e-01 -5.88042756e-01 -5.68143466e-04 -8.88575260e+01] [ 5.88042596e-01 8.08829844e-01 -4.33858732e-04 3.20297864e+00] [ 7.14658875e-04 1.68252457e-05 9.99999744e-01 1.95848269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.209115933 meters 0.01955026501852412 Centerline is valid? [True, True] Translation: X:-88.88, Y:3.19, Z:1.97 [[ 8.07782206e-01 -5.89480655e-01 6.81679764e-04 -8.88842668e+01] [ 5.89480460e-01 8.07782494e-01 4.79733018e-04 3.18655438e+00] [-8.33442314e-04 1.43171048e-05 9.99999653e-01 1.96515733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.239115933 meters 0.01866051984165349 Centerline is valid? [True, True] Translation: X:-88.91, Y:3.17, Z:1.97 [[ 8.10017249e-01 -5.86387772e-01 4.63008401e-03 -8.89113145e+01] [ 5.86378075e-01 8.10030481e-01 3.37226862e-03 3.16968516e+00] [-5.72796627e-03 -1.66159992e-05 9.99983595e-01 1.96807076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.269115933 meters 0.01780731448805661 Centerline is valid? [True, True] Translation: X:-88.94, Y:3.15, Z:1.97 [[ 8.11202563e-01 -5.84746281e-01 4.71043382e-03 -8.89383769e+01] [ 5.84736201e-01 8.11216239e-01 3.43354153e-03 3.15146361e+00] [-5.82893105e-03 -3.09365143e-05 9.99983011e-01 1.97051764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.299115933 meters 0.016633026483186788 Centerline is valid? [True, True] Translation: X:-88.96, Y:3.13, Z:1.97 [[ 8.11758577e-01 -5.83923461e-01 9.02248763e-03 -8.89625581e+01] [ 5.83886080e-01 8.11808711e-01 6.60780042e-03 3.13156381e+00] [-1.11829837e-02 -9.58337295e-05 9.99937464e-01 1.96788336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.329115933 meters 0.016134594451070128 Centerline is valid? [True, True] Translation: X:-88.99, Y:3.12, Z:1.98 [[ 8.14687809e-01 -5.79791253e-01 1.12194885e-02 -8.89917407e+01] [ 5.79732842e-01 8.14765035e-01 8.23218955e-03 3.11814532e+00] [-1.39141984e-02 -2.02358519e-04 9.99903172e-01 1.97756393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.359115933 meters 0.014022527069004106 Centerline is valid? [True, True] Translation: X:-89.02, Y:3.10, Z:1.98 [[ 8.12850255e-01 -5.82220548e-01 1.71375761e-02 -8.90163005e+01] [ 5.82084235e-01 8.13030849e-01 1.26008373e-02 3.09760951e+00] [-2.12698444e-02 -2.67080950e-04 9.99773736e-01 1.97827692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.389115933 meters 0.01200031602613471 Centerline is valid? [True, True] Translation: X:-89.04, Y:3.08, Z:1.98 [[ 8.16919147e-01 -5.76459506e-01 1.83724148e-02 -8.90420308e+01] [ 5.76300923e-01 8.17125586e-01 1.35285930e-02 3.07777700e+00] [-2.28112563e-02 -4.63727025e-04 9.99739682e-01 1.97665638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.419115933 meters 0.0115890616543419 Centerline is valid? [True, True] Translation: X:-89.06, Y:3.05, Z:1.97 [[ 8.18672347e-01 -5.73912005e-01 2.00149695e-02 -8.90645998e+01] [ 5.73722841e-01 8.18916762e-01 1.47457871e-02 3.05499054e+00] [-2.48533783e-02 -5.88923026e-04 9.99690934e-01 1.97136385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.449115933 meters 0.011585791340002233 Centerline is valid? [True, True] Translation: X:-89.09, Y:3.03, Z:1.96 [[ 8.17557935e-01 -5.75444083e-01 2.15204735e-02 -8.90855078e+01] [ 5.75225324e-01 8.17840905e-01 1.58770443e-02 3.02997983e+00] [-2.67366747e-02 -6.01282192e-04 9.99642330e-01 1.96417525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.479115933 meters 0.011297822123500627 Centerline is valid? [True, True] Translation: X:-89.12, Y:3.02, Z:1.98 [[ 8.17412459e-01 -5.75692689e-01 2.03666349e-02 -8.91160741e+01] [ 5.75496366e-01 8.17665944e-01 1.50444807e-02 3.01734180e+00] [-2.53141013e-02 -5.76621597e-04 9.99679380e-01 1.97531373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.509115933 meters 0.011201077730816425 Centerline is valid? [True, True] Translation: X:-89.14, Y:3.00, Z:1.98 [[ 8.17294068e-01 -5.75841822e-01 2.08950400e-02 -8.91435829e+01] [ 5.75634613e-01 8.17560902e-01 1.54584528e-02 3.00096212e+00] [-2.59845914e-02 -6.06193529e-04 9.99662160e-01 1.98179176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53911593299998 meters 0.01149316652437296 Centerline is valid? [True, True] Translation: X:-89.17, Y:2.98, Z:1.99 [[ 8.15472503e-01 -5.78381056e-01 2.19078019e-02 -8.91703636e+01] [ 5.78153504e-01 8.15766528e-01 1.62326271e-02 2.98423190e+00] [-2.72602955e-02 -5.71188651e-04 9.99628206e-01 1.98576487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.56911593299998 meters 0.011451922292449946 Centerline is valid? [True, True] Translation: X:-89.19, Y:2.96, Z:1.98 [[ 8.18164120e-01 -5.74647759e-01 1.96831395e-02 -8.91913941e+01] [ 5.74462579e-01 8.18400601e-01 1.46014038e-02 2.95985289e+00] [-2.44993572e-02 -6.39117623e-04 9.99699641e-01 1.98109187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.59911593299998 meters 0.011697901529937653 Centerline is valid? [True, True] Translation: X:-89.22, Y:2.94, Z:1.99 [[ 8.17083770e-01 -5.76204677e-01 1.90337350e-02 -8.92174102e+01] [ 5.76031517e-01 8.17305222e-01 1.41374065e-02 2.94292698e+00] [-2.37024107e-02 -5.87414173e-04 9.99718886e-01 1.98843474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.62911593299998 meters 0.011637015116265541 Centerline is valid? [True, True] Translation: X:-89.24, Y:2.92, Z:1.98 [[ 8.18114889e-01 -5.74762133e-01 1.83444572e-02 -8.92416460e+01] [ 5.74600534e-01 8.18320295e-01 1.36425862e-02 2.92170552e+00] [-2.28528836e-02 -6.20468035e-04 9.99738646e-01 1.98286477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.65911593299998 meters 0.011697956680781538 Centerline is valid? [True, True] Translation: X:-89.27, Y:2.90, Z:1.99 [[ 8.15189914e-01 -5.78857221e-01 1.97413890e-02 -8.92677107e+01] [ 5.78670761e-01 8.15428723e-01 1.47019495e-02 2.90341885e+00] [-2.46080252e-02 -5.61116331e-04 9.99697019e-01 1.98799586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.68911593299998 meters 0.011662192270785222 Centerline is valid? [True, True] Translation: X:-89.29, Y:2.88, Z:1.99 [[ 8.15540530e-01 -5.78414233e-01 1.81829123e-02 -8.92920856e+01] [ 5.78255578e-01 8.15743024e-01 1.35575232e-02 2.88257274e+00] [-2.26744483e-02 -5.42339239e-04 9.99742755e-01 1.98610691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.71911593299998 meters 0.012742463579256505 Centerline is valid? [True, True] Translation: X:-89.32, Y:2.87, Z:1.99 [[ 8.14686235e-01 -5.79599938e-01 1.87149751e-02 -8.93197781e+01] [ 5.79431737e-01 8.14900988e-01 1.39728659e-02 2.86607440e+00] [-2.33495239e-02 -5.39450975e-04 9.99727217e-01 1.99152033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.74911593299998 meters 0.012091776254183123 Centerline is valid? [True, True] Translation: X:-89.35, Y:2.86, Z:2.01 [[ 8.12786129e-01 -5.82293459e-01 1.76928613e-02 -8.93511673e+01] [ 5.82143352e-01 8.12978551e-01 1.32285146e-02 2.85530249e+00] [-2.20867943e-02 -4.52171614e-04 9.99755955e-01 2.00580407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.77911593299999 meters 0.011775087242858742 Centerline is valid? [True, True] Translation: X:-89.38, Y:2.83, Z:2.01 [[ 8.13198734e-01 -5.81793381e-01 1.49760290e-02 -8.93750332e+01] [ 5.81685534e-01 8.13336523e-01 1.12089457e-02 2.83461860e+00] [-1.87018417e-02 -4.03761018e-04 9.99825024e-01 2.00620688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.809115933 meters 0.012148937734359606 Centerline is valid? [True, True] Translation: X:-89.40, Y:2.81, Z:1.99 [[ 8.14438172e-01 -5.80045945e-01 1.54001828e-02 -8.93954614e+01] [ 5.79931291e-01 8.14583624e-01 1.15419360e-02 2.80861718e+00] [-1.92395899e-02 -4.69145360e-04 9.99814792e-01 1.99393260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.839115933 meters 0.01235186486431259 Centerline is valid? [True, True] Translation: X:-89.42, Y:2.80, Z:2.01 [[ 8.12629397e-01 -5.82609672e-01 1.41220776e-02 -8.94249465e+01] [ 5.82513433e-01 8.12752006e-01 1.05961335e-02 2.79579294e+00] [-1.76511568e-02 -3.84429692e-04 9.99844132e-01 2.00784032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.869115933 meters 0.012310017754205071 Centerline is valid? [True, True] Translation: X:-89.45, Y:2.77, Z:2.00 [[ 8.14004294e-01 -5.80742966e-01 1.16024594e-02 -8.94493539e+01] [ 5.80677649e-01 8.14086899e-01 8.71714767e-03 2.77421877e+00] [-1.45078324e-02 -3.58506782e-04 9.99894692e-01 2.00365684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.899115933 meters 0.012269403363279339 Centerline is valid? [True, True] Translation: X:-89.48, Y:2.76, Z:2.01 [[ 8.11401517e-01 -5.84349856e-01 1.27602523e-02 -8.94760086e+01] [ 5.84271224e-01 8.11501780e-01 9.59154897e-03 2.75796551e+00] [-1.59597877e-02 -3.27149166e-04 9.99872581e-01 2.01371086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.929115933 meters 0.012431983118352044 Centerline is valid? [True, True] Translation: X:-89.50, Y:2.74, Z:2.02 [[ 8.11371472e-01 -5.84397500e-01 1.24858546e-02 -8.95031973e+01] [ 5.84322050e-01 8.11467470e-01 9.39613534e-03 2.74102201e+00] [-1.56229428e-02 -3.27995999e-04 9.99877901e-01 2.01952557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.959115933 meters 0.012002308215224333 Centerline is valid? [True, True] Translation: X:-89.53, Y:2.72, Z:2.02 [[ 8.11338154e-01 -5.84434826e-01 1.28970733e-02 -8.95302121e+01] [ 5.84354084e-01 8.11440578e-01 9.72076000e-03 2.72302295e+00] [-1.61463593e-02 -3.50366042e-04 9.99869578e-01 2.02150365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.989115933 meters 0.011778599411500605 Centerline is valid? [True, True] Translation: X:-89.55, Y:2.70, Z:2.02 [[ 8.09505271e-01 -5.86980893e-01 1.24357274e-02 -8.95530743e+01] [ 5.86905905e-01 8.09600729e-01 9.38708880e-03 2.70126492e+00] [-1.55780157e-02 -3.00296045e-04 9.99878610e-01 2.02172890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.019115933 meters 0.012238547341318632 Centerline is valid? [True, True] Translation: X:-89.58, Y:2.68, Z:2.03 [[ 8.07976015e-01 -5.89082610e-01 1.25074876e-02 -8.95778183e+01] [ 5.89006811e-01 8.08072772e-01 9.45362807e-03 2.68258603e+00] [-1.56759281e-02 -2.71309327e-04 9.99877088e-01 2.02805832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.049115933 meters 0.012430444888408256 Centerline is valid? [True, True] Translation: X:-89.60, Y:2.66, Z:2.02 [[ 8.06612226e-01 -5.90951686e-01 1.23620909e-02 -8.96016886e+01] [ 5.90877674e-01 8.06706915e-01 9.35563328e-03 2.66238633e+00] [-1.55013115e-02 -2.41884634e-04 9.99879818e-01 2.02332543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.079115933 meters 0.011698457868264771 Centerline is valid? [True, True] Translation: X:-89.63, Y:2.65, Z:2.03 [[ 8.08790330e-01 -5.88035225e-01 8.53090250e-03 -8.96292497e+01] [ 5.87999791e-01 8.08835293e-01 6.45870870e-03 2.64611985e+00] [-1.06980432e-02 -2.07572257e-04 9.99942753e-01 2.02967227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.109115933 meters 0.012201565295831149 Centerline is valid? [True, True] Translation: X:-89.65, Y:2.63, Z:2.03 [[ 8.06593798e-01 -5.91045290e-01 8.48002811e-03 -8.96536075e+01] [ 5.91010348e-01 8.06638355e-01 6.42913664e-03 2.62690763e+00] [-1.06402268e-02 -1.73917377e-04 9.99943376e-01 2.03307771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.139115933 meters 0.012201565295831149 Centerline is valid? [True, True] Translation: X:-89.68, Y:2.61, Z:2.03 [[ 8.06173211e-01 -5.91618870e-01 8.47739566e-03 -8.96788988e+01] [ 5.91583923e-01 8.06217765e-01 6.43260503e-03 2.60759364e+00] [-1.06402775e-02 -1.70702879e-04 9.99943376e-01 2.03386508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.169115933 meters 0.012101841622413756 Centerline is valid? [True, True] Translation: X:-89.71, Y:2.59, Z:2.04 [[ 8.04554184e-01 -5.93787590e-01 1.04337157e-02 -8.97060560e+01] [ 5.93734599e-01 8.04621813e-01 7.93501629e-03 2.59189210e+00] [-1.31069094e-02 -1.89292566e-04 9.99914083e-01 2.03501267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.199115933 meters 0.011821926045562937 Centerline is valid? [True, True] Translation: X:-89.73, Y:2.57, Z:2.04 [[ 8.01962957e-01 -5.97273281e-01 1.09564132e-02 -8.97292549e+01] [ 5.97215002e-01 8.02037783e-01 8.34485520e-03 2.57117411e+00] [-1.37716164e-02 -1.48930420e-04 9.99905156e-01 2.03843031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.229115933 meters 0.012163583817652262 Centerline is valid? [True, True] Translation: X:-89.75, Y:2.55, Z:2.04 [[ 8.02088596e-01 -5.97131392e-01 9.38007426e-03 -8.97547733e+01] [ 5.97088603e-01 8.02143431e-01 7.14961763e-03 2.55333452e+00] [-1.17934261e-02 -1.33891337e-04 9.99930446e-01 2.04108579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.259115933 meters 0.012569370784610926 Centerline is valid? [True, True] Translation: X:-89.78, Y:2.53, Z:2.04 [[ 7.96405420e-01 -6.04659436e-01 1.11970731e-02 -8.97782288e+01] [ 6.04598995e-01 7.96484128e-01 8.54927100e-03 2.53194796e+00] [-1.40876884e-02 -3.89465924e-05 9.99900763e-01 2.04274868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.28911593299998 meters 0.012016968362588502 Centerline is valid? [True, True] Translation: X:-89.80, Y:2.51, Z:2.04 [[ 8.00932706e-01 -5.98701535e-01 7.95438971e-03 -8.98026232e+01] [ 5.98670713e-01 8.00972197e-01 6.07593717e-03 2.51129008e+00] [-1.00089179e-02 -1.04356641e-04 9.99949904e-01 2.03988757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.31911593299998 meters 0.01211456082504597 Centerline is valid? [True, True] Translation: X:-89.83, Y:2.50, Z:2.05 [[ 7.97746111e-01 -6.02920165e-01 9.40308081e-03 -8.98309491e+01] [ 6.02877234e-01 7.97801523e-01 7.19521178e-03 2.49748030e+00] [-1.18399305e-02 -7.10488630e-05 9.99929903e-01 2.05070822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.34911593299998 meters 0.012657707032964344 Centerline is valid? [True, True] Translation: X:-89.86, Y:2.48, Z:2.06 [[ 7.95226946e-01 -6.06209194e-01 1.11587665e-02 -8.98605017e+01] [ 6.06148850e-01 7.95305232e-01 8.55337750e-03 2.48380494e+00] [-1.40597615e-02 -3.80027764e-05 9.99901156e-01 2.06110002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.37911593299998 meters 0.012190882169434102 Centerline is valid? [True, True] Translation: X:-89.88, Y:2.45, Z:2.05 [[ 7.94019338e-01 -6.07783908e-01 1.14896229e-02 -8.98793241e+01] [ 6.07719939e-01 7.94102462e-01 8.81789413e-03 2.45468309e+00] [-1.44833120e-02 -1.91055512e-05 9.99895111e-01 2.05132325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.40911593299998 meters 0.012243984863048235 Centerline is valid? [True, True] Translation: X:-89.90, Y:2.43, Z:2.04 [[ 7.92240329e-01 -6.10110645e-01 1.09664165e-02 -8.99001975e+01] [ 6.10052431e-01 7.92316226e-01 8.42793107e-03 2.42887760e+00] [-1.38308402e-02 1.31421502e-05 9.99904349e-01 2.04182634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.43911593299998 meters 0.013194295966828282 Centerline is valid? [True, True] Translation: X:-89.93, Y:2.42, Z:2.06 [[ 7.95276717e-01 -6.06205582e-01 7.05231130e-03 -8.99289379e+01] [ 6.06181336e-01 7.95307985e-01 5.42195383e-03 2.41590629e+00] [-8.89557817e-03 -3.69741590e-05 9.99960433e-01 2.06120921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.46911593299998 meters 0.0119875237640831 Centerline is valid? [True, True] Translation: X:-89.95, Y:2.40, Z:2.06 [[ 7.92661828e-01 -6.09600608e-01 8.62124824e-03 -8.99548234e+01] [ 6.09564434e-01 7.92708710e-01 6.64097280e-03 2.39779474e+00] [-1.08824796e-02 -8.83933561e-06 9.99940784e-01 2.06037675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.49911593299998 meters 0.01224463153546834 Centerline is valid? [True, True] Translation: X:-89.98, Y:2.38, Z:2.06 [[ 7.89694359e-01 -6.13406894e-01 1.07145846e-02 -8.99787067e+01] [ 6.13351159e-01 7.89767042e-01 8.26894243e-03 2.37682266e+00] [-1.35342521e-02 4.18657016e-05 9.99908407e-01 2.05909394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.52911593299999 meters 0.011710074243912023 Centerline is valid? [True, True] Translation: X:-90.00, Y:2.36, Z:2.06 [[ 7.90245687e-01 -6.12711019e-01 9.84686750e-03 -9.00036823e+01] [ 6.12663805e-01 7.90307033e-01 7.60627263e-03 2.35600796e+00] [-1.24424957e-02 2.19951716e-05 9.99922589e-01 2.05982447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.559115933 meters 0.012701794480386053 Centerline is valid? [True, True] Translation: X:-90.04, Y:2.35, Z:2.08 [[ 7.90431399e-01 -6.12494372e-01 8.29740081e-03 -9.00362071e+01] [ 6.12460756e-01 7.90474948e-01 6.41707106e-03 2.34697269e+00] [-1.04893074e-02 9.57791199e-06 9.99944986e-01 2.07816761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.589115933 meters 0.013323858297116223 Centerline is valid? [True, True] Translation: X:-90.07, Y:2.33, Z:2.09 [[ 7.91740903e-01 -6.10811751e-01 7.43963021e-03 -9.00662548e+01] [ 6.10784599e-01 7.91775855e-01 5.75923313e-03 2.33455419e+00] [-9.40832684e-03 -1.58088781e-05 9.99955741e-01 2.09098925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.619115933 meters 0.011967915394790014 Centerline is valid? [True, True] Translation: X:-90.08, Y:2.30, Z:2.06 [[ 7.88196109e-01 -6.15347441e-01 9.71700056e-03 -9.00784172e+01] [ 6.15301272e-01 7.88256002e-01 7.53782566e-03 2.29823749e+00] [-1.22978658e-02 3.75979515e-05 9.99924378e-01 2.06367760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.649115933 meters 0.011928346726413257 Centerline is valid? [True, True] Translation: X:-90.11, Y:2.28, Z:2.07 [[ 7.86130820e-01 -6.17929475e-01 1.27082129e-02 -9.01063205e+01] [ 6.17850537e-01 7.86233526e-01 9.87711375e-03 2.28359270e+00] [-1.60949827e-02 8.70726028e-05 9.99870464e-01 2.07409271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.679115933 meters 0.01184784301075058 Centerline is valid? [True, True] Translation: X:-90.13, Y:2.26, Z:2.07 [[ 7.88724546e-01 -6.14640018e-01 1.14559858e-02 -9.01279782e+01] [ 6.14575398e-01 7.88807738e-01 8.91246658e-03 2.25905046e+00] [-1.45145289e-02 1.10858744e-05 9.99894659e-01 2.07076700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.709115933 meters 0.013369780691592762 Centerline is valid? [True, True] Translation: X:-90.17, Y:2.26, Z:2.11 [[ 7.87447173e-01 -6.16269037e-01 1.18077631e-02 -9.01675797e+01] [ 6.16200356e-01 7.87535696e-01 9.20041214e-03 2.25847943e+00] [-1.49689640e-02 3.11092755e-05 9.99887958e-01 2.10904134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.739115933 meters 0.011533578801030805 Centerline is valid? [True, True] Translation: X:-90.18, Y:2.22, Z:2.08 [[ 7.86160900e-01 -6.17918630e-01 1.12962778e-02 -9.01798051e+01] [ 6.17855767e-01 7.86242052e-01 8.81405513e-03 2.22018606e+00] [-1.43279775e-02 5.02048586e-05 9.99897348e-01 2.07671238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.769115933 meters 0.012139811616224875 Centerline is valid? [True, True] Translation: X:-90.21, Y:2.20, Z:2.08 [[ 7.83203363e-01 -6.21640774e-01 1.24595571e-02 -9.02051913e+01] [ 6.21564499e-01 7.83302454e-01 9.73848697e-03 2.20075633e+00] [-1.58134422e-02 1.17202620e-04 9.99874953e-01 2.07601991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.799115933 meters 0.012157253491400165 Centerline is valid? [True, True] Translation: X:-90.23, Y:2.18, Z:2.07 [[ 7.87642194e-01 -6.16088781e-01 7.37483894e-03 -9.02270152e+01] [ 6.16061802e-01 7.87676719e-01 5.76558954e-03 2.17716619e+00] [-9.36110398e-03 2.13497866e-06 9.99956184e-01 2.07404940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.829115933 meters 0.012248467354301747 Centerline is valid? [True, True] Translation: X:-90.25, Y:2.16, Z:2.07 [[ 7.87733148e-01 -6.15973864e-01 7.25858607e-03 -9.02516615e+01] [ 6.15947675e-01 7.87766589e-01 5.67997527e-03 2.15615804e+00] [-9.21678790e-03 -3.39558534e-06 9.99957524e-01 2.07345277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.859115933 meters 0.012264813684958933 Centerline is valid? [True, True] Translation: X:-90.28, Y:2.14, Z:2.08 [[ 7.85643953e-01 -6.18632492e-01 7.57753093e-03 -9.02792327e+01] [ 6.18603981e-01 7.85680495e-01 5.93928138e-03 2.13963549e+00] [-9.62775069e-03 2.13302982e-05 9.99953652e-01 2.07837096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.889115933 meters 0.011998704704009591 Centerline is valid? [True, True] Translation: X:-90.30, Y:2.12, Z:2.08 [[ 7.87648584e-01 -6.16087667e-01 6.75977148e-03 -9.03008178e+01] [ 6.16064820e-01 7.87677591e-01 5.30570682e-03 2.11597855e+00] [-8.59330104e-03 -1.45750637e-05 9.99963077e-01 2.07980831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.919115933 meters 0.012712924707381812 Centerline is valid? [True, True] Translation: X:-90.33, Y:2.10, Z:2.09 [[ 7.83788396e-01 -6.20944642e-01 1.01735583e-02 -9.03313180e+01] [ 6.20893040e-01 7.83854419e-01 8.00521616e-03 2.10387602e+00] [-1.29453847e-02 4.22959856e-05 9.99916204e-01 2.09041029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.949115933 meters 0.012053195733572492 Centerline is valid? [True, True] Translation: X:-90.35, Y:2.08, Z:2.08 [[ 7.82530795e-01 -6.22504356e-01 1.15707263e-02 -9.03511922e+01] [ 6.22437579e-01 7.82616331e-01 9.11805764e-03 2.07622290e+00] [-1.47314700e-02 6.68940040e-05 9.99891484e-01 2.07810429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.979115933 meters 0.013927988279769871 Centerline is valid? [True, True] Translation: X:-90.39, Y:2.08, Z:2.12 [[ 7.84185967e-01 -6.20449147e-01 9.75838025e-03 -9.03908486e+01] [ 6.20401375e-01 7.84246681e-01 7.69921970e-03 2.07717151e+00] [-1.24299516e-02 1.64924856e-05 9.99922745e-01 2.11722078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.00911593299998 meters 0.011659234760655173 Centerline is valid? [True, True] Translation: X:-90.40, Y:2.04, Z:2.08 [[ 7.80603398e-01 -6.24912641e-01 1.19384647e-02 -9.04011746e+01] [ 6.24841423e-01 7.80694679e-01 9.43472249e-03 2.03652141e+00] [-1.52161732e-02 9.48708408e-05 9.99884223e-01 2.08173173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03911593299998 meters 0.012021154537820261 Centerline is valid? [True, True] Translation: X:-90.44, Y:2.04, Z:2.10 [[ 8.05388981e-01 -5.92635818e-01 1.14619615e-02 -9.04413460e+01] [ 5.92566594e-01 8.05470373e-01 9.07249920e-03 2.03934911e+00] [-1.46089584e-02 -5.14915374e-04 9.99893151e-01 2.09928167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.06911593299998 meters 0.012040642937108843 Centerline is valid? [True, True] Translation: X:-90.47, Y:2.02, Z:2.10 [[ 8.07472218e-01 -5.89834755e-01 9.14212479e-03 -9.04666739e+01] [ 5.89790431e-01 8.07523839e-01 7.24545795e-03 2.01945014e+00] [-1.16561066e-02 -4.58568279e-04 9.99931960e-01 2.10112753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.09911593299998 meters 0.012380029222841635 Centerline is valid? [True, True] Translation: X:-90.50, Y:2.00, Z:2.11 [[ 8.08289587e-01 -5.88742656e-01 7.07310923e-03 -9.04958442e+01] [ 5.88716050e-01 8.08320449e-01 5.60931423e-03 2.00424165e+00] [-9.01978139e-03 -3.69897353e-04 9.99959253e-01 2.10723891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.12911593299998 meters 0.012244395384093871 Centerline is valid? [True, True] Translation: X:-90.52, Y:1.99, Z:2.11 [[ 8.06996896e-01 -5.90529785e-01 5.53008731e-03 -9.05207209e+01] [ 5.90513622e-01 8.07015800e-01 4.37734332e-03 1.98505443e+00] [-7.04781945e-03 -2.66910588e-04 9.99975128e-01 2.11317399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.15911593299998 meters 0.012400482225365134 Centerline is valid? [True, True] Translation: X:-90.55, Y:1.97, Z:2.12 [[ 8.06197657e-01 -5.91575656e-01 9.14227993e-03 -9.05479151e+01] [ 5.91531293e-01 8.06249370e-01 7.25832471e-03 1.96887686e+00] [-1.16648056e-02 -4.43699711e-04 9.99931865e-01 2.12003593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.18911593299998 meters 0.011864947940939532 Centerline is valid? [True, True] Translation: X:-90.57, Y:1.95, Z:2.12 [[ 8.06772164e-01 -5.90811981e-01 7.73811379e-03 -9.05720134e+01] [ 5.90780117e-01 8.06809179e-01 6.14834501e-03 1.94822213e+00] [-9.87569713e-03 -3.88789841e-04 9.99951159e-01 2.11948808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.21911593299998 meters 0.01200025188817477 Centerline is valid? [True, True] Translation: X:-90.60, Y:1.93, Z:2.13 [[ 8.04169530e-01 -5.94360810e-01 6.82598780e-03 -9.05979126e+01] [ 5.94336103e-01 8.04198441e-01 5.42815916e-03 1.93037150e+00] [-8.71573382e-03 -3.08229215e-04 9.99961970e-01 2.12628910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.24911593299998 meters 0.012422125111670589 Centerline is valid? [True, True] Translation: X:-90.62, Y:1.91, Z:2.13 [[ 8.02631716e-01 -5.96451049e-01 5.33628869e-03 -9.06232608e+01] [ 5.96435986e-01 8.02649423e-01 4.24473595e-03 1.91161520e+00] [-6.81494625e-03 -2.24205083e-04 9.99976753e-01 2.12961004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.27911593299999 meters 0.01308212600145296 Centerline is valid? [True, True] Translation: X:-90.64, Y:1.89, Z:2.12 [[ 8.03882971e-01 -5.94785607e-01 1.50025006e-03 -9.06443769e+01] [ 5.94784416e-01 8.03884368e-01 1.19248002e-03 1.88577447e+00] [-1.91529752e-03 -6.62890238e-05 9.99998164e-01 2.12430940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.309115933 meters 0.012123292213419179 Centerline is valid? [True, True] Translation: X:-90.67, Y:1.87, Z:2.14 [[ 8.01365724e-01 -5.98168038e-01 2.82401197e-03 -9.06729742e+01] [ 5.98163849e-01 8.01370693e-01 2.24115259e-03 1.87151771e+00] [-3.60366627e-03 -1.06761000e-04 9.99993501e-01 2.13597607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.339115933 meters 0.012085086003235811 Centerline is valid? [True, True] Translation: X:-90.69, Y:1.85, Z:2.13 [[ 8.02317643e-01 -5.96892020e-01 2.51338886e-03 -9.06942874e+01] [ 5.96888693e-01 8.02321573e-01 1.99519548e-03 1.84796341e+00] [-3.20746236e-03 -1.00567148e-04 9.99994851e-01 2.12842396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.369115933 meters 0.012497541900512882 Centerline is valid? [True, True] Translation: X:-90.72, Y:1.83, Z:2.14 [[ 8.00432917e-01 -5.99411137e-01 3.66525479e-03 -9.07210323e+01] [ 5.99404032e-01 8.00441296e-01 2.92190815e-03 1.83071543e+00] [-4.68524558e-03 -1.41822968e-04 9.99989014e-01 2.13545721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.399115933 meters 0.012535543504599136 Centerline is valid? [True, True] Translation: X:-90.75, Y:1.81, Z:2.14 [[ 7.98504096e-01 -6.01964320e-01 5.49237643e-03 -9.07454214e+01] [ 6.01948319e-01 7.98522959e-01 4.39366989e-03 1.81119003e+00] [-7.03062119e-03 -2.02236645e-04 9.99975264e-01 2.14131500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.429115933 meters 0.012219727454552227 Centerline is valid? [True, True] Translation: X:-90.77, Y:1.79, Z:2.14 [[ 7.99016559e-01 -6.01278064e-01 6.10150953e-03 -9.07701947e+01] [ 6.01258233e-01 7.99039819e-01 4.88925153e-03 1.79228495e+00] [-7.81514876e-03 -2.38010092e-04 9.99969433e-01 2.14400052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.459115933 meters 0.012498048004816097 Centerline is valid? [True, True] Translation: X:-90.79, Y:1.77, Z:2.14 [[ 7.96769905e-01 -6.04243423e-01 6.89958912e-03 -9.07938538e+01] [ 6.04218083e-01 7.96799740e-01 5.53914913e-03 1.77204362e+00] [-8.84458525e-03 -2.44570817e-04 9.99960856e-01 2.14348331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.489115933 meters 0.012180443379883513 Centerline is valid? [True, True] Translation: X:-90.82, Y:1.75, Z:2.15 [[ 7.94759930e-01 -6.06865402e-01 8.42835490e-03 -9.08196706e+01] [ 6.06827606e-01 7.94804573e-01 6.77846866e-03 1.75460310e+00] [-1.08125131e-02 -2.72696844e-04 9.99941506e-01 2.14747813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.519115933 meters 0.01282691755663061 Centerline is valid? [True, True] Translation: X:-90.84, Y:1.73, Z:2.14 [[ 7.95762362e-01 -6.05597470e-01 3.73721781e-03 -9.08387792e+01] [ 6.05590061e-01 7.95771129e-01 2.99802834e-03 1.72756830e+00] [-4.78956841e-03 -1.22496149e-04 9.99988522e-01 2.14181230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.549115933 meters 0.012657689483939041 Centerline is valid? [True, True] Translation: X:-90.86, Y:1.71, Z:2.14 [[ 7.93642363e-01 -6.08371890e-01 3.92992458e-03 -9.08624531e+01] [ 6.08363706e-01 7.93652084e-01 3.15769731e-03 1.70669131e+00] [-5.04004711e-03 -1.15258871e-04 9.99987292e-01 2.14367334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.579115933 meters 0.012908278138381475 Centerline is valid? [True, True] Translation: X:-90.89, Y:1.70, Z:2.16 [[ 7.92913363e-01 -6.09316350e-01 4.68882863e-03 -9.08940839e+01] [ 6.09304665e-01 7.92927214e-01 3.77603946e-03 1.69661726e+00] [-6.01870240e-03 -1.37146990e-04 9.99981878e-01 2.15856141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.609115933 meters 0.013199370602101843 Centerline is valid? [True, True] Translation: X:-90.92, Y:1.68, Z:2.16 [[ 7.90414976e-01 -6.12526211e-01 7.47032675e-03 -9.09179346e+01] [ 6.12496511e-01 7.90450253e-01 6.03506478e-03 1.67617542e+00] [-9.60155703e-03 -1.94656522e-04 9.99953885e-01 2.15575619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.639115933 meters 0.012360841779731587 Centerline is valid? [True, True] Translation: X:-90.94, Y:1.66, Z:2.16 [[ 7.90135851e-01 -6.12909151e-01 5.26389879e-03 -9.09449982e+01] [ 6.12894415e-01 7.90153374e-01 4.25221815e-03 1.65897160e+00] [-6.76551081e-03 -1.33615833e-04 9.99977105e-01 2.16431372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.669115933 meters 0.012634690461894218 Centerline is valid? [True, True] Translation: X:-90.97, Y:1.64, Z:2.17 [[ 7.90157666e-01 -6.12873022e-01 6.12544161e-03 -9.09702339e+01] [ 6.12853007e-01 7.90181392e-01 4.95578916e-03 1.63892637e+00] [-7.87747946e-03 -1.61859492e-04 9.99968959e-01 2.17243271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.699115933 meters 0.012686933748640185 Centerline is valid? [True, True] Translation: X:-90.99, Y:1.61, Z:2.16 [[ 7.85957983e-01 -6.18233968e-01 7.53725438e-03 -9.09910149e+01] [ 6.18203747e-01 7.85994109e-01 6.11452054e-03 1.61469051e+00] [-9.70444184e-03 -1.46197338e-04 9.99952900e-01 2.16335973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.729115933 meters 0.012453457692196707 Centerline is valid? [True, True] Translation: X:-91.02, Y:1.60, Z:2.18 [[ 7.83865471e-01 -6.20826289e-01 1.13860164e-02 -9.10202849e+01] [ 6.20757307e-01 7.83948138e-01 9.25652543e-03 1.60118324e+00] [-1.46727407e-02 -1.87917772e-04 9.99892332e-01 2.17940137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75911593299998 meters 0.01235737346519409 Centerline is valid? [True, True] Translation: X:-91.05, Y:1.58, Z:2.18 [[ 7.82804589e-01 -6.22111879e-01 1.39206882e-02 -9.10459922e+01] [ 6.22008627e-01 7.82928326e-01 1.13359284e-02 1.58248276e+00] [-1.79511168e-02 -2.15028600e-04 9.99838843e-01 2.18164532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.78911593299998 meters 0.013055284815117694 Centerline is valid? [True, True] Translation: X:-91.06, Y:1.55, Z:2.17 [[ 7.83776578e-01 -6.20926886e-01 1.20032235e-02 -9.10627791e+01] [ 6.20849830e-01 7.83868455e-01 9.78434301e-03 1.55299004e+00] [-1.54843099e-02 -2.16539594e-04 9.99880087e-01 2.16762203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.81911593299998 meters 0.012767498143737338 Centerline is valid? [True, True] Translation: X:-91.09, Y:1.53, Z:2.18 [[ 7.84252480e-01 -6.20324016e-01 1.20897643e-02 -9.10887712e+01] [ 6.20245574e-01 7.84345624e-01 9.86760553e-03 1.53448524e+00] [-1.56036664e-02 -2.40071298e-04 9.99878227e-01 2.17506944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.84911593299998 meters 0.012648088625195997 Centerline is valid? [True, True] Translation: X:-91.11, Y:1.52, Z:2.17 [[ 7.85730558e-01 -6.18348425e-01 1.65141273e-02 -9.11142064e+01] [ 6.18201100e-01 7.85903980e-01 1.35031538e-02 1.51597563e+00] [-2.13281722e-02 -4.00788956e-04 9.99772448e-01 2.17435742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.87911593299998 meters 0.012338721620071345 Centerline is valid? [True, True] Translation: X:-91.14, Y:1.50, Z:2.19 [[ 7.84797630e-01 -6.19547329e-01 1.59307086e-02 -9.11428723e+01] [ 6.19410160e-01 7.84959217e-01 1.30415264e-02 1.50121789e+00] [-2.05847994e-02 -3.67316276e-04 9.99788043e-01 2.19345760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.90911593299998 meters 0.011907087080825288 Centerline is valid? [True, True] Translation: X:-91.17, Y:1.48, Z:2.20 [[ 7.83177344e-01 -6.21459433e-01 2.05285367e-02 -9.11680482e+01] [ 6.21231480e-01 7.83446224e-01 1.68363246e-02 1.48285948e+00] [-2.65460973e-02 -4.32854784e-04 9.99647497e-01 2.20031506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.93911593299998 meters 0.012345820083792602 Centerline is valid? [True, True] Translation: X:-91.19, Y:1.46, Z:2.19 [[ 7.85040161e-01 -6.19155440e-01 1.89337533e-02 -9.11891228e+01] [ 6.18960414e-01 7.85268302e-01 1.55467164e-02 1.45867823e+00] [-2.44939103e-02 -4.85552965e-04 9.99699861e-01 2.18954424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.96911593299998 meters 0.012138747271704182 Centerline is valid? [True, True] Translation: X:-91.22, Y:1.44, Z:2.19 [[ 7.85037901e-01 -6.19197191e-01 1.76162347e-02 -9.12150246e+01] [ 6.19027991e-01 7.85235393e-01 1.44818375e-02 1.43915404e+00] [-2.28000041e-02 -4.63848957e-04 9.99739939e-01 2.19207178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.99911593299998 meters 0.012445316746858842 Centerline is valid? [True, True] Translation: X:-91.23, Y:1.41, Z:2.19 [[ 7.85298859e-01 -6.18947593e-01 1.44768555e-02 -9.12347745e+01] [ 6.18833024e-01 7.85432186e-01 1.19150949e-02 1.41353341e+00] [-1.87454076e-02 -3.98154130e-04 9.99824210e-01 2.18696731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.02911593299999 meters 0.011688763297093325 Centerline is valid? [True, True] Translation: X:-91.27, Y:1.40, Z:2.20 [[ 7.84632525e-01 -6.19721947e-01 1.72194335e-02 -9.12663734e+01] [ 6.19559556e-01 7.84821310e-01 1.41939232e-02 1.40102603e+00] [-2.23104640e-02 -4.68549199e-04 9.99750981e-01 2.19756567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.059115933 meters 0.011688763297093325 Centerline is valid? [True, True] Translation: X:-91.29, Y:1.38, Z:2.20 [[ 7.84189282e-01 -6.20283009e-01 1.72092743e-02 -9.12908886e+01] [ 6.20120484e-01 7.84377950e-01 1.42062291e-02 1.38069328e+00] [-2.23104578e-02 -4.68549069e-04 9.99750981e-01 2.19835613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.089115933 meters 0.011881067877891118 Centerline is valid? [True, True] Translation: X:-91.31, Y:1.36, Z:2.20 [[ 7.81596634e-01 -6.23498340e-01 1.88817797e-02 -9.13147939e+01] [ 6.23303009e-01 7.81824554e-01 1.56117084e-02 1.36038961e+00] [-2.44961133e-02 -4.32988593e-04 9.99699831e-01 2.19683369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.119115933 meters 0.012467532804262656 Centerline is valid? [True, True] Translation: X:-91.34, Y:1.34, Z:2.19 [[ 7.79884324e-01 -6.25655678e-01 1.83143388e-02 -9.13360638e+01] [ 6.25472272e-01 7.80099251e-01 1.51524059e-02 1.33592462e+00] [-2.37671907e-02 -3.62012718e-04 9.99717455e-01 2.19147803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.149115933 meters 0.01231954767677526 Centerline is valid? [True, True] Translation: X:-91.36, Y:1.31, Z:2.19 [[ 7.81282763e-01 -6.23951238e-01 1.67957209e-02 -9.13586968e+01] [ 6.23796244e-01 7.81463178e-01 1.39121442e-02 1.31321098e+00] [-2.18057371e-02 -3.92210866e-04 9.99762150e-01 2.18928146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.179115933 meters 0.012098451217560096 Centerline is valid? [True, True] Translation: X:-91.39, Y:1.30, Z:2.20 [[ 7.78622326e-01 -6.27140502e-01 2.10253315e-02 -9.13882788e+01] [ 6.26898018e-01 7.78906047e-01 1.74426104e-02 1.30061172e+00] [-2.73157253e-02 -4.00467255e-04 9.99626776e-01 2.20273046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.209115933 meters 0.012130963814958184 Centerline is valid? [True, True] Translation: X:-91.41, Y:1.28, Z:2.19 [[ 7.80422972e-01 -6.24970083e-01 1.87718038e-02 -9.14090041e+01] [ 6.24775769e-01 7.80648579e-01 1.55895596e-02 1.27592953e+00] [-2.43971903e-02 -4.38282311e-04 9.99702248e-01 2.19409750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.239115933 meters 0.012598842127943629 Centerline is valid? [True, True] Translation: X:-91.43, Y:1.25, Z:2.20 [[ 7.80138852e-01 -6.25298575e-01 1.96230411e-02 -9.14327318e+01] [ 6.25085784e-01 7.80385466e-01 1.63183060e-02 1.25351102e+00] [-2.55173496e-02 -4.64460482e-04 9.99674272e-01 2.19508553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.269115933 meters 0.012047350619515068 Centerline is valid? [True, True] Translation: X:-91.46, Y:1.24, Z:2.20 [[ 7.81644594e-01 -6.23460066e-01 1.81459041e-02 -9.14611531e+01] [ 6.23277132e-01 7.81855035e-01 1.51103015e-02 1.23860722e+00] [-2.36081361e-02 -5.00958404e-04 9.99721164e-01 2.20258530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.299115933 meters 0.012451154288796167 Centerline is valid? [True, True] Translation: X:-91.48, Y:1.22, Z:2.20 [[ 7.76313880e-01 -6.30004268e-01 2.07697694e-02 -9.14832225e+01] [ 6.29766247e-01 7.76591585e-01 1.73200765e-02 1.21535646e+00] [-2.70413502e-02 -3.65716102e-04 9.99634249e-01 2.19895842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.329115933 meters 0.011914232394106557 Centerline is valid? [True, True] Translation: X:-91.51, Y:1.20, Z:2.21 [[ 7.79701551e-01 -6.25882038e-01 1.83620819e-02 -9.15095409e+01] [ 6.25694444e-01 7.79917598e-01 1.53298147e-02 1.19640428e+00] [-2.39155664e-02 -4.63627696e-04 9.99713874e-01 2.20554499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.359115933 meters 0.012174635557533493 Centerline is valid? [True, True] Translation: X:-91.53, Y:1.17, Z:2.19 [[ 7.78315242e-01 -6.27553378e-01 2.00534504e-02 -9.15291528e+01] [ 6.27329940e-01 7.78573406e-01 1.67510578e-02 1.16957732e+00] [-2.61252661e-02 -4.57473762e-04 9.99658572e-01 2.19207157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.389115933 meters 0.012563321094467212 Centerline is valid? [True, True] Translation: X:-91.56, Y:1.16, Z:2.21 [[ 7.80490483e-01 -6.24929388e-01 1.72587702e-02 -9.15587678e+01] [ 6.24762901e-01 7.80681131e-01 1.44322528e-02 1.15627384e+00] [-2.24927351e-02 -4.81596628e-04 9.99746890e-01 2.20970507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.419115933 meters 0.012162364248547391 Centerline is valid? [True, True] Translation: X:-91.59, Y:1.14, Z:2.21 [[ 7.76383141e-01 -6.29972198e-01 1.90852662e-02 -9.15853618e+01] [ 6.29769561e-01 7.76617588e-01 1.59819286e-02 1.13858549e+00] [-2.48901241e-02 -3.88780240e-04 9.99690117e-01 2.20986452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.449115933 meters 0.011891499591689527 Centerline is valid? [True, True] Translation: X:-91.61, Y:1.11, Z:2.21 [[ 7.74833984e-01 -6.31838586e-01 2.03051029e-02 -9.16060524e+01] [ 6.31609236e-01 7.75099907e-01 1.70266801e-02 1.11216285e+00] [-2.64965969e-02 -3.67959881e-04 9.99648836e-01 2.20661784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.479115933 meters 0.011754857125553192 Centerline is valid? [True, True] Translation: X:-91.63, Y:1.10, Z:2.22 [[ 7.75700240e-01 -6.30768391e-01 2.05030160e-02 -9.16340730e+01] [ 6.30533502e-01 7.75971039e-01 1.72177143e-02 1.09636217e+00] [-2.67701366e-02 -4.27946644e-04 9.99641524e-01 2.21563007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.50911593299998 meters 0.012800243969664896 Centerline is valid? [True, True] Translation: X:-91.66, Y:1.08, Z:2.23 [[ 7.76341714e-01 -6.30023686e-01 1.90708826e-02 -9.16634826e+01] [ 6.29819773e-01 7.76575794e-01 1.60340003e-02 1.08235295e+00] [-2.49117858e-02 -4.36644369e-04 9.99689558e-01 2.22901721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53911593299998 meters 0.012751971908926447 Centerline is valid? [True, True] Translation: X:-91.69, Y:1.06, Z:2.23 [[ 7.76193774e-01 -6.30239778e-01 1.79177672e-02 -9.16889365e+01] [ 6.30059423e-01 7.76400443e-01 1.50823257e-02 1.06249478e+00] [-2.34168440e-02 -4.17549303e-04 9.99725701e-01 2.23012541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.56911593299998 meters 0.012463741011867403 Centerline is valid? [True, True] Translation: X:-91.70, Y:1.03, Z:2.20 [[ 7.75987287e-01 -6.30453260e-01 1.92981170e-02 -9.17017130e+01] [ 6.30243461e-01 7.76227076e-01 1.62697838e-02 1.02567308e+00] [-2.52370591e-02 -4.62633318e-04 9.99681388e-01 2.20044886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.59911593299998 meters 0.012043912371682565 Centerline is valid? [True, True] Translation: X:-91.73, Y:1.01, Z:2.21 [[ 7.73051475e-01 -6.33993237e-01 2.10711402e-02 -9.17285807e+01] [ 6.33743663e-01 7.73338487e-01 1.77919734e-02 1.00949320e+00] [-2.75751145e-02 -4.00409708e-04 9.99619654e-01 2.20919161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.62911593299998 meters 0.011890389779547839 Centerline is valid? [True, True] Translation: X:-91.76, Y:0.99, Z:2.22 [[ 7.75271063e-01 -6.31321113e-01 1.97086662e-02 -9.17556184e+01] [ 6.31101430e-01 7.75521388e-01 1.66601717e-02 9.92090156e-01] [-2.58024103e-02 -4.77981622e-04 9.99666948e-01 2.21536090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.65911593299998 meters 0.012808335079583804 Centerline is valid? [True, True] Translation: X:-91.78, Y:0.97, Z:2.21 [[ 7.72997684e-01 -6.34166186e-01 1.75450352e-02 -9.17753053e+01] [ 6.33992445e-01 7.73196691e-01 1.48477892e-02 9.66064451e-01] [-2.29817290e-02 -3.53886904e-04 9.99735823e-01 2.20601184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.68911593299998 meters 0.012026307646880358 Centerline is valid? [True, True] Translation: X:-91.80, Y:0.95, Z:2.21 [[ 7.77332030e-01 -6.28864106e-01 1.68775149e-02 -9.18003405e+01] [ 6.28701668e-01 7.77515067e-01 1.43015239e-02 9.45486318e-01] [-2.21162371e-02 -5.06110828e-04 9.99755278e-01 2.20574049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.71911593299998 meters 0.012537896192515923 Centerline is valid? [True, True] Translation: X:-91.83, Y:0.94, Z:2.22 [[ 7.73288792e-01 -6.33821559e-01 1.71661321e-02 -9.18346192e+01] [ 6.33654602e-01 7.73479212e-01 1.45517713e-02 9.37203807e-01] [-2.25008727e-02 -3.75323019e-04 9.99746753e-01 2.22246726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.74911593299998 meters 0.011866481491927842 Centerline is valid? [True, True] Translation: X:-91.86, Y:0.92, Z:2.22 [[ 7.74958256e-01 -6.31739358e-01 1.85764590e-02 -9.18598795e+01] [ 6.31542708e-01 7.75180718e-01 1.57690505e-02 9.18202192e-01] [-2.43620427e-02 -4.88528669e-04 9.99703082e-01 2.22319854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.77911593299999 meters 0.012380516263488692 Centerline is valid? [True, True] Translation: X:-91.88, Y:0.90, Z:2.22 [[ 7.75562747e-01 -6.30997022e-01 1.85791242e-02 -9.18817635e+01] [ 6.30799617e-01 7.75785073e-01 1.57912418e-02 8.95554390e-01] [-2.43776338e-02 -5.27394453e-04 9.99702682e-01 2.21982845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.809115933 meters 0.012914821437041766 Centerline is valid? [True, True] Translation: X:-91.90, Y:0.87, Z:2.22 [[ 7.85666404e-01 -6.18526471e-01 1.23817099e-02 -9.19022108e+01] [ 6.18437113e-01 7.85763721e-01 1.05315196e-02 8.72107991e-01] [-1.62431221e-02 -6.16952211e-04 9.99867881e-01 2.21746179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.839115933 meters 0.012578366418755756 Centerline is valid? [True, True] Translation: X:-91.93, Y:0.85, Z:2.22 [[ 7.90039261e-01 -6.12981945e-01 9.54466197e-03 -9.19250294e+01] [ 6.12928306e-01 7.90096707e-01 8.12927061e-03 8.50340018e-01] [-1.25243021e-02 -5.72249457e-04 9.99921404e-01 2.21673435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.869115933 meters 0.011355301514455135 Centerline is valid? [True, True] Translation: X:-91.95, Y:0.83, Z:2.23 [[ 7.89193859e-01 -6.14057022e-01 1.03453695e-02 -9.19530542e+01] [ 6.13994152e-01 7.89261437e-01 8.80712964e-03 8.34374496e-01] [-1.35732810e-02 -5.98536246e-04 9.99907700e-01 2.22592888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.899115933 meters 0.012232069744733723 Centerline is valid? [True, True] Translation: X:-91.97, Y:0.81, Z:2.22 [[ 7.90437737e-01 -6.12450458e-01 1.06122969e-02 -9.19749205e+01] [ 6.12383993e-01 7.90508705e-01 9.04613427e-03 8.11389451e-01] [-1.39294222e-02 -6.51605147e-04 9.99902769e-01 2.22089914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.929115933 meters 0.012642693180334055 Centerline is valid? [True, True] Translation: X:-92.00, Y:0.79, Z:2.21 [[ 7.89325219e-01 -6.13874154e-01 1.11454707e-02 -9.19981251e+01] [ 6.13800797e-01 7.89403621e-01 9.51340683e-03 7.90059422e-01] [-1.46383095e-02 -6.68073154e-04 9.99892631e-01 2.21478774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.959115933 meters 0.01278547518613058 Centerline is valid? [True, True] Translation: X:-92.03, Y:0.78, Z:2.23 [[ 7.90916376e-01 -6.11851273e-01 9.45021599e-03 -9.20290006e+01] [ 6.11798228e-01 7.90972597e-01 8.07956456e-03 7.76814011e-01] [-1.24183537e-02 -6.08634530e-04 9.99922704e-01 2.22870906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.989115933 meters 0.01241178433634167 Centerline is valid? [True, True] Translation: X:-92.05, Y:0.75, Z:2.22 [[ 7.89168809e-01 -6.14101218e-01 9.60648867e-03 -9.20481418e+01] [ 6.14046598e-01 7.89227063e-01 8.21089870e-03 7.50478907e-01] [-1.26240237e-02 -5.80953462e-04 9.99920145e-01 2.21903723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.019115933 meters 0.011970114070783947 Centerline is valid? [True, True] Translation: X:-92.07, Y:0.73, Z:2.22 [[ 7.88993041e-01 -6.14308789e-01 1.07094929e-02 -9.20747214e+01] [ 6.14240682e-01 7.89065447e-01 9.17088389e-03 7.33335603e-01] [-1.40842454e-02 -6.57557356e-04 9.99900596e-01 2.22104152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.049115933 meters 0.012115502324784888 Centerline is valid? [True, True] Translation: X:-92.10, Y:0.71, Z:2.22 [[ 7.88743831e-01 -6.14669749e-01 8.01674653e-03 -9.20981539e+01] [ 6.14631637e-01 7.88784422e-01 6.86196401e-03 7.11629483e-01] [-1.05413265e-02 -4.84985746e-04 9.99944321e-01 2.22093372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.079115933 meters 0.01240768441385205 Centerline is valid? [True, True] Translation: X:-92.12, Y:0.69, Z:2.22 [[ 7.87496281e-01 -6.16276236e-01 7.29437291e-03 -9.21222623e+01] [ 6.16244695e-01 7.87529948e-01 6.24957999e-03 6.91706914e-01] [-9.59600476e-03 -4.26402394e-04 9.99953866e-01 2.21991670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.109115933 meters 0.012864003144852313 Centerline is valid? [True, True] Translation: X:-92.15, Y:0.67, Z:2.22 [[ 7.88161135e-01 -6.15427786e-01 7.11799919e-03 -9.21476365e+01] [ 6.15397649e-01 7.88193158e-01 6.10573446e-03 6.72259274e-01] [-9.36799690e-03 -4.31902639e-04 9.99956026e-01 2.22300217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.139115933 meters 0.012602145629352196 Centerline is valid? [True, True] Translation: X:-92.17, Y:0.65, Z:2.22 [[ 7.89025349e-01 -6.14342888e-01 4.67068021e-03 -9.21712662e+01] [ 6.14329903e-01 7.89039119e-01 4.00473733e-03 6.50666408e-01] [-6.14563130e-03 -2.90500748e-04 9.99981073e-01 2.22130707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.169115933 meters 0.012251296694658272 Centerline is valid? [True, True] Translation: X:-92.20, Y:0.63, Z:2.23 [[ 7.87119327e-01 -6.16794045e-01 2.87576453e-03 -9.21990078e+01] [ 6.16789157e-01 7.87124564e-01 2.46119282e-03 6.34612380e-01] [-3.78163398e-03 -1.63512057e-04 9.99992836e-01 2.22684503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.199115933 meters 0.012318023006945221 Centerline is valid? [True, True] Translation: X:-92.22, Y:0.61, Z:2.22 [[ 7.88685917e-01 -6.14796305e-01 -1.66157944e-04 -9.22194041e+01] [ 6.14796285e-01 7.88685934e-01 -1.60993023e-04 6.10138785e-01] [ 2.30024348e-04 2.48196431e-05 9.99999973e-01 2.21855847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.229115933 meters 0.012176126441295128 Centerline is valid? [True, True] Translation: X:-92.25, Y:0.59, Z:2.22 [[ 7.85034586e-01 -6.19451843e-01 3.36640795e-04 -9.22464504e+01] [ 6.19451783e-01 7.85034658e-01 2.72764721e-04 5.94026337e-01] [-4.33239301e-04 -5.59699903e-06 9.99999906e-01 2.22458434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25911593299998 meters 0.011725261463774065 Centerline is valid? [True, True] Translation: X:-92.27, Y:0.57, Z:2.22 [[ 7.87626750e-01 -6.16150795e-01 -1.51660936e-03 -9.22691638e+01] [ 6.16149399e-01 7.87628204e-01 -1.31577828e-03 5.71886384e-01] [ 2.00524214e-03 1.01884230e-04 9.99997984e-01 2.21940622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.28911593299998 meters 0.011976873334436922 Centerline is valid? [True, True] Translation: X:-92.30, Y:0.56, Z:2.22 [[ 7.83897651e-01 -6.20889995e-01 2.93660976e-04 -9.22958411e+01] [ 6.20889950e-01 7.83897706e-01 2.36124103e-04 5.55442983e-01] [-3.76807259e-04 -2.76598152e-06 9.99999929e-01 2.22330768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.31911593299998 meters 0.01232205070349103 Centerline is valid? [True, True] Translation: X:-92.32, Y:0.53, Z:2.22 [[ 7.84243032e-01 -6.20446718e-01 -2.95559965e-03 -9.23176212e+01] [ 6.20441376e-01 7.84248579e-01 -2.58184690e-03 5.32595998e-01] [ 3.91982327e-03 1.91019128e-04 9.99992299e-01 2.21849597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.34911593299998 meters 0.01210382518467519 Centerline is valid? [True, True] Translation: X:-92.35, Y:0.52, Z:2.23 [[ 7.83411338e-01 -6.21490956e-01 -3.95817153e-03 -9.23477493e+01] [ 6.21481381e-01 7.83421298e-01 -3.45876579e-03 5.18358599e-01] [ 5.25050753e-03 2.49706427e-04 9.99986185e-01 2.22857310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.37911593299998 meters 0.013028147245002153 Centerline is valid? [True, True] Translation: X:-92.37, Y:0.50, Z:2.23 [[ 7.80110489e-01 -6.25626138e-01 -4.42269635e-03 -9.23716116e+01] [ 6.25614254e-01 7.80122987e-01 -3.86397873e-03 4.97167751e-01] [ 5.86765317e-03 2.47428462e-04 9.99982755e-01 2.22817916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.40911593299998 meters 0.01201369335468447 Centerline is valid? [True, True] Translation: X:-92.39, Y:0.48, Z:2.23 [[ 7.82260342e-01 -6.22904515e-01 -7.66306918e-03 -9.23944451e+01] [ 6.22868814e-01 7.82297742e-01 -6.68458599e-03 4.76443189e-01] [ 1.01586605e-02 4.55999707e-04 9.99948296e-01 2.22848998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.43911593299998 meters 0.011990125945135991 Centerline is valid? [True, True] Translation: X:-92.42, Y:0.45, Z:2.22 [[ 7.78928642e-01 -6.27080893e-01 -6.30264913e-03 -9.24150431e+01] [ 6.27056931e-01 7.78954073e-01 -5.49162070e-03 4.50974257e-01] [ 8.35316462e-03 3.25460835e-04 9.99965059e-01 2.21766378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.46911593299998 meters 0.0117791868371896 Centerline is valid? [True, True] Translation: X:-92.44, Y:0.44, Z:2.23 [[ 7.78897667e-01 -6.27099482e-01 -8.04139029e-03 -9.24431333e+01] [ 6.27060244e-01 7.78939056e-01 -7.02825954e-03 4.35018820e-01] [ 1.06711709e-02 4.31858807e-04 9.99942968e-01 2.22713827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.49911593299998 meters 0.011709307895985989 Centerline is valid? [True, True] Translation: X:-92.47, Y:0.41, Z:2.22 [[ 7.76922726e-01 -6.29559410e-01 -6.78437410e-03 -9.24658506e+01] [ 6.29531481e-01 7.76952271e-01 -5.94000227e-03 4.12289796e-01] [ 9.01071919e-03 3.43945683e-04 9.99959343e-01 2.22396157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.52911593299999 meters 0.011496931252457291 Centerline is valid? [True, True] Translation: X:-92.50, Y:0.40, Z:2.24 [[ 7.77608551e-01 -6.28683236e-01 -9.07360813e-03 -9.24976201e+01] [ 6.28633412e-01 7.77661351e-01 -7.92824402e-03 4.00031809e-01] [ 1.20405485e-02 4.61097103e-04 9.99927404e-01 2.24162726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.559115933 meters 0.0118771833017399 Centerline is valid? [True, True] Translation: X:-92.51, Y:0.37, Z:2.22 [[ 7.76437216e-01 -6.30131148e-01 -8.94345065e-03 -9.25122047e+01] [ 6.30082569e-01 7.76488592e-01 -7.83729599e-03 3.67612786e-01] [ 1.18830117e-02 4.50055926e-04 9.99929293e-01 2.21599435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.589115933 meters 0.011331988119230179 Centerline is valid? [True, True] Translation: X:-92.54, Y:0.35, Z:2.24 [[ 7.76749543e-01 -6.29723287e-01 -1.04273347e-02 -9.25425873e+01] [ 6.29657101e-01 7.76819343e-01 -9.14565073e-03 3.54650859e-01] [ 1.38593845e-02 5.38234692e-04 9.99903809e-01 2.23510475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.619115933 meters 0.011717396697473402 Centerline is valid? [True, True] Translation: X:-92.57, Y:0.34, Z:2.24 [[ 7.75599507e-01 -6.31135136e-01 -1.06697572e-02 -9.25676841e+01] [ 6.31065812e-01 7.75672711e-01 -9.36944540e-03 3.35244595e-01] [ 1.41896257e-02 5.33618252e-04 9.99899180e-01 2.23621164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.649115933 meters 0.011790522371653886 Centerline is valid? [True, True] Translation: X:-92.59, Y:0.31, Z:2.23 [[ 7.78092699e-01 -6.27991080e-01 -1.41051822e-02 -9.25875495e+01] [ 6.27869757e-01 7.78220159e-01 -1.23673885e-02 3.09508658e-01] [ 1.87435467e-02 7.66757378e-04 9.99824030e-01 2.22550660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.679115933 meters 0.011359164818702557 Centerline is valid? [True, True] Translation: X:-92.61, Y:0.29, Z:2.23 [[ 7.76903379e-01 -6.29447508e-01 -1.47300488e-02 -9.26145196e+01] [ 6.29314738e-01 7.77042603e-01 -1.29520099e-02 2.91062368e-01] [ 1.95984858e-02 7.92623467e-04 9.99807617e-01 2.23453040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.709115933 meters 0.011591225450619972 Centerline is valid? [True, True] Translation: X:-92.64, Y:0.27, Z:2.24 [[ 7.75218518e-01 -6.31515457e-01 -1.49825729e-02 -9.26414568e+01] [ 6.31378214e-01 7.75362912e-01 -1.31873378e-02 2.73290617e-01] [ 1.99449390e-02 7.63398306e-04 9.99800788e-01 2.23740718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.739115933 meters 0.011820804554975974 Centerline is valid? [True, True] Translation: X:-92.67, Y:0.25, Z:2.24 [[ 7.72669841e-01 -6.34658815e-01 -1.37660807e-02 -9.26670169e+01] [ 6.34543389e-01 7.72792205e-01 -1.21200313e-02 2.54155625e-01] [ 1.83304045e-02 6.29607138e-04 9.99831786e-01 2.23867124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.769115933 meters 0.011392397616274441 Centerline is valid? [True, True] Translation: X:-92.69, Y:0.24, Z:2.24 [[ 7.74525527e-01 -6.32353843e-01 -1.54539678e-02 -9.26931514e+01] [ 6.32207491e-01 7.74679290e-01 -1.36266717e-02 2.36902341e-01] [ 2.05887470e-02 7.84090846e-04 9.99787722e-01 2.24343951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.799115933 meters 0.011828478501412807 Centerline is valid? [True, True] Translation: X:-92.71, Y:0.21, Z:2.23 [[ 7.74710027e-01 -6.32048315e-01 -1.84201442e-02 -9.27142727e+01] [ 6.31840512e-01 7.74928415e-01 -1.62332924e-02 2.11568031e-01] [ 2.45345183e-02 9.37501090e-04 9.99698544e-01 2.23496709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.829115933 meters 0.012042430264156901 Centerline is valid? [True, True] Translation: X:-92.74, Y:0.19, Z:2.24 [[ 7.74413679e-01 -6.32379596e-01 -1.94807852e-02 -9.27400725e+01] [ 6.32146382e-01 7.74658010e-01 -1.72022977e-02 1.93172047e-01] [ 2.59693283e-02 1.00698677e-03 9.99662233e-01 2.24089316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.859115933 meters 0.011635272408467696 Centerline is valid? [True, True] Translation: X:-92.77, Y:0.18, Z:2.25 [[ 7.72843640e-01 -6.34361787e-01 -1.72578203e-02 -9.27683222e+01] [ 6.34178834e-01 7.73035837e-01 -1.52578074e-02 1.78274322e-01] [ 2.30198835e-02 8.47354993e-04 9.99734648e-01 2.24703938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.889115933 meters 0.011819567365282125 Centerline is valid? [True, True] Translation: X:-92.79, Y:0.16, Z:2.25 [[ 7.72051648e-01 -6.35328008e-01 -1.71632079e-02 -9.27933355e+01] [ 6.35146824e-01 7.72241953e-01 -1.51946765e-02 1.59247933e-01] [ 2.29077527e-02 8.29918060e-04 9.99737239e-01 2.25154318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.919115933 meters 0.011914549561881633 Centerline is valid? [True, True] Translation: X:-92.82, Y:0.14, Z:2.26 [[ 7.73552956e-01 -6.33528929e-01 -1.60287693e-02 -9.28190775e+01] [ 6.33370121e-01 7.73718548e-01 -1.42090661e-02 1.41425149e-01] [ 2.14036105e-02 8.39321575e-04 9.99770564e-01 2.25855704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.949115933 meters 0.011914549561881633 Centerline is valid? [True, True] Translation: X:-92.84, Y:0.12, Z:2.26 [[ 7.73106832e-01 -6.34073554e-01 -1.60173118e-02 -9.28429566e+01] [ 6.33914596e-01 7.73272280e-01 -1.42219920e-02 1.20196620e-01] [ 2.14035322e-02 8.41511400e-04 9.99770564e-01 2.25934683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.979115933 meters 0.012017662563949125 Centerline is valid? [True, True] Translation: X:-92.87, Y:0.10, Z:2.26 [[ 7.73024897e-01 -6.34190836e-01 -1.53131567e-02 -9.28675861e+01] [ 6.34045213e-01 7.73176125e-01 -1.36142791e-02 9.97909563e-02] [ 2.04738183e-02 8.14943010e-04 9.99790057e-01 2.25831557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.00911593299998 meters 0.011753918254293502 Centerline is valid? [True, True] Translation: X:-92.89, Y:0.08, Z:2.25 [[ 7.72039759e-01 -6.35399499e-01 -1.49025940e-02 -9.28907251e+01] [ 6.35261828e-01 7.72183202e-01 -1.32481362e-02 7.83668908e-02] [ 1.99253919e-02 7.61038817e-04 9.99801180e-01 2.25423900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03911593299998 meters 0.011636522440521482 Centerline is valid? [True, True] Translation: X:-92.92, Y:0.06, Z:2.27 [[ 7.72463469e-01 -6.34884878e-01 -1.48788429e-02 -9.29176965e+01] [ 6.34747037e-01 7.72606344e-01 -1.32528114e-02 6.09437201e-02] [ 1.99094980e-02 7.93011189e-04 9.99801472e-01 2.26529159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.06911593299998 meters 0.011841857440755702 Centerline is valid? [True, True] Translation: X:-92.94, Y:0.04, Z:2.27 [[ 7.76512674e-01 -6.29890405e-01 -1.63139637e-02 -9.29437075e+01] [ 6.29723782e-01 7.76683379e-01 -1.45219272e-02 4.24240780e-02] [ 2.18180071e-02 1.00316960e-03 9.99761456e-01 2.26765354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.09911593299998 meters 0.012099850418978982 Centerline is valid? [True, True] Translation: X:-92.97, Y:0.02, Z:2.26 [[ 7.73911886e-01 -6.33129179e-01 -1.44164886e-02 -9.29654947e+01] [ 6.32999541e-01 7.74045728e-01 -1.28371543e-02 1.81615155e-02] [ 1.92865984e-02 8.09195619e-04 9.99813669e-01 2.26364258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.12911593299998 meters 0.01163750533980155 Centerline is valid? [True, True] Translation: X:-92.99, Y:-0.00, Z:2.27 [[ 7.72094216e-01 -6.35387361e-01 -1.23864134e-02 -9.29906884e+01] [ 6.35291876e-01 7.72193291e-01 -1.10342012e-02 -1.18629528e-03] [ 1.65756973e-02 6.50455129e-04 9.99862402e-01 2.26618692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.15911593299998 meters 0.012153988630984946 Centerline is valid? [True, True] Translation: X:-93.01, Y:-0.02, Z:2.27 [[ 7.71862425e-01 -6.35683028e-01 -1.16397904e-02 -9.30124694e+01] [ 6.35598312e-01 7.71949931e-01 -1.03966659e-02 -2.45277700e-02] [ 1.55943194e-02 6.26564643e-04 9.99878205e-01 2.26775402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.18911593299998 meters 0.012516975772189578 Centerline is valid? [True, True] Translation: X:-93.04, Y:-0.04, Z:2.27 [[ 7.73019570e-01 -6.34275114e-01 -1.16543647e-02 -9.30377566e+01] [ 6.34189826e-01 7.73107131e-01 -1.04225281e-02 -4.32866562e-02] [ 1.56208227e-02 6.65738636e-04 9.99877766e-01 2.27125748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.21911593299998 meters 0.012290349171573806 Centerline is valid? [True, True] Translation: X:-93.07, Y:-0.06, Z:2.28 [[ 7.72709946e-01 -6.34661290e-01 -1.11528998e-02 -9.30654999e+01] [ 6.34582952e-01 7.72790161e-01 -9.99218333e-03 -6.11154760e-02] [ 1.49605032e-02 6.43619336e-04 9.99887878e-01 2.27526387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.24911593299998 meters 0.01197703844750272 Centerline is valid? [True, True] Translation: X:-93.09, Y:-0.08, Z:2.29 [[ 7.72348166e-01 -6.35083578e-01 -1.21309123e-02 -9.30936745e+01] [ 6.34990806e-01 7.72443112e-01 -1.08772218e-02 -7.62721710e-02] [ 1.62783846e-02 6.97984514e-04 9.99867255e-01 2.28733352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.27911593299999 meters 0.012142227915452268 Centerline is valid? [True, True] Translation: X:-93.12, Y:-0.09, Z:2.29 [[ 7.70300031e-01 -6.37516305e-01 -1.45197637e-02 -9.31197464e+01] [ 6.37383579e-01 7.70436465e-01 -1.30317626e-02 -9.49100319e-02] [ 1.94945165e-02 7.83708180e-04 9.99809657e-01 2.28991260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.309115933 meters 0.012768768893156038 Centerline is valid? [True, True] Translation: X:-93.14, Y:-0.12, Z:2.27 [[ 7.64311874e-01 -6.44748197e-01 -1.12748408e-02 -9.31360161e+01] [ 6.44668720e-01 7.64394881e-01 -1.01344774e-02 -1.24743192e-01] [ 1.51526166e-02 4.77364238e-04 9.99885079e-01 2.27237577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.339115933 meters 0.01593405085314817 Centerline is valid? [True, True] Translation: X:-93.16, Y:-0.14, Z:2.28 [[ 7.61344866e-01 -6.48237766e-01 -1.19077155e-02 -9.31629703e+01] [ 6.48149317e-01 7.61437853e-01 -1.07172282e-02 -1.42357270e-01] [ 1.60142974e-02 4.41528996e-04 9.99871665e-01 2.28187032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.369115933 meters 0.019351947020787987 Centerline is valid? [True, True] Translation: X:-93.19, Y:-0.16, Z:2.28 [[ 7.62274847e-01 -6.46958768e-01 -1.95297051e-02 -9.31906270e+01] [ 6.46720895e-01 7.62524612e-01 -1.75584732e-02 -1.58439987e-01] [ 2.62514890e-02 7.54114105e-04 9.99655086e-01 2.28430818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.399115933 meters 0.022642095812209544 Centerline is valid? [True, True] Translation: X:-93.20, Y:-0.19, Z:2.25 [[ 7.64255722e-01 -6.44265432e-01 -2.89005951e-02 -9.32020688e+01] [ 6.43742219e-01 7.64800934e-01 -2.59901272e-02 -1.93793847e-01] [ 3.88477426e-02 1.25857020e-03 9.99244349e-01 2.24821812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.429115933 meters 0.023840333374724656 Centerline is valid? [True, True] Translation: X:-93.22, Y:-0.22, Z:2.24 [[ 7.60309825e-01 -6.48600819e-01 -3.52979748e-02 -9.32223416e+01] [ 6.47822767e-01 7.61127641e-01 -3.17864377e-02 -2.17947180e-01] [ 4.74829738e-02 1.30070921e-03 9.98871201e-01 2.23774263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.459115933 meters 0.026111795044172638 Centerline is valid? [True, True] Translation: X:-93.25, Y:-0.23, Z:2.25 [[ 7.58322125e-01 -6.50385108e-01 -4.41221586e-02 -9.32522480e+01] [ 6.49169588e-01 7.59603123e-01 -3.97736282e-02 -2.30831161e-01] [ 5.93835050e-02 1.51845874e-03 9.98234088e-01 2.24515617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.489115933 meters 0.026702779147736083 Centerline is valid? [True, True] Translation: X:-93.28, Y:-0.25, Z:2.25 [[ 7.56572923e-01 -6.52214250e-01 -4.70529835e-02 -9.32775476e+01] [ 6.50832490e-01 7.58033194e-01 -4.24587591e-02 -2.48704811e-01] [ 6.33599311e-02 1.49953702e-03 9.97989614e-01 2.25087213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.519115933 meters 0.028109596322403684 Centerline is valid? [True, True] Translation: X:-93.30, Y:-0.28, Z:2.23 [[ 7.51369055e-01 -6.57975450e-01 -5.01283456e-02 -9.32954960e+01] [ 6.56418825e-01 7.53038589e-01 -4.52461075e-02 -2.76914653e-01] [ 6.75194065e-02 1.09133530e-03 9.97717364e-01 2.23374854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.549115933 meters 0.028849575726233357 Centerline is valid? [True, True] Translation: X:-93.32, Y:-0.30, Z:2.23 [[ 7.48890105e-01 -6.60405029e-01 -5.50346155e-02 -9.33200764e+01] [ 6.58530268e-01 7.50908908e-01 -4.97362815e-02 -2.95720063e-01] [ 7.41720734e-02 1.00504895e-03 9.97244952e-01 2.23389772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.579115933 meters 0.029500951960828962 Centerline is valid? [True, True] Translation: X:-93.34, Y:-0.32, Z:2.23 [[ 7.48276218e-01 -6.60820394e-01 -5.83018754e-02 -9.33419959e+01] [ 6.58713784e-01 7.50543332e-01 -5.27338328e-02 -3.18966973e-01] [ 7.86056760e-02 1.05522397e-03 9.96905228e-01 2.22830683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.609115933 meters 0.029395395751622172 Centerline is valid? [True, True] Translation: X:-93.37, Y:-0.34, Z:2.22 [[ 7.44497309e-01 -6.64822266e-01 -6.11155575e-02 -9.33657127e+01] [ 6.62520147e-01 7.47001278e-01 -5.52824128e-02 -3.40287571e-01] [ 8.24063785e-02 6.67319427e-04 9.96598587e-01 2.22406132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.639115933 meters 0.02953052865446166 Centerline is valid? [True, True] Translation: X:-93.39, Y:-0.36, Z:2.23 [[ 7.44507321e-01 -6.64603532e-01 -6.33324173e-02 -9.33901515e+01] [ 6.62123909e-01 7.47195790e-01 -5.73618315e-02 -3.59345636e-01] [ 8.54445914e-02 7.72395713e-04 9.96342624e-01 2.22612368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.669115933 meters 0.02923947108909166 Centerline is valid? [True, True] Translation: X:-93.41, Y:-0.38, Z:2.23 [[ 7.46771352e-01 -6.61811485e-01 -6.58643090e-02 -9.34126137e+01] [ 6.59112762e-01 7.49669366e-01 -5.97177396e-02 -3.80630666e-01] [ 8.88983407e-02 1.18349050e-03 9.96040001e-01 2.22606669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.699115933 meters 0.03052276612764705 Centerline is valid? [True, True] Translation: X:-93.44, Y:-0.40, Z:2.23 [[ 7.49270274e-01 -6.58893699e-01 -6.67319244e-02 -9.34410748e+01] [ 6.56104655e-01 7.52234341e-01 -6.05819969e-02 -3.96598807e-01] [ 9.01151412e-02 1.60916318e-03 9.95930054e-01 2.23246650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.729115933 meters 0.029578744038049633 Centerline is valid? [True, True] Translation: X:-93.47, Y:-0.41, Z:2.25 [[ 7.51597254e-01 -6.55940046e-01 -6.96004512e-02 -9.34735990e+01] [ 6.52891514e-01 7.54810184e-01 -6.32001328e-02 -4.06937368e-01] [ 9.39906274e-02 2.05950229e-03 9.95570952e-01 2.25136879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75911593299998 meters 0.029872343224225717 Centerline is valid? [True, True] Translation: X:-93.48, Y:-0.44, Z:2.22 [[ 7.49517267e-01 -6.58194042e-01 -7.07422795e-02 -9.34836972e+01] [ 6.55045465e-01 7.52845987e-01 -6.43300765e-02 -4.43461031e-01] [ 9.55997143e-02 1.87709371e-03 9.95418089e-01 2.22469860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.78911593299998 meters 0.029348688103156887 Centerline is valid? [True, True] Translation: X:-93.51, Y:-0.46, Z:2.22 [[ 7.49391819e-01 -6.58042414e-01 -7.34308055e-02 -9.35073000e+01] [ 6.54641927e-01 7.52978154e-01 -6.68419556e-02 -4.63269471e-01] [ 9.92766342e-02 2.01993065e-03 9.95057822e-01 2.22489131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.81911593299998 meters 0.029381277229721423 Centerline is valid? [True, True] Translation: X:-93.52, Y:-0.49, Z:2.21 [[ 7.49427732e-01 -6.57926699e-01 -7.40981329e-02 -9.35249224e+01] [ 6.54454765e-01 7.53078993e-01 -6.75351114e-02 -4.91327451e-01] [ 1.00234900e-01 2.11880921e-03 9.94961545e-01 2.21062680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.84911593299998 meters 0.029557931884082306 Centerline is valid? [True, True] Translation: X:-93.54, Y:-0.52, Z:2.19 [[ 7.48300714e-01 -6.59236590e-01 -7.38455146e-02 -9.35403946e+01] [ 6.55786361e-01 7.51932922e-01 -6.73878953e-02 -5.21876481e-01] [ 9.99514399e-02 1.99952881e-03 9.94990307e-01 2.19363674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.87911593299998 meters 0.02909920156797462 Centerline is valid? [True, True] Translation: X:-93.57, Y:-0.53, Z:2.20 [[ 7.48724438e-01 -6.58332696e-01 -7.75227590e-02 -9.35704682e+01] [ 6.54515924e-01 7.52723606e-01 -7.08242751e-02 -5.34762699e-01] [ 1.04979147e-01 2.28798528e-03 9.94471791e-01 2.20145652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.90911593299998 meters 0.028357270058500805 Centerline is valid? [True, True] Translation: X:-93.60, Y:-0.55, Z:2.21 [[ 7.49083520e-01 -6.57771976e-01 -7.88029697e-02 -9.36002347e+01] [ 6.53816453e-01 7.53213089e-01 -7.20700278e-02 -5.47833694e-01] [ 1.06761073e-01 2.46379194e-03 9.94281652e-01 2.21383345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.93911593299998 meters 0.029265177581964525 Centerline is valid? [True, True] Translation: X:-93.62, Y:-0.57, Z:2.21 [[ 7.53184127e-01 -6.52902944e-01 -8.01961177e-02 -9.36229423e+01] [ 6.48769884e-01 7.57434519e-01 -7.34206230e-02 -5.68838775e-01] [ 1.08679849e-01 3.27042182e-03 9.94071423e-01 2.21387811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.96911593299998 meters 0.028986373622309207 Centerline is valid? [True, True] Translation: X:-93.65, Y:-0.58, Z:2.22 [[ 7.55744966e-01 -6.49393733e-01 -8.44827012e-02 -9.36509324e+01] [ 6.44773790e-01 7.60441595e-01 -7.74295846e-02 -5.84458239e-01] [ 1.14526447e-01 4.04478735e-03 9.93411965e-01 2.21724521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.99911593299998 meters 0.029178916203528586 Centerline is valid? [True, True] Translation: X:-93.68, Y:-0.60, Z:2.22 [[ 7.59645290e-01 -6.44946998e-01 -8.35607787e-02 -9.36758343e+01] [ 6.40389891e-01 7.64212613e-01 -7.66803014e-02 -6.03928360e-01] [ 1.13312931e-01 4.73835174e-03 9.93548050e-01 2.21837591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.02911593299999 meters 0.02995971788848616 Centerline is valid? [True, True] Translation: X:-93.70, Y:-0.63, Z:2.20 [[ 7.63263697e-01 -6.40469274e-01 -8.50155182e-02 -9.36950039e+01] [ 6.35714644e-01 7.67963662e-01 -7.80942035e-02 -6.29349730e-01] [ 1.15305766e-01 5.56086058e-03 9.93314480e-01 2.19988230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.059115933 meters 0.03032280242322091 Centerline is valid? [True, True] Translation: X:-93.72, Y:-0.65, Z:2.21 [[ 7.65796143e-01 -6.37578808e-01 -8.39614863e-02 -9.37213397e+01] [ 6.32913336e-01 7.70361800e-01 -7.72230993e-02 -6.47198094e-01] [ 1.13916533e-01 5.99680728e-03 9.93472225e-01 2.20730238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.089115933 meters 0.030441633162644165 Centerline is valid? [True, True] Translation: X:-93.74, Y:-0.67, Z:2.20 [[ 7.64770832e-01 -6.39149841e-01 -8.13206946e-02 -9.37432546e+01] [ 6.34773621e-01 7.69061516e-01 -7.48787952e-02 -6.70205677e-01] [ 1.10399387e-01 5.64488674e-03 9.93871275e-01 2.19851130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.119115933 meters 0.031245740460925087 Centerline is valid? [True, True] Translation: X:-93.77, Y:-0.69, Z:2.19 [[ 7.66903257e-01 -6.36636747e-01 -8.09508907e-02 -9.37669169e+01] [ 6.32276229e-01 7.71140088e-01 -7.46306609e-02 -6.91984005e-01] [ 1.09937098e-01 6.05117298e-03 9.93920126e-01 2.19334893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.149115933 meters 0.032078078334253454 Centerline is valid? [True, True] Translation: X:-93.79, Y:-0.71, Z:2.20 [[ 7.66101416e-01 -6.37971746e-01 -7.79786608e-02 -9.37902109e+01] [ 6.33924818e-01 7.70038642e-01 -7.19709308e-02 -7.13184976e-01] [ 1.05962003e-01 5.70442368e-03 9.94353817e-01 2.19722887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.179115933 meters 0.033041527799118814 Centerline is valid? [True, True] Translation: X:-93.81, Y:-0.74, Z:2.19 [[ 7.67597541e-01 -6.36252733e-01 -7.73076605e-02 -9.38104760e+01] [ 6.32257341e-01 7.71457678e-01 -7.14402199e-02 -7.38513291e-01] [ 1.05093623e-01 5.95900131e-03 9.94444478e-01 2.18609273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.209115933 meters 0.033585909808777265 Centerline is valid? [True, True] Translation: X:-93.83, Y:-0.76, Z:2.18 [[ 7.68186547e-01 -6.36050026e-01 -7.30054263e-02 -9.38346289e+01] [ 6.32485571e-01 7.71627042e-01 -6.74811867e-02 -7.59242343e-01] [ 9.92543717e-02 5.66326102e-03 9.95045977e-01 2.17825941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.239115933 meters 0.033922478618125446 Centerline is valid? [True, True] Translation: X:-93.86, Y:-0.78, Z:2.19 [[ 7.63077461e-01 -6.42868118e-01 -6.65835629e-02 -9.38617852e+01] [ 6.39927801e-01 7.65964389e-01 -6.15707983e-02 -7.76123113e-01] [ 9.05825413e-02 4.37461542e-03 9.95879343e-01 2.18855456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.269115933 meters 0.03402784871619008 Centerline is valid? [True, True] Translation: X:-93.89, Y:-0.79, Z:2.19 [[ 7.67601036e-01 -6.37432429e-01 -6.68471998e-02 -9.38883742e+01] [ 6.34442353e-01 7.70489470e-01 -6.18779302e-02 -7.93460923e-01] [ 9.09480629e-02 5.08686866e-03 9.95842645e-01 2.19450635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.299115933 meters 0.03489851652109583 Centerline is valid? [True, True] Translation: X:-93.91, Y:-0.82, Z:2.18 [[ 7.67140309e-01 -6.38194734e-01 -6.48323107e-02 -9.39087541e+01] [ 6.35379038e-01 7.69859390e-01 -6.00832620e-02 -8.17659389e-01] [ 8.82565845e-02 4.89920103e-03 9.96085726e-01 2.18311241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.329115933 meters 0.035227063556766594 Centerline is valid? [True, True] Translation: X:-93.95, Y:-0.82, Z:2.22 [[ 7.65319654e-01 -6.40891205e-01 -5.95339513e-02 -9.39505754e+01] [ 6.38520908e-01 7.67619918e-01 -5.52332505e-02 -8.17099757e-01] [ 8.10979512e-02 4.25741950e-03 9.96697044e-01 2.21870815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.359115933 meters 0.03538692902270401 Centerline is valid? [True, True] Translation: X:-93.97, Y:-0.85, Z:2.20 [[ 7.60908958e-01 -6.46701275e-01 -5.28679415e-02 -9.39676243e+01] [ 6.44846184e-01 7.62736519e-01 -4.90550850e-02 -8.46377641e-01] [ 7.20482957e-02 3.23476328e-03 9.97395899e-01 2.20445535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.389115933 meters 0.03519054674328033 Centerline is valid? [True, True] Translation: X:-93.99, Y:-0.87, Z:2.20 [[ 7.60303609e-01 -6.47598638e-01 -5.05413306e-02 -9.39909004e+01] [ 6.45900941e-01 7.61975486e-01 -4.69609760e-02 -8.66935069e-01] [ 6.89231190e-02 3.05990656e-03 9.97617282e-01 2.20218067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.419115933 meters 0.03477858863379866 Centerline is valid? [True, True] Translation: X:-94.02, Y:-0.89, Z:2.20 [[ 7.62120453e-01 -6.45698671e-01 -4.73882060e-02 -9.40162411e+01] [ 6.44202513e-01 7.63586295e-01 -4.40351172e-02 -8.86815382e-01] [ 6.46184013e-02 3.03246207e-03 9.97905440e-01 2.20226109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.449115933 meters 0.0342861632667019 Centerline is valid? [True, True] Translation: X:-94.05, Y:-0.90, Z:2.22 [[ 7.58567333e-01 -6.50127137e-01 -4.37070498e-02 -9.40503051e+01] [ 6.48858340e-01 7.59821350e-01 -4.06739555e-02 -8.95211958e-01] [ 5.96527918e-02 2.49425014e-03 9.98216070e-01 2.22018444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.479115933 meters 0.033729656372762484 Centerline is valid? [True, True] Translation: X:-94.08, Y:-0.92, Z:2.22 [[ 7.60472382e-01 -6.48075894e-01 -4.09803859e-02 -9.40753977e+01] [ 6.46954839e-01 7.61571566e-01 -3.81862197e-02 -9.15077665e-01] [ 5.59570651e-02 2.52710649e-03 9.98429978e-01 2.22436771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.50911593299998 meters 0.0330692035410005 Centerline is valid? [True, True] Translation: X:-94.10, Y:-0.93, Z:2.23 [[ 7.59000775e-01 -6.50209823e-01 -3.38379762e-02 -9.41021957e+01] [ 6.49447463e-01 7.59752156e-01 -3.15381373e-02 -9.31970963e-01] [ 4.62148821e-02 1.96148281e-03 9.98929596e-01 2.22873268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53911593299998 meters 0.031134299360917196 Centerline is valid? [True, True] Translation: X:-94.12, Y:-0.96, Z:2.22 [[ 7.64087019e-01 -6.44481332e-01 -2.85453950e-02 -9.41238335e+01] [ 6.43933115e-01 7.64617475e-01 -2.66507034e-02 -9.55003354e-01] [ 3.90021887e-02 1.98213141e-03 9.99237159e-01 2.22348174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.56911593299998 meters 0.030468402387942517 Centerline is valid? [True, True] Translation: X:-94.14, Y:-0.98, Z:2.21 [[ 7.64839231e-01 -6.43847565e-01 -2.19377184e-02 -9.41430144e+01] [ 6.43523648e-01 7.65152222e-01 -2.04790299e-02 -9.82230447e-01] [ 2.99710675e-02 1.54572495e-03 9.99549571e-01 2.20768499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.59911593299998 meters 0.029576198638989477 Centerline is valid? [True, True] Translation: X:-94.17, Y:-1.00, Z:2.21 [[ 7.65187491e-01 -6.43714414e-01 -1.09478785e-02 -9.41686115e+01] [ 6.43633332e-01 7.65265392e-01 -1.02476189e-02 -1.00069078e+00] [ 1.49745725e-02 7.94930300e-04 9.99887559e-01 2.21294411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.62911593299998 meters 0.02783201843835337 Centerline is valid? [True, True] Translation: X:-94.19, Y:-1.02, Z:2.21 [[ 7.68424248e-01 -6.39903162e-01 -6.93680473e-03 -9.41905943e+01] [ 6.39870299e-01 7.68455351e-01 -6.50950008e-03 -1.02421729e+00] [ 9.49607439e-03 5.63402390e-04 9.99954753e-01 2.20528691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.65911593299998 meters 0.025748730503777708 Centerline is valid? [True, True] Translation: X:-94.22, Y:-1.04, Z:2.21 [[ 7.65919204e-01 -6.42933464e-01 -2.08170244e-03 -9.42152129e+01] [ 6.42930516e-01 7.65922017e-01 -1.95341694e-03 -1.04439432e+00] [ 2.85033885e-03 1.57769527e-04 9.99995925e-01 2.21023952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.68911593299998 meters 0.025701648010523794 Centerline is valid? [True, True] Translation: X:-94.24, Y:-1.06, Z:2.21 [[ 7.65950990e-01 -6.42889376e-01 -3.51144660e-03 -9.42404917e+01] [ 6.42880914e-01 7.65958989e-01 -3.31037769e-03 -1.06331169e+00] [ 4.81783074e-03 2.78145071e-04 9.99988356e-01 2.21083768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.71911593299998 meters 0.021740825999120132 Centerline is valid? [True, True] Translation: X:-94.26, Y:-1.09, Z:2.20 [[ 7.65707801e-01 -6.43188009e-01 8.64980000e-04 -9.42612943e+01] [ 6.43187524e-01 7.65708288e-01 7.90957752e-04 -1.08786071e+00] [-1.17105690e-03 -4.92981763e-05 9.99999313e-01 2.20305231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.74911593299998 meters 0.01859398073417517 Centerline is valid? [True, True] Translation: X:-94.30, Y:-1.09, Z:2.23 [[ 7.66011655e-01 -6.42816973e-01 3.53331309e-03 -9.42983011e+01] [ 6.42808575e-01 7.66019762e-01 3.29557650e-03 -1.09470658e+00] [-4.82504017e-03 -2.53206059e-04 9.99988327e-01 2.22972193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.77911593299999 meters 0.017090853846540053 Centerline is valid? [True, True] Translation: X:-94.30, Y:-1.14, Z:2.19 [[ 7.69033841e-01 -6.39208054e-01 -1.24427540e-04 -9.43035869e+01] [ 6.39208042e-01 7.69033851e-01 -1.23944834e-04 -1.13666669e+00] [ 1.74915525e-04 1.57826876e-05 9.99999985e-01 2.19417728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.809115933 meters 0.014089822656312513 Centerline is valid? [True, True] Translation: X:-94.32, Y:-1.17, Z:2.17 [[ 7.68287468e-01 -6.40103568e-01 1.33788460e-03 -9.43170693e+01] [ 6.40102377e-01 7.68288627e-01 1.23820484e-03 -1.16984029e+00] [-1.82046086e-03 -9.49141473e-05 9.99998338e-01 2.17413162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.839115933 meters 0.014281056334247975 Centerline is valid? [True, True] Translation: X:-94.35, Y:-1.18, Z:2.19 [[ 7.67355140e-01 -6.41221091e-01 1.26543945e-03 -9.43470564e+01] [ 6.41220026e-01 7.67356179e-01 1.17170956e-03 -1.18303601e+00] [-1.72236766e-03 -8.76922318e-05 9.99998513e-01 2.19123046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.869115933 meters 0.014281056334247975 Centerline is valid? [True, True] Translation: X:-94.37, Y:-1.21, Z:2.19 [[ 7.66904970e-01 -6.41759428e-01 1.26607689e-03 -9.43702873e+01] [ 6.41758366e-01 7.66906010e-01 1.17104106e-03 -1.20504223e+00] [-1.72248862e-03 -8.55617734e-05 9.99998513e-01 2.19202060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.899115933 meters 0.011930513368207019 Centerline is valid? [True, True] Translation: X:-94.39, Y:-1.23, Z:2.19 [[ 7.68091637e-01 -6.40338493e-01 1.36042613e-03 -9.43931473e+01] [ 6.40337252e-01 7.68092835e-01 1.26465123e-03 -1.22727044e+00] [-1.85473843e-03 -1.00236505e-04 9.99998275e-01 2.18709991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.929115933 meters 0.011325406091402175 Centerline is valid? [True, True] Translation: X:-94.42, Y:-1.25, Z:2.19 [[ 7.66444790e-01 -6.42309449e-01 9.77327727e-04 -9.44169323e+01] [ 6.42308816e-01 7.66445411e-01 9.04051650e-04 -1.24867763e+00] [-1.32974927e-03 -6.51594620e-05 9.99999114e-01 2.18745271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.959115933 meters 0.011839812575147176 Centerline is valid? [True, True] Translation: X:-94.45, Y:-1.26, Z:2.21 [[ 7.67405241e-01 -6.41161984e-01 -7.11269817e-04 -9.44490316e+01] [ 6.41161613e-01 7.67405567e-01 -6.93755047e-04 -1.26026873e+00] [ 9.90641779e-04 7.63523561e-05 9.99999506e-01 2.20676233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.989115933 meters 0.011319748491467807 Centerline is valid? [True, True] Translation: X:-94.46, Y:-1.29, Z:2.19 [[ 7.65777879e-01 -6.43102926e-01 -1.69279634e-03 -9.44643655e+01] [ 6.43100892e-01 7.65779734e-01 -1.62496367e-03 -1.29091091e+00] [ 2.34132802e-03 1.55722401e-04 9.99997247e-01 2.19285258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.019115933 meters 0.01195617595956876 Centerline is valid? [True, True] Translation: X:-94.49, Y:-1.31, Z:2.19 [[ 7.66311806e-01 -6.42462209e-01 -2.91979456e-03 -9.44895511e+01] [ 6.42456198e-01 7.66317323e-01 -2.79164613e-03 -1.31093441e+00] [ 4.03101629e-03 2.63431282e-04 9.99991841e-01 2.19318754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.049115933 meters 0.011721315582281904 Centerline is valid? [True, True] Translation: X:-94.51, Y:-1.33, Z:2.19 [[ 7.64231683e-01 -6.44933843e-01 -3.20526263e-03 -9.45128012e+01] [ 6.44926612e-01 7.64238354e-01 -3.06647008e-03 -1.33233949e+00] [ 4.42725497e-03 2.76334424e-04 9.99990161e-01 2.19338429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.079115933 meters 0.011263141153531005 Centerline is valid? [True, True] Translation: X:-94.54, Y:-1.35, Z:2.20 [[ 7.64734147e-01 -6.44338588e-01 -3.07710886e-03 -9.45414554e+01] [ 6.44331900e-01 7.64740290e-01 -2.94819847e-03 -1.34834049e+00] [ 4.25282716e-03 2.71908640e-04 9.99990920e-01 2.20335165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.109115933 meters 0.011865673546230027 Centerline is valid? [True, True] Translation: X:-94.56, Y:-1.37, Z:2.20 [[ 7.63460023e-01 -6.45835179e-01 -5.07098966e-03 -9.45629743e+01] [ 6.45817075e-01 7.63476742e-01 -4.85489972e-03 -1.37232363e+00] [ 7.00704769e-03 4.31590143e-04 9.99975357e-01 2.19926493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.139115933 meters 0.010853698569338346 Centerline is valid? [True, True] Translation: X:-94.59, Y:-1.39, Z:2.21 [[ 7.63211588e-01 -6.46132713e-01 -4.53756213e-03 -9.45910780e+01] [ 6.46118168e-01 7.63224977e-01 -4.35294923e-03 -1.38949446e+00] [ 6.27576365e-03 3.90419963e-04 9.99980231e-01 2.20548305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.169115933 meters 0.01116886099095847 Centerline is valid? [True, True] Translation: X:-94.61, Y:-1.42, Z:2.19 [[ 7.59572534e-01 -6.50410292e-01 -4.00229524e-03 -9.46083735e+01] [ 6.50399112e-01 7.59583018e-01 -3.82550304e-03 -1.41835341e+00] [ 5.52822204e-03 3.02657763e-04 9.99984673e-01 2.19206623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.199115933 meters 0.011454087570353185 Centerline is valid? [True, True] Translation: X:-94.63, Y:-1.44, Z:2.19 [[ 7.61996417e-01 -6.47553290e-01 -6.01645991e-03 -9.46303228e+01] [ 6.47527809e-01 7.62020006e-01 -5.76600123e-03 -1.43981769e+00] [ 8.31845588e-03 4.97847171e-04 9.99965277e-01 2.19085955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.229115933 meters 0.011325526779467687 Centerline is valid? [True, True] Translation: X:-94.66, Y:-1.46, Z:2.19 [[ 7.62387275e-01 -6.47079258e-01 -7.35364167e-03 -9.46580858e+01] [ 6.47041284e-01 7.62422498e-01 -7.03641707e-03 -1.45767610e+00] [ 1.01597014e-02 6.06365093e-04 9.99948205e-01 2.19302489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25911593299998 meters 0.011127956465171156 Centerline is valid? [True, True] Translation: X:-94.68, Y:-1.48, Z:2.20 [[ 7.60819845e-01 -6.48921603e-01 -7.34282604e-03 -9.46836917e+01] [ 6.48883605e-01 7.60855043e-01 -7.04775677e-03 -1.47703474e+00] [ 1.01602678e-02 5.97433783e-04 9.99948205e-01 2.19730501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.28911593299998 meters 0.011592104803877562 Centerline is valid? [True, True] Translation: X:-94.70, Y:-1.50, Z:2.19 [[ 7.60748507e-01 -6.48992653e-01 -8.38118543e-03 -9.47036826e+01] [ 6.48943068e-01 7.60794364e-01 -8.05165846e-03 -1.50177416e+00] [ 1.16018258e-02 6.86374967e-04 9.99932461e-01 2.19032866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.31911593299998 meters 0.011314504133658495 Centerline is valid? [True, True] Translation: X:-94.72, Y:-1.53, Z:2.18 [[ 7.57676578e-01 -6.52595764e-01 -6.70608809e-03 -9.47228971e+01] [ 6.52564244e-01 7.57706091e-01 -6.43328349e-03 -1.52858836e+00] [ 9.27957735e-03 4.98194910e-04 9.99956820e-01 2.17880739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.34911593299998 meters 0.011191080728075104 Centerline is valid? [True, True] Translation: X:-94.75, Y:-1.55, Z:2.18 [[ 7.57137718e-01 -6.53184407e-01 -9.62322423e-03 -9.47462481e+01] [ 6.53119219e-01 7.57198526e-01 -9.25626173e-03 -1.54979231e+00] [ 1.33327370e-02 7.23152183e-04 9.99910854e-01 2.17979469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.37911593299998 meters 0.011525497008631909 Centerline is valid? [True, True] Translation: X:-94.79, Y:-1.55, Z:2.21 [[ 7.59765807e-01 -6.50060883e-01 -1.32953384e-02 -9.47913405e+01] [ 6.49936009e-01 7.59881370e-01 -1.27862385e-02 -1.54724085e+00] [ 1.84147135e-02 1.07342765e-03 9.99829859e-01 2.21322876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.40911593299998 meters 0.011333073677232606 Centerline is valid? [True, True] Translation: X:-94.80, Y:-1.59, Z:2.18 [[ 7.52712239e-01 -6.58261648e-01 -1.07651261e-02 -9.47968292e+01] [ 6.58180385e-01 7.52788872e-01 -1.03679625e-02 -1.58598455e+00] [ 1.49286992e-02 7.18697395e-04 9.99888302e-01 2.18450279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.43911593299998 meters 0.011848290136072697 Centerline is valid? [True, True] Translation: X:-94.83, Y:-1.60, Z:2.19 [[ 7.55040518e-01 -6.55508051e-01 -1.49335479e-02 -9.48258512e+01] [ 6.55350936e-01 7.55187414e-01 -1.43916854e-02 -1.60018461e+00] [ 2.07114930e-02 1.07959097e-03 9.99784911e-01 2.19164126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.46911593299998 meters 0.01136573309733109 Centerline is valid? [True, True] Translation: X:-94.83, Y:-1.64, Z:2.16 [[ 7.49459314e-01 -6.61905180e-01 -1.38661512e-02 -9.48326464e+01] [ 6.61770458e-01 7.49587091e-01 -1.33810933e-02 -1.63961191e+00] [ 1.92509029e-02 8.52375736e-04 9.99814321e-01 2.16392860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.49911593299998 meters 0.011935105332515196 Centerline is valid? [True, True] Translation: X:-94.86, Y:-1.65, Z:2.18 [[ 7.50035815e-01 -6.61163845e-01 -1.75683384e-02 -9.48649022e+01] [ 6.60947088e-01 7.50240716e-01 -1.69650718e-02 -1.65026773e+00] [ 2.43971749e-02 1.11266935e-03 9.99701725e-01 2.18118513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.52911593299999 meters 0.011272743626495744 Centerline is valid? [True, True] Translation: X:-94.89, Y:-1.67, Z:2.19 [[ 7.48740717e-01 -6.62664914e-01 -1.62034245e-02 -9.48926805e+01] [ 6.62480351e-01 7.48915358e-01 -1.56707042e-02 -1.66655510e+00] [ 2.25194193e-02 9.98844008e-04 9.99745907e-01 2.18857244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.559115933 meters 0.01150771551913706 Centerline is valid? [True, True] Translation: X:-94.92, Y:-1.69, Z:2.19 [[ 7.49345643e-01 -6.61892678e-01 -1.94728273e-02 -9.49179035e+01] [ 6.61625501e-01 7.49597592e-01 -1.88453296e-02 -1.68503369e+00] [ 2.70703702e-02 1.23794649e-03 9.99632764e-01 2.19194501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.589115933 meters 0.011462567928065293 Centerline is valid? [True, True] Translation: X:-94.94, Y:-1.71, Z:2.18 [[ 7.48732071e-01 -6.62529282e-01 -2.13362910e-02 -9.49351818e+01] [ 6.62207972e-01 7.49034796e-01 -2.06755055e-02 -1.71340362e+00] [ 2.96797522e-02 1.35135209e-03 9.99558546e-01 2.17892672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.619115933 meters 0.011253872168610955 Centerline is valid? [True, True] Translation: X:-94.96, Y:-1.73, Z:2.18 [[ 7.42948640e-01 -6.69088185e-01 -1.86633286e-02 -9.49578456e+01] [ 6.68843823e-01 7.43182387e-01 -1.81074730e-02 -1.73455722e+00] [ 2.59857534e-02 9.70070372e-04 9.99661843e-01 2.17623451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.649115933 meters 0.011658400853487271 Centerline is valid? [True, True] Translation: X:-94.98, Y:-1.75, Z:2.18 [[ 7.45462772e-01 -6.66169543e-01 -2.24364997e-02 -9.49825753e+01] [ 6.65814660e-01 7.45799206e-01 -2.17803325e-02 -1.75404112e+00] [ 3.12425177e-02 1.29787661e-03 9.99510991e-01 2.17607666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.679115933 meters 0.011315121889976902 Centerline is valid? [True, True] Translation: X:-95.01, Y:-1.77, Z:2.18 [[ 7.43152843e-01 -6.68747822e-01 -2.23652026e-02 -9.50082944e+01] [ 6.68395450e-01 7.43488327e-01 -2.17400615e-02 -1.77231184e+00] [ 3.11668858e-02 1.20738886e-03 9.99513465e-01 2.18249144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.709115933 meters 0.01153469575994815 Centerline is valid? [True, True] Translation: X:-95.03, Y:-1.80, Z:2.18 [[ 7.43073805e-01 -6.68766322e-01 -2.43500887e-02 -9.50279588e+01] [ 6.68347632e-01 7.43471468e-01 -2.36985087e-02 -1.79736304e+00] [ 3.39523607e-02 1.33541695e-03 9.99422560e-01 2.17799818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.739115933 meters 0.011931776571841364 Centerline is valid? [True, True] Translation: X:-95.06, Y:-1.82, Z:2.19 [[ 7.39259304e-01 -6.73024800e-01 -2.30932939e-02 -9.50550780e+01] [ 6.72650492e-01 7.39619131e-01 -2.24690140e-02 -1.81515487e+00] [ 3.22024456e-02 1.07671219e-03 9.99480787e-01 2.18681022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.769115933 meters 0.011399722858992435 Centerline is valid? [True, True] Translation: X:-95.07, Y:-1.84, Z:2.18 [[ 7.38874399e-01 -6.73491454e-01 -2.17688659e-02 -9.50734019e+01] [ 6.73157795e-01 7.39194296e-01 -2.12220297e-02 -1.84219216e+00] [ 3.03842771e-02 1.02653271e-03 9.99537764e-01 2.17604749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.799115933 meters 0.011845547712164712 Centerline is valid? [True, True] Translation: X:-95.09, Y:-1.87, Z:2.18 [[ 7.36876439e-01 -6.75698195e-01 -2.10964850e-02 -9.50940772e+01] [ 6.75384963e-01 7.37177788e-01 -2.05927403e-02 -1.86621358e+00] [ 2.94663376e-02 9.26056433e-04 9.99565344e-01 2.17752661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.829115933 meters 0.011749435326867426 Centerline is valid? [True, True] Translation: X:-95.13, Y:-1.88, Z:2.19 [[ 7.38660998e-01 -6.73748492e-01 -2.10451880e-02 -9.51259309e+01] [ 6.73435244e-01 7.38960032e-01 -2.05680004e-02 -1.87832925e+00] [ 2.94092120e-02 1.02020844e-03 9.99566935e-01 2.19011578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.859115933 meters 0.011537301594384488 Centerline is valid? [True, True] Translation: X:-95.14, Y:-1.91, Z:2.18 [[ 7.37928253e-01 -6.74639688e-01 -1.79773485e-02 -9.51422377e+01] [ 6.74411533e-01 7.38146727e-01 -1.75639634e-02 -1.90791624e+00] [ 2.51192677e-02 8.36813663e-04 9.99684111e-01 2.17915937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.889115933 meters 0.011518560544613898 Centerline is valid? [True, True] Translation: X:-95.17, Y:-1.92, Z:2.19 [[ 7.37054331e-01 -6.75669625e-01 -1.48819172e-02 -9.51740093e+01] [ 6.75513366e-01 7.37204254e-01 -1.45458039e-02 -1.92100582e+00] [ 2.07991705e-02 6.68113733e-04 9.99783451e-01 2.19369367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.919115933 meters 0.011080524125392482 Centerline is valid? [True, True] Translation: X:-95.20, Y:-1.94, Z:2.20 [[ 7.40049841e-01 -6.72389251e-01 -1.47962115e-02 -9.52041001e+01] [ 6.72233451e-01 7.40197329e-01 -1.44949035e-02 -1.93533653e+00] [ 2.06983335e-02 7.80442767e-04 9.99785462e-01 2.20232381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.949115933 meters 0.011194817167161185 Centerline is valid? [True, True] Translation: X:-95.23, Y:-1.96, Z:2.20 [[ 7.38645687e-01 -6.74001407e-01 -1.11647635e-02 -9.52278871e+01] [ 6.73912634e-01 7.38729844e-01 -1.09535143e-02 -1.95585089e+00] [ 1.56304280e-02 5.66690907e-04 9.99877677e-01 2.20480487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.979115933 meters 0.01128618147126307 Centerline is valid? [True, True] Translation: X:-95.25, Y:-1.98, Z:2.20 [[ 7.42140765e-01 -6.70165929e-01 -1.02329668e-02 -9.52520090e+01] [ 6.70091077e-01 7.42211076e-01 -1.00333582e-02 -1.97769470e+00] [ 1.43190361e-02 5.89144378e-04 9.99897304e-01 2.20307824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.00911593299998 meters 0.011427337726595729 Centerline is valid? [True, True] Translation: X:-95.27, Y:-2.01, Z:2.20 [[ 7.42798151e-01 -6.69465965e-01 -8.13805679e-03 -9.52689940e+01] [ 6.69418300e-01 7.42842563e-01 -8.00414734e-03 -2.00537895e+00] [ 1.14037992e-02 4.97701714e-04 9.99934851e-01 2.19510899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03911593299998 meters 0.011038741233436837 Centerline is valid? [True, True] Translation: X:-95.29, Y:-2.02, Z:2.20 [[ 7.46335597e-01 -6.65522804e-01 -7.91033284e-03 -9.52944133e+01] [ 6.65477476e-01 7.46377316e-01 -7.78661147e-03 -2.02317257e+00] [ 1.10862605e-02 5.47276995e-04 9.99938396e-01 2.20191054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.06911593299998 meters 0.011142510833210051 Centerline is valid? [True, True] Translation: X:-95.32, Y:-2.04, Z:2.20 [[ 7.46538241e-01 -6.65332647e-01 -3.62246320e-03 -9.53230923e+01] [ 6.65323054e-01 7.46546983e-01 -3.58271725e-03 -2.03914543e+00] [ 5.08803773e-03 2.64527154e-04 9.99987021e-01 2.20393763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.09911593299998 meters 0.011512329222022579 Centerline is valid? [True, True] Translation: X:-95.35, Y:-2.06, Z:2.22 [[ 7.49034369e-01 -6.62517570e-01 -4.24075738e-03 -9.53507214e+01] [ 6.62504384e-01 7.49046300e-01 -4.19289189e-03 -2.05542096e+00] [ 5.95438817e-03 3.31099773e-04 9.99982218e-01 2.21587827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.12911593299998 meters 0.01210540318081439 Centerline is valid? [True, True] Translation: X:-95.37, Y:-2.09, Z:2.19 [[ 7.51100567e-01 -6.60174974e-01 -4.11606112e-03 -9.53656417e+01] [ 6.60162472e-01 7.51111766e-01 -4.07742414e-03 -2.08592119e+00] [ 5.78343531e-03 3.45286502e-04 9.99983216e-01 2.19401024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.15911593299998 meters 0.012198322724835753 Centerline is valid? [True, True] Translation: X:-95.39, Y:-2.11, Z:2.19 [[ 7.53571884e-01 -6.57337814e-01 -6.03444105e-03 -9.53888994e+01] [ 6.57310908e-01 7.53595856e-01 -5.97123456e-03 -2.10651856e+00] [ 8.47264804e-03 5.33250553e-04 9.99963964e-01 2.19429405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.18911593299998 meters 0.012004758410322378 Centerline is valid? [True, True] Translation: X:-95.41, Y:-2.13, Z:2.20 [[ 7.54843432e-01 -6.55882416e-01 -5.44507678e-03 -9.54143567e+01] [ 6.55860385e-01 7.54862902e-01 -5.39939333e-03 -2.12577901e+00] [ 7.65165360e-03 5.04486433e-04 9.99970598e-01 2.20065105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.21911593299998 meters 0.012153450640043506 Centerline is valid? [True, True] Translation: X:-95.44, Y:-2.14, Z:2.21 [[ 7.50738161e-01 -6.60591112e-01 -3.40520104e-03 -9.54431195e+01] [ 6.60582498e-01 7.50745827e-01 -3.38632209e-03 -2.14068060e+00] [ 4.79341475e-03 2.92825011e-04 9.99988469e-01 2.20891866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.24911593299998 meters 0.012154709682426839 Centerline is valid? [True, True] Translation: X:-95.46, Y:-2.17, Z:2.20 [[ 7.54615611e-01 -6.56133707e-01 -6.62105896e-03 -9.54617388e+01] [ 6.56101059e-01 7.54644405e-01 -6.57433638e-03 -2.16683911e+00] [ 9.31018880e-03 6.17013068e-04 9.99956469e-01 2.20257796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.27911593299999 meters 0.011067406312649911 Centerline is valid? [True, True] Translation: X:-95.50, Y:-2.17, Z:2.23 [[ 7.49030901e-01 -6.62527304e-01 -3.20636363e-03 -9.55029272e+01] [ 6.62519646e-01 7.49037715e-01 -3.19681100e-03 -2.16833494e+00] [ 4.51966186e-03 2.70231327e-04 9.99989750e-01 2.23174849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.309115933 meters 0.011238032770908441 Centerline is valid? [True, True] Translation: X:-95.53, Y:-2.19, Z:2.23 [[ 7.51157790e-01 -6.60097386e-01 -5.78057840e-03 -9.55278945e+01] [ 6.60072655e-01 7.51179871e-01 -5.73514391e-03 -2.18790449e+00] [ 8.12800763e-03 4.92396298e-04 9.99966846e-01 2.23481846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.339115933 meters 0.011309901112225396 Centerline is valid? [True, True] Translation: X:-95.55, Y:-2.21, Z:2.24 [[ 7.50177692e-01 -6.61208849e-01 -6.02398322e-03 -9.55506413e+01] [ 6.61181823e-01 7.50201699e-01 -6.00067629e-03 -2.20948035e+00] [ 8.48690271e-03 5.18625280e-04 9.99963851e-01 2.23643333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.369115933 meters 0.011363428267993662 Centerline is valid? [True, True] Translation: X:-95.57, Y:-2.23, Z:2.24 [[ 7.50516731e-01 -6.60816650e-01 -6.78175482e-03 -9.55745818e+01] [ 6.60782328e-01 7.50547136e-01 -6.76098327e-03 -2.22995107e+00] [ 9.55779697e-03 5.92967315e-04 9.99954147e-01 2.23601666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.399115933 meters 0.011243925718136974 Centerline is valid? [True, True] Translation: X:-95.60, Y:-2.25, Z:2.24 [[ 7.49600772e-01 -6.61861453e-01 -6.17247069e-03 -9.55993940e+01] [ 6.61832973e-01 7.49625994e-01 -6.16319858e-03 -2.24970477e+00] [ 8.70622805e-03 5.34793783e-04 9.99961957e-01 2.23977877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.429115933 meters 0.011497808782275881 Centerline is valid? [True, True] Translation: X:-95.62, Y:-2.27, Z:2.24 [[ 7.52174479e-01 -6.58920499e-01 -7.57158636e-03 -9.56248751e+01] [ 6.58877495e-01 7.52212263e-01 -7.56028733e-03 -2.26790511e+00] [ 1.06770684e-02 6.97907327e-04 9.99942755e-01 2.24108823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.459115933 meters 0.011237954093166292 Centerline is valid? [True, True] Translation: X:-95.64, Y:-2.30, Z:2.23 [[ 7.52450127e-01 -6.58608066e-01 -7.36358236e-03 -9.56417998e+01] [ 6.58567246e-01 7.52485838e-01 -7.36516045e-03 -2.29593401e+00] [ 1.03917455e-02 6.92501760e-04 9.99945765e-01 2.23330313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.489115933 meters 0.01100145674469323 Centerline is valid? [True, True] Translation: X:-95.67, Y:-2.31, Z:2.25 [[ 7.51752189e-01 -6.59417875e-01 -6.05901665e-03 -9.56712257e+01] [ 6.59390168e-01 7.51776391e-01 -6.07165556e-03 -2.31096786e+00] [ 8.55878388e-03 5.69124360e-04 9.99963211e-01 2.24844968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.519115933 meters 0.010986736005370753 Centerline is valid? [True, True] Translation: X:-95.69, Y:-2.34, Z:2.23 [[ 7.54960044e-01 -6.55732242e-01 -7.11047490e-03 -9.56864796e+01] [ 6.55694108e-01 7.54993200e-01 -7.10670147e-03 -2.34079734e+00] [ 1.00284535e-02 7.02979156e-04 9.99949467e-01 2.23438304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.549115933 meters 0.0111279328589736 Centerline is valid? [True, True] Translation: X:-95.72, Y:-2.35, Z:2.25 [[ 7.52505895e-01 -6.58563591e-01 -5.37343431e-03 -9.57177750e+01] [ 6.58541854e-01 7.52524910e-01 -5.37458870e-03 -2.35438237e+00] [ 7.58315161e-03 5.05778291e-04 9.99971120e-01 2.24855176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.579115933 meters 0.011470235828623138 Centerline is valid? [True, True] Translation: X:-95.74, Y:-2.38, Z:2.25 [[ 7.53544963e-01 -6.57373202e-01 -5.51930023e-03 -9.57400369e+01] [ 6.57350165e-01 7.53564983e-01 -5.52968392e-03 -2.37799964e+00] [ 7.79421740e-03 5.38752550e-04 9.99969479e-01 2.24574925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.609115933 meters 0.011495226291955178 Centerline is valid? [True, True] Translation: X:-95.76, Y:-2.40, Z:2.24 [[ 7.52300402e-01 -6.58794578e-01 -5.81458272e-03 -9.57589204e+01] [ 6.58768918e-01 7.52322661e-01 -5.84186389e-03 -2.40476385e+00] [ 8.22303060e-03 5.64370187e-04 9.99966031e-01 2.23952965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.639115933 meters 0.011696604123157628 Centerline is valid? [True, True] Translation: X:-95.78, Y:-2.43, Z:2.24 [[ 7.53764971e-01 -6.57112493e-01 -6.44511985e-03 -9.57797455e+01] [ 6.57081024e-01 7.53792257e-01 -6.46222229e-03 -2.42992249e+00] [ 9.10468844e-03 6.36030846e-04 9.99958349e-01 2.23848533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.669115933 meters 0.01175608064486264 Centerline is valid? [True, True] Translation: X:-95.80, Y:-2.46, Z:2.23 [[ 7.50952022e-01 -6.60338179e-01 -4.95481790e-03 -9.57982127e+01] [ 6.60319516e-01 7.50968218e-01 -4.98716330e-03 -2.45590469e+00] [ 7.01412510e-03 4.73357404e-04 9.99975289e-01 2.23239431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.699115933 meters 0.011805941043422963 Centerline is valid? [True, True] Translation: X:-95.82, Y:-2.48, Z:2.23 [[ 7.49074764e-01 -6.62471410e-01 -4.31608710e-03 -9.58191377e+01] [ 6.62457236e-01 7.49087091e-01 -4.35200641e-03 -2.47914193e+00] [ 6.11620495e-03 4.00755044e-04 9.99981216e-01 2.23252497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.729115933 meters 0.011468823308267756 Centerline is valid? [True, True] Translation: X:-95.84, Y:-2.50, Z:2.23 [[ 7.49705133e-01 -6.61740392e-01 -6.47050860e-03 -9.58424372e+01] [ 6.61708510e-01 7.49732807e-01 -6.52430040e-03 -2.50068648e+00] [ 9.16854568e-03 6.09710894e-04 9.99957782e-01 2.23145833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75911593299998 meters 0.011468823308267756 Centerline is valid? [True, True] Translation: X:-95.87, Y:-2.52, Z:2.23 [[ 7.49237182e-01 -6.62270229e-01 -6.46440378e-03 -9.58650044e+01] [ 6.62238315e-01 7.49264819e-01 -6.53036297e-03 -2.52349862e+00] [ 9.16841531e-03 6.11814888e-04 9.99957782e-01 2.23224920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.78911593299998 meters 0.01160641514817437 Centerline is valid? [True, True] Translation: X:-95.88, Y:-2.56, Z:2.22 [[ 7.47307895e-01 -6.64457636e-01 -5.19222094e-03 -9.58788253e+01] [ 6.64437185e-01 7.47325790e-01 -5.23349523e-03 -2.55566897e+00] [ 7.35771648e-03 4.61127643e-04 9.99972825e-01 2.22302365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.81911593299998 meters 0.012596240135831702 Centerline is valid? [True, True] Translation: X:-95.91, Y:-2.57, Z:2.23 [[ 7.49348331e-01 -6.62137778e-01 -7.11627761e-03 -9.59089869e+01] [ 6.62099082e-01 7.49381816e-01 -7.19028787e-03 -2.56880622e+00] [ 1.00937703e-02 6.76349349e-04 9.99948828e-01 2.23146090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.84911593299998 meters 0.011465545232876661 Centerline is valid? [True, True] Translation: X:-95.93, Y:-2.59, Z:2.23 [[ 7.48910375e-01 -6.62647131e-01 -5.65956386e-03 -9.59333944e+01] [ 6.62622666e-01 7.48931570e-01 -5.71899212e-03 -2.58808313e+00] [ 8.02829976e-03 5.32857237e-04 9.99967631e-01 2.23160117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.87911593299998 meters 0.011586897715476678 Centerline is valid? [True, True] Translation: X:-95.96, Y:-2.60, Z:2.24 [[ 7.50734113e-01 -6.60557882e-01 -7.84707495e-03 -9.59623216e+01] [ 6.60510611e-01 7.50774719e-01 -7.94061911e-03 -2.60246679e+00] [ 1.11366240e-02 7.78217376e-04 9.99937683e-01 2.24377050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.90911593299998 meters 0.011676758777427269 Centerline is valid? [True, True] Translation: X:-95.97, Y:-2.63, Z:2.23 [[ 7.50674172e-01 -6.60638549e-01 -6.70787976e-03 -9.59744772e+01] [ 6.60603901e-01 7.50703840e-01 -6.79928248e-03 -2.63481476e+00] [ 9.52749920e-03 6.72794206e-04 9.99954386e-01 2.22544254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.93911593299998 meters 0.011787305131582467 Centerline is valid? [True, True] Translation: X:-96.00, Y:-2.65, Z:2.23 [[ 7.47724498e-01 -6.64005737e-01 -2.11119975e-03 -9.60001549e+01] [ 6.64002311e-01 7.47727451e-01 -2.14220341e-03 -2.65378833e+00] [ 3.00103736e-03 1.99936453e-04 9.99995477e-01 2.23440620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.96911593299998 meters 0.01165406539482563 Centerline is valid? [True, True] Translation: X:-96.03, Y:-2.67, Z:2.23 [[ 7.50051404e-01 -6.61358461e-01 -5.27983088e-03 -9.60253303e+01] [ 6.61337067e-01 7.50069809e-01 -5.34467732e-03 -2.67346147e+00] [ 7.49498930e-03 5.17034862e-04 9.99971779e-01 2.23444596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.99911593299998 meters 0.01207359603045384 Centerline is valid? [True, True] Translation: X:-96.05, Y:-2.69, Z:2.23 [[ 7.50234303e-01 -6.61107312e-01 -9.25271110e-03 -9.60492640e+01] [ 6.61041525e-01 7.50290802e-01 -9.37101248e-03 -2.69463928e+00] [ 1.31374689e-02 9.14028764e-04 9.99913282e-01 2.23363417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.02911593299999 meters 0.013017618412821404 Centerline is valid? [True, True] Translation: X:-96.07, Y:-2.72, Z:2.23 [[ 7.47764880e-01 -6.63901189e-01 -9.10464961e-03 -9.60696205e+01] [ 6.63837678e-01 7.47819821e-01 -9.22240486e-03 -2.72004693e+00] [ 1.29314030e-02 8.52181008e-04 9.99916023e-01 2.22694076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.059115933 meters 0.01275466514534933 Centerline is valid? [True, True] Translation: X:-96.10, Y:-2.73, Z:2.24 [[ 7.48489416e-01 -6.63059604e-01 -1.07496347e-02 -9.60997885e+01] [ 6.62970567e-01 7.48565877e-01 -1.09158037e-02 -2.73425035e+00] [ 1.52846382e-02 1.04367210e-03 9.99882638e-01 2.23822608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.089115933 meters 0.012585955599675241 Centerline is valid? [True, True] Translation: X:-96.12, Y:-2.75, Z:2.24 [[ 7.51334927e-01 -6.59760284e-01 -1.45668808e-02 -9.61245385e+01] [ 6.59596007e-01 7.51474606e-01 -1.47994586e-02 -2.75418097e+00] [ 2.07107360e-02 1.51109380e-03 9.99784368e-01 2.24005758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.119115933 meters 0.012369513210807996 Centerline is valid? [True, True] Translation: X:-96.14, Y:-2.78, Z:2.23 [[ 7.50216045e-01 -6.61064779e-01 -1.30093786e-02 -9.61405640e+01] [ 6.60933929e-01 7.50327675e-01 -1.32182049e-02 -2.78168757e+00] [ 1.84993866e-02 1.31816970e-03 9.99828003e-01 2.23173463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.149115933 meters 0.01240185502858416 Centerline is valid? [True, True] Translation: X:-96.17, Y:-2.80, Z:2.23 [[ 7.48140640e-01 -6.63415663e-01 -1.28546044e-02 -9.61650705e+01] [ 6.63287754e-01 7.48249996e-01 -1.30881159e-02 -2.80169474e+00] [ 1.83013188e-02 1.26544974e-03 9.99831716e-01 2.23206983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.179115933 meters 0.012637863882439154 Centerline is valid? [True, True] Translation: X:-96.19, Y:-2.83, Z:2.23 [[ 7.47386954e-01 -6.64262075e-01 -1.29859982e-02 -9.61852867e+01] [ 6.64131374e-01 7.47498686e-01 -1.32375641e-02 -2.82713947e+00] [ 1.85002284e-02 1.26917394e-03 9.99828051e-01 2.22549535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.209115933 meters 0.012535859942826825 Centerline is valid? [True, True] Translation: X:-96.21, Y:-2.85, Z:2.23 [[ 7.45824073e-01 -6.66037608e-01 -1.18472311e-02 -9.62119322e+01] [ 6.65929014e-01 7.45917322e-01 -1.20787800e-02 -2.84601539e+00] [ 1.68819766e-02 1.11923000e-03 9.99856863e-01 2.23153795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.239115933 meters 0.012759257963730408 Centerline is valid? [True, True] Translation: X:-96.24, Y:-2.86, Z:2.23 [[ 7.48295720e-01 -6.63195830e-01 -1.49935759e-02 -9.62400383e+01] [ 6.63021484e-01 7.48444430e-01 -1.52789396e-02 -2.86292641e+00] [ 2.13547874e-02 1.49210216e-03 9.99770847e-01 2.23419741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.269115933 meters 0.012906074676510225 Centerline is valid? [True, True] Translation: X:-96.27, Y:-2.88, Z:2.24 [[ 7.46184500e-01 -6.65615866e-01 -1.28144687e-02 -9.62657602e+01] [ 6.65488335e-01 7.46293498e-01 -1.30877749e-02 -2.88098344e+00] [ 1.82747853e-02 1.23801533e-03 9.99832236e-01 2.24074489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.299115933 meters 0.013401651553705169 Centerline is valid? [True, True] Translation: X:-96.29, Y:-2.90, Z:2.25 [[ 7.45844589e-01 -6.65999235e-01 -1.26833712e-02 -9.62940612e+01] [ 6.65873935e-01 7.45951405e-01 -1.29770435e-02 -2.89851866e+00] [ 1.81038796e-02 1.23333138e-03 9.99835351e-01 2.24845252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.329115933 meters 0.01276598509156138 Centerline is valid? [True, True] Translation: X:-96.32, Y:-2.92, Z:2.25 [[ 7.43671071e-01 -6.68459477e-01 -1.07361312e-02 -9.63184985e+01] [ 6.68370055e-01 7.43747908e-01 -1.09781593e-02 -2.91809378e+00] [ 1.53234297e-02 9.88430955e-04 9.99882101e-01 2.25303152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.359115933 meters 0.013358749541554402 Centerline is valid? [True, True] Translation: X:-96.34, Y:-2.94, Z:2.26 [[ 7.43768034e-01 -6.68345485e-01 -1.11096104e-02 -9.63423110e+01] [ 6.68249308e-01 7.43850268e-01 -1.13860419e-02 -2.93959971e+00] [ 1.58736964e-02 1.04458456e-03 9.99873459e-01 2.25632565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.389115933 meters 0.013829853124716456 Centerline is valid? [True, True] Translation: X:-96.36, Y:-2.97, Z:2.25 [[ 7.43373672e-01 -6.68788997e-01 -1.08102708e-02 -9.63607719e+01] [ 6.68697687e-01 7.43451569e-01 -1.10981188e-02 -2.96702640e+00] [ 1.54592125e-02 1.02124623e-03 9.99879978e-01 2.24908945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.419115933 meters 0.013215593439614018 Centerline is valid? [True, True] Translation: X:-96.38, Y:-2.99, Z:2.24 [[ 7.39042773e-01 -6.73628202e-01 -6.38950297e-03 -9.63797644e+01] [ 6.73596373e-01 7.39070186e-01 -6.57160110e-03 -2.99280794e+00] [ 9.14910698e-03 5.52748264e-04 9.99957993e-01 2.24020657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.449115933 meters 0.013196267167307697 Centerline is valid? [True, True] Translation: X:-96.40, Y:-3.02, Z:2.24 [[ 7.38690495e-01 -6.74029227e-01 -4.57746462e-03 -9.64013813e+01] [ 6.74012809e-01 7.38704568e-01 -4.72170583e-03 -3.01600004e+00] [ 6.56396175e-03 4.02609435e-04 9.99978376e-01 2.24300580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.479115933 meters 0.013639990649315675 Centerline is valid? [True, True] Translation: X:-96.43, Y:-3.03, Z:2.25 [[ 7.40526392e-01 -6.71989382e-01 -7.13672568e-03 -9.64321348e+01] [ 6.71949482e-01 7.40560497e-01 -7.35144512e-03 -3.02891753e+00] [ 1.02252702e-02 6.48420011e-04 9.99947510e-01 2.25265939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.50911593299998 meters 0.013803023099097173 Centerline is valid? [True, True] Translation: X:-96.46, Y:-3.05, Z:2.26 [[ 7.37698337e-01 -6.75108032e-01 -5.50535199e-03 -9.64592959e+01] [ 6.75084415e-01 7.37718734e-01 -5.66579547e-03 -3.04711265e+00] [ 7.88642533e-03 4.63070569e-04 9.99968794e-01 2.25984901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53911593299998 meters 0.01407706777522529 Centerline is valid? [True, True] Translation: X:-96.49, Y:-3.06, Z:2.27 [[ 7.40336160e-01 -6.72209813e-01 -6.02811937e-03 -9.64876346e+01] [ 6.72181403e-01 7.40360504e-01 -6.20368064e-03 -3.06365624e+00] [ 8.63315649e-03 5.40819365e-04 9.99962587e-01 2.26754296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.56911593299998 meters 0.013423150848860714 Centerline is valid? [True, True] Translation: X:-96.51, Y:-3.09, Z:2.27 [[ 7.36858401e-01 -6.76029438e-01 -4.88825479e-03 -9.65083704e+01] [ 6.76010742e-01 7.36874500e-01 -5.04455958e-03 -3.08568672e+00] [ 7.01230108e-03 4.12613352e-04 9.99975328e-01 2.27124731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.59911593299998 meters 0.013542804545460325 Centerline is valid? [True, True] Translation: X:-96.53, Y:-3.11, Z:2.27 [[ 7.37878900e-01 -6.74908444e-01 -5.77252559e-03 -9.65338558e+01] [ 6.74882385e-01 7.37901312e-01 -5.95141139e-03 -3.10630383e+00] [ 8.27621201e-03 4.95645048e-04 9.99965629e-01 2.27242673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.62911593299998 meters 0.01381518154935045 Centerline is valid? [True, True] Translation: X:-96.55, Y:-3.13, Z:2.27 [[ 7.35653219e-01 -6.77341200e-01 -4.82080566e-03 -9.65538590e+01] [ 6.77322934e-01 7.35668902e-01 -4.99096742e-03 -3.13157690e+00] [ 6.92710467e-03 4.06379019e-04 9.99975925e-01 2.26887995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.65911593299998 meters 0.01412872212497271 Centerline is valid? [True, True] Translation: X:-96.57, Y:-3.16, Z:2.26 [[ 7.31509741e-01 -6.81822838e-01 -3.33431767e-03 -9.65714565e+01] [ 6.81814104e-01 7.31517294e-01 -3.46074036e-03 -3.15847928e+00] [ 4.79872285e-03 2.58180470e-04 9.99988453e-01 2.26085355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.68911593299998 meters 0.013299510645708208 Centerline is valid? [True, True] Translation: X:-96.60, Y:-3.18, Z:2.27 [[ 7.29036483e-01 -6.84470608e-01 -2.40687080e-03 -9.65998157e+01] [ 6.84466096e-01 7.29040437e-01 -2.49114118e-03 -3.17552865e+00] [ 3.45981905e-03 1.68711344e-04 9.99994001e-01 2.27157436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.71911593299998 meters 0.013923232327701235 Centerline is valid? [True, True] Translation: X:-96.62, Y:-3.20, Z:2.27 [[ 7.26226034e-01 -6.87451457e-01 -2.49844517e-03 -9.66180221e+01] [ 6.87446543e-01 7.26230311e-01 -2.60510214e-03 -3.20263303e+00] [ 3.60532787e-03 1.74345502e-04 9.99993486e-01 2.26567390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.74911593299998 meters 0.014177159280420194 Centerline is valid? [True, True] Translation: X:-96.64, Y:-3.23, Z:2.26 [[ 7.24636291e-01 -6.89122662e-01 -3.49332909e-03 -9.66376478e+01] [ 6.89113096e-01 7.24644675e-01 -3.63810182e-03 -3.22756377e+00] [ 5.03852073e-03 2.29001780e-04 9.99987280e-01 2.26103026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.77911593299999 meters 0.013911846070709593 Centerline is valid? [True, True] Translation: X:-96.66, Y:-3.25, Z:2.27 [[ 7.25127781e-01 -6.88598111e-01 -4.72688323e-03 -9.66634597e+01] [ 6.88580597e-01 7.25143119e-01 -4.92126598e-03 -3.24598330e+00] [ 6.81644131e-03 3.13706605e-04 9.99976719e-01 2.27151614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.809115933 meters 0.014503347842732743 Centerline is valid? [True, True] Translation: X:-96.70, Y:-3.26, Z:2.28 [[ 7.22671306e-01 -6.91169881e-01 -5.51175483e-03 -9.66959737e+01] [ 6.91146224e-01 7.22692249e-01 -5.72805953e-03 -3.25798518e+00] [ 7.94236471e-03 3.30075719e-04 9.99968404e-01 2.28268931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.839115933 meters 0.01419115494285291 Centerline is valid? [True, True] Translation: X:-96.72, Y:-3.28, Z:2.28 [[ 7.22955613e-01 -6.90866717e-01 -6.19365236e-03 -9.67165682e+01] [ 6.90836682e-01 7.22982040e-01 -6.45359311e-03 -3.28225294e+00] [ 8.93647210e-03 3.86859114e-04 9.99959994e-01 2.28346208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.869115933 meters 0.014317567403912195 Centerline is valid? [True, True] Translation: X:-96.74, Y:-3.30, Z:2.29 [[ 7.21724287e-01 -6.92139392e-01 -7.55749368e-03 -9.67439365e+01] [ 6.92094684e-01 7.21763710e-01 -7.88001575e-03 -3.29983821e+00] [ 1.09087940e-02 4.56697545e-04 9.99940393e-01 2.29277170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.899115933 meters 0.01425282274445447 Centerline is valid? [True, True] Translation: X:-96.76, Y:-3.33, Z:2.29 [[ 7.17097861e-01 -6.96945974e-01 -6.08009669e-03 -9.67620587e+01] [ 6.96917297e-01 7.17123573e-01 -6.32954594e-03 -3.32723574e+00] [ 8.77153222e-03 3.01579307e-04 9.99961484e-01 2.28682802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.929115933 meters 0.014031051539444969 Centerline is valid? [True, True] Translation: X:-96.79, Y:-3.35, Z:2.29 [[ 7.15162235e-01 -6.98941414e-01 -4.88645151e-03 -9.67867276e+01] [ 6.98922767e-01 7.15178889e-01 -5.11111851e-03 -3.34727193e+00] [ 7.06705935e-03 2.40026730e-04 9.99974999e-01 2.29208017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.959115933 meters 0.014405472016772863 Centerline is valid? [True, True] Translation: X:-96.81, Y:-3.37, Z:2.29 [[ 7.13366783e-01 -7.00783919e-01 -3.11946324e-03 -9.68050175e+01] [ 7.00776282e-01 7.13373588e-01 -3.27519163e-03 -3.37371267e+00] [ 4.52054432e-03 1.50367066e-04 9.99989771e-01 2.28868100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.989115933 meters 0.014298654771659857 Centerline is valid? [True, True] Translation: X:-96.83, Y:-3.40, Z:2.29 [[ 7.12158920e-01 -7.02007541e-01 -3.88398014e-03 -9.68269838e+01] [ 7.01995696e-01 7.12169488e-01 -4.08194269e-03 -3.39723441e+00] [ 5.63160670e-03 1.80454552e-04 9.99984126e-01 2.28586419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.019115933 meters 0.014361703851943715 Centerline is valid? [True, True] Translation: X:-96.85, Y:-3.42, Z:2.29 [[ 7.13387510e-01 -7.00759978e-01 -3.70310085e-03 -9.68507189e+01] [ 7.00749180e-01 7.13397098e-01 -3.89445841e-03 -3.41876162e+00] [ 5.37086199e-03 1.83313105e-04 9.99985560e-01 2.29114754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.049115933 meters 0.014303960596195564 Centerline is valid? [True, True] Translation: X:-96.88, Y:-3.44, Z:2.30 [[ 7.12720930e-01 -7.01440030e-01 -3.28035771e-03 -9.68759264e+01] [ 7.01431511e-01 7.12728460e-01 -3.46084024e-03 -3.43901390e+00] [ 4.76557618e-03 1.65667006e-04 9.99988631e-01 2.29661998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.079115933 meters 0.014293448652980576 Centerline is valid? [True, True] Translation: X:-96.90, Y:-3.46, Z:2.30 [[ 7.14088103e-01 -7.00044812e-01 -3.92957931e-03 -9.69019796e+01] [ 7.00032586e-01 7.14098885e-01 -4.14253972e-03 -3.45768938e+00] [ 5.70607164e-03 2.07304769e-04 9.99983699e-01 2.30054813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.109115933 meters 0.014655384196317255 Centerline is valid? [True, True] Translation: X:-96.92, Y:-3.48, Z:2.29 [[ 7.12175734e-01 -7.02001086e-01 -4.45157250e-04 -9.69217468e+01] [ 7.02000927e-01 7.12175873e-01 -4.73329212e-04 -3.48379877e+00] [ 6.49307874e-04 2.45927774e-05 9.99999789e-01 2.29411644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.139115933 meters 0.014692548838459525 Centerline is valid? [True, True] Translation: X:-96.95, Y:-3.50, Z:2.30 [[ 7.17130373e-01 -6.96923518e-01 -4.65175425e-03 -9.69467288e+01] [ 6.96906427e-01 7.17145411e-01 -4.88784049e-03 -3.50350653e+00] [ 6.74243521e-03 2.63381438e-04 9.99977235e-01 2.29955333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.169115933 meters 0.014510601491508792 Centerline is valid? [True, True] Translation: X:-96.97, Y:-3.52, Z:2.31 [[ 7.21919114e-01 -6.91941942e-01 -7.01015058e-03 -9.69746448e+01] [ 6.91902930e-01 7.21952999e-01 -7.36224839e-03 -3.52068991e+00] [ 1.01552477e-02 4.64604114e-04 9.99948326e-01 2.30710808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.199115933 meters 0.015123814276382092 Centerline is valid? [True, True] Translation: X:-97.00, Y:-3.54, Z:2.31 [[ 7.19287222e-01 -6.94704748e-01 -3.34736628e-03 -9.69976324e+01] [ 6.94695863e-01 7.19294982e-01 -3.51955965e-03 -3.54243052e+00] [ 4.85279856e-03 2.06172778e-04 9.99988204e-01 2.31055189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.229115933 meters 0.014895588652519094 Centerline is valid? [True, True] Translation: X:-97.02, Y:-3.56, Z:2.31 [[ 7.21734898e-01 -6.92159849e-01 -3.67155284e-03 -9.70214649e+01] [ 6.92149013e-01 7.21744190e-01 -3.88175461e-03 -3.56408294e+00] [ 5.33671661e-03 2.60336093e-04 9.99985726e-01 2.31035288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25911593299998 meters 0.015122147832877367 Centerline is valid? [True, True] Translation: X:-97.05, Y:-3.58, Z:2.31 [[ 7.21885943e-01 -6.92010017e-01 -1.67978023e-03 -9.70460005e+01] [ 6.92007742e-01 7.21887887e-01 -1.77865498e-03 -3.58421715e+00] [ 2.44346006e-03 1.21565102e-04 9.99997007e-01 2.31371624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.28911593299998 meters 0.015132275702937356 Centerline is valid? [True, True] Translation: X:-97.07, Y:-3.61, Z:2.31 [[ 7.23444179e-01 -6.90381797e-01 -1.22221669e-03 -9.70667491e+01] [ 6.90380563e-01 7.23445204e-01 -1.30949237e-03 -3.60855682e+00] [ 1.78825650e-03 1.03549982e-04 9.99998396e-01 2.31216959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.31911593299998 meters 0.015113763147660851 Centerline is valid? [True, True] Translation: X:-97.09, Y:-3.63, Z:2.32 [[ 7.24254795e-01 -6.89531507e-01 -1.13675089e-03 -9.70932018e+01] [ 6.89530434e-01 7.24255680e-01 -1.22073402e-03 -3.62756924e+00] [ 1.66503285e-03 1.00298135e-04 9.99998609e-01 2.31506533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.34911593299998 meters 0.015143316070279519 Centerline is valid? [True, True] Translation: X:-97.11, Y:-3.65, Z:2.31 [[ 7.25582842e-01 -6.88131830e-01 -2.03091409e-03 -9.71121785e+01] [ 6.88128447e-01 7.25585663e-01 -2.16448853e-03 -3.65251365e+00] [ 2.96305560e-03 1.72985978e-04 9.99995595e-01 2.31230392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.37911593299998 meters 0.015367394154927981 Centerline is valid? [True, True] Translation: X:-97.14, Y:-3.67, Z:2.31 [[ 7.27269831e-01 -6.86350620e-01 -1.19177357e-03 -9.71351677e+01] [ 6.86349432e-01 7.27270798e-01 -1.28213069e-03 -3.67476046e+00] [ 1.74673331e-03 1.14481859e-04 9.99998468e-01 2.31303139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.40911593299998 meters 0.014793088457103878 Centerline is valid? [True, True] Translation: X:-97.16, Y:-3.70, Z:2.31 [[ 7.28475007e-01 -6.85071984e-01 -7.34869568e-04 -9.71572255e+01] [ 6.85071522e-01 7.28475373e-01 -8.00139653e-04 -3.69829776e+00] [ 1.08348764e-03 7.94435261e-05 9.99999410e-01 2.31046989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.43911593299998 meters 0.015577620689999565 Centerline is valid? [True, True] Translation: X:-97.18, Y:-3.72, Z:2.31 [[ 7.29016276e-01 -6.84496211e-01 -4.55265526e-04 -9.71820395e+01] [ 6.84496027e-01 7.29016416e-01 -5.04876706e-04 -3.71883719e+00] [ 6.77482233e-04 5.64358918e-05 9.99999769e-01 2.31391155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.46911593299998 meters 0.015023235529856984 Centerline is valid? [True, True] Translation: X:-97.20, Y:-3.75, Z:2.31 [[ 7.27082089e-01 -6.86548822e-01 1.53321872e-03 -9.72010486e+01] [ 6.86546954e-01 7.27083697e-01 1.60528982e-03 -3.74525020e+00] [-2.21688817e-03 -1.14550834e-04 9.99997536e-01 2.31070756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.49911593299998 meters 0.015304576007690205 Centerline is valid? [True, True] Translation: X:-97.23, Y:-3.76, Z:2.31 [[ 7.27702385e-01 -6.85892068e-01 1.14459378e-03 -9.72278643e+01] [ 6.85891034e-01 7.27703281e-01 1.19347603e-03 -3.76398983e+00] [-1.65152039e-03 -8.34287431e-05 9.99998633e-01 2.31495111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.52911593299999 meters 0.01576820349215131 Centerline is valid? [True, True] Translation: X:-97.25, Y:-3.79, Z:2.32 [[ 7.27723521e-01 -6.85869243e-01 1.36318651e-03 -9.72513088e+01] [ 6.85867765e-01 7.27724791e-01 1.42752144e-03 -3.78526333e+00] [-1.97111767e-03 -1.03875246e-04 9.99998052e-01 2.31835546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.559115933 meters 0.015625875466971185 Centerline is valid? [True, True] Translation: X:-97.27, Y:-3.81, Z:2.32 [[ 7.25868024e-01 -6.87827371e-01 3.01992287e-03 -9.72722608e+01] [ 6.87819998e-01 7.25874266e-01 3.19389476e-03 -3.80894599e+00] [-4.38893254e-03 -2.41182737e-04 9.99990340e-01 2.31669722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.589115933 meters 0.0159688034180811 Centerline is valid? [True, True] Translation: X:-97.30, Y:-3.83, Z:2.32 [[ 7.26777245e-01 -6.86871141e-01 1.69446761e-03 -9.72967141e+01] [ 6.86868836e-01 7.26779208e-01 1.78459137e-03 -3.82949407e+00] [-2.45728814e-03 -1.33123407e-04 9.99996972e-01 2.32360423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.619115933 meters 0.016063624526858954 Centerline is valid? [True, True] Translation: X:-97.32, Y:-3.85, Z:2.34 [[ 7.24379193e-01 -6.89390553e-01 3.93068150e-03 -9.73249684e+01] [ 6.89377913e-01 7.24389785e-01 4.18711376e-03 -3.84640814e+00] [-5.73390220e-03 -3.23333080e-04 9.99983509e-01 2.33566531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.649115933 meters 0.015517122637306396 Centerline is valid? [True, True] Translation: X:-97.35, Y:-3.87, Z:2.34 [[ 7.21562022e-01 -6.92337861e-01 4.06633341e-03 -9.73468601e+01] [ 6.92324442e-01 7.21573416e-01 4.32113008e-03 -3.86942635e+00] [-5.92584005e-03 -3.02741349e-04 9.99982396e-01 2.33651937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.679115933 meters 0.015517122637306396 Centerline is valid? [True, True] Translation: X:-97.37, Y:-3.89, Z:2.34 [[ 7.21056107e-01 -6.92864755e-01 4.06477691e-03 -9.73687719e+01] [ 6.92851336e-01 7.21067501e-01 4.32259384e-03 -3.89293041e+00] [-5.92595145e-03 -3.00546578e-04 9.99982396e-01 2.33730961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.709115933 meters 0.015851159868286814 Centerline is valid? [True, True] Translation: X:-97.39, Y:-3.92, Z:2.33 [[ 7.20895342e-01 -6.93034801e-01 3.55945716e-03 -9.73868943e+01] [ 6.93024428e-01 7.20904078e-01 3.80163350e-03 -3.92063651e+00] [-5.20069150e-03 -2.73789118e-04 9.99986439e-01 2.33479649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.739115933 meters 0.015566128771361295 Centerline is valid? [True, True] Translation: X:-97.41, Y:-3.94, Z:2.34 [[ 7.19788142e-01 -6.94190763e-01 2.05282296e-03 -9.74112040e+01] [ 6.94187372e-01 7.19791056e-01 2.17439937e-03 -3.94223329e+00] [-2.98705156e-03 -1.40063111e-04 9.99995529e-01 2.33813835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.769115933 meters 0.015765020530795502 Centerline is valid? [True, True] Translation: X:-97.43, Y:-3.97, Z:2.33 [[ 7.15075836e-01 -6.99034730e-01 4.12264096e-03 -9.74304880e+01] [ 6.99020842e-01 7.15087667e-01 4.41498953e-03 -3.96808814e+00] [-6.03428072e-03 -2.75240372e-04 9.99981756e-01 2.33256564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.799115933 meters 0.016039400526298056 Centerline is valid? [True, True] Translation: X:-97.45, Y:-3.99, Z:2.34 [[ 7.10173377e-01 -7.04001863e-01 5.92881632e-03 -9.74539221e+01] [ 7.03973277e-01 7.10198044e-01 6.35320766e-03 -3.98958337e+00] [-8.68330378e-03 -3.38150681e-04 9.99962242e-01 2.33613403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.829115933 meters 0.01650139768007732 Centerline is valid? [True, True] Translation: X:-97.48, Y:-4.01, Z:2.34 [[ 7.14177581e-01 -6.99962643e-01 1.63742851e-03 -9.74759236e+01] [ 6.99960459e-01 7.14179450e-01 1.75176483e-03 -4.01267393e+00] [-2.39558773e-03 -1.04935956e-04 9.99997125e-01 2.33589871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.859115933 meters 0.016328308036192715 Centerline is valid? [True, True] Translation: X:-97.50, Y:-4.03, Z:2.35 [[ 7.13079030e-01 -7.01083599e-01 2.89561342e-04 -9.75030544e+01] [ 7.01083541e-01 7.13079089e-01 2.84849638e-04 -4.03180620e+00] [-4.06183548e-04 -1.13612437e-07 9.99999918e-01 2.34863715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.889115933 meters 0.01627949694571287 Centerline is valid? [True, True] Translation: X:-97.53, Y:-4.05, Z:2.35 [[ 7.10040480e-01 -7.04158854e-01 1.68049220e-03 -9.75254700e+01] [ 7.04156596e-01 7.10042464e-01 1.78553216e-03 -4.05425308e+00] [-2.45051910e-03 -8.44704411e-05 9.99996994e-01 2.35120369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.919115933 meters 0.01659044284692224 Centerline is valid? [True, True] Translation: X:-97.55, Y:-4.07, Z:2.36 [[ 7.09029841e-01 -7.05172255e-01 2.96225315e-03 -9.75505610e+01] [ 7.05165157e-01 7.09036012e-01 3.16785124e-03 -4.07379098e+00] [-4.33422496e-03 -1.57223354e-04 9.99990595e-01 2.35908237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.949115933 meters 0.015970305544276357 Centerline is valid? [True, True] Translation: X:-97.58, Y:-4.09, Z:2.36 [[ 7.05139789e-01 -7.09060196e-01 3.39355850e-03 -9.75770576e+01] [ 7.09050886e-01 7.05147937e-01 3.63704149e-03 -4.09265677e+00] [-4.97184212e-03 -1.58417009e-04 9.99987628e-01 2.36460013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.979115933 meters 0.016473852064523887 Centerline is valid? [True, True] Translation: X:-97.61, Y:-4.11, Z:2.38 [[ 7.09139480e-01 -7.05067809e-01 -7.62838904e-04 -9.76088618e+01] [ 7.05067325e-01 7.09139889e-01 -8.27896503e-04 -4.10565649e+00] [ 1.12468267e-03 4.92413100e-05 9.99999366e-01 2.38239208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.00911593299998 meters 0.016638858040181493 Centerline is valid? [True, True] Translation: X:-97.63, Y:-4.13, Z:2.38 [[ 7.10846360e-01 -7.03345693e-01 -1.51259635e-03 -9.76265090e+01] [ 7.03343751e-01 7.10847960e-01 -1.65684103e-03 -4.13263860e+00] [ 2.24055803e-03 1.13884228e-04 9.99997483e-01 2.37726124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03911593299998 meters 0.016657759240062738 Centerline is valid? [True, True] Translation: X:-97.65, Y:-4.15, Z:2.38 [[ 7.06792767e-01 -7.07420614e-01 -2.43899587e-04 -9.76503519e+01] [ 7.07420561e-01 7.06792808e-01 -2.74381380e-04 -4.15353658e+00] [ 3.66489518e-04 2.13911917e-05 9.99999933e-01 2.37798822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.06911593299998 meters 0.01674415679888149 Centerline is valid? [True, True] Translation: X:-97.68, Y:-4.16, Z:2.40 [[ 7.08015035e-01 -7.06195759e-01 1.50345780e-03 -9.76840424e+01] [ 7.06193919e-01 7.08016627e-01 1.61404120e-03 -4.16456478e+00] [-2.20430217e-03 -8.10326845e-05 9.99997567e-01 2.40057606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.09911593299998 meters 0.016919654513025954 Centerline is valid? [True, True] Translation: X:-97.71, Y:-4.19, Z:2.40 [[ 7.11514595e-01 -7.02671053e-01 6.10750369e-04 -9.77066572e+01] [ 7.02670749e-01 7.11514856e-01 6.53989008e-04 -4.18689395e+00] [-8.94097106e-04 -3.61663044e-05 9.99999600e-01 2.40121826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.12911593299998 meters 0.01715001830306837 Centerline is valid? [True, True] Translation: X:-97.72, Y:-4.21, Z:2.40 [[ 7.12512879e-01 -7.01658370e-01 -9.63922427e-04 -9.77236085e+01] [ 7.01657564e-01 7.12513526e-01 -1.06712214e-03 -4.21442662e+00] [ 1.43556295e-03 8.39948068e-05 9.99998966e-01 2.39585872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.15911593299998 meters 0.017148735224539573 Centerline is valid? [True, True] Translation: X:-97.74, Y:-4.24, Z:2.39 [[ 7.12367019e-01 -7.01806367e-01 1.02654772e-03 -9.77440814e+01] [ 7.01805521e-01 7.12367757e-01 1.09077059e-03 -4.23851242e+00] [-1.49678924e-03 -5.65921341e-05 9.99998878e-01 2.39424107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.18911593299998 meters 0.01700720874498606 Centerline is valid? [True, True] Translation: X:-97.76, Y:-4.26, Z:2.39 [[ 7.14978686e-01 -6.99146002e-01 -5.88696632e-04 -9.77638171e+01] [ 6.99145695e-01 7.14978926e-01 -6.57592717e-04 -4.26235230e+00] [ 8.80659004e-04 5.85800611e-05 9.99999611e-01 2.39083897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.21911593299998 meters 0.018191973405893867 Centerline is valid? [True, True] Translation: X:-97.77, Y:-4.30, Z:2.37 [[ 7.17479199e-01 -6.96579880e-01 -2.64340556e-04 -9.77746265e+01] [ 6.96579818e-01 7.17479247e-01 -2.95279023e-04 -4.29720240e+00] [ 3.95344289e-04 2.77222612e-05 9.99999921e-01 2.37375360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.24911593299998 meters 0.01831462911474029 Centerline is valid? [True, True] Translation: X:-97.79, Y:-4.32, Z:2.37 [[ 7.19476776e-01 -6.94516357e-01 -4.44572907e-04 -9.77935875e+01] [ 6.94516175e-01 7.19476912e-01 -5.06584811e-04 -4.32299722e+00] [ 6.71691379e-04 5.57129321e-05 9.99999773e-01 2.37068959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.27911593299999 meters 0.018059453083618247 Centerline is valid? [True, True] Translation: X:-97.82, Y:-4.34, Z:2.38 [[ 7.19797777e-01 -6.94183590e-01 -5.50698231e-04 -9.78204698e+01] [ 6.94183314e-01 7.19797985e-01 -6.22567353e-04 -4.34148212e+00] [ 8.28567517e-04 6.58370736e-05 9.99999655e-01 2.37870646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.309115933 meters 0.017783828574091998 Centerline is valid? [True, True] Translation: X:-97.84, Y:-4.36, Z:2.39 [[ 7.18893495e-01 -6.95120230e-01 9.32622338e-05 -9.78447260e+01] [ 6.95120226e-01 7.18893501e-01 7.88579370e-05 -4.36237408e+00] [-1.21861362e-04 8.13800706e-06 9.99999993e-01 2.38504674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.339115933 meters 0.017769118154467 Centerline is valid? [True, True] Translation: X:-97.86, Y:-4.39, Z:2.38 [[ 7.20627917e-01 -6.93321222e-01 -1.04321867e-03 -9.78618437e+01] [ 6.93320263e-01 7.20628664e-01 -1.15852251e-03 -4.38906584e+00] [ 1.55500152e-03 1.11579015e-04 9.99998785e-01 2.38000760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.369115933 meters 0.018091665130334035 Centerline is valid? [True, True] Translation: X:-97.89, Y:-4.41, Z:2.39 [[ 7.20008919e-01 -6.93964592e-01 -5.49576397e-04 -9.78869955e+01] [ 6.93964315e-01 7.20009125e-01 -6.23737548e-04 -4.40944895e+00] [ 8.28551794e-04 6.77101895e-05 9.99999654e-01 2.38709475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.399115933 meters 0.017419845055519464 Centerline is valid? [True, True] Translation: X:-97.90, Y:-4.44, Z:2.38 [[ 7.22742248e-01 -6.91114553e-01 -2.07783942e-03 -9.79035618e+01] [ 6.91110834e-01 7.22745204e-01 -2.27691425e-03 -4.43742142e+00] [ 3.07535705e-03 2.09604792e-04 9.99995249e-01 2.37700928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.429115933 meters 0.018402489086515476 Centerline is valid? [True, True] Translation: X:-97.93, Y:-4.46, Z:2.38 [[ 7.18988543e-01 -6.95021912e-01 1.28140142e-04 -9.79269887e+01] [ 6.95021900e-01 7.18988555e-01 1.32279871e-04 -4.45834870e+00] [-1.84068705e-04 -6.04750738e-06 9.99999983e-01 2.38480534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.459115933 meters 0.017725988807526127 Centerline is valid? [True, True] Translation: X:-97.95, Y:-4.48, Z:2.38 [[ 7.21157874e-01 -6.92766182e-01 -2.51744661e-03 -9.79453919e+01] [ 6.92760729e-01 7.21162226e-01 -2.75961061e-03 -4.48453355e+00] [ 3.72725230e-03 2.46126774e-04 9.99993023e-01 2.38270527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.489115933 meters 0.018880237057772076 Centerline is valid? [True, True] Translation: X:-97.96, Y:-4.51, Z:2.39 [[ 7.19634158e-01 -6.94349620e-01 -2.29846723e-03 -9.79641472e+01] [ 6.94345009e-01 7.19637791e-01 -2.54132414e-03 -4.50994080e+00] [ 3.41863133e-03 2.32894405e-04 9.99994129e-01 2.38513534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.519115933 meters 0.018695518870685258 Centerline is valid? [True, True] Translation: X:-97.98, Y:-4.54, Z:2.38 [[ 7.19819343e-01 -6.94154240e-01 -3.16291272e-03 -9.79819437e+01] [ 6.94145525e-01 7.19826221e-01 -3.49296213e-03 -4.53731583e+00] [ 4.70140198e-03 3.18779994e-04 9.99988898e-01 2.38059416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.549115933 meters 0.02051048932597 Centerline is valid? [True, True] Translation: X:-97.99, Y:-4.57, Z:2.36 [[ 7.19388889e-01 -6.94596704e-01 -3.87880043e-03 -9.79917428e+01] [ 6.94583603e-01 7.19399241e-01 -4.28361994e-03 -4.57220394e+00] [ 5.76579438e-03 3.87437411e-04 9.99983303e-01 2.36472286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.579115933 meters 0.020502364861938217 Centerline is valid? [True, True] Translation: X:-98.00, Y:-4.61, Z:2.35 [[ 7.18059361e-01 -6.95959008e-01 -5.64034444e-03 -9.80038099e+01] [ 6.95931329e-01 7.18081303e-01 -6.23118929e-03 -4.60504523e+00] [ 8.38687820e-03 5.49071400e-04 9.99964679e-01 2.35329874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.609115933 meters 0.020574696887283042 Centerline is valid? [True, True] Translation: X:-98.02, Y:-4.64, Z:2.34 [[ 7.16410100e-01 -6.97652760e-01 -6.09879135e-03 -9.80176459e+01] [ 6.97620429e-01 7.16435829e-01 -6.74094657e-03 -4.63618952e+00] [ 9.07223261e-03 5.74640769e-04 9.99958681e-01 2.34070754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.639115933 meters 0.022008081199354684 Centerline is valid? [True, True] Translation: X:-98.03, Y:-4.67, Z:2.34 [[ 7.17264607e-01 -6.96725816e-01 -1.02283977e-02 -9.80329001e+01] [ 6.96635251e-01 7.17336889e-01 -1.12744986e-02 -4.66530335e+00] [ 1.51924412e-02 9.61336462e-04 9.99884126e-01 2.33859459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.669115933 meters 0.021223282348343035 Centerline is valid? [True, True] Translation: X:-98.06, Y:-4.69, Z:2.34 [[ 7.13118558e-01 -7.00990967e-01 -8.57827860e-03 -9.80558399e+01] [ 7.00927507e-01 7.13169774e-01 -9.46060604e-03 -4.68756040e+00] [ 1.27495684e-02 7.33782300e-04 9.99918452e-01 2.34160367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.699115933 meters 0.021430201018830045 Centerline is valid? [True, True] Translation: X:-98.07, Y:-4.72, Z:2.34 [[ 7.13265871e-01 -7.00814410e-01 -1.05337714e-02 -9.80732071e+01] [ 7.00718219e-01 7.13343048e-01 -1.16479376e-02 -4.71508150e+00] [ 1.56772351e-02 9.26870768e-04 9.99876675e-01 2.33834683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.729115933 meters 0.021577070656935152 Centerline is valid? [True, True] Translation: X:-98.09, Y:-4.74, Z:2.35 [[ 7.12785926e-01 -7.01270443e-01 -1.24895778e-02 -9.80946611e+01] [ 7.01135037e-01 7.12894497e-01 -1.38237242e-02 -4.73801829e+00] [ 1.85979205e-02 1.09647546e-03 9.99826442e-01 2.34579171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75911593299998 meters 0.020565403899606323 Centerline is valid? [True, True] Translation: X:-98.13, Y:-4.75, Z:2.36 [[ 7.08693456e-01 -7.05408996e-01 -1.23180217e-02 -9.81265467e+01] [ 7.05277628e-01 7.08799815e-01 -1.36488029e-02 -4.75099459e+00] [ 1.83589998e-02 9.85192224e-04 9.99830974e-01 2.36338505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.78911593299998 meters 0.020579783346095448 Centerline is valid? [True, True] Translation: X:-98.14, Y:-4.78, Z:2.36 [[ 7.08311532e-01 -7.05749975e-01 -1.45515193e-02 -9.81438024e+01] [ 7.05566311e-01 7.08460029e-01 -1.61421235e-02 -4.77795842e+00] [ 2.17014731e-02 1.16659046e-03 9.99763815e-01 2.36251557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.81911593299998 meters 0.020167328997737478 Centerline is valid? [True, True] Translation: X:-98.17, Y:-4.80, Z:2.38 [[ 7.08681375e-01 -7.05348652e-01 -1.59369849e-02 -9.81723376e+01] [ 7.05128274e-01 7.08859375e-01 -1.76777676e-02 -4.79538404e+00] [ 2.37660707e-02 1.29028603e-03 9.99716714e-01 2.37806868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.84911593299998 meters 0.019351410707884695 Centerline is valid? [True, True] Translation: X:-98.20, Y:-4.82, Z:2.38 [[ 7.05587127e-01 -7.08472387e-01 -1.46178762e-02 -9.81974555e+01] [ 7.08287635e-01 7.05737695e-01 -1.62151866e-02 -4.81540009e+00] [ 2.18043982e-02 1.08756592e-03 9.99761664e-01 2.38425545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.87911593299998 meters 0.01897296060661629 Centerline is valid? [True, True] Translation: X:-98.23, Y:-4.83, Z:2.40 [[ 7.05435792e-01 -7.08543266e-01 -1.80771638e-02 -9.82281252e+01] [ 7.08260525e-01 7.05666086e-01 -2.00600168e-02 -4.82964201e+00] [ 2.69698312e-02 1.34771232e-03 9.99635339e-01 2.40107858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.90911593299998 meters 0.019244652410455556 Centerline is valid? [True, True] Translation: X:-98.25, Y:-4.85, Z:2.41 [[ 7.08762057e-01 -7.05155111e-01 -2.03129664e-02 -9.82489024e+01] [ 7.04795751e-01 7.09051085e-01 -2.25722859e-02 -4.85247774e+00] [ 3.03198937e-02 1.68188740e-03 9.99538831e-01 2.40943015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.93911593299998 meters 0.017921813082290274 Centerline is valid? [True, True] Translation: X:-98.29, Y:-4.86, Z:2.45 [[ 7.09062901e-01 -7.04822759e-01 -2.13232331e-02 -9.82908099e+01] [ 7.04425484e-01 7.09381152e-01 -2.37301135e-02 -4.85683322e+00] [ 3.18518238e-02 1.80551433e-03 9.99490971e-01 2.44787694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.96911593299998 meters 0.016914030649806514 Centerline is valid? [True, True] Translation: X:-98.31, Y:-4.88, Z:2.44 [[ 7.11003053e-01 -7.02752686e-01 -2.47653162e-02 -9.83064925e+01] [ 7.02214859e-01 7.11430774e-01 -2.75780005e-02 -4.88464254e+00] [ 3.69993220e-02 2.21746953e-03 9.99312830e-01 2.44056785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.99911593299998 meters 0.01670091728746591 Centerline is valid? [True, True] Translation: X:-98.34, Y:-4.90, Z:2.46 [[ 7.13072843e-01 -7.00638084e-01 -2.51673674e-02 -9.83389922e+01] [ 7.00080118e-01 7.13512839e-01 -2.80580870e-02 -4.89660495e+00] [ 3.76158041e-02 2.38828632e-03 9.99289421e-01 2.46223935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.02911593299999 meters 0.016628675937664213 Centerline is valid? [True, True] Translation: X:-98.35, Y:-4.93, Z:2.44 [[ 7.16122585e-01 -6.97417363e-01 -2.78830757e-02 -9.83462250e+01] [ 6.96728795e-01 7.16659523e-01 -3.11145353e-02 -4.93272321e+00] [ 4.16824889e-02 2.85487972e-03 9.99126829e-01 2.44304198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.059115933 meters 0.017102084089196952 Centerline is valid? [True, True] Translation: X:-98.36, Y:-4.96, Z:2.44 [[ 7.17187646e-01 -6.96310894e-01 -2.81605846e-02 -9.83620099e+01] [ 6.95605824e-01 7.17734112e-01 -3.14687307e-02 -4.96108334e+00] [ 4.21238322e-02 2.98031819e-03 9.99107952e-01 2.43713452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.089115933 meters 0.017149288813705865 Centerline is valid? [True, True] Translation: X:-98.37, Y:-5.00, Z:2.41 [[ 7.16318338e-01 -6.97266892e-01 -2.65879653e-02 -9.83661304e+01] [ 6.96639229e-01 7.16806305e-01 -2.97070059e-02 -5.00118278e+00] [ 3.97721329e-02 2.75745344e-03 9.99204971e-01 2.41297623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.119115933 meters 0.016093658673836504 Centerline is valid? [True, True] Translation: X:-98.41, Y:-5.01, Z:2.45 [[ 7.18012856e-01 -6.95520841e-01 -2.66138899e-02 -9.84075533e+01] [ 6.94890163e-01 7.18500198e-01 -2.97510816e-02 -5.00680368e+00] [ 3.98145825e-02 2.86792877e-03 9.99202969e-01 2.44565385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.149115933 meters 0.016602180635807255 Centerline is valid? [True, True] Translation: X:-98.42, Y:-5.04, Z:2.44 [[ 7.18105604e-01 -6.95393093e-01 -2.74369794e-02 -9.84206522e+01] [ 6.94720466e-01 7.18623287e-01 -3.07253304e-02 -5.03786574e+00] [ 4.10830349e-02 3.00300085e-03 9.99151223e-01 2.43637544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.179115933 meters 0.015499835101439164 Centerline is valid? [True, True] Translation: X:-98.45, Y:-5.06, Z:2.45 [[ 7.19969549e-01 -6.93514525e-01 -2.61046558e-02 -9.84470018e+01] [ 6.92902945e-01 7.20436454e-01 -2.92715796e-02 -5.05656910e+00] [ 3.91070112e-02 2.98665307e-03 9.99230565e-01 2.44895765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.209115933 meters 0.015561501539948352 Centerline is valid? [True, True] Translation: X:-98.47, Y:-5.07, Z:2.46 [[ 7.23898724e-01 -6.89397115e-01 -2.65000951e-02 -9.84745728e+01] [ 6.88763580e-01 7.24376239e-01 -2.97286789e-02 -5.07377056e+00] [ 3.96909047e-02 3.26825239e-03 9.99206661e-01 2.46030128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.239115933 meters 0.015445676042912481 Centerline is valid? [True, True] Translation: X:-98.50, Y:-5.09, Z:2.48 [[ 7.27060794e-01 -6.85996308e-01 -2.81365985e-02 -9.85029799e+01] [ 6.85277783e-01 7.27595620e-01 -3.16065421e-02 -5.08988979e+00] [ 4.21540370e-02 3.69849173e-03 9.99104278e-01 2.47624484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.269115933 meters 0.015192326350836982 Centerline is valid? [True, True] Translation: X:-98.52, Y:-5.11, Z:2.48 [[ 7.24482009e-01 -6.88837633e-01 -2.50705861e-02 -9.85217331e+01] [ 6.88267627e-01 7.24908720e-01 -2.81961224e-02 -5.11490159e+00] [ 3.75964367e-02 3.17231054e-03 9.99287969e-01 2.47864715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.299115933 meters 0.014052275147977474 Centerline is valid? [True, True] Translation: X:-98.55, Y:-5.13, Z:2.50 [[ 7.29476612e-01 -6.83544555e-01 -2.51140090e-02 -9.85521715e+01] [ 6.82968283e-01 7.29900518e-01 -2.82764763e-02 -5.12893640e+00] [ 3.76589596e-02 3.47495652e-03 9.99284608e-01 2.49648204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.329115933 meters 0.01353316636793879 Centerline is valid? [True, True] Translation: X:-98.57, Y:-5.16, Z:2.49 [[ 7.27626909e-01 -6.85547324e-01 -2.41649896e-02 -9.85673871e+01] [ 6.85015055e-01 7.28020856e-01 -2.72030747e-02 -5.15833582e+00] [ 3.62416115e-02 3.24030752e-03 9.99337804e-01 2.48890555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.359115933 meters 0.014764336360683321 Centerline is valid? [True, True] Translation: X:-98.57, Y:-5.20, Z:2.46 [[ 7.28736533e-01 -6.84336549e-01 -2.50310303e-02 -9.85704719e+01] [ 6.83763240e-01 7.29158144e-01 -2.82175971e-02 -5.19776226e+00] [ 3.75619126e-02 3.44789552e-03 9.99288354e-01 2.46468359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.389115933 meters 0.013292365242789997 Centerline is valid? [True, True] Translation: X:-98.60, Y:-5.21, Z:2.48 [[ 7.29076295e-01 -6.83956931e-01 -2.55082884e-02 -9.86002392e+01] [ 6.83359731e-01 7.29513684e-01 -2.87969252e-02 -5.21315331e+00] [ 3.83045020e-02 3.56381848e-03 9.99259758e-01 2.48124273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.419115933 meters 0.012699072090652623 Centerline is valid? [True, True] Translation: X:-98.63, Y:-5.23, Z:2.49 [[ 7.31508465e-01 -6.81285382e-01 -2.73055868e-02 -9.86272106e+01] [ 6.80598360e-01 7.32007095e-01 -3.08461365e-02 -5.23054386e+00] [ 4.10029051e-02 3.98007235e-03 9.99151100e-01 2.49427696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.449115933 meters 0.01356360621692496 Centerline is valid? [True, True] Translation: X:-98.64, Y:-5.26, Z:2.48 [[ 7.27195503e-01 -6.85991994e-01 -2.45292618e-02 -9.86386705e+01] [ 6.85439603e-01 7.27601377e-01 -2.77269950e-02 -5.26309822e+00] [ 3.68680212e-02 3.34961861e-03 9.99314530e-01 2.48367228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.479115933 meters 0.013170678862019435 Centerline is valid? [True, True] Translation: X:-98.67, Y:-5.28, Z:2.50 [[ 7.29998402e-01 -6.82899791e-01 -2.73899373e-02 -9.86675739e+01] [ 6.82208710e-01 7.30501558e-01 -3.09637029e-02 -5.27916949e+00] [ 4.11534981e-02 3.91779983e-03 9.99145155e-01 2.49901581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.50911593299998 meters 0.014282003292611489 Centerline is valid? [True, True] Translation: X:-98.67, Y:-5.32, Z:2.48 [[ 7.26657704e-01 -6.86510963e-01 -2.59090564e-02 -9.86700916e+01] [ 6.85892989e-01 7.27110798e-01 -2.93376124e-02 -5.31890712e+00] [ 3.89793472e-02 3.54756198e-03 9.99233719e-01 2.47582581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53911593299998 meters 0.012862022729009336 Centerline is valid? [True, True] Translation: X:-98.69, Y:-5.34, Z:2.49 [[ 7.29774204e-01 -6.83137628e-01 -2.74334167e-02 -9.86943797e+01] [ 6.82441046e-01 7.30278853e-01 -3.10968574e-02 -5.33899093e+00] [ 4.12774775e-02 3.97199477e-03 9.99139827e-01 2.48687958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.56911593299998 meters 0.012862022729009336 Centerline is valid? [True, True] Translation: X:-98.72, Y:-5.36, Z:2.49 [[ 7.29290096e-01 -6.83655415e-01 -2.74085468e-02 -9.87156971e+01] [ 6.82958384e-01 7.29794126e-01 -3.11187898e-02 -5.36328668e+00] [ 4.12771256e-02 3.97572832e-03 9.99139826e-01 2.48767304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.59911593299998 meters 0.012436912040532084 Centerline is valid? [True, True] Translation: X:-98.74, Y:-5.38, Z:2.49 [[ 7.30298031e-01 -6.82479201e-01 -2.97813021e-02 -9.87388381e+01] [ 6.81655885e-01 7.30891877e-01 -3.37981912e-02 -5.38476328e+00] [ 4.48334743e-02 4.38215261e-03 9.98984863e-01 2.49218283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.62911593299998 meters 0.013264161980416567 Centerline is valid? [True, True] Translation: X:-98.75, Y:-5.42, Z:2.48 [[ 7.25079324e-01 -6.88111835e-01 -2.76057337e-02 -9.87481036e+01] [ 6.87407936e-01 7.25594964e-01 -3.13413034e-02 -5.41935896e+00] [ 4.15969031e-02 3.74853069e-03 9.99127442e-01 2.48081006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.65911593299998 meters 0.012572339665548014 Centerline is valid? [True, True] Translation: X:-98.78, Y:-5.43, Z:2.50 [[ 7.29321629e-01 -6.83475085e-01 -3.08507696e-02 -9.87790305e+01] [ 6.82591278e-01 7.29960006e-01 -3.50362217e-02 -5.43282984e+00] [ 4.64662125e-02 4.49420804e-03 9.98909752e-01 2.49897490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.68911593299998 meters 0.013006306608110292 Centerline is valid? [True, True] Translation: X:-98.79, Y:-5.47, Z:2.49 [[ 7.26726103e-01 -6.86246751e-01 -3.05707071e-02 -9.87901989e+01] [ 6.85380903e-01 7.27356199e-01 -3.47272063e-02 -5.46562338e+00] [ 4.60672258e-02 4.28458852e-03 9.98929153e-01 2.48568836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.71911593299998 meters 0.012231738705408711 Centerline is valid? [True, True] Translation: X:-98.81, Y:-5.49, Z:2.49 [[ 7.26537653e-01 -6.86345550e-01 -3.27540044e-02 -9.88144124e+01] [ 6.85349287e-01 7.27260924e-01 -3.72545872e-02 -5.48569355e+00] [ 4.93902276e-02 4.61892682e-03 9.98768878e-01 2.49441999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.74911593299998 meters 0.012382436012432671 Centerline is valid? [True, True] Translation: X:-98.84, Y:-5.51, Z:2.50 [[ 7.24957175e-01 -6.87966181e-01 -3.37583690e-02 -9.88354420e+01] [ 6.86906390e-01 7.25727577e-01 -3.84590157e-02 -5.51036366e+00] [ 5.09578815e-02 4.69229997e-03 9.98689780e-01 2.49996088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.77911593299999 meters 0.012403613793664373 Centerline is valid? [True, True] Translation: X:-98.85, Y:-5.54, Z:2.50 [[ 7.24456712e-01 -6.88453664e-01 -3.45546670e-02 -9.88538323e+01] [ 6.87341451e-01 7.25264439e-01 -3.94109545e-02 -5.53711604e+00] [ 5.21938872e-02 4.80067559e-03 9.98625431e-01 2.50085138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.809115933 meters 0.01255196796256197 Centerline is valid? [True, True] Translation: X:-98.87, Y:-5.57, Z:2.49 [[ 7.23729737e-01 -6.89231505e-01 -3.42811864e-02 -9.88682080e+01] [ 6.88135194e-01 7.24525670e-01 -3.91472667e-02 -5.56724193e+00] [ 5.18191291e-02 4.74195021e-03 9.98645228e-01 2.49411693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.839115933 meters 0.012995490888145757 Centerline is valid? [True, True] Translation: X:-98.89, Y:-5.59, Z:2.50 [[ 7.19758868e-01 -6.93392444e-01 -3.39719141e-02 -9.88903470e+01] [ 6.92320590e-01 7.20546710e-01 -3.87896830e-02 -5.59014355e+00] [ 5.13748240e-02 4.39976270e-03 9.98669750e-01 2.50146746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.869115933 meters 0.012630390384363609 Centerline is valid? [True, True] Translation: X:-98.91, Y:-5.62, Z:2.50 [[ 7.19020487e-01 -6.94071284e-01 -3.57014246e-02 -9.89090865e+01] [ 6.92887159e-01 7.19891661e-01 -4.07845691e-02 -5.61701396e+00] [ 5.40085561e-02 4.58788211e-03 9.98529933e-01 2.49803138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.899115933 meters 0.013227009169041617 Centerline is valid? [True, True] Translation: X:-98.92, Y:-5.65, Z:2.49 [[ 7.16907818e-01 -6.96264178e-01 -3.54876666e-02 -9.89208642e+01] [ 6.95096149e-01 7.17772099e-01 -4.05531523e-02 -5.64982378e+00] [ 5.37077642e-02 4.40553155e-03 9.98546978e-01 2.48866710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.929115933 meters 0.012815649935318137 Centerline is valid? [True, True] Translation: X:-98.94, Y:-5.67, Z:2.50 [[ 7.14366940e-01 -6.98838978e-01 -3.61103565e-02 -9.89435929e+01] [ 6.97632009e-01 7.15266120e-01 -4.12790213e-02 -5.67241104e+00] [ 5.46759036e-02 4.29662758e-03 9.98494910e-01 2.49827128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.959115933 meters 0.012666726233602155 Centerline is valid? [True, True] Translation: X:-98.96, Y:-5.70, Z:2.50 [[ 7.14784537e-01 -6.98300081e-01 -3.82107693e-02 -9.89614810e+01] [ 6.96944761e-01 7.15790181e-01 -4.37311992e-02 -5.69811923e+00] [ 5.78883934e-02 4.62758953e-03 9.98312336e-01 2.49661958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.989115933 meters 0.012925023537330362 Centerline is valid? [True, True] Translation: X:-98.99, Y:-5.72, Z:2.51 [[ 7.14192882e-01 -6.98854287e-01 -3.91307222e-02 -9.89860672e+01] [ 6.97430085e-01 7.15248384e-01 -4.48444620e-02 -5.71831492e+00] [ 5.93279303e-02 4.73665265e-03 9.98227309e-01 2.50841290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.019115933 meters 0.01252104782724054 Centerline is valid? [True, True] Translation: X:-99.00, Y:-5.75, Z:2.50 [[ 7.11145631e-01 -7.02019219e-01 -3.79592925e-02 -9.90032380e+01] [ 7.00683650e-01 7.12144793e-01 -4.34996267e-02 -5.74604325e+00] [ 5.75700864e-02 4.33711389e-03 9.98332046e-01 2.50338695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.049115933 meters 0.012438554468809936 Centerline is valid? [True, True] Translation: X:-99.02, Y:-5.77, Z:2.51 [[ 7.10283864e-01 -7.02823892e-01 -3.91843001e-02 -9.90240318e+01] [ 7.01397571e-01 7.11349894e-01 -4.49752702e-02 -5.77029002e+00] [ 5.94834422e-02 4.46143575e-03 9.98219322e-01 2.50855724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.079115933 meters 0.012521168511664627 Centerline is valid? [True, True] Translation: X:-99.04, Y:-5.80, Z:2.50 [[ 7.06027972e-01 -7.07185429e-01 -3.75934976e-02 -9.90377732e+01] [ 7.05876075e-01 7.07017028e-01 -4.31959328e-02 -5.79977537e+00] [ 5.71267773e-02 3.96118630e-03 9.98359074e-01 2.50035767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.109115933 meters 0.01210666570739569 Centerline is valid? [True, True] Translation: X:-99.06, Y:-5.83, Z:2.50 [[ 7.03939190e-01 -7.09182957e-01 -3.91043563e-02 -9.90556620e+01] [ 7.07765762e-01 7.05013184e-01 -4.49892902e-02 -5.82638296e+00] [ 5.94747246e-02 3.99299992e-03 9.98221826e-01 2.49873452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.139115933 meters 0.012261662216560394 Centerline is valid? [True, True] Translation: X:-99.07, Y:-5.86, Z:2.49 [[ 6.96036685e-01 -7.16998847e-01 -3.80208707e-02 -9.90684458e+01] [ 7.15667787e-01 6.97066684e-01 -4.37910642e-02 -5.85717041e+00] [ 5.79012248e-02 3.26987481e-03 9.98316962e-01 2.49102789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.169115933 meters 0.013142179610198697 Centerline is valid? [True, True] Translation: X:-99.08, Y:-5.89, Z:2.47 [[ 6.93670120e-01 -7.19217933e-01 -3.93361050e-02 -9.90753998e+01] [ 7.17793167e-01 6.94777027e-01 -4.53635543e-02 -5.89385907e+00] [ 5.99561039e-02 3.23215480e-03 9.98195782e-01 2.47044142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.199115933 meters 0.013831319003678216 Centerline is valid? [True, True] Translation: X:-99.08, Y:-5.93, Z:2.46 [[ 6.86176136e-01 -7.26415619e-01 -3.85053195e-02 -9.90832497e+01] [ 7.25058749e-01 6.87250805e-01 -4.44538102e-02 -5.92872251e+00] [ 5.87547539e-02 2.58452493e-03 9.98269102e-01 2.45974114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.229115933 meters 0.012793222386608129 Centerline is valid? [True, True] Translation: X:-99.11, Y:-5.95, Z:2.47 [[ 6.82911451e-01 -7.29324292e-01 -4.14490831e-02 -9.91083431e+01] [ 7.27753686e-01 6.84163409e-01 -4.79061958e-02 -5.94772511e+00] [ 6.32970983e-02 2.55096672e-03 9.97991468e-01 2.46876966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25911593299998 meters 0.01294746327715907 Centerline is valid? [True, True] Translation: X:-99.13, Y:-5.97, Z:2.47 [[ 6.77628949e-01 -7.34269133e-01 -4.08392864e-02 -9.91257624e+01] [ 7.32749933e-01 6.78855245e-01 -4.72556048e-02 -5.97394168e+00] [ 6.24222957e-02 2.09678147e-03 9.98047624e-01 2.46656521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.28911593299998 meters 0.01288834102000705 Centerline is valid? [True, True] Translation: X:-99.16, Y:-5.99, Z:2.49 [[ 6.78254361e-01 -7.33481502e-01 -4.44511871e-02 -9.91570061e+01] [ 7.31679155e-01 6.79705292e-01 -5.14424940e-02 -5.98816719e+00] [ 6.79458248e-02 2.36708887e-03 9.97686204e-01 2.48703692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.31911593299998 meters 0.013227402503014945 Centerline is valid? [True, True] Translation: X:-99.15, Y:-6.03, Z:2.45 [[ 6.74651624e-01 -7.36815303e-01 -4.41406373e-02 -9.91546480e+01] [ 7.35040265e-01 6.76090924e-01 -5.11553683e-02 -6.03267207e+00] [ 6.75351424e-02 2.06690660e-03 9.97714755e-01 2.44897303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.34911593299998 meters 0.01276234692033513 Centerline is valid? [True, True] Translation: X:-99.18, Y:-6.05, Z:2.46 [[ 6.71186272e-01 -7.40076646e-01 -4.23738914e-02 -9.91775639e+01] [ 7.38447361e-01 6.72520459e-01 -4.91093331e-02 -6.05459947e+00] [ 6.48419794e-02 1.67062194e-03 9.97894146e-01 2.45682685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.37911593299998 meters 0.013052131368108006 Centerline is valid? [True, True] Translation: X:-99.20, Y:-6.07, Z:2.46 [[ 6.70097292e-01 -7.41008904e-01 -4.33061653e-02 -9.92024225e+01] [ 7.39303710e-01 6.71493127e-01 -5.02693221e-02 -6.07483991e+00] [ 6.63298076e-02 1.66892795e-03 9.97796358e-01 2.46417911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.40911593299998 meters 0.01249068414715434 Centerline is valid? [True, True] Translation: X:-99.23, Y:-6.10, Z:2.47 [[ 6.71479706e-01 -7.39680801e-01 -4.45793249e-02 -9.92259438e+01] [ 7.37867138e-01 6.72955230e-01 -5.18010159e-02 -6.09521849e+00] [ 6.83161068e-02 1.88971204e-03 9.97661936e-01 2.46999669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.43911593299998 meters 0.012193240745857986 Centerline is valid? [True, True] Translation: X:-99.25, Y:-6.12, Z:2.47 [[ 6.72143785e-01 -7.39044799e-01 -4.51167085e-02 -9.92452075e+01] [ 7.37180970e-01 6.73653242e-01 -5.24931149e-02 -6.12097510e+00] [ 6.91877805e-02 2.02374202e-03 9.97601602e-01 2.47122091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.46911593299998 meters 0.012403737199666824 Centerline is valid? [True, True] Translation: X:-99.25, Y:-6.16, Z:2.45 [[ 6.71416474e-01 -7.39744540e-01 -4.44739695e-02 -9.92542230e+01] [ 7.37930632e-01 6.72884943e-01 -5.18096126e-02 -6.15598912e+00] [ 6.82517424e-02 1.96712294e-03 9.97666192e-01 2.44868343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.49911593299998 meters 0.012432258836913915 Centerline is valid? [True, True] Translation: X:-99.28, Y:-6.17, Z:2.46 [[ 6.74514113e-01 -7.36818518e-01 -4.61430781e-02 -9.92840332e+01] [ 7.34859171e-01 6.76086508e-01 -5.37497168e-02 -6.17180223e+00] [ 7.08004992e-02 2.34627844e-03 9.97487736e-01 2.45947417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.52911593299999 meters 0.01271427562823807 Centerline is valid? [True, True] Translation: X:-99.30, Y:-6.20, Z:2.46 [[ 6.73775245e-01 -7.37518340e-01 -4.57560615e-02 -9.93020073e+01] [ 7.35587921e-01 6.75323167e-01 -5.33763081e-02 -6.19757584e+00] [ 7.02661345e-02 2.30602894e-03 9.97525615e-01 2.46138112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.559115933 meters 0.012853269454550549 Centerline is valid? [True, True] Translation: X:-99.30, Y:-6.24, Z:2.43 [[ 6.68535855e-01 -7.42317616e-01 -4.49929690e-02 -9.93037607e+01] [ 7.40457646e-01 6.70045719e-01 -5.25472016e-02 -6.23852749e+00] [ 6.91540597e-02 1.81430043e-03 9.97604343e-01 2.42814112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.589115933 meters 0.012802673993053064 Centerline is valid? [True, True] Translation: X:-99.33, Y:-6.25, Z:2.44 [[ 6.68651201e-01 -7.42207132e-01 -4.51014864e-02 -9.93345042e+01] [ 7.40333276e-01 6.70167932e-01 -5.27407129e-02 -6.25374218e+00] [ 6.93701032e-02 1.87500988e-03 9.97589231e-01 2.44356856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.619115933 meters 0.012819208369575888 Centerline is valid? [True, True] Translation: X:-99.35, Y:-6.29, Z:2.43 [[ 6.68207700e-01 -7.42582478e-01 -4.54943247e-02 -9.93474606e+01] [ 7.40672052e-01 6.69751945e-01 -5.32657800e-02 -6.28504563e+00] [ 7.00241474e-02 1.89622953e-03 9.97543494e-01 2.43224871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.649115933 meters 0.012553271643119394 Centerline is valid? [True, True] Translation: X:-99.38, Y:-6.30, Z:2.44 [[ 6.67360884e-01 -7.43372199e-01 -4.50247050e-02 -9.93758258e+01] [ 7.41498712e-01 6.68875480e-01 -5.27754858e-02 -6.30174536e+00] [ 6.93477502e-02 1.83453412e-03 9.97590860e-01 2.44224235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.679115933 meters 0.012375447754821692 Centerline is valid? [True, True] Translation: X:-99.39, Y:-6.33, Z:2.44 [[ 6.66528004e-01 -7.44092214e-01 -4.54664386e-02 -9.93945722e+01] [ 7.42178653e-01 6.68074439e-01 -5.33609472e-02 -6.32774796e+00] [ 7.00804308e-02 1.82234544e-03 9.97539680e-01 2.44108588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.709115933 meters 0.012632019167157815 Centerline is valid? [True, True] Translation: X:-99.41, Y:-6.35, Z:2.44 [[ 6.69782564e-01 -7.41026777e-01 -4.76511631e-02 -9.94148884e+01] [ 7.38913029e-01 6.71471598e-01 -5.59770312e-02 -6.35209316e+00] [ 7.34768817e-02 2.28237417e-03 9.97294309e-01 2.43520785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.739115933 meters 0.01282286223691444 Centerline is valid? [True, True] Translation: X:-99.43, Y:-6.38, Z:2.43 [[ 6.70497237e-01 -7.40222692e-01 -5.00382086e-02 -9.94328370e+01] [ 7.37888626e-01 6.72357151e-01 -5.87897743e-02 -6.37805962e+00] [ 7.71610723e-02 2.49575618e-03 9.97015516e-01 2.43378502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.769115933 meters 0.01249322566868952 Centerline is valid? [True, True] Translation: X:-99.45, Y:-6.41, Z:2.43 [[ 6.72016745e-01 -7.38724831e-01 -5.17602070e-02 -9.94487384e+01] [ 7.36216392e-01 6.74001269e-01 -6.08910011e-02 -6.40514113e+00] [ 7.98681397e-02 2.81305953e-03 9.96801468e-01 2.42699150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.799115933 meters 0.012525971773506644 Centerline is valid? [True, True] Translation: X:-99.47, Y:-6.43, Z:2.42 [[ 6.68145949e-01 -7.42319283e-01 -5.04288831e-02 -9.94663571e+01] [ 7.39948051e-01 6.70042287e-01 -5.93314039e-02 -6.43236072e+00] [ 7.78323293e-02 2.32728340e-03 9.96963747e-01 2.42336500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.829115933 meters 0.013217597544805192 Centerline is valid? [True, True] Translation: X:-99.48, Y:-6.47, Z:2.41 [[ 6.65812450e-01 -7.44375505e-01 -5.09792992e-02 -9.94767751e+01] [ 7.41950531e-01 6.67757725e-01 -6.00752115e-02 -6.46524120e+00] [ 7.87603367e-02 2.17470562e-03 9.96891208e-01 2.40576791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.859115933 meters 0.012862743098461967 Centerline is valid? [True, True] Translation: X:-99.50, Y:-6.49, Z:2.40 [[ 6.66924382e-01 -7.43377436e-01 -5.10083920e-02 -9.94957466e+01] [ 7.40940987e-01 6.68868072e-01 -6.01826968e-02 -6.48947085e+00] [ 7.88563437e-02 2.34309957e-03 9.96883236e-01 2.40430887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.889115933 meters 0.014020181013333535 Centerline is valid? [True, True] Translation: X:-99.51, Y:-6.52, Z:2.40 [[ 6.55794772e-01 -7.53447390e-01 -4.74367623e-02 -9.95111258e+01] [ 7.51361065e-01 6.57507260e-01 -5.60424182e-02 -6.51741444e+00] [ 7.34150293e-02 1.11018860e-03 9.97300858e-01 2.39839209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.919115933 meters 0.023863711025199342 Centerline is valid? [True, True] Translation: X:-99.53, Y:-6.54, Z:2.40 [[ 6.43804479e-01 -7.63862941e-01 -4.50466497e-02 -9.95348262e+01] [ 7.62002258e-01 6.45378499e-01 -5.32836999e-02 -6.53779118e+00] [ 6.97735829e-02 -2.13641079e-05 9.97562853e-01 2.39984117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.949115933 meters 0.03167224897756321 Centerline is valid? [True, True] Translation: X:-99.55, Y:-6.57, Z:2.39 [[ 6.35738164e-01 -7.70665878e-01 -4.37160236e-02 -9.95489958e+01] [ 7.68924817e-01 6.37239059e-01 -5.17784369e-02 -6.56753900e+00] [ 6.77614323e-02 -6.96807012e-04 9.97701309e-01 2.39266881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.979115933 meters 0.03783118292961988 Centerline is valid? [True, True] Translation: X:-99.57, Y:-6.59, Z:2.40 [[ 6.21615956e-01 -7.82337366e-01 -3.92663791e-02 -9.95714090e+01] [ 7.80955552e-01 6.22852447e-01 -4.65108025e-02 -6.59063885e+00] [ 6.08442990e-02 -1.75343975e-03 9.98145729e-01 2.39931889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.00911593299998 meters 0.04667351676021504 Centerline is valid? [True, True] Translation: X:-99.59, Y:-6.62, Z:2.39 [[ 6.13949792e-01 -7.88383391e-01 -3.89522988e-02 -9.95864559e+01] [ 7.87031667e-01 6.15179961e-01 -4.62035831e-02 -6.61896653e+00] [ 6.03888112e-02 -2.29001248e-03 9.98172303e-01 2.39074648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03911593299998 meters 0.06742187593213467 Centerline is valid? [True, True] Translation: X:-99.60, Y:-6.65, Z:2.38 [[ 5.93586211e-01 -8.04047296e-01 -3.41080021e-02 -9.95960407e+01] [ 8.03033062e-01 5.94555943e-01 -4.05108986e-02 -6.65181646e+00] [ 5.28517938e-02 -3.34314258e-03 9.98596771e-01 2.38055561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.06911593299998 meters 0.09532647157392572 Centerline is valid? [True, True] Translation: X:-99.60, Y:-6.69, Z:2.37 [[ 5.80825783e-01 -8.13190370e-01 -3.69165473e-02 -9.96046971e+01] [ 8.12019601e-01 5.81980340e-01 -4.38526109e-02 -6.68583360e+00] [ 5.71452257e-02 -4.50623297e-03 9.98355707e-01 2.36602053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.09911593299998 meters 0.11517932604139534 Centerline is valid? [True, False] Translation: X:-98.45, Y:-6.55, Z:2.80 [[ 4.76159165e-01 -7.13950126e-01 -5.13368938e-01 -9.84488394e+01] [-6.40545983e-02 5.54087747e-01 -8.29990227e-01 -6.55330071e+00] [ 8.77023066e-01 4.28091095e-01 2.18102171e-01 2.80340809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.12911593299998 meters 0.1815965650843182 Centerline is valid? [False, False] Translation: X:-97.85, Y:-8.70, Z:3.49 [[ 9.36652334e-01 -2.90122925e-01 -1.96242436e-01 -9.78468077e+01] [ 3.44173129e-01 8.66352956e-01 3.61908017e-01 -8.70204069e+00] [ 6.50174018e-02 -4.06523362e-01 9.11324033e-01 3.49441355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.15911593299998 meters 0.21914886425393704 Centerline is valid? [False, False] Translation: X:-97.34, Y:-8.58, Z:3.45 [[ 0.90953367 -0.3278112 -0.25551581 -97.33714959] [ 0.39120715 0.8828373 0.25991397 -8.57728159] [ 0.14037618 -0.33636011 0.93121233 3.4536704 ] [ 0. 0. 0. 1. ]] SLAMing on 151.18911593299998 meters 0.3353039595476854 Centerline is valid? [False, False] Translation: X:-96.39, Y:-8.13, Z:3.53 [[ 7.16469397e-01 -5.37877944e-01 -4.44250965e-01 -9.63896718e+01] [ 6.05886641e-01 7.95426307e-01 1.40843125e-02 -8.12653531e+00] [ 3.45793264e-01 -2.79256704e-01 8.95791668e-01 3.52550925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.21911593299998 meters 0.35822067010996017 Centerline is valid? [False, False] Translation: X:-97.14, Y:-8.11, Z:2.11 [[ 0.9462113 0.25064792 0.20459667 -97.13597948] [ -0.14338939 0.89171502 -0.4292829 -8.10969164] [ -0.29004079 0.37685534 0.87969108 2.10742782] [ 0. 0. 0. 1. ]] SLAMing on 151.24911593299998 meters 0.36071499167468457 Centerline is valid? [False, False] Translation: X:-97.22, Y:-8.09, Z:2.14 [[ 0.94832914 0.23121802 0.21727878 -97.21516995] [ -0.11930765 0.89440311 -0.4310554 -8.08881707] [ -0.29400259 0.38285938 0.87577461 2.1384752 ] [ 0. 0. 0. 1. ]] SLAMing on 151.27911593299999 meters 0.36891645037710413 Centerline is valid? [False, False] Translation: X:-97.31, Y:-8.07, Z:2.18 [[ 9.50426708e-01 2.09754648e-01 2.29547513e-01 -9.73138620e+01] [-9.42988141e-02 8.97880251e-01 -4.30021846e-01 -8.06958143e+00] [-2.96305259e-01 3.87058189e-01 8.73148986e-01 2.17950147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.309115933 meters 0.3735508263343467 Centerline is valid? [False, False] Translation: X:-97.42, Y:-8.05, Z:2.22 [[ 9.52665562e-01 1.86093894e-01 2.40410876e-01 -9.74225191e+01] [-6.79545416e-02 9.01107974e-01 -4.28236615e-01 -8.05476046e+00] [-2.96328377e-01 3.91629265e-01 8.71100460e-01 2.22469196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.339115933 meters 0.37487000375577084 Centerline is valid? [False, False] Translation: X:-97.52, Y:-8.05, Z:2.27 [[ 9.59373019e-01 1.54080131e-01 2.36352965e-01 -9.75214940e+01] [-4.15603077e-02 9.05750420e-01 -4.21768795e-01 -8.04826692e+00] [-2.79062989e-01 3.94810700e-01 8.75356133e-01 2.27196473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.369115933 meters 0.37941460560939333 Centerline is valid? [False, False] Translation: X:-97.67, Y:-8.05, Z:2.33 [[ 9.64272706e-01 1.44733021e-01 2.21879475e-01 -9.76651453e+01] [-4.03742816e-02 9.08067643e-01 -4.16872969e-01 -8.05047199e+00] [-2.61816856e-01 3.93021002e-01 8.81468335e-01 2.33098066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.399115933 meters 0.21462976273871792 Centerline is valid? [False, False] Translation: X:-97.77, Y:-8.04, Z:2.37 [[ 9.68305816e-01 1.12028862e-01 2.23233917e-01 -9.77729039e+01] [-1.05908555e-02 9.11378958e-01 -4.11431925e-01 -8.04221257e+00] [-2.49542945e-01 3.96027687e-01 8.83680027e-01 2.37243618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.429115933 meters 0.21771496585284078 Centerline is valid? [False, False] Translation: X:-97.88, Y:-8.05, Z:2.41 [[ 9.73898991e-01 1.08757813e-01 1.99229749e-01 -9.78757278e+01] [-1.82376821e-02 9.12390449e-01 -4.08914484e-01 -8.04865753e+00] [-2.26247965e-01 3.94607915e-01 8.90559628e-01 2.41083865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.459115933 meters 0.221125446529124 Centerline is valid? [False, False] Translation: X:-97.95, Y:-8.05, Z:2.44 [[ 9.79909298e-01 9.64766753e-02 1.74556635e-01 -9.79519475e+01] [-1.81505008e-02 9.14723650e-01 -4.03672149e-01 -8.05285944e+00] [-1.98616029e-01 3.92393802e-01 8.98097309e-01 2.43857235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.489115933 meters 0.221125446529124 Centerline is valid? [False, False] Translation: X:-98.01, Y:-8.06, Z:2.46 [[ 9.84644104e-01 8.92567810e-02 1.50030717e-01 -9.80078556e+01] [-2.22140505e-02 9.16486108e-01 -3.99449307e-01 -8.06007944e+00] [-1.73154627e-01 3.89982615e-01 9.04395397e-01 2.45956876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.519115933 meters 0.22617079852089003 Centerline is valid? [False, False] Translation: X:-98.07, Y:-8.06, Z:2.47 [[ 9.87163034e-01 7.37815504e-02 1.41652488e-01 -9.80701951e+01] [-1.17237259e-02 9.17984597e-01 -3.96442724e-01 -8.05846852e+00] [-1.59284961e-01 3.89692907e-01 9.07065455e-01 2.47463279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.549115933 meters 0.2301932404077496 Centerline is valid? [False, False] Translation: X:-98.13, Y:-8.06, Z:2.49 [[ 9.88299275e-01 7.14030204e-02 1.34781864e-01 -9.81282699e+01] [-1.24912097e-02 9.18578907e-01 -3.95040203e-01 -8.05722132e+00] [-1.52014841e-01 3.88734358e-01 9.08722778e-01 2.48753950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.579115933 meters 0.2376356431762595 Centerline is valid? [False, False] Translation: X:-98.17, Y:-8.06, Z:2.50 [[ 9.91232749e-01 6.96413209e-02 1.12284125e-01 -9.81676113e+01] [-2.03842343e-02 9.20246107e-01 -3.90808887e-01 -8.06120417e+00] [-1.30545476e-01 3.85093742e-01 9.13597662e-01 2.49914407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.609115933 meters 0.2411746436326865 Centerline is valid? [False, False] Translation: X:-98.19, Y:-8.06, Z:2.51 [[ 9.93431059e-01 6.58644708e-02 9.35767200e-02 -9.81893015e+01] [-2.47045307e-02 9.21907770e-01 -3.86620939e-01 -8.06486576e+00] [-1.11733689e-01 3.81769479e-01 9.17478963e-01 2.50910633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.639115933 meters 0.2375504501921027 Centerline is valid? [False, False] Translation: X:-98.22, Y:-8.06, Z:2.52 [[ 9.94590293e-01 6.57951103e-02 8.03812957e-02 -9.82181310e+01] [-2.99017233e-02 9.22413643e-01 -3.85044100e-01 -8.06497042e+00] [-9.94788228e-02 3.80557585e-01 9.19391042e-01 2.51760312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.669115933 meters 0.24075046913422338 Centerline is valid? [False, False] Translation: X:-98.22, Y:-8.07, Z:2.52 [[ 9.96877088e-01 5.22392048e-02 5.92210789e-02 -9.82212166e+01] [-2.61691420e-02 9.26088360e-01 -3.76398096e-01 -8.07000047e+00] [-7.45066890e-02 3.73672873e-01 9.24563323e-01 2.52448463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.699115933 meters 0.23673693222409195 Centerline is valid? [False, False] Translation: X:-98.22, Y:-8.07, Z:2.53 [[ 9.98571576e-01 3.89943694e-02 3.65273399e-02 -9.82217287e+01] [-2.28442711e-02 9.29595970e-01 -3.67871542e-01 -8.07389470e+00] [-4.83005868e-02 3.66511625e-01 9.29158911e-01 2.53034275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.729115933 meters 0.23988853638194885 Centerline is valid? [False, False] Translation: X:-98.21, Y:-8.08, Z:2.54 [[ 9.99710634e-01 1.98211698e-02 1.36297282e-02 -9.82112456e+01] [-1.36696343e-02 9.34336302e-01 -3.56130334e-01 -8.08056556e+00] [-1.97936696e-02 3.55840969e-01 9.34336885e-01 2.53841406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75911593299998 meters 0.24216853990771348 Centerline is valid? [False, False] Translation: X:-98.21, Y:-8.08, Z:2.55 [[ 9.99934727e-01 7.54761725e-03 -8.57754960e-03 -9.82147054e+01] [-1.00664615e-02 9.37094220e-01 -3.48931352e-01 -8.08360361e+00] [ 5.40437186e-03 3.48994922e-01 9.37109032e-01 2.54690180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.78911593299998 meters 0.23682416664481223 Centerline is valid? [False, False] Translation: X:-98.22, Y:-8.08, Z:2.55 [[ 9.99890044e-01 -2.42745081e-03 -1.46290131e-02 -9.82173714e+01] [-2.75014168e-03 9.39042284e-01 -3.43790671e-01 -8.08306944e+00] [ 1.45717969e-02 3.43793101e-01 9.38932355e-01 2.54960510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.81911593299998 meters 0.2315715161848327 Centerline is valid? [False, False] Translation: X:-98.22, Y:-8.08, Z:2.55 [[ 9.99721859e-01 -1.18657268e-02 -2.03815943e-02 -9.82210174e+01] [ 4.26571641e-03 9.40935767e-01 -3.38558247e-01 -8.08226702e+00] [ 2.31950108e-02 3.38377138e-01 9.40724670e-01 2.55222448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.84911593299998 meters 0.22836072266709437 Centerline is valid? [False, False] Translation: X:-98.23, Y:-8.08, Z:2.56 [[ 9.99421802e-01 -2.24395368e-02 -2.55446287e-02 -9.82263713e+01] [ 1.26047131e-02 9.42280420e-01 -3.34587404e-01 -8.08137715e+00] [ 3.15781898e-02 3.34071964e-01 9.42018440e-01 2.55584741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.87911593299998 meters 0.22196876970678228 Centerline is valid? [False, False] Translation: X:-98.23, Y:-8.08, Z:2.56 [[ 9.98990958e-01 -3.23131866e-02 -3.11917163e-02 -9.82305849e+01] [ 2.02177494e-02 9.43719791e-01 -3.30127549e-01 -8.08037451e+00] [ 4.01037131e-02 3.29163810e-01 9.43420838e-01 2.55821124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.90911593299998 meters 0.22159998409532966 Centerline is valid? [False, False] Translation: X:-98.23, Y:-8.08, Z:2.56 [[ 9.99092112e-01 -2.83585217e-02 -3.17922207e-02 -9.82301871e+01] [ 1.64650258e-02 9.45302004e-01 -3.25780637e-01 -8.08220139e+00] [ 3.92919072e-02 3.24961405e-01 9.44910700e-01 2.55937431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.93911593299998 meters 0.2090192452989788 Centerline is valid? [False, False] Translation: X:-98.24, Y:-8.08, Z:2.56 [[ 9.98603653e-01 -3.85020644e-02 -3.61709048e-02 -9.82365583e+01] [ 2.48154238e-02 9.46337692e-01 -3.22225335e-01 -8.07991182e+00] [ 4.66362312e-02 3.20877801e-01 9.45971722e-01 2.56182969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.96911593299998 meters 0.20142474257842424 Centerline is valid? [False, False] Translation: X:-98.24, Y:-8.08, Z:2.56 [[ 9.98725357e-01 -3.45366461e-02 -3.68087042e-02 -9.82361630e+01] [ 2.10517918e-02 9.47817621e-01 -3.18117242e-01 -8.08109379e+00] [ 4.58746410e-02 3.16936867e-01 9.47336550e-01 2.56283768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.99911593299998 meters 0.1922606629883532 Centerline is valid? [False, False] Translation: X:-98.24, Y:-8.08, Z:2.56 [[ 9.98861139e-01 -3.02394457e-02 -3.69053060e-02 -9.82365318e+01] [ 1.71266972e-02 9.49198700e-01 -3.14210922e-01 -8.08179448e+00] [ 4.45320326e-02 3.13221013e-01 9.48635597e-01 2.56286823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.02911593299999 meters 0.18399486191931436 Centerline is valid? [False, False] Translation: X:-98.24, Y:-8.08, Z:2.56 [[ 9.98949812e-01 -2.62796262e-02 -3.75320503e-02 -9.82360771e+01] [ 1.33496457e-02 9.50558082e-01 -3.10259762e-01 -8.08239465e+00] [ 4.38299043e-02 3.09432892e-01 9.49910641e-01 2.56391065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.059115933 meters 0.17698196189549883 Centerline is valid? [False, False] Translation: X:-98.26, Y:-8.08, Z:2.56 [[ 9.99794155e-01 -1.24427861e-02 -1.60257624e-02 -9.82573767e+01] [ 6.88506493e-03 9.51070412e-01 -3.08897503e-01 -8.08047927e+00] [ 1.90851740e-02 3.08723579e-01 9.50960308e-01 2.55639958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.089115933 meters 0.1668407637905057 Centerline is valid? [False, False] Translation: X:-98.28, Y:-8.07, Z:2.55 [[ 9.99950388e-01 -9.55205806e-03 -2.82489026e-03 -9.82788622e+01] [ 8.21288149e-03 9.51087075e-01 -3.08813739e-01 -8.07366580e+00] [ 5.63652338e-03 3.08775217e-01 9.51118339e-01 2.55436001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.119115933 meters 0.1553193774617357 Centerline is valid? [False, False] Translation: X:-98.30, Y:-8.07, Z:2.55 [[ 9.99922106e-01 -7.03937190e-03 1.03067788e-02 -9.83003287e+01] [ 9.87052182e-03 9.51397105e-01 -3.07808579e-01 -8.06998467e+00] [-7.63906041e-03 3.07886336e-01 9.51392479e-01 2.55253480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.149115933 meters 0.14137817388221016 Centerline is valid? [False, False] Translation: X:-98.32, Y:-8.07, Z:2.55 [[ 9.99786119e-01 -4.82848161e-03 2.01097533e-02 -9.83167773e+01] [ 1.07874692e-02 9.51361818e-01 -3.07886864e-01 -8.06502106e+00] [-1.76450254e-02 3.08037946e-01 9.51210427e-01 2.55277600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.179115933 meters 0.13223144298100833 Centerline is valid? [False, False] Translation: X:-98.34, Y:-8.06, Z:2.55 [[ 9.99413870e-01 -1.87340567e-03 3.41819770e-02 -9.83396367e+01] [ 1.22642731e-02 9.51818334e-01 -3.06417114e-01 -8.06150004e+00] [-3.19609888e-02 3.06656730e-01 9.51283420e-01 2.55121470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.209115933 meters 0.13043297874910448 Centerline is valid? [False, False] Translation: X:-98.36, Y:-8.06, Z:2.55 [[ 9.98828374e-01 6.47172384e-04 4.83886434e-02 -9.83625566e+01] [ 1.41829996e-02 9.52087657e-01 -3.05496212e-01 -8.05670796e+00] [-4.62679389e-02 3.05824581e-01 9.50962988e-01 2.54939921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.239115933 meters 0.12334954635087876 Centerline is valid? [False, False] Translation: X:-98.39, Y:-8.06, Z:2.55 [[ 9.98780187e-01 -5.96767293e-04 4.93738965e-02 -9.83909732e+01] [ 1.54919157e-02 9.53225356e-01 -3.01863248e-01 -8.05659091e+00] [-4.68843080e-02 3.02259928e-01 9.52071845e-01 2.55354578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.269115933 meters 0.123161492420318 Centerline is valid? [False, False] Translation: X:-98.42, Y:-8.05, Z:2.55 [[ 9.97919139e-01 1.80185541e-03 6.44526562e-02 -9.84153124e+01] [ 1.76299304e-02 9.53892229e-01 -2.99631108e-01 -8.05476639e+00] [-6.20207798e-02 3.00143913e-01 9.51875546e-01 2.55215282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.299115933 meters 0.12344699450905325 Centerline is valid? [False, False] Translation: X:-98.43, Y:-8.05, Z:2.55 [[ 9.97477571e-01 4.05423558e-03 7.08664871e-02 -9.84260698e+01] [ 1.73582700e-02 9.54123315e-01 -2.98910339e-01 -8.05140667e+00] [-6.88272205e-02 2.99386479e-01 9.51646232e-01 2.55452707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.329115933 meters 0.12172547609275192 Centerline is valid? [False, False] Translation: X:-98.46, Y:-8.05, Z:2.55 [[ 9.95904200e-01 2.28648310e-03 9.03858213e-02 -9.84578407e+01] [ 2.48116489e-02 9.54390934e-01 -2.97527020e-01 -8.04957797e+00] [-8.69436989e-02 2.98551030e-01 9.50425208e-01 2.55272010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.359115933 meters 0.12565365943757162 Centerline is valid? [False, False] Translation: X:-98.48, Y:-8.05, Z:2.56 [[ 9.95889444e-01 -1.12199908e-04 9.05770490e-02 -9.84836822e+01] [ 2.68854165e-02 9.55297800e-01 -2.94420258e-01 -8.05129602e+00] [-8.64950216e-02 2.95645229e-01 9.51374012e-01 2.55583296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.389115933 meters 0.13353994985387616 Centerline is valid? [False, False] Translation: X:-98.49, Y:-8.05, Z:2.56 [[ 9.96202357e-01 -1.04915470e-02 8.64337389e-02 -9.84913278e+01] [ 3.52269937e-02 9.56401604e-01 -2.89922455e-01 -8.05267363e+00] [-7.96236315e-02 2.91866234e-01 9.53139118e-01 2.56097064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.419115933 meters 0.15591207677340108 Centerline is valid? [False, False] Translation: X:-98.49, Y:-8.05, Z:2.56 [[ 9.96099593e-01 -9.14248420e-03 8.77611309e-02 -9.84944621e+01] [ 3.42227753e-02 9.56789829e-01 -2.88759459e-01 -8.05248571e+00] [-8.13289786e-02 2.90636609e-01 9.53370840e-01 2.56363734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.449115933 meters 0.20137710103363027 Centerline is valid? [False, False] Translation: X:-98.54, Y:-8.05, Z:2.56 [[ 9.93916864e-01 -2.10200195e-03 1.10112891e-01 -9.85392204e+01] [ 3.37946079e-02 9.57404588e-01 -2.86765374e-01 -8.05450880e+00] [-1.04819806e-01 2.88742163e-01 9.51651602e-01 2.56420201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.479115933 meters 0.25355305603112754 Centerline is valid? [False, False] Translation: X:-98.59, Y:-8.06, Z:2.56 [[ 9.90009870e-01 -1.06508969e-02 1.40595220e-01 -9.85922929e+01] [ 4.98456349e-02 9.59192171e-01 -2.78326770e-01 -8.06040594e+00] [-1.31893405e-01 2.82554308e-01 9.50140617e-01 2.56283359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.50911593299998 meters 0.2788235231010692 Centerline is valid? [False, False] Translation: X:-98.63, Y:-8.07, Z:2.57 [[ 9.88607532e-01 -1.28536013e-02 1.49966439e-01 -9.86316364e+01] [ 5.36972312e-02 9.60904416e-01 -2.71623473e-01 -8.06925316e+00] [-1.40612073e-01 2.76581794e-01 9.50647546e-01 2.57105349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53911593299998 meters 0.27359644311901904 Centerline is valid? [False, False] Translation: X:-98.67, Y:-8.08, Z:2.58 [[ 9.87210486e-01 -1.61991442e-02 1.58597114e-01 -9.86693059e+01] [ 5.85230976e-02 9.62193029e-01 -2.66006808e-01 -8.07796722e+00] [-1.48291954e-01 2.71886305e-01 9.50835072e-01 2.57899126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.56911593299998 meters 0.26789904823787986 Centerline is valid? [False, False] Translation: X:-98.70, Y:-8.09, Z:2.59 [[ 9.86697240e-01 -1.91702977e-02 1.61434371e-01 -9.86986166e+01] [ 6.12385506e-02 9.63704097e-01 -2.59854293e-01 -8.08838026e+00] [-1.50593481e-01 2.66283521e-01 9.52058134e-01 2.58957659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.59911593299998 meters 0.2681746268891193 Centerline is valid? [False, False] Translation: X:-98.73, Y:-8.10, Z:2.60 [[ 9.84569006e-01 -2.94326039e-02 1.72503896e-01 -9.87304962e+01] [ 7.28192876e-02 9.65263930e-01 -2.50924087e-01 -8.09925270e+00] [-1.59126439e-01 2.59613690e-01 9.52512209e-01 2.59944069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.62911593299998 meters 0.27365938728175826 Centerline is valid? [False, False] Translation: X:-98.76, Y:-8.11, Z:2.61 [[ 9.84891095e-01 -4.45716307e-02 1.67340671e-01 -9.87617273e+01] [ 8.51240397e-02 9.66114244e-01 -2.43674303e-01 -8.11157408e+00] [-1.50809245e-01 2.54237365e-01 9.55311433e-01 2.61066163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.65911593299998 meters 0.27485962391839874 Centerline is valid? [False, False] Translation: X:-98.79, Y:-8.12, Z:2.62 [[ 9.84491827e-01 -4.83751063e-02 1.68628855e-01 -9.87872548e+01] [ 8.80693032e-02 9.67610901e-01 -2.36586016e-01 -8.12289321e+00] [-1.51722245e-01 2.47768025e-01 9.56865386e-01 2.62251482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.68911593299998 meters 0.27295547425514793 Centerline is valid? [False, False] Translation: X:-98.81, Y:-8.14, Z:2.64 [[ 9.84053849e-01 -5.16340139e-02 1.70211489e-01 -9.88135054e+01] [ 9.03602402e-02 9.69378646e-01 -2.28341999e-01 -8.13628190e+00] [-1.53209169e-01 2.40081174e-01 9.58586449e-01 2.63528577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.71911593299998 meters 0.2769681736590225 Centerline is valid? [False, False] Translation: X:-98.84, Y:-8.15, Z:2.65 [[ 9.83680541e-01 -5.55206268e-02 1.71143368e-01 -9.88385499e+01] [ 9.33136912e-02 9.70700541e-01 -2.21433995e-01 -8.14793870e+00] [-1.53834806e-01 2.33790331e-01 9.60040069e-01 2.64671634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.74911593299998 meters 0.2796586172209187 Centerline is valid? [False, False] Translation: X:-98.86, Y:-8.16, Z:2.66 [[ 9.83294885e-01 -5.95015065e-02 1.72019594e-01 -9.88633537e+01] [ 9.62061556e-02 9.72158829e-01 -2.13662321e-01 -8.16155647e+00] [-1.54517137e-01 2.26642411e-01 9.61643214e-01 2.65920419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.77911593299999 meters 0.28625334102980937 Centerline is valid? [False, False] Translation: X:-98.90, Y:-8.17, Z:2.67 [[ 9.82868343e-01 -7.45714737e-02 1.68549447e-01 -9.88972508e+01] [ 1.09481470e-01 9.71890549e-01 -2.08428810e-01 -8.17261642e+00] [-1.48268771e-01 2.23311120e-01 9.63404648e-01 2.66876914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.809115933 meters 0.28616030335967857 Centerline is valid? [False, False] Translation: X:-98.91, Y:-8.18, Z:2.68 [[ 9.82757026e-01 -8.44453382e-02 1.64491983e-01 -9.89050380e+01] [ 1.17054390e-01 9.72791197e-01 -1.99938881e-01 -8.18321493e+00] [-1.43132447e-01 2.15745849e-01 9.65902082e-01 2.67852992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.839115933 meters 0.2849745955114805 Centerline is valid? [False, False] Translation: X:-98.91, Y:-8.19, Z:2.68 [[ 9.82254092e-01 -9.74999159e-02 1.60220679e-01 -9.89111078e+01] [ 1.28720322e-01 9.71756441e-01 -1.97789026e-01 -8.18616204e+00] [-1.36411063e-01 2.14902737e-01 9.67061960e-01 2.68411984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1534.43 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 ... 0%| | 0/5081 [00:00