+ python -m lidar_slam --no-model /working/9ade07f4-a36b-4d52-a8c0-2563be467474 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/9ade07f4-a36b-4d52-a8c0-2563be467474 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 0.023741732 Adjusted end_distance from 9.223372036854776e+18 to 58.453901732 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.023741732 meters 0.22173425968443145 Centerline is valid? [0, False] SLAMing on 0.053741732 meters 0.22957402436634963 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.07, Z:0.02 [[ 0.9993304 0.03450834 -0.01216278 -0.00102672] [-0.03496544 0.9986028 -0.03962152 0.07426424] [ 0.01077851 0.04002027 0.99914073 0.02277945] [ 0. 0. 0. 1. ]] SLAMing on 0.083741732 meters 0.23891125750853537 Centerline is valid? [False, False] Translation: X:0.00, Y:0.11, Z:0.04 [[ 0.99719803 0.06891261 -0.0291056 0.00165446] [-0.06997749 0.99685073 -0.03730649 0.11117277] [ 0.02644305 0.03923869 0.99887992 0.0410136 ] [ 0. 0. 0. 1. ]] SLAMing on 0.113741732 meters 0.22606585242528626 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.11, Z:0.04 [[ 0.9958764 0.08616004 -0.02840159 -0.00262696] [-0.08676402 0.99601245 -0.02076533 0.1116695 ] [ 0.0264992 0.02314394 0.99938088 0.04485692] [ 0. 0. 0. 1. ]] SLAMing on 0.143741732 meters 0.20121831279924066 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.08, Z:0.07 [[ 0.9969733 0.07212372 -0.0290243 -0.01751483] [-0.0718057 0.99734818 0.01185523 0.07819361] [ 0.02980237 -0.00973524 0.9995084 0.06594115] [ 0. 0. 0. 1. ]] SLAMing on 0.17374173199999998 meters 0.209509404520093 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.06, Z:0.05 [[ 0.9994727 0.03221559 -0.00405903 -0.04544127] [-0.03210686 0.99918446 0.02448593 0.06485288] [ 0.00484455 -0.0243427 0.99969193 0.05395405] [ 0. 0. 0. 1. ]] SLAMing on 0.203741732 meters 0.20468574119286465 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.08, Z:0.03 [[ 0.99917952 0.01683767 0.03683443 -0.09154613] [-0.0172265 0.99979893 0.01026418 0.07887635] [-0.0366542 -0.01089029 0.99926867 0.03370847] [ 0. 0. 0. 1. ]] SLAMing on 0.23374173199999998 meters 0.19410673031082684 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.11, Z:0.03 [[ 0.9984308 0.04687528 0.03063718 -0.13319875] [-0.04664409 0.99887777 -0.0082181 0.11023622] [-0.03098802 0.00677616 0.99949679 0.03440698] [ 0. 0. 0. 1. ]] SLAMing on 0.263741732 meters 0.1638937883596547 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.13, Z:0.04 [[ 0.99684178 0.07496183 0.0262144 -0.15115849] [-0.07473215 0.99715709 -0.00963571 0.12762961] [-0.02686218 0.00764622 0.9996099 0.04021549] [ 0. 0. 0. 1. ]] SLAMing on 0.29374173200000003 meters 0.145399742170049 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.12, Z:0.04 [[ 0.9952636 0.09167518 0.03234242 -0.16399171] [-0.09167972 0.99578764 -0.00134566 0.12165742] [-0.03232954 -0.00162586 0.99947594 0.03815178] [ 0. 0. 0. 1. ]] SLAMing on 0.323741732 meters 0.11773274294812112 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.13, Z:0.05 [[ 9.93669151e-01 1.06998682e-01 3.42476445e-02 -1.85251996e-01] [-1.07087506e-01 9.94249305e-01 7.64604125e-04 1.25434492e-01] [-3.39688851e-02 -4.42725838e-03 9.99413085e-01 5.10695081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.353741732 meters 0.1039279962034992 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.14, Z:0.06 [[ 0.99464403 0.10073902 0.02312801 -0.20334686] [-0.10068705 0.99491232 -0.00340378 0.14190699] [-0.02335324 0.00105686 0.99972672 0.06264136] [ 0. 0. 0. 1. ]] SLAMing on 0.383741732 meters 0.10084055740973218 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.15, Z:0.06 [[ 0.99566443 0.08986581 0.02400988 -0.21591285] [-0.08969578 0.99593652 -0.00806924 0.15049247] [-0.02463746 0.00588067 0.99967916 0.0642505 ] [ 0. 0. 0. 1. ]] SLAMing on 0.41374173200000003 meters 0.11264494127072318 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.16, Z:0.08 [[ 0.99642793 0.08201686 0.0201153 -0.22210298] [-0.08176366 0.9965656 -0.01310385 0.15578381] [-0.02112095 0.01141234 0.99971179 0.07758725] [ 0. 0. 0. 1. ]] SLAMing on 0.443741732 meters 0.1219280834845369 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.17, Z:0.09 [[ 0.9976934 0.06656527 0.01330208 -0.24596089] [-0.06642536 0.99773405 -0.01069715 0.1718109 ] [-0.01398399 0.00978888 0.9998543 0.08843027] [ 0. 0. 0. 1. ]] SLAMing on 0.47374173199999997 meters 0.1262785056825211 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.18, Z:0.08 [[ 0.99851212 0.05132217 0.01842782 -0.28300407] [-0.05135242 0.99867991 0.00117181 0.17853941] [-0.01834335 -0.00211637 0.99982951 0.08041997] [ 0. 0. 0. 1. ]] SLAMing on 0.5037417319999999 meters 0.11639074636114331 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.18, Z:0.09 [[ 0.99869587 0.04960208 0.01209066 -0.30514558] [-0.04973264 0.99870473 0.01074793 0.18299067] [-0.01154188 -0.01133522 0.99986914 0.09049047] [ 0. 0. 0. 1. ]] SLAMing on 0.533741732 meters 0.08759519701564936 Centerline is valid? [False, True] Translation: X:-0.34, Y:0.20, Z:0.10 [[ 0.99688585 0.07862001 0.00612281 -0.33799623] [-0.07873608 0.99665604 0.02184873 0.20013016] [-0.00438459 -0.02226278 0.99974254 0.10001816] [ 0. 0. 0. 1. ]] SLAMing on 0.563741732 meters 0.08080802063603269 Centerline is valid? [True, True] Translation: X:-0.36, Y:0.23, Z:0.11 [[ 9.95455722e-01 9.51042945e-02 4.80396653e-03 -3.64096848e-01] [-9.51010322e-02 9.95467216e-01 -9.03532032e-04 2.25873333e-01] [-4.86812096e-03 4.42563957e-04 9.99988053e-01 1.05881262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5937417319999999 meters 0.08044680971997689 Centerline is valid? [True, True] Translation: X:-0.39, Y:0.23, Z:0.11 [[ 0.99622139 0.0862212 0.01043267 -0.39488864] [-0.08620533 0.99627546 -0.0019619 0.22906686] [-0.01056297 0.00105514 0.99994365 0.10637973] [ 0. 0. 0. 1. ]] SLAMing on 0.6237417319999999 meters 0.10661867719852457 Centerline is valid? [True, False] Translation: X:-0.43, Y:0.25, Z:0.11 [[ 0.99857164 0.05226277 0.01110306 -0.42875448] [-0.05227861 0.99863189 0.00114163 0.24580596] [-0.01102821 -0.00172045 0.99993771 0.10769124] [ 0. 0. 0. 1. ]] SLAMing on 0.653741732 meters 0.10345367577110336 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.27, Z:0.11 [[ 0.99956383 0.02839156 0.00812872 -0.46309711] [-0.02843341 0.99958278 0.00508069 0.2663875 ] [-0.00798108 -0.0053096 0.99995405 0.1062585 ] [ 0. 0. 0. 1. ]] SLAMing on 0.6837417319999999 meters 0.11142979695764797 Centerline is valid? [False, False] Translation: X:-0.48, Y:0.28, Z:0.12 [[ 0.99968949 0.02373692 0.00758156 -0.47776964] [-0.02375057 0.99971644 0.00171548 0.28063696] [-0.00753869 -0.00189501 0.99996979 0.11770322] [ 0. 0. 0. 1. ]] SLAMing on 0.7137417319999999 meters 0.08858004193377925 Centerline is valid? [False, True] Translation: X:-0.51, Y:0.31, Z:0.13 [[ 0.99925715 0.03827956 0.0044532 -0.51071259] [-0.0382377 0.99922694 -0.00913288 0.30702267] [-0.00479936 0.00895582 0.99994838 0.13007597] [ 0. 0. 0. 1. ]] SLAMing on 0.7437417319999999 meters 0.09108915504248927 Centerline is valid? [True, True] Translation: X:-0.54, Y:0.32, Z:0.13 [[ 0.99862764 0.05098722 0.01196445 -0.53848227] [-0.05096535 0.99869816 -0.00212605 0.32286943] [-0.01205727 0.00151336 0.99992616 0.13188332] [ 0. 0. 0. 1. ]] SLAMing on 0.773741732 meters 0.0911281125219592 Centerline is valid? [True, True] Translation: X:-0.57, Y:0.35, Z:0.13 [[ 0.99816725 0.05973472 0.0096908 -0.56551456] [-0.05972078 0.99821364 -0.001722 0.34504549] [-0.00977635 0.0011401 0.99995156 0.12984338] [ 0. 0. 0. 1. ]] SLAMing on 0.803741732 meters 0.08096078048931166 Centerline is valid? [True, True] Translation: X:-0.59, Y:0.38, Z:0.13 [[ 9.98641930e-01 5.20664300e-02 1.83932272e-03 -5.89158599e-01] [-5.20659147e-02 9.98643597e-01 -3.26962534e-04 3.83193114e-01] [-1.85385163e-03 2.30752476e-04 9.99998255e-01 1.28786280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8337417319999999 meters 0.09384523844061916 Centerline is valid? [True, True] Translation: X:-0.62, Y:0.39, Z:0.12 [[ 9.98924170e-01 4.57750574e-02 7.42603445e-03 -6.19996596e-01] [-4.57664911e-02 9.98951294e-01 -1.31949875e-03 3.87791353e-01] [-7.47864685e-03 9.78215650e-04 9.99971556e-01 1.19769094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8637417319999999 meters 0.09727313855181642 Centerline is valid? [True, True] Translation: X:-0.65, Y:0.41, Z:0.12 [[ 0.99920172 0.03806732 0.01211647 -0.6471832 ] [-0.03804396 0.99927375 -0.00215267 0.40926844] [-0.01218961 0.00168999 0.99992428 0.12243322] [ 0. 0. 0. 1. ]] SLAMing on 0.893741732 meters 0.08823998612875837 Centerline is valid? [True, True] Translation: X:-0.67, Y:0.44, Z:0.13 [[ 0.99926915 0.03694266 0.00981878 -0.67089906] [-0.03692727 0.99931643 -0.00174411 0.44249209] [-0.0098765 0.00138026 0.99995027 0.13222813] [ 0. 0. 0. 1. ]] SLAMing on 0.9237417319999999 meters 0.09337800728208044 Centerline is valid? [True, True] Translation: X:-0.70, Y:0.47, Z:0.13 [[ 0.99916909 0.03954439 0.00986781 -0.6979451 ] [-0.03952897 0.99921689 -0.00175324 0.46612285] [-0.00992941 0.00136172 0.99994977 0.13370536] [ 0. 0. 0. 1. ]] SLAMing on 0.9537417319999999 meters 0.08444604209270358 Centerline is valid? [True, True] Translation: X:-0.72, Y:0.50, Z:0.13 [[ 0.99901041 0.04291211 0.01169419 -0.72174313] [-0.04289067 0.99907761 -0.0020778 0.50433699] [-0.01177257 0.00157418 0.99992946 0.13079318] [ 0. 0. 0. 1. ]] SLAMing on 0.9837417319999999 meters 0.08444604209270358 Centerline is valid? [True, True] Translation: X:-0.75, Y:0.51, Z:0.13 [[ 0.99901539 0.04279607 0.0116941 -0.75404647] [-0.04277462 0.99908259 -0.00207829 0.51020643] [-0.01177232 0.00157604 0.99992946 0.1314388 ] [ 0. 0. 0. 1. ]] SLAMing on 1.013741732 meters 0.09051662597834507 Centerline is valid? [True, True] Translation: X:-0.78, Y:0.54, Z:0.12 [[ 9.99088701e-01 4.23992511e-02 4.90619516e-03 -7.81248405e-01] [-4.23954731e-02 9.99100528e-01 -8.71541354e-04 5.37993720e-01] [-4.93873488e-03 6.62746655e-04 9.99987585e-01 1.24155337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.043741732 meters 0.08746140972544014 Centerline is valid? [True, True] Translation: X:-0.81, Y:0.57, Z:0.13 [[ 0.99894949 0.04498317 0.00874287 -0.80596454] [-0.04497128 0.99898707 -0.00155216 0.5702206 ] [-0.00880383 0.00115735 0.99996058 0.12824114] [ 0. 0. 0. 1. ]] SLAMing on 1.073741732 meters 0.08511308501820673 Centerline is valid? [True, True] Translation: X:-0.83, Y:0.60, Z:0.13 [[ 0.9987494 0.04845145 0.01233234 -0.83144786] [-0.04842806 0.99882428 -0.00218841 0.60037186] [-0.01242387 0.00158845 0.99992156 0.13433205] [ 0. 0. 0. 1. ]] SLAMing on 1.103741732 meters 0.08102465755455601 Centerline is valid? [True, True] Translation: X:-0.86, Y:0.63, Z:0.14 [[ 0.99867238 0.05086386 0.00814478 -0.85579638] [-0.05085374 0.99870507 -0.0014454 0.63365323] [-0.00820775 0.00102928 0.99996579 0.13532377] [ 0. 0. 0. 1. ]] SLAMing on 1.1337417319999998 meters 0.08037484648028148 Centerline is valid? [True, True] Translation: X:-0.88, Y:0.67, Z:0.13 [[ 0.99829679 0.05769899 0.00862185 -0.8813276 ] [-0.0576879 0.99833349 -0.00152959 0.66801476] [-0.00869574 0.00102961 0.99996166 0.13331302] [ 0. 0. 0. 1. ]] SLAMing on 1.1637417319999999 meters 0.08033108860264127 Centerline is valid? [True, True] Translation: X:-0.91, Y:0.69, Z:0.13 [[ 0.99800264 0.0619317 0.01245796 -0.90920812] [-0.06190887 0.99807936 -0.00220978 0.68639032] [-0.01257088 0.0014341 0.99991995 0.12704627] [ 0. 0. 0. 1. ]] SLAMing on 1.1937417319999999 meters 0.05963539036185983 Centerline is valid? [True, True] Translation: X:-0.93, Y:0.73, Z:0.12 [[ 0.99535202 0.09429495 0.01956582 -0.93205796] [-0.09424483 0.995543 -0.00347032 0.73029217] [-0.01980585 0.00161021 0.99980255 0.11634449] [ 0. 0. 0. 1. ]] SLAMing on 1.223741732 meters 0.03228582893439958 Centerline is valid? [True, True] Translation: X:-0.96, Y:0.75, Z:0.12 [[ 9.90201077e-01 1.39116443e-01 1.21836593e-02 -9.58913083e-01] [-1.39100370e-01 9.90275930e-01 -2.16097102e-03 7.54067328e-01] [-1.23658111e-02 4.45044318e-04 9.99923441e-01 1.21780288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.253741732 meters 0.024814434245334426 Centerline is valid? [True, True] Translation: X:-0.99, Y:0.75, Z:0.13 [[ 9.86595073e-01 1.63017455e-01 7.44790484e-03 -9.89313471e-01] [-1.63012123e-01 9.86623181e-01 -1.32159341e-03 7.54409861e-01] [-7.56371836e-03 8.97787734e-05 9.99971391e-01 1.30375772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.283741732 meters 0.02609968035404535 Centerline is valid? [True, True] Translation: X:-1.03, Y:0.72, Z:0.12 [[ 9.84426944e-01 1.75731226e-01 4.70410687e-03 -1.02796133e+00] [-1.75729227e-01 9.84438183e-01 -8.38237193e-04 7.22073498e-01] [-4.77820687e-03 -1.46578323e-06 9.99988584e-01 1.22205155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.313741732 meters 0.02597007125625345 Centerline is valid? [True, True] Translation: X:-1.07, Y:0.69, Z:0.12 [[ 9.85698593e-01 1.68442251e-01 5.04884313e-03 -1.06760098e+00] [-1.68439860e-01 9.85711523e-01 -8.98325613e-04 6.87302947e-01] [-5.12801884e-03 3.50518659e-05 9.99986851e-01 1.15815224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3437417319999998 meters 0.02643679696925634 Centerline is valid? [True, True] Translation: X:-1.11, Y:0.63, Z:0.12 [[ 9.88143973e-01 1.53389684e-01 6.56457761e-03 -1.10876152e+00] [-1.53385364e-01 9.88165768e-01 -1.15952100e-03 6.27451319e-01] [-6.66474943e-03 1.38863560e-04 9.99977781e-01 1.23723175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3737417319999998 meters 0.03152648296693013 Centerline is valid? [True, True] Translation: X:-1.15, Y:0.57, Z:0.12 [[ 9.89251257e-01 1.46047157e-01 7.22342029e-03 -1.15048856e+00] [-1.46041730e-01 9.89277608e-01 -1.27596345e-03 5.71133660e-01] [-7.33231878e-03 2.07327654e-04 9.99973097e-01 1.21999553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4037417319999999 meters 0.03505078596079906 Centerline is valid? [True, True] Translation: X:-1.19, Y:0.52, Z:0.12 [[ 9.90526061e-01 1.37266684e-01 -3.99745576e-03 -1.19103333e+00] [-1.37264954e-01 9.90534116e-01 7.05220398e-04 5.18877720e-01] [ 4.05641957e-03 -1.49828602e-04 9.99991761e-01 1.19636757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4337417319999999 meters 0.03541366156047558 Centerline is valid? [True, True] Translation: X:-1.23, Y:0.48, Z:0.13 [[ 9.91203726e-01 1.32332849e-01 -1.78602354e-03 -1.22776663e+00] [-1.32332500e-01 9.91205333e-01 3.12627307e-04 4.82204266e-01] [ 1.81168692e-03 -7.35283914e-05 9.99998356e-01 1.34422682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.463741732 meters 0.04289338242985217 Centerline is valid? [True, True] Translation: X:-1.27, Y:0.45, Z:0.14 [[ 9.93010099e-01 1.18012887e-01 1.97525076e-03 -1.26506296e+00] [-1.18012426e-01 9.93012057e-01 -3.48491451e-04 4.45214309e-01] [-2.00257430e-03 1.12951396e-04 9.99997988e-01 1.43047079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.493741732 meters 0.05345691190832422 Centerline is valid? [True, True] Translation: X:-1.30, Y:0.42, Z:0.14 [[ 9.94488372e-01 1.04694851e-01 5.64500625e-03 -1.29974250e+00] [-1.04690877e-01 9.94504313e-01 -9.95800958e-04 4.22856245e-01] [-5.71823829e-03 3.99331819e-04 9.99983571e-01 1.44839547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.523741732 meters 0.04947558251799742 Centerline is valid? [True, True] Translation: X:-1.33, Y:0.43, Z:0.15 [[ 9.94501545e-01 1.04523089e-01 6.44994185e-03 -1.33078231e+00] [-1.04517885e-01 9.94522354e-01 -1.13962166e-03 4.27325067e-01] [-6.53372813e-03 4.59221221e-04 9.99978550e-01 1.50098090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.553741732 meters 0.048818862004300745 Centerline is valid? [True, True] Translation: X:-1.36, Y:0.44, Z:0.15 [[ 9.94126670e-01 1.08166735e-01 3.48148476e-03 -1.36104867e+00] [-1.08165244e-01 9.94132739e-01 -6.14251359e-04 4.35090413e-01] [-3.52749954e-03 2.34068009e-04 9.99993751e-01 1.46510642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.583741732 meters 0.04801055979286224 Centerline is valid? [True, True] Translation: X:-1.39, Y:0.45, Z:0.14 [[ 9.93443310e-01 1.14325222e-01 -3.66752549e-04 -1.38940072e+00] [-1.14325206e-01 9.93443377e-01 6.41894545e-05 4.48396587e-01] [ 3.71686365e-04 -2.18395235e-05 9.99999931e-01 1.40236004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6137417319999998 meters 0.048292409892496294 Centerline is valid? [True, True] Translation: X:-1.42, Y:0.45, Z:0.15 [[ 9.93906484e-01 1.10192223e-01 2.75216386e-03 -1.41813984e+00] [-1.10191302e-01 9.93910279e-01 -4.84412448e-04 4.53257206e-01] [-2.78878244e-03 1.78196153e-04 9.99996095e-01 1.47098506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6437417319999998 meters 0.06041501529826046 Centerline is valid? [True, True] Translation: X:-1.45, Y:0.44, Z:0.15 [[ 9.95868063e-01 9.07000952e-02 4.50491890e-03 -1.45072790e+00] [-9.06974261e-02 9.95878179e-01 -7.93715050e-04 4.43206635e-01] [-4.55834046e-03 3.81850920e-04 9.99989538e-01 1.51208667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6737417319999999 meters 0.07134781231403411 Centerline is valid? [True, True] Translation: X:-1.48, Y:0.44, Z:0.15 [[ 9.97124390e-01 7.55463784e-02 5.97452514e-03 -1.48191234e+00] [-7.55414144e-02 9.97142110e-01 -1.05251801e-03 4.40124876e-01] [-6.03696452e-03 5.98167296e-04 9.99981598e-01 1.51865557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.703741732 meters 0.07736468945896124 Centerline is valid? [True, True] Translation: X:-1.51, Y:0.44, Z:0.15 [[ 9.98007376e-01 6.29469549e-02 4.35422967e-03 -1.51229161e+00] [-6.29441994e-02 9.98016753e-01 -7.67142491e-04 4.44166640e-01] [-4.39388344e-03 4.91540363e-04 9.99990226e-01 1.52657603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.733741732 meters 0.07821385900471334 Centerline is valid? [True, True] Translation: X:-1.54, Y:0.47, Z:0.15 [[ 9.98604270e-01 5.28092646e-02 8.32799494e-04 -1.53659344e+00] [-5.28091607e-02 9.98604612e-01 -1.46300335e-04 4.74599925e-01] [-8.39363428e-04 1.02116697e-04 9.99999643e-01 1.54445334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.763741732 meters 0.08035428753499205 Centerline is valid? [True, True] Translation: X:-1.56, Y:0.50, Z:0.15 [[ 9.98434732e-01 5.59080917e-02 1.53980349e-03 -1.56353478e+00] [-5.59077379e-02 9.98435902e-01 -2.71876204e-04 4.99990815e-01] [-1.55259517e-03 1.85363714e-04 9.99998778e-01 1.51852501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.793741732 meters 0.07627595034449144 Centerline is valid? [True, True] Translation: X:-1.59, Y:0.53, Z:0.16 [[ 9.98120260e-01 6.12601324e-02 1.77300964e-03 -1.58837665e+00] [-6.12596730e-02 9.98121814e-01 -3.12315258e-04 5.33584969e-01] [-1.78881208e-03 2.03114196e-04 9.99998379e-01 1.56777432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8237417319999998 meters 0.07362528503844111 Centerline is valid? [True, True] Translation: X:-1.62, Y:0.56, Z:0.16 [[ 9.97667558e-01 6.78833128e-02 7.16235445e-03 -1.61553616e+00] [-6.78759847e-02 9.97692968e-01 -1.26159771e-03 5.57657643e-01] [-7.23147210e-03 7.72503246e-04 9.99973554e-01 1.59909857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8537417319999998 meters 0.0657435910141421 Centerline is valid? [True, True] Translation: X:-1.64, Y:0.60, Z:0.17 [[ 9.96761239e-01 7.94856201e-02 1.22093769e-02 -1.63890298e+00] [-7.94651930e-02 9.96835323e-01 -2.14994524e-03 6.01932215e-01] [-1.23416279e-02 1.17276159e-03 9.99923151e-01 1.65784145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8837417319999998 meters 0.05964263765178613 Centerline is valid? [True, True] Translation: X:-1.66, Y:0.64, Z:0.16 [[ 9.95912886e-01 8.95321800e-02 1.18958515e-02 -1.66328933e+00] [-8.95134993e-02 9.95983406e-01 -2.09468655e-03 6.43121879e-01] [-1.20356126e-02 1.02128603e-03 9.99927048e-01 1.64811938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9137417319999999 meters 0.05710205391476975 Centerline is valid? [True, True] Translation: X:-1.69, Y:0.70, Z:0.16 [[ 9.95959860e-01 8.97765897e-02 2.03023231e-03 -1.68634275e+00] [-8.97760440e-02 9.95961914e-01 -3.58507451e-04 6.96994861e-01] [-2.05421963e-03 1.74792805e-04 9.99997875e-01 1.60376086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9437417319999999 meters 0.061041859010218566 Centerline is valid? [True, True] Translation: X:-1.71, Y:0.72, Z:0.16 [[ 9.95992079e-01 8.89839905e-02 9.03483577e-03 -1.71499013e+00] [-8.89731724e-02 9.96032749e-01 -1.59313143e-03 7.20720948e-01] [-9.14075549e-03 7.82888282e-04 9.99957916e-01 1.63129770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.973741732 meters 0.05935679117453141 Centerline is valid? [True, True] Translation: X:-1.74, Y:0.75, Z:0.17 [[ 9.96149795e-01 8.67024999e-02 1.29716365e-02 -1.73978735e+00] [-8.66801097e-02 9.96233588e-01 -2.27951820e-03 7.53638610e-01] [-1.31204199e-02 1.14635871e-03 9.99913266e-01 1.66899297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.003741732 meters 0.06188770655695315 Centerline is valid? [True, True] Translation: X:-1.76, Y:0.79, Z:0.16 [[ 9.96562039e-01 8.24430134e-02 8.20077602e-03 -1.76483676e+00] [-8.24339237e-02 9.96595491e-01 -1.44087958e-03 7.88059397e-01] [-8.29164685e-03 7.59903747e-04 9.99965335e-01 1.63270678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0337417319999997 meters 0.05972969164075887 Centerline is valid? [True, True] Translation: X:-1.79, Y:0.83, Z:0.16 [[ 9.96283299e-01 8.56710042e-02 8.94805573e-03 -1.78726637e+00] [-8.56603124e-02 9.96323160e-01 -1.57207368e-03 8.31247085e-01] [-9.04983630e-03 7.99737498e-04 9.99958730e-01 1.58058138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.063741732 meters 0.06112121435658143 Centerline is valid? [True, True] Translation: X:-1.81, Y:0.86, Z:0.16 [[ 9.95881851e-01 9.00570954e-02 1.04430961e-02 -1.81454396e+00] [-9.00427662e-02 9.95936209e-01 -1.83523677e-03 8.56385518e-01] [-1.05659337e-02 8.87353730e-04 9.99943785e-01 1.64095811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.093741732 meters 0.05265617921306518 Centerline is valid? [True, True] Translation: X:-1.84, Y:0.90, Z:0.17 [[ 9.95287987e-01 9.64027210e-02 1.04085796e-02 -1.83627601e+00] [-9.63888311e-02 9.95342076e-01 -1.82914518e-03 9.04520902e-01] [-1.05364318e-02 8.17255409e-04 9.99944156e-01 1.72918518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.123741732 meters 0.055700513348128006 Centerline is valid? [True, True] Translation: X:-1.86, Y:0.92, Z:0.17 [[ 9.94800646e-01 1.01084647e-01 1.23922891e-02 -1.86433872e+00] [-1.01065334e-01 9.94877410e-01 -2.17653987e-03 9.23935701e-01] [-1.25488232e-02 9.12792443e-04 9.99920844e-01 1.73164605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.153741732 meters 0.056128740271253315 Centerline is valid? [True, True] Translation: X:-1.89, Y:0.95, Z:0.17 [[ 9.94382004e-01 1.04887644e-01 1.42482457e-02 -1.89178760e+00] [-1.04862510e-01 9.94483582e-01 -2.50188159e-03 9.48311361e-01] [-1.44320629e-02 9.93719223e-04 9.99895359e-01 1.73900010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.183741732 meters 0.05103266967440163 Centerline is valid? [True, True] Translation: X:-1.92, Y:0.98, Z:0.18 [[ 9.94343931e-01 1.05385147e-01 1.31953887e-02 -1.91754047e+00] [-1.05363618e-01 9.94431061e-01 -2.31814054e-03 9.81441918e-01] [-1.33662020e-02 9.14715074e-04 9.99910250e-01 1.76604968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.213741732 meters 0.04824031182741516 Centerline is valid? [True, True] Translation: X:-1.94, Y:1.03, Z:0.18 [[ 9.94118863e-01 1.07175811e-01 1.55252264e-02 -1.94033163e+00] [-1.07146312e-01 9.94239538e-01 -2.72195072e-03 1.02660604e+00] [-1.57275212e-02 1.04247179e-03 9.99875771e-01 1.77508519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2437417319999997 meters 0.05163860003997402 Centerline is valid? [True, True] Translation: X:-1.97, Y:1.06, Z:0.18 [[ 9.94136761e-01 1.07183832e-01 1.42732571e-02 -1.96775138e+00] [-1.07158894e-01 9.94238758e-01 -2.50287825e-03 1.05840642e+00] [-1.44592935e-02 9.58696838e-04 9.99894999e-01 1.76142287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.273741732 meters 0.05060377397081787 Centerline is valid? [True, True] Translation: X:-2.00, Y:1.08, Z:0.17 [[ 9.94261419e-01 1.06323346e-01 1.18142639e-02 -1.99611490e+00] [-1.06306230e-01 9.94331285e-01 -2.06914467e-03 1.08464888e+00] [-1.19672906e-02 8.01340858e-04 9.99928068e-01 1.73186693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3037417319999998 meters 0.047913251192061336 Centerline is valid? [True, True] Translation: X:-2.02, Y:1.12, Z:0.17 [[ 9.94238759e-01 1.06397306e-01 1.29963170e-02 -2.02124976e+00] [-1.06376654e-01 9.94323310e-01 -2.27207751e-03 1.12374597e+00] [-1.31642839e-02 8.76482804e-04 9.99912963e-01 1.70843771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.333741732 meters 0.048893905658898805 Centerline is valid? [True, True] Translation: X:-2.05, Y:1.14, Z:0.17 [[ 9.94075047e-01 1.07744220e-01 1.43521581e-02 -2.05040088e+00] [-1.07719249e-01 9.94178200e-01 -2.50397487e-03 1.14409356e+00] [-1.45383916e-02 9.43135239e-04 9.99893867e-01 1.73480101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.363741732 meters 0.04496222150612984 Centerline is valid? [True, True] Translation: X:-2.08, Y:1.17, Z:0.18 [[ 9.93649669e-01 1.11641152e-01 1.40209637e-02 -2.07547363e+00] [-1.11617724e-01 9.93748210e-01 -2.44500705e-03 1.17222347e+00] [-1.42062710e-02 8.64492404e-04 9.99898712e-01 1.78417300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.393741732 meters 0.04732619926360792 Centerline is valid? [True, True] Translation: X:-2.10, Y:1.19, Z:0.18 [[ 9.93436263e-01 1.13838005e-01 1.11937389e-02 -2.10482550e+00] [-1.13823198e-01 9.93499102e-01 -1.95315190e-03 1.19053202e+00] [-1.13433125e-02 6.66224760e-04 9.99935441e-01 1.79833431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.423741732 meters 0.03553298970712252 Centerline is valid? [True, True] Translation: X:-2.13, Y:1.24, Z:0.17 [[ 9.90906371e-01 1.34306138e-01 8.15013430e-03 -2.12767994e+00] [-1.34299005e-01 9.90939839e-01 -1.41874411e-03 1.24058303e+00] [-8.26683882e-03 3.11287652e-04 9.99965781e-01 1.73382382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4537417319999997 meters 0.02807244771979779 Centerline is valid? [True, True] Translation: X:-2.15, Y:1.28, Z:0.18 [[ 9.88595875e-01 1.49913838e-01 1.42841427e-02 -2.15125641e+00] [-1.49893560e-01 9.88699014e-01 -2.48586300e-03 1.27886358e+00] [-1.44953830e-02 3.16412908e-04 9.99894886e-01 1.76902105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.483741732 meters 0.09290522887785994 Centerline is valid? [True, True] Translation: X:-2.27, Y:0.79, Z:0.20 [[ 9.50705798e-01 3.10055109e-01 4.93100610e-03 -2.26668548e+00] [-3.10054741e-01 9.50718318e-01 -8.58169028e-04 7.89310215e-01] [-4.95407752e-03 -7.13015548e-04 9.99987474e-01 2.02567025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5137417319999997 meters 0.07900935590116023 Centerline is valid? [True, True] Translation: X:-2.30, Y:0.78, Z:0.20 [[ 9.57213569e-01 2.89374105e-01 2.19330409e-03 -2.29936494e+00] [-2.89373977e-01 9.57216044e-01 -3.82347100e-04 7.79429100e-01] [-2.21010722e-03 -2.68697296e-04 9.99997522e-01 2.02355713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.543741732 meters 0.06931983846862358 Centerline is valid? [True, True] Translation: X:-2.33, Y:0.77, Z:0.20 [[ 9.62759372e-01 2.70354782e-01 1.63789444e-03 -2.33140159e+00] [-2.70354683e-01 9.62760751e-01 -2.85930130e-04 7.72321183e-01] [-1.65420306e-03 -1.67530520e-04 9.99998618e-01 1.99011392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.573741732 meters 0.0595862554577063 Centerline is valid? [True, True] Translation: X:-2.36, Y:0.76, Z:0.20 [[ 9.65474700e-01 2.60493349e-01 1.34873060e-03 -2.36394390e+00] [-2.60493272e-01 9.65475634e-01 -2.35622237e-04 7.62038464e-01] [-1.36354455e-03 -1.23847939e-04 9.99999063e-01 1.99968534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.603741732 meters 0.055879289919578475 Centerline is valid? [True, True] Translation: X:-2.39, Y:0.76, Z:0.20 [[ 9.68682939e-01 2.48298597e-01 -1.08208681e-03 -2.39486167e+00] [-2.48298542e-01 9.68683539e-01 1.87109542e-04 7.63945039e-01] [ 1.09465871e-03 8.74307551e-05 9.99999397e-01 2.01432976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.633741732 meters 0.054644277886341346 Centerline is valid? [True, True] Translation: X:-2.43, Y:0.77, Z:0.20 [[ 9.68963731e-01 2.47202310e-01 5.53720076e-04 -2.42614909e+00] [-2.47202292e-01 9.68963888e-01 -1.01440950e-04 7.67432696e-01] [-5.61611195e-04 -3.85882705e-05 9.99999842e-01 2.02095021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6637417319999996 meters 0.057409719318285174 Centerline is valid? [True, True] Translation: X:-2.46, Y:0.78, Z:0.20 [[ 9.68688517e-01 2.48275867e-01 -1.28521607e-03 -2.45587359e+00] [-2.48275790e-01 9.68689364e-01 2.21480488e-04 7.81273370e-01] [ 1.29996339e-03 1.04542429e-04 9.99999150e-01 2.01998532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.693741732 meters 0.06022516950135189 Centerline is valid? [True, True] Translation: X:-2.49, Y:0.79, Z:0.21 [[ 9.67757851e-01 2.51849517e-01 4.06973952e-03 -2.48610699e+00] [-2.51848758e-01 9.67766348e-01 -7.06199376e-04 7.89051806e-01] [-4.11641292e-03 -3.41528854e-04 9.99991469e-01 2.06873195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7237417319999997 meters 0.05985809113392251 Centerline is valid? [True, True] Translation: X:-2.52, Y:0.80, Z:0.21 [[ 9.67552509e-01 2.52641220e-01 3.81536789e-03 -2.51774211e+00] [-2.52640545e-01 9.67559978e-01 -6.65695877e-04 7.95935165e-01] [-3.85977949e-03 -3.19820909e-04 9.99992500e-01 2.11095199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.753741732 meters 0.05670153095385897 Centerline is valid? [True, True] Translation: X:-2.55, Y:0.80, Z:0.21 [[ 9.68253211e-01 2.49958547e-01 2.53860466e-03 -2.54746900e+00] [-2.49958249e-01 9.68256516e-01 -4.39095419e-04 7.98739091e-01] [-2.56777616e-03 -2.09389626e-04 9.99996681e-01 2.11247296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7837417319999997 meters 0.05554615783624 Centerline is valid? [True, True] Translation: X:-2.58, Y:0.80, Z:0.21 [[ 9.68937355e-01 2.47271139e-01 4.16958681e-03 -2.57722510e+00] [-2.47270310e-01 9.68946270e-01 -7.21201885e-04 8.04170997e-01] [-4.21843800e-03 -3.32215577e-04 9.99991047e-01 2.12569360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.813741732 meters 0.05604202902423485 Centerline is valid? [True, True] Translation: X:-2.61, Y:0.81, Z:0.21 [[ 9.69555845e-01 2.44850629e-01 3.10358753e-03 -2.60753444e+00] [-2.44850155e-01 9.69560783e-01 -5.37897848e-04 8.13235639e-01] [-3.14082138e-03 -2.38391882e-04 9.99995039e-01 2.13262297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.843741732 meters 0.05102555214166177 Centerline is valid? [True, True] Translation: X:-2.64, Y:0.82, Z:0.22 [[ 9.71489561e-01 2.37081447e-01 6.47931079e-04 -2.63833129e+00] [-2.37081424e-01 9.71489776e-01 -1.12369442e-04 8.16101742e-01] [-6.56099129e-04 -4.44466832e-05 9.99999784e-01 2.15976165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.873741732 meters 0.048508974988876866 Centerline is valid? [True, True] Translation: X:-2.67, Y:0.82, Z:0.22 [[ 9.72489213e-01 2.32945920e-01 9.64082222e-04 -2.66878875e+00] [-2.32945869e-01 9.72489689e-01 -1.66650393e-04 8.15544808e-01] [-9.76380549e-04 -6.25132616e-05 9.99999521e-01 2.17324506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.903741732 meters 0.048508974988876866 Centerline is valid? [True, True] Translation: X:-2.70, Y:0.82, Z:0.22 [[ 9.72569314e-01 2.32611269e-01 9.62983646e-04 -2.70096941e+00] [-2.32611211e-01 9.72569789e-01 -1.73011300e-04 8.21346222e-01] [-9.76813179e-04 -5.57353111e-05 9.99999521e-01 2.17967661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9337417319999997 meters 0.04890601175611558 Centerline is valid? [True, True] Translation: X:-2.73, Y:0.83, Z:0.21 [[ 9.73517043e-01 2.28576729e-01 -4.15284293e-03 -2.73128364e+00] [-2.28575749e-01 9.73525868e-01 7.15446122e-04 8.29739735e-01] [ 4.20643435e-03 2.52740189e-04 9.99991121e-01 2.10248906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.963741732 meters 0.045936230828198484 Centerline is valid? [True, True] Translation: X:-2.76, Y:0.83, Z:0.21 [[ 9.73779942e-01 2.27405586e-01 -6.27085771e-03 -2.76352301e+00] [-2.27403374e-01 9.73800059e-01 1.07310150e-03 8.31717569e-01] [ 6.35059088e-03 3.81049485e-04 9.99979762e-01 2.10231481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9937417319999997 meters 0.04811346921374888 Centerline is valid? [True, True] Translation: X:-2.79, Y:0.84, Z:0.21 [[ 9.73452878e-01 2.28837592e-01 -4.78021286e-03 -2.79425795e+00] [-2.28836336e-01 9.73464569e-01 8.15398688e-04 8.43140018e-01] [ 4.83996172e-03 3.00134196e-04 9.99988242e-01 2.12388466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.023741732 meters 0.05090678379691511 Centerline is valid? [True, True] Translation: X:-2.82, Y:0.85, Z:0.22 [[ 9.72326055e-01 2.33625870e-01 9.97976151e-04 -2.82440468e+00] [-2.33625816e-01 9.72326565e-01 -1.72137157e-04 8.50888287e-01] [-1.01057442e-03 -6.57795498e-05 9.99999487e-01 2.18314480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0537417319999998 meters 0.05041894083037413 Centerline is valid? [True, True] Translation: X:-2.86, Y:0.86, Z:0.22 [[ 9.72451168e-01 2.33099699e-01 1.80455601e-03 -2.85602653e+00] [-2.33099514e-01 9.72452835e-01 -3.15285138e-04 8.55778294e-01] [-1.82833848e-03 -1.14041728e-04 9.99998322e-01 2.20981267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.083741732 meters 0.04819004303630895 Centerline is valid? [True, True] Translation: X:-2.89, Y:0.85, Z:0.22 [[ 9.73271322e-01 2.29653686e-01 1.45542483e-03 -2.88770466e+00] [-2.29653567e-01 9.73272406e-01 -2.50507672e-04 8.54596273e-01] [-1.47405484e-03 -9.04315722e-05 9.99998909e-01 2.22565656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.113741732 meters 0.04404911373599881 Centerline is valid? [True, True] Translation: X:-2.92, Y:0.85, Z:0.22 [[ 9.74465425e-01 2.24534188e-01 -1.23853227e-03 -2.91934258e+00] [-2.24534099e-01 9.74466209e-01 2.11927551e-04 8.51826089e-01] [ 1.25449282e-03 7.15766563e-05 9.99999211e-01 2.20794193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.143741732 meters 0.04298070841147822 Centerline is valid? [True, True] Translation: X:-2.95, Y:0.85, Z:0.22 [[ 9.75451502e-01 2.20208045e-01 -1.66881400e-03 -2.95036504e+00] [-2.20207877e-01 9.75452925e-01 2.85644031e-04 8.49930800e-01] [ 1.69075061e-03 8.88540901e-05 9.99998567e-01 2.21761090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.173741732 meters 0.04025106939546902 Centerline is valid? [True, True] Translation: X:-2.98, Y:0.85, Z:0.22 [[ 9.77271067e-01 2.11992264e-01 -7.36296002e-04 -2.98214006e+00] [-2.11992230e-01 9.77271344e-01 1.25140163e-04 8.46078378e-01] [ 7.46089729e-04 3.37931708e-05 9.99999721e-01 2.23743929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2037417319999997 meters 0.037350511234365315 Centerline is valid? [True, True] Translation: X:-3.01, Y:0.84, Z:0.22 [[ 9.78395277e-01 2.06742271e-01 -5.61924693e-04 -3.01301300e+00] [-2.06742251e-01 9.78395438e-01 9.44276151e-05 8.42578228e-01] [ 5.69306735e-04 2.37860433e-05 9.99999838e-01 2.23694258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.233741732 meters 0.03632992155154122 Centerline is valid? [True, True] Translation: X:-3.04, Y:0.84, Z:0.23 [[ 9.79849918e-01 1.99735036e-01 2.29992089e-04 -3.04451663e+00] [-1.99735032e-01 9.79849945e-01 -3.98050739e-05 8.39038355e-01] [-2.33308203e-04 -6.93447875e-06 9.99999973e-01 2.27112356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2637417319999997 meters 0.03342019328139803 Centerline is valid? [True, True] Translation: X:-3.08, Y:0.84, Z:0.23 [[ 9.80578012e-01 1.96128418e-01 6.37825319e-04 -3.07641621e+00] [-1.96128387e-01 9.80578219e-01 -1.10890364e-04 8.42227511e-01] [-6.47186367e-04 -1.63589985e-05 9.99999790e-01 2.28950870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.293741732 meters 0.0323343198358532 Centerline is valid? [True, True] Translation: X:-3.11, Y:0.85, Z:0.23 [[ 9.80975056e-01 1.94133723e-01 1.90131395e-04 -3.10710381e+00] [-1.94133720e-01 9.80975075e-01 -3.79745989e-05 8.45792202e-01] [-1.93886310e-04 3.41219316e-07 9.99999981e-01 2.32266701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.323741732 meters 0.030155065320771265 Centerline is valid? [True, True] Translation: X:-3.14, Y:0.85, Z:0.23 [[ 9.81045478e-01 1.93775870e-01 -8.25990897e-04 -3.13829835e+00] [-1.93775825e-01 9.81045825e-01 1.34920397e-04 8.53097307e-01] [ 8.36479238e-04 2.76940224e-05 9.99999650e-01 2.31122569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.353741732 meters 0.03180964860291003 Centerline is valid? [True, True] Translation: X:-3.17, Y:0.86, Z:0.24 [[ 9.80421864e-01 1.96884252e-01 -3.09198005e-03 -3.16759129e+00] [-1.96883568e-01 9.80426735e-01 5.26908434e-04 8.61803886e-01] [ 3.13519988e-03 9.21675169e-05 9.99995081e-01 2.35428017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.383741732 meters 0.0328151648235189 Centerline is valid? [True, True] Translation: X:-3.20, Y:0.87, Z:0.24 [[ 9.79850882e-01 1.99694993e-01 -3.76287518e-03 -3.19834673e+00] [-1.99694005e-01 9.79858099e-01 6.40237650e-04 8.70515553e-01] [ 3.81493598e-03 1.24086191e-04 9.99992715e-01 2.39134721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4137417319999996 meters 0.035862780733894345 Centerline is valid? [True, True] Translation: X:-3.23, Y:0.88, Z:0.24 [[ 9.78455929e-01 2.06383257e-01 -5.47234788e-03 -3.22707498e+00] [-2.06381265e-01 9.78471208e-01 9.32403508e-04 8.84150603e-01] [ 5.54696731e-03 2.17074336e-04 9.99984592e-01 2.37756921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.443741732 meters 0.0392264843580376 Centerline is valid? [True, True] Translation: X:-3.26, Y:0.90, Z:0.24 [[ 9.76824842e-01 2.13913905e-01 -7.35321102e-03 -3.25608687e+00] [-2.13910524e-01 9.76852455e-01 1.25251181e-03 8.96386355e-01] [ 7.45093193e-03 3.49444571e-04 9.99972180e-01 2.37258177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4737417319999997 meters 0.04555653713156694 Centerline is valid? [True, True] Translation: X:-3.29, Y:0.91, Z:0.24 [[ 9.74647770e-01 2.23641248e-01 -6.80564338e-03 -3.28500611e+00] [-2.23638588e-01 9.74671451e-01 1.15915551e-03 9.11414025e-01] [ 6.89250129e-03 3.92236139e-04 9.99976170e-01 2.39018528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.503741732 meters 0.052033691457938194 Centerline is valid? [True, True] Translation: X:-3.31, Y:0.92, Z:0.25 [[ 9.72086321e-01 2.34607461e-01 -2.74279123e-03 -3.31402738e+00] [-2.34607074e-01 9.72090172e-01 4.66594860e-04 9.24031454e-01] [ 2.77570704e-03 1.89907744e-04 9.99996130e-01 2.45866027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5337417319999997 meters 0.05165638723002984 Centerline is valid? [True, True] Translation: X:-3.34, Y:0.93, Z:0.25 [[ 9.71313653e-01 2.37797362e-01 -1.48399426e-03 -3.34455255e+00] [-2.37797253e-01 9.71314781e-01 2.51904140e-04 9.29753528e-01] [ 1.50132770e-03 1.08211828e-04 9.99998867e-01 2.51203531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.563741732 meters 0.05606337028939947 Centerline is valid? [True, True] Translation: X:-3.37, Y:0.94, Z:0.25 [[ 9.70741272e-01 2.40127545e-01 3.80778032e-04 -3.37468125e+00] [-2.40127537e-01 9.70741346e-01 -6.56804818e-05 9.40787242e-01] [-3.85408672e-04 -2.76765367e-05 9.99999925e-01 2.53161125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.593741732 meters 0.05474375537438633 Centerline is valid? [True, True] Translation: X:-3.41, Y:0.94, Z:0.25 [[ 9.71112797e-01 2.38620830e-01 -1.89436539e-04 -3.40721081e+00] [-2.38620829e-01 9.71112815e-01 2.94541103e-05 9.41512714e-01] [ 1.90992615e-04 1.66002406e-05 9.99999982e-01 2.53283666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6237417319999996 meters 0.05179351107621689 Centerline is valid? [True, True] Translation: X:-3.44, Y:0.94, Z:0.25 [[ 9.71893451e-01 2.35410863e-01 -2.20140760e-03 -3.43825278e+00] [-2.35410616e-01 9.71895932e-01 3.74076395e-04 9.40400252e-01] [ 2.22760074e-03 1.54672323e-04 9.99997507e-01 2.54956876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.653741732 meters 0.05271049261775263 Centerline is valid? [True, True] Translation: X:-3.47, Y:0.95, Z:0.26 [[ 9.72885857e-01 2.31272658e-01 -2.46328603e-03 -3.46820499e+00] [-2.31272336e-01 9.72888962e-01 4.18575298e-04 9.47960053e-01] [ 2.49330881e-03 1.62463926e-04 9.99996879e-01 2.57200562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6837417319999997 meters 0.05104923041830774 Centerline is valid? [True, True] Translation: X:-3.50, Y:0.95, Z:0.26 [[ 9.73242820e-01 2.29773981e-01 -1.52666434e-03 -3.49945784e+00] [-2.29773864e-01 9.73244012e-01 2.53984795e-04 9.49622798e-01] [ 1.54417602e-03 1.03598687e-04 9.99998802e-01 2.61463113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.713741732 meters 0.04962223349257784 Centerline is valid? [True, True] Translation: X:-3.53, Y:0.95, Z:0.26 [[ 9.73586798e-01 2.28305433e-01 -2.31862059e-03 -3.53107986e+00] [-2.28305155e-01 9.73589547e-01 3.87342431e-04 9.54235846e-01] [ 2.34581715e-03 1.52241555e-04 9.99997237e-01 2.61537005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7437417319999997 meters 0.049770090118258184 Centerline is valid? [True, True] Translation: X:-3.56, Y:0.96, Z:0.26 [[ 9.73526481e-01 2.28546974e-01 -3.53144157e-03 -3.56239883e+00] [-2.28546324e-01 9.73532859e-01 5.91908461e-04 9.61261015e-01] [ 3.57325330e-03 2.30859429e-04 9.99993589e-01 2.63442087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.773741732 meters 0.04995736179044846 Centerline is valid? [True, True] Translation: X:-3.59, Y:0.97, Z:0.26 [[ 9.73330345e-01 2.29275233e-01 -7.80427924e-03 -3.59298779e+00] [-2.29271996e-01 9.73361501e-01 1.31898744e-03 9.70450461e-01] [ 7.89879611e-03 5.05492178e-04 9.99968676e-01 2.61554929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8037417319999998 meters 0.051303876897184186 Centerline is valid? [True, True] Translation: X:-3.62, Y:0.98, Z:0.26 [[ 9.72774329e-01 2.31667158e-01 -6.35875290e-03 -3.62311589e+00] [-2.31665060e-01 9.72795017e-01 1.07460273e-03 9.80060504e-01] [ 6.43471329e-03 4.27754926e-04 9.99979206e-01 2.60410326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.833741732 meters 0.0522810062521014 Centerline is valid? [True, True] Translation: X:-3.65, Y:0.99, Z:0.27 [[ 9.71957296e-01 2.35060718e-01 -6.74344966e-03 -3.65225441e+00] [-2.35058434e-01 9.71980572e-01 1.14047750e-03 9.87859068e-01] [ 6.82258351e-03 4.76609292e-04 9.99976612e-01 2.65277790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.863741732 meters 0.05170398282680939 Centerline is valid? [True, True] Translation: X:-3.68, Y:0.99, Z:0.27 [[ 9.72165791e-01 2.34238008e-01 -5.12157273e-03 -3.68396384e+00] [-2.34236718e-01 9.72179213e-01 8.58876269e-04 9.91575141e-01] [ 5.18026802e-03 3.64690259e-04 9.99986516e-01 2.68520297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8937417319999996 meters 0.04950144972623905 Centerline is valid? [True, True] Translation: X:-3.72, Y:0.99, Z:0.27 [[ 9.73073811e-01 2.30467399e-01 -3.48358825e-03 -3.71581261e+00] [-2.30466766e-01 9.73080020e-01 5.87632055e-04 9.90399949e-01] [ 3.52524015e-03 2.31041953e-04 9.99993760e-01 2.71956579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.923741732 meters 0.0468332702366307 Centerline is valid? [True, True] Translation: X:-3.75, Y:0.99, Z:0.27 [[ 9.73977960e-01 2.26613329e-01 -3.65130496e-03 -3.74695056e+00] [-2.26612606e-01 9.73984778e-01 6.15864269e-04 9.90221470e-01] [ 3.69587850e-03 2.27593508e-04 9.99993144e-01 2.74096322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9537417319999997 meters 0.04544126884026403 Centerline is valid? [True, True] Translation: X:-3.78, Y:0.99, Z:0.27 [[ 9.75704220e-01 2.19074566e-01 -2.75847817e-03 -3.77889059e+00] [-2.19074126e-01 9.75708108e-01 4.64546111e-04 9.87011918e-01] [ 2.79323976e-03 1.51051594e-04 9.99996087e-01 2.73373898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.983741732 meters 0.045592346170294284 Centerline is valid? [True, True] Translation: X:-3.81, Y:0.99, Z:0.27 [[ 9.77153328e-01 2.12525336e-01 -2.08694111e-03 -3.81077393e+00] [-2.12525068e-01 9.77155551e-01 3.51583593e-04 9.85629593e-01] [ 2.11398651e-03 9.99762237e-05 9.99997761e-01 2.73426943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.013741732 meters 0.039209230845277915 Centerline is valid? [True, True] Translation: X:-3.84, Y:0.98, Z:0.27 [[ 9.78534851e-01 2.06038708e-01 -4.19469402e-03 -3.84225056e+00] [-2.06037566e-01 9.78543827e-01 7.07185539e-04 9.83161853e-01] [ 4.25039954e-03 1.72258852e-04 9.99990952e-01 2.73814678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.043741732 meters 0.033319519281828504 Centerline is valid? [True, True] Translation: X:-3.87, Y:0.98, Z:0.28 [[ 9.80277632e-01 1.97571271e-01 -4.62129400e-03 -3.87346226e+00] [-1.97569795e-01 9.80288514e-01 7.78318261e-04 9.78074436e-01] [ 4.68397475e-03 1.50060126e-04 9.99989019e-01 2.79632047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.073741732 meters 0.03406565346047269 Centerline is valid? [True, True] Translation: X:-3.91, Y:0.98, Z:0.28 [[ 9.80792772e-01 1.95017461e-01 -3.70510614e-03 -3.90506914e+00] [-1.95016516e-01 9.80799764e-01 6.18246341e-04 9.80273396e-01] [ 3.75453606e-03 1.16185348e-04 9.99992945e-01 2.81390861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1037417320000005 meters 0.03439117520266954 Centerline is valid? [True, True] Translation: X:-3.94, Y:0.98, Z:0.28 [[ 9.81517397e-01 1.91361395e-01 -2.10122639e-03 -3.93702761e+00] [-1.91361080e-01 9.81519645e-01 3.51864114e-04 9.84763142e-01] [ 2.12972819e-03 5.67322025e-05 9.99997731e-01 2.82516572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.133741732 meters 0.03585436399716201 Centerline is valid? [True, True] Translation: X:-3.97, Y:0.99, Z:0.28 [[ 9.81713580e-01 1.90333684e-01 -3.39631600e-03 -3.96815340e+00] [-1.90332869e-01 9.81719451e-01 5.64727978e-04 9.93431181e-01] [ 3.44171623e-03 9.20294420e-05 9.99994073e-01 2.79682808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.163741732 meters 0.034940183177160127 Centerline is valid? [True, True] Translation: X:-4.00, Y:1.00, Z:0.28 [[ 9.81891917e-01 1.89395570e-01 -4.19312326e-03 -3.99932593e+00] [-1.89394308e-01 9.81900864e-01 6.99656082e-04 9.98457979e-01] [ 4.24974312e-03 1.07167026e-04 9.99990964e-01 2.80248937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.193741732 meters 0.030472229100373626 Centerline is valid? [True, True] Translation: X:-4.03, Y:1.00, Z:0.28 [[ 9.81898057e-01 1.89294317e-01 -6.62323342e-03 -4.03079850e+00] [-1.89291179e-01 9.81920380e-01 1.10331583e-03 1.00273246e+00] [ 6.71233929e-03 1.70375994e-04 9.99977457e-01 2.83432263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.223741732000001 meters 0.032676704982916256 Centerline is valid? [True, True] Translation: X:-4.06, Y:1.01, Z:0.29 [[ 9.81392881e-01 1.91959975e-01 -4.40230784e-03 -4.06208501e+00] [-1.91958630e-01 9.81402747e-01 7.29974919e-04 1.01225511e+00] [ 4.46056297e-03 1.28668791e-04 9.99990043e-01 2.85538949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.253741732 meters 0.03393574560509982 Centerline is valid? [True, True] Translation: X:-4.09, Y:1.02, Z:0.29 [[ 9.80901750e-01 1.94464076e-01 -3.93442366e-03 -4.09292266e+00] [-1.94463029e-01 9.80909632e-01 6.50600004e-04 1.02415329e+00] [ 3.98583240e-03 1.26925261e-04 9.99992048e-01 2.88416512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.283741732 meters 0.03656357358140963 Centerline is valid? [True, True] Translation: X:-4.12, Y:1.03, Z:0.29 [[ 9.80476932e-01 1.96629514e-01 -1.34899234e-03 -4.12359493e+00] [-1.96629398e-01 9.80477859e-01 2.19351472e-04 1.03245447e+00] [ 1.36578809e-03 5.01824927e-05 9.99999066e-01 2.92344895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.313741732 meters 0.03744096444166588 Centerline is valid? [True, True] Translation: X:-4.15, Y:1.04, Z:0.29 [[ 9.80175809e-01 1.98126491e-01 -1.12966559e-03 -4.15471738e+00] [-1.98126413e-01 9.80176459e-01 1.82003831e-04 1.04230743e+00] [ 1.14333140e-03 4.54208385e-05 9.99999345e-01 2.91259277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.343741732000001 meters 0.036805221705610916 Centerline is valid? [True, True] Translation: X:-4.19, Y:1.05, Z:0.29 [[ 9.80331124e-01 1.97343159e-01 -2.56206463e-03 -4.18568292e+00] [-1.97342728e-01 9.80334468e-01 4.22376356e-04 1.04684780e+00] [ 2.59503335e-03 9.15361358e-05 9.99996629e-01 2.90809239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.373741732 meters 0.03247035177481408 Centerline is valid? [True, True] Translation: X:-4.22, Y:1.05, Z:0.29 [[ 9.81132056e-01 1.93308489e-01 -3.42283282e-03 -4.21780658e+00] [-1.93307688e-01 9.81138021e-01 5.66625767e-04 1.04868018e+00] [ 3.46780499e-03 1.05725192e-04 9.99993982e-01 2.94665374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.403741732 meters 0.03351334356718887 Centerline is valid? [True, True] Translation: X:-4.25, Y:1.05, Z:0.30 [[ 9.81620385e-01 1.90839771e-01 -1.26510130e-03 -4.24888311e+00] [-1.90839666e-01 9.81621200e-01 2.04262500e-04 1.05063800e+00] [ 1.28083167e-03 4.09232763e-05 9.99999179e-01 2.96769902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4337417320000005 meters 0.029047044235257252 Centerline is valid? [True, True] Translation: X:-4.28, Y:1.05, Z:0.30 [[ 9.83032548e-01 1.83385047e-01 -4.11502714e-03 -4.28190480e+00] [-1.83383807e-01 9.83041157e-01 6.80026535e-04 1.05000217e+00] [ 4.16994774e-03 8.61411246e-05 9.99991302e-01 2.95768626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.463741732 meters 0.027025971027810288 Centerline is valid? [True, True] Translation: X:-4.31, Y:1.05, Z:0.30 [[ 9.84080294e-01 1.77687168e-01 -3.63944253e-03 -4.31426216e+00] [-1.77686176e-01 9.84087022e-01 5.96598027e-04 1.04979931e+00] [ 3.68753598e-03 5.95782649e-05 9.99993199e-01 2.98130858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.493741732 meters 0.026718767636145318 Centerline is valid? [True, True] Translation: X:-4.35, Y:1.05, Z:0.30 [[ 9.84620104e-01 1.74676416e-01 -3.37647990e-03 -4.34596221e+00] [-1.74675549e-01 9.84625892e-01 5.52170878e-04 1.05257896e+00] [ 3.42102076e-03 4.61099334e-05 9.99994147e-01 2.98874049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.523741732 meters 0.029531787114975293 Centerline is valid? [True, True] Translation: X:-4.38, Y:1.05, Z:0.30 [[ 9.85242333e-01 1.71095013e-01 -4.90330985e-03 -4.37823422e+00] [-1.71093142e-01 9.85254533e-01 8.01834060e-04 1.05462037e+00] [ 4.96819807e-03 4.89218277e-05 9.99987657e-01 2.96436047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.553741732000001 meters 0.027495244820878773 Centerline is valid? [True, True] Translation: X:-4.41, Y:1.06, Z:0.30 [[ 9.85954378e-01 1.66868727e-01 -6.98509132e-03 -4.41051393e+00] [-1.66864816e-01 9.85979121e-01 1.14316418e-03 1.05641292e+00] [ 7.07791255e-03 3.84582489e-05 9.99974951e-01 2.96651869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.583741732 meters 0.029854239319439396 Centerline is valid? [True, True] Translation: X:-4.44, Y:1.06, Z:0.30 [[ 9.86272194e-01 1.65070562e-01 -4.34385692e-03 -4.44244029e+00] [-1.65069048e-01 9.86281759e-01 7.07395084e-04 1.06040345e+00] [ 4.40103695e-03 1.93522241e-05 9.99990315e-01 2.98251375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.613741732 meters 0.027646102382138587 Centerline is valid? [True, True] Translation: X:-4.47, Y:1.07, Z:0.30 [[ 9.86492008e-01 1.63742628e-01 -4.67648713e-03 -4.47408598e+00] [-1.63740864e-01 9.86503093e-01 7.60153007e-04 1.06573492e+00] [ 4.73783847e-03 1.58471755e-05 9.99988776e-01 2.99737444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6437417320000005 meters 0.027407632230803905 Centerline is valid? [True, True] Translation: X:-4.51, Y:1.07, Z:0.30 [[ 9.86291938e-01 1.64961033e-01 -4.00884219e-03 -4.50603050e+00] [-1.64959758e-01 9.86300085e-01 6.48883851e-04 1.07471349e+00] [ 4.06096194e-03 2.13087268e-05 9.99991754e-01 2.99315961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.673741732 meters 0.025883693866534416 Centerline is valid? [True, True] Translation: X:-4.54, Y:1.08, Z:0.30 [[ 9.85992759e-01 1.66717865e-01 -4.84077614e-03 -4.53698159e+00] [-1.66716020e-01 9.86004641e-01 7.84925573e-04 1.08350177e+00] [ 4.90388885e-03 3.31040008e-05 9.99987975e-01 3.00669619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.703741732 meters 0.026989571795004948 Centerline is valid? [True, True] Translation: X:-4.57, Y:1.09, Z:0.30 [[ 9.85209971e-01 1.71258547e-01 -5.64112398e-03 -4.56643811e+00] [-1.71256121e-01 9.85226119e-01 9.13959923e-04 1.09469506e+00] [ 5.71430613e-03 6.56345791e-05 9.99983671e-01 3.02410840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.733741732 meters 0.030916857453482702 Centerline is valid? [True, True] Translation: X:-4.60, Y:1.11, Z:0.30 [[ 9.84316595e-01 1.76352540e-01 -4.54129131e-03 -4.59716430e+00] [-1.76351035e-01 9.84327067e-01 7.32856162e-04 1.10764128e+00] [ 4.59935700e-03 7.94989406e-05 9.99989420e-01 3.02077116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.763741732000001 meters 0.02781201148590948 Centerline is valid? [True, True] Translation: X:-4.63, Y:1.12, Z:0.30 [[ 9.84332036e-01 1.76222740e-01 -5.99904065e-03 -4.62708161e+00] [-1.76220107e-01 9.84350311e-01 9.68951822e-04 1.11551326e+00] [ 6.07590888e-03 1.03381264e-04 9.99981536e-01 3.04096011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.793741732 meters 0.02781201148590948 Centerline is valid? [True, True] Translation: X:-4.66, Y:1.12, Z:0.30 [[ 9.84390153e-01 1.75897790e-01 -5.99956463e-03 -4.65924503e+00] [-1.75895170e-01 9.84408430e-01 9.65716573e-04 1.12098324e+00] [ 6.07588941e-03 1.04652558e-04 9.99981536e-01 3.04736130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.823741732 meters 0.028001837674423564 Centerline is valid? [True, True] Translation: X:-4.69, Y:1.13, Z:0.30 [[ 9.84596165e-01 1.74735683e-01 -6.15085207e-03 -4.69191598e+00] [-1.74732919e-01 9.84615372e-01 9.88156970e-04 1.12660887e+00] [ 6.22888979e-03 1.01820774e-04 9.99980595e-01 3.04218963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8537417320000005 meters 0.02973489681036929 Centerline is valid? [True, True] Translation: X:-4.72, Y:1.13, Z:0.30 [[ 9.84830556e-01 1.73466784e-01 -4.24861993e-03 -4.72343994e+00] [-1.73465461e-01 9.84839718e-01 6.80557111e-04 1.13105108e+00] [ 4.30226371e-03 6.67553783e-05 9.99990743e-01 3.04728137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.883741732 meters 0.03203341533084015 Centerline is valid? [True, True] Translation: X:-4.75, Y:1.14, Z:0.31 [[ 9.85278313e-01 1.70911245e-01 -3.99897813e-03 -4.75497514e+00] [-1.70910060e-01 9.85286427e-01 6.38630138e-04 1.13536120e+00] [ 4.04928794e-03 5.42371673e-05 9.99991800e-01 3.06800033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.913741732 meters 0.02685647612172925 Centerline is valid? [True, True] Translation: X:-4.79, Y:1.14, Z:0.31 [[ 9.86143520e-01 1.65830899e-01 -4.59028115e-03 -4.78688374e+00] [-1.65829286e-01 9.86154203e-01 7.32520601e-04 1.13902544e+00] [ 4.64819960e-03 3.88326007e-05 9.99989196e-01 3.08903582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.943741732 meters 0.02908219165984394 Centerline is valid? [True, True] Translation: X:-4.82, Y:1.15, Z:0.31 [[ 9.86299329e-01 1.64956856e-01 -1.69401713e-03 -4.81822866e+00] [-1.64956642e-01 9.86300783e-01 2.66138095e-04 1.14778182e+00] [ 1.71471172e-03 1.69475514e-05 9.99998530e-01 3.12861758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.973741732000001 meters 0.028756724793255653 Centerline is valid? [True, True] Translation: X:-4.85, Y:1.16, Z:0.31 [[ 9.86390148e-01 1.64411983e-01 -1.78208601e-03 -4.85025464e+00] [-1.64411748e-01 9.86391758e-01 2.78981684e-04 1.15856645e+00] [ 1.80370288e-03 1.78110902e-05 9.99998373e-01 3.11756499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.003741732 meters 0.02996970345186766 Centerline is valid? [True, True] Translation: X:-4.88, Y:1.17, Z:0.32 [[ 9.86252818e-01 1.65241320e-01 -8.27990659e-04 -4.88082260e+00] [-1.65241270e-01 9.86253165e-01 1.29339572e-04 1.16623391e+00] [ 8.37980650e-04 9.25671063e-06 9.99999649e-01 3.16732536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.033741732 meters 0.027290161905935435 Centerline is valid? [True, True] Translation: X:-4.91, Y:1.18, Z:0.32 [[ 9.86081302e-01 1.66236544e-01 -3.01271044e-03 -4.91224700e+00] [-1.66235854e-01 9.86085904e-01 4.79769124e-04 1.17715461e+00] [ 3.05054646e-03 2.77291290e-05 9.99995347e-01 3.15241928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.063741732 meters 0.025458821280420825 Centerline is valid? [True, True] Translation: X:-4.94, Y:1.19, Z:0.31 [[ 9.85927237e-01 1.67057440e-01 -6.26854600e-03 -4.94214726e+00] [-1.67054469e-01 9.85947163e-01 9.98298838e-04 1.18616827e+00] [ 6.34722840e-03 6.29386091e-05 9.99979854e-01 3.14978060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.093741732 meters 0.02717230458007421 Centerline is valid? [True, True] Translation: X:-4.97, Y:1.20, Z:0.32 [[ 9.84943529e-01 1.72732071e-01 -7.06229950e-03 -4.97252013e+00] [-1.72728475e-01 9.84968841e-01 1.12049570e-03 1.19930047e+00] [ 7.14969050e-03 1.16235233e-04 9.99974434e-01 3.15637665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.123741732 meters 0.032841708317034 Centerline is valid? [True, True] Translation: X:-5.00, Y:1.21, Z:0.32 [[ 9.83720256e-01 1.79657624e-01 -4.19473591e-03 -5.00333680e+00] [-1.79656415e-01 9.83729195e-01 6.66438540e-04 1.21290121e+00] [ 4.24621494e-03 9.80221246e-05 9.99990980e-01 3.17218126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.153741732 meters 0.03402824455966257 Centerline is valid? [True, True] Translation: X:-5.03, Y:1.22, Z:0.32 [[ 9.83281975e-01 1.82043241e-01 -4.10081009e-03 -5.03477179e+00] [-1.82042127e-01 9.83290520e-01 6.46440615e-04 1.22214843e+00] [ 4.14996783e-03 1.10886788e-04 9.99991383e-01 3.18921265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1837417320000005 meters 0.03211645763465119 Centerline is valid? [True, True] Translation: X:-5.07, Y:1.23, Z:0.32 [[ 9.83160967e-01 1.82721381e-01 -2.72211188e-03 -5.06671145e+00] [-1.82720903e-01 9.83164732e-01 4.25291568e-04 1.23051310e+00] [ 2.75399426e-03 7.92566733e-05 9.99996205e-01 3.20638105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.213741732 meters 0.033656048834469224 Centerline is valid? [True, True] Translation: X:-5.10, Y:1.24, Z:0.32 [[ 9.83428352e-01 1.81267276e-01 -3.29425881e-03 -5.09810515e+00] [-1.81266564e-01 9.83433865e-01 5.15948776e-04 1.23706694e+00] [ 3.33321030e-03 8.97403211e-05 9.99994441e-01 3.20165812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.243741732 meters 0.028839982339286228 Centerline is valid? [True, True] Translation: X:-5.13, Y:1.24, Z:0.32 [[ 9.84059379e-01 1.77751018e-01 -5.63144944e-03 -5.13010414e+00] [-1.77748865e-01 9.84075484e-01 8.84690425e-04 1.24007789e+00] [ 5.69902596e-03 1.30395834e-04 9.99983752e-01 3.21485145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.273741732 meters 0.027466897320103646 Centerline is valid? [True, True] Translation: X:-5.16, Y:1.24, Z:0.32 [[ 9.84835728e-01 1.73405774e-01 -5.38767020e-03 -5.16256064e+00] [-1.73403719e-01 9.84850460e-01 8.49787338e-04 1.24143671e+00] [ 5.45340750e-03 9.73411179e-05 9.99985125e-01 3.22922687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.303741732 meters 0.030858137129666195 Centerline is valid? [True, True] Translation: X:-5.19, Y:1.24, Z:0.33 [[ 9.85310225e-01 1.70754451e-01 -2.58435595e-03 -5.19325202e+00] [-1.70753970e-01 9.85313613e-01 4.07481981e-04 1.24372533e+00] [ 2.61598046e-03 3.97928748e-05 9.99996578e-01 3.25654545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.333741732 meters 0.02757545391432805 Centerline is valid? [True, True] Translation: X:-5.23, Y:1.25, Z:0.32 [[ 9.86158168e-01 1.65770880e-01 -3.47622592e-03 -5.22573906e+00] [-1.65769998e-01 9.86164293e-01 5.42341675e-04 1.24595559e+00] [ 3.51803434e-03 4.14192897e-05 9.99993811e-01 3.23367112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.363741732 meters 0.02641014192215147 Centerline is valid? [True, True] Translation: X:-5.26, Y:1.25, Z:0.32 [[ 9.86681891e-01 1.62628775e-01 -3.27532175e-03 -5.25768426e+00] [-1.62627978e-01 9.86687327e-01 5.09741049e-04 1.24986255e+00] [ 3.31461702e-03 2.97066924e-05 9.99994506e-01 3.23854266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3937417320000005 meters 0.024205924663342326 Centerline is valid? [True, True] Translation: X:-5.29, Y:1.26, Z:0.33 [[ 9.86737813e-01 1.62302362e-01 -2.53596902e-03 -5.28831219e+00] [-1.62301887e-01 9.86741072e-01 3.93133890e-04 1.25654323e+00] [ 2.56615134e-03 2.36724818e-05 9.99996707e-01 3.28489586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.423741732 meters 0.028802319810794532 Centerline is valid? [True, True] Translation: X:-5.32, Y:1.27, Z:0.33 [[ 9.86335163e-01 1.64738208e-01 -2.06630391e-03 -5.31998955e+00] [-1.64737903e-01 9.86337327e-01 3.18252502e-04 1.26523029e+00] [ 2.09050102e-03 2.64949397e-05 9.99997815e-01 3.27945018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.453741732 meters 0.02714032899415475 Centerline is valid? [True, True] Translation: X:-5.35, Y:1.27, Z:0.33 [[ 9.85902954e-01 1.67252338e-01 -4.69269798e-03 -5.35086199e+00] [-1.67250764e-01 9.85914120e-01 7.28671258e-04 1.27477403e+00] [ 4.74846917e-03 6.64581751e-05 9.99988724e-01 3.29025203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.483741732 meters 0.02677143668753084 Centerline is valid? [True, True] Translation: X:-5.38, Y:1.28, Z:0.33 [[ 9.85468533e-01 1.69725178e-01 -6.71823681e-03 -5.38211596e+00] [-1.69722006e-01 9.85491426e-01 1.04369541e-03 1.28370278e+00] [ 6.79790616e-03 1.11703646e-04 9.99976888e-01 3.28144135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.513741732000001 meters 0.027860887388879384 Centerline is valid? [True, True] Translation: X:-5.41, Y:1.29, Z:0.33 [[ 9.84666979e-01 1.74277784e-01 -7.62854152e-03 -5.41155831e+00] [-1.74273788e-01 9.84696516e-01 1.19058827e-03 1.29451734e+00] [ 7.71929134e-03 1.57121876e-04 9.99970193e-01 3.26929302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.543741732 meters 0.03243600137788624 Centerline is valid? [True, True] Translation: X:-5.44, Y:1.31, Z:0.33 [[ 9.83816859e-01 1.79124035e-01 -4.35530088e-03 -5.44240183e+00] [-1.79122810e-01 9.83826492e-01 6.73034953e-04 1.30576213e+00] [ 4.40541712e-03 1.17990598e-04 9.99990289e-01 3.30421987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.573741732 meters 0.030171057504161124 Centerline is valid? [True, True] Translation: X:-5.47, Y:1.31, Z:0.33 [[ 9.83474707e-01 1.80986403e-01 -4.62849880e-03 -5.47301428e+00] [-1.80985043e-01 9.83485589e-01 7.14454441e-04 1.31230901e+00] [ 4.68136841e-03 1.35041184e-04 9.99989033e-01 3.34096178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6037417320000005 meters 0.0344309857517861 Centerline is valid? [True, True] Translation: X:-5.50, Y:1.32, Z:0.33 [[ 9.83114847e-01 1.82957944e-01 -3.40431046e-03 -5.50353253e+00] [-1.82957230e-01 9.83120735e-01 5.22406994e-04 1.32463761e+00] [ 3.44242671e-03 1.09257141e-04 9.99994069e-01 3.31307641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.633741732 meters 0.03517122675334294 Centerline is valid? [True, True] Translation: X:-5.54, Y:1.33, Z:0.33 [[ 9.83132646e-01 1.82871073e-01 -2.89328668e-03 -5.53629435e+00] [-1.82870564e-01 9.83136899e-01 4.41727853e-04 1.33217932e+00] [ 2.92527614e-03 9.48198927e-05 9.99995717e-01 3.33011197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.663741732 meters 0.031773852377316746 Centerline is valid? [True, True] Translation: X:-5.57, Y:1.34, Z:0.33 [[ 9.83638466e-01 1.80082886e-01 -5.05187576e-03 -5.56797738e+00] [-1.80081277e-01 9.83651428e-01 7.75479304e-04 1.33543373e+00] [ 5.10893536e-03 1.46956963e-04 9.99986939e-01 3.34823218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.693741732 meters 0.029988208087018096 Centerline is valid? [True, True] Translation: X:-5.60, Y:1.34, Z:0.33 [[ 9.84092001e-01 1.77554266e-01 -6.11679229e-03 -5.59954104e+00] [-1.77551858e-01 9.84110998e-01 9.38833760e-04 1.33876928e+00] [ 6.18629650e-03 1.62149043e-04 9.99980852e-01 3.33484128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.723741732000001 meters 0.03349502764040592 Centerline is valid? [True, True] Translation: X:-5.63, Y:1.34, Z:0.33 [[ 9.84166578e-01 1.77131982e-01 -6.35666225e-03 -5.63148634e+00] [-1.77129391e-01 9.84187092e-01 9.72864424e-04 1.34268400e+00] [ 6.42847034e-03 1.68491058e-04 9.99979323e-01 3.31378869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.753741732 meters 0.03193207037353377 Centerline is valid? [True, True] Translation: X:-5.66, Y:1.35, Z:0.33 [[ 9.83985967e-01 1.78001506e-01 -9.33164312e-03 -5.66258100e+00] [-1.77995891e-01 9.84030183e-01 1.43553712e-03 1.35019901e+00] [ 9.43814626e-03 2.48445750e-04 9.99955429e-01 3.30461014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.783741732 meters 0.03705753167030212 Centerline is valid? [True, True] Translation: X:-5.69, Y:1.36, Z:0.33 [[ 9.82540526e-01 1.85867366e-01 -8.21196557e-03 -5.69150799e+00] [-1.85863282e-01 9.82574802e-01 1.26440748e-03 1.36077684e+00] [ 8.30388253e-03 2.83971285e-04 9.99965482e-01 3.31027816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.813741732 meters 0.039607134670671715 Centerline is valid? [True, True] Translation: X:-5.72, Y:1.37, Z:0.33 [[ 9.80630621e-01 1.95679544e-01 -8.54991751e-03 -5.72082215e+00] [-1.95675492e-01 9.80667818e-01 1.31598823e-03 1.37394581e+00] [ 8.64214093e-03 3.82510958e-04 9.99962583e-01 3.33514708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.843741732 meters 0.043182908471030707 Centerline is valid? [True, True] Translation: X:-5.75, Y:1.38, Z:0.34 [[ 9.79300468e-01 2.02270812e-01 -7.55718690e-03 -5.75104800e+00] [-2.02267847e-01 9.79329549e-01 1.16256988e-03 1.38304573e+00] [ 7.63613039e-03 3.90070694e-04 9.99970768e-01 3.35666204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.873741732 meters 0.04573037324737826 Centerline is valid? [True, True] Translation: X:-5.78, Y:1.39, Z:0.34 [[ 9.78010875e-01 2.08475356e-01 -5.72322462e-03 -5.78093347e+00] [-2.08473758e-01 9.78027564e-01 8.80929356e-04 1.38719908e+00] [ 5.78112349e-03 3.31583654e-04 9.99983234e-01 3.40666495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.903741732 meters 0.04542649887720737 Centerline is valid? [True, True] Translation: X:-5.81, Y:1.39, Z:0.34 [[ 9.77944098e-01 2.08822478e-01 -4.30271105e-03 -5.81434472e+00] [-2.08821614e-01 9.77953529e-01 6.54149012e-04 1.38800935e+00] [ 4.34445247e-03 2.58777898e-04 9.99990529e-01 3.40323051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9337417320000005 meters 0.049558268100448576 Centerline is valid? [True, True] Translation: X:-5.85, Y:1.39, Z:0.33 [[ 9.78091498e-01 2.08048464e-01 -7.27033219e-03 -5.84756120e+00] [-2.08045952e-01 9.78118425e-01 1.10854519e-03 1.38735669e+00] [ 7.34187700e-03 4.28304551e-04 9.99972956e-01 3.34656153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.963741732 meters 0.04818566089666798 Centerline is valid? [True, True] Translation: X:-5.88, Y:1.38, Z:0.33 [[ 9.78194667e-01 2.07257725e-01 -1.33950842e-02 -5.87970996e+00] [-2.07248987e-01 9.78286075e-01 2.05248771e-03 1.37992128e+00] [ 1.35296183e-02 7.68385093e-04 9.99908175e-01 3.27044631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.993741732 meters 0.04557677486822185 Centerline is valid? [True, True] Translation: X:-5.91, Y:1.37, Z:0.33 [[ 9.77755878e-01 2.09136175e-01 -1.59844879e-02 -5.91126678e+00] [-2.09123983e-01 9.77886068e-01 2.44915098e-03 1.37310156e+00] [ 1.61432141e-02 9.48068014e-04 9.99869240e-01 3.30438505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.023741732 meters 0.049872217716578286 Centerline is valid? [True, True] Translation: X:-5.94, Y:1.37, Z:0.34 [[ 9.76745770e-01 2.14034143e-01 -1.25333861e-02 -5.94372886e+00] [-2.14027063e-01 9.76825846e-01 1.91920603e-03 1.36662591e+00] [ 1.26537111e-02 8.07907443e-04 9.99919612e-01 3.35368510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.053741732 meters 0.04955854167432301 Centerline is valid? [True, True] Translation: X:-5.98, Y:1.35, Z:0.34 [[ 9.76755180e-01 2.14183399e-01 -8.64806174e-03 -5.97851383e+00] [-2.14180103e-01 9.76793300e-01 1.31635824e-03 1.35083276e+00] [ 8.72931084e-03 5.66483023e-04 9.99961738e-01 3.42017180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.083741732 meters 0.04913984387591985 Centerline is valid? [True, True] Translation: X:-6.01, Y:1.34, Z:0.34 [[ 9.77161485e-01 2.12303849e-01 -9.08343722e-03 -6.01234395e+00] [-2.12300098e-01 9.77203534e-01 1.38631872e-03 1.34157351e+00] [ 9.17068775e-03 5.73757346e-04 9.99957784e-01 3.42710055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.113741732 meters 0.046517292710051346 Centerline is valid? [True, True] Translation: X:-6.05, Y:1.32, Z:0.34 [[ 9.77853454e-01 2.09014024e-01 -1.07591716e-02 -6.04671116e+00] [-2.09008630e-01 9.77912428e-01 1.63586605e-03 1.31948759e+00] [ 1.08634466e-02 6.49122457e-04 9.99940780e-01 3.41324454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1437417320000005 meters 0.04885501797191841 Centerline is valid? [True, True] Translation: X:-6.08, Y:1.31, Z:0.34 [[ 9.77628999e-01 2.09870697e-01 -1.39939832e-02 -6.08055655e+00] [-2.09861582e-01 9.77728779e-01 2.13316229e-03 1.30541299e+00] [ 1.41300084e-02 8.51358148e-04 9.99899804e-01 3.37977513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.173741732 meters 0.054758655600213424 Centerline is valid? [True, True] Translation: X:-6.11, Y:1.30, Z:0.34 [[ 9.77118137e-01 2.12229377e-01 -1.41009778e-02 -6.11265054e+00] [-2.12220375e-01 9.77219471e-01 2.14893204e-03 1.30420328e+00] [ 1.42358166e-02 8.92754342e-04 9.99898267e-01 3.35611352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.203741732 meters 0.05105257486644885 Centerline is valid? [True, True] Translation: X:-6.15, Y:1.26, Z:0.35 [[ 9.76706609e-01 2.14410942e-01 -8.49400065e-03 -6.15021406e+00] [-2.14407818e-01 9.76743380e-01 1.28743037e-03 1.26348493e+00] [ 8.57249806e-03 5.63738394e-04 9.99963097e-01 3.46415527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.233741732 meters 0.05096594266276929 Centerline is valid? [True, True] Translation: X:-6.18, Y:1.25, Z:0.35 [[ 9.77464401e-01 2.10933139e-01 -8.39970434e-03 -6.18404170e+00] [-2.10929922e-01 9.77500351e-01 1.27705777e-03 1.24707724e+00] [ 8.48008774e-03 5.23470477e-04 9.99963906e-01 3.47034188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.263741732000001 meters 0.047279563244860906 Centerline is valid? [True, True] Translation: X:-6.22, Y:1.23, Z:0.35 [[ 9.78202212e-01 2.07420613e-01 -9.85505856e-03 -6.21709239e+00] [-2.07416003e-01 9.78251683e-01 1.49874995e-03 1.23336450e+00] [ 9.95159926e-03 5.78016340e-04 9.99950315e-01 3.47529168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.293741732 meters 0.04670689279503198 Centerline is valid? [True, True] Translation: X:-6.25, Y:1.22, Z:0.35 [[ 9.78849410e-01 2.04438570e-01 -7.66185478e-03 -6.25036915e+00] [-2.04435699e-01 9.78879303e-01 1.16439496e-03 1.22172117e+00] [ 7.73807831e-03 4.26589325e-04 9.99969970e-01 3.45526709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.323741732 meters 0.04551730109004381 Centerline is valid? [True, True] Translation: X:-6.28, Y:1.21, Z:0.34 [[ 9.79291232e-01 2.02387963e-01 -5.27210956e-03 -6.28265856e+00] [-2.02386574e-01 9.79305383e-01 8.01260158e-04 1.21095672e+00] [ 5.32517068e-03 2.82337145e-04 9.99985781e-01 3.44324334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3537417320000005 meters 0.0428031584131054 Centerline is valid? [True, True] Translation: X:-6.32, Y:1.20, Z:0.35 [[ 9.79543822e-01 2.01072237e-01 -7.99105592e-03 -6.31646173e+00] [-2.01069062e-01 9.79576324e-01 1.20710515e-03 1.20408179e+00] [ 8.07056452e-03 4.24341728e-04 9.99967342e-01 3.46226166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.383741732 meters 0.04233436939458734 Centerline is valid? [True, True] Translation: X:-6.35, Y:1.19, Z:0.35 [[ 9.79630861e-01 2.00660361e-01 -7.66789444e-03 -6.34954604e+00] [-2.00657439e-01 9.79660786e-01 1.15639342e-03 1.19251012e+00] [ 7.74397781e-03 4.05781380e-04 9.99969933e-01 3.47543808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.413741732 meters 0.046795459546561585 Centerline is valid? [True, True] Translation: X:-6.38, Y:1.19, Z:0.35 [[ 9.79361774e-01 2.02076818e-01 -3.93390406e-03 -6.38333263e+00] [-2.02076081e-01 9.79369650e-01 5.88132434e-04 1.19344909e+00] [ 3.97159417e-03 2.18953491e-04 9.99992089e-01 3.45224922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.443741732 meters 0.04758080285511889 Centerline is valid? [True, True] Translation: X:-6.41, Y:1.19, Z:0.34 [[ 9.78568231e-01 2.05829434e-01 -6.20164487e-03 -6.41407713e+00] [-2.05827613e-01 9.78587817e-01 9.37445296e-04 1.18884104e+00] [ 6.26180795e-03 3.59115575e-04 9.99980330e-01 3.44294895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.473741732000001 meters 0.05043844938596505 Centerline is valid? [True, True] Translation: X:-6.45, Y:1.18, Z:0.34 [[ 9.77675515e-01 2.10054593e-01 -5.25892431e-03 -6.44520792e+00] [-2.10053344e-01 9.77689604e-01 7.94939845e-04 1.18452911e+00] [ 5.30857639e-03 3.27461413e-04 9.99985856e-01 3.42522856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.503741732 meters 0.04942627475389826 Centerline is valid? [True, True] Translation: X:-6.48, Y:1.18, Z:0.34 [[ 9.77530380e-01 2.10728317e-01 -5.28520384e-03 -6.47808484e+00] [-2.10727104e-01 9.77544608e-01 7.91686083e-04 1.18210746e+00] [ 5.33335319e-03 3.39838504e-04 9.99985720e-01 3.43400727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.533741732 meters 0.04723922429025273 Centerline is valid? [True, True] Translation: X:-6.51, Y:1.17, Z:0.35 [[ 9.77951465e-01 2.08788831e-01 -4.26108505e-03 -6.51106646e+00] [-2.08788009e-01 9.77960713e-01 6.41881557e-04 1.17390572e+00] [ 4.30119147e-03 2.61934456e-04 9.99990716e-01 3.49326327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.563741732 meters 0.04650009061540859 Centerline is valid? [True, True] Translation: X:-6.54, Y:1.17, Z:0.35 [[ 9.78610832e-01 2.05714106e-01 -1.59580980e-03 -6.54316376e+00] [-2.05713987e-01 9.78612128e-01 2.40263917e-04 1.16845295e+00] [ 1.61110450e-03 9.31555252e-05 9.99998698e-01 3.50716195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.593741732 meters 0.04167503568206024 Centerline is valid? [True, True] Translation: X:-6.58, Y:1.15, Z:0.35 [[ 9.79539470e-01 2.01241483e-01 -2.07178261e-03 -6.57565195e+00] [-2.01241271e-01 9.79541655e-01 3.12437830e-04 1.15460885e+00] [ 2.09227282e-03 1.10882978e-04 9.99997805e-01 3.50335775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.623741732 meters 0.042624606577709584 Centerline is valid? [True, True] Translation: X:-6.61, Y:1.15, Z:0.35 [[ 9.80235701e-01 1.97773004e-01 -4.87949679e-03 -6.60821655e+00] [-1.97771793e-01 9.80247815e-01 7.34295444e-04 1.15188686e+00] [ 4.92833988e-03 2.45244221e-04 9.99987826e-01 3.45706070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.653741732 meters 0.041608516677227265 Centerline is valid? [True, True] Translation: X:-6.64, Y:1.15, Z:0.35 [[ 9.80440578e-01 1.96761303e-01 -4.61105709e-03 -6.63958836e+00] [-1.96760221e-01 9.80451395e-01 6.91570689e-04 1.14897697e+00] [ 4.65699170e-03 2.29228645e-04 9.99989130e-01 3.47158166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6837417320000005 meters 0.04314092189057138 Centerline is valid? [True, True] Translation: X:-6.67, Y:1.15, Z:0.35 [[ 9.80496962e-01 1.96495938e-01 -3.87994142e-03 -6.67083363e+00] [-1.96495168e-01 9.80504620e-01 5.82340739e-04 1.15464600e+00] [ 3.91872808e-03 1.91406418e-04 9.99992303e-01 3.47326343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.713741732 meters 0.04314092189057138 Centerline is valid? [True, True] Translation: X:-6.70, Y:1.16, Z:0.35 [[ 9.80519704e-01 1.96382421e-01 -3.88010680e-03 -6.70299686e+00] [-1.96381655e-01 9.80527362e-01 5.81240921e-04 1.15963794e+00] [ 3.91869638e-03 1.92063620e-04 9.99992303e-01 3.47966499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.743741732 meters 0.04466972380994459 Centerline is valid? [True, True] Translation: X:-6.74, Y:1.16, Z:0.35 [[ 9.80480277e-01 1.96607543e-01 -1.97510776e-03 -6.73561515e+00] [-1.96607346e-01 9.80482261e-01 2.95347110e-04 1.16091258e+00] [ 1.99462559e-03 9.87386774e-05 9.99998006e-01 3.50305119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.773741732 meters 0.041359766458061255 Centerline is valid? [True, True] Translation: X:-6.77, Y:1.16, Z:0.35 [[ 9.80462888e-01 1.96660368e-01 -4.15028773e-03 -6.76760673e+00] [-1.96659491e-01 9.80471650e-01 6.22394035e-04 1.15861919e+00] [ 4.19163970e-03 2.05959219e-04 9.99991194e-01 3.51982475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.803741732 meters 0.039476398696612555 Centerline is valid? [True, True] Translation: X:-6.80, Y:1.16, Z:0.35 [[ 9.80542815e-01 1.96074645e-01 -9.51426545e-03 -6.79837166e+00] [-1.96069988e-01 9.80588863e-01 1.42894351e-03 1.15943709e+00] [ 9.60976233e-03 4.64321623e-04 9.99953717e-01 3.49318173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.833741732 meters 0.043524265688182455 Centerline is valid? [True, True] Translation: X:-6.83, Y:1.16, Z:0.35 [[ 9.80909108e-01 1.94401838e-01 -5.02462918e-03 -6.82976724e+00] [-1.94400521e-01 9.80921949e-01 7.53838043e-04 1.16160730e+00] [ 5.07531655e-03 2.37343929e-04 9.99987092e-01 3.49041017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.863741732 meters 0.04240756453177946 Centerline is valid? [True, True] Translation: X:-6.86, Y:1.16, Z:0.36 [[ 9.81156943e-01 1.93207835e-01 -1.33629206e-03 -6.86046485e+00] [-1.93207742e-01 9.81157851e-01 1.99505625e-04 1.16088874e+00] [ 1.34965949e-03 6.24356419e-05 9.99999087e-01 3.56747011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8937417320000005 meters 0.039325327601616764 Centerline is valid? [True, True] Translation: X:-6.89, Y:1.16, Z:0.36 [[ 9.81322949e-01 1.92364832e-01 -1.02006612e-03 -6.89229648e+00] [-1.92364778e-01 9.81323478e-01 1.51839990e-04 1.15973279e+00] [ 1.03022351e-03 4.72207259e-05 9.99999468e-01 3.61739370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.923741732 meters 0.040353539423599656 Centerline is valid? [True, True] Translation: X:-6.92, Y:1.17, Z:0.36 [[ 9.81391376e-01 1.92013312e-01 -1.36185117e-03 -6.92391359e+00] [-1.92013215e-01 9.81392319e-01 2.02581032e-04 1.16651638e+00] [ 1.37540853e-03 6.26821443e-05 9.99999052e-01 3.60386678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.953741732 meters 0.04246936023292781 Centerline is valid? [True, True] Translation: X:-6.96, Y:1.17, Z:0.36 [[ 9.81038310e-01 1.93783969e-01 -3.40688232e-03 -6.95516633e+00] [-1.93783365e-01 9.81044213e-01 5.09568436e-04 1.17388125e+00] [ 3.44104838e-03 1.60290963e-04 9.99994067e-01 3.57267386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.983741732 meters 0.042519975768680975 Centerline is valid? [True, True] Translation: X:-6.99, Y:1.18, Z:0.36 [[ 9.80988095e-01 1.94049028e-01 -2.70770048e-03 -6.98632003e+00] [-1.94048651e-01 9.80991824e-01 4.03714336e-04 1.17861685e+00] [ 2.73457241e-03 1.29386669e-04 9.99996253e-01 3.58477877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.013741732 meters 0.041278445990148044 Centerline is valid? [True, True] Translation: X:-7.02, Y:1.18, Z:0.36 [[ 9.80694059e-01 1.95522954e-01 -3.15218997e-03 -7.01741545e+00] [-1.95522450e-01 9.80699113e-01 4.70391176e-04 1.18408592e+00] [ 3.18332218e-03 1.55014072e-04 9.99994921e-01 3.61877021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.043741732 meters 0.03934352590880809 Centerline is valid? [True, True] Translation: X:-7.05, Y:1.19, Z:0.36 [[ 9.80652283e-01 1.95669189e-01 -5.88791305e-03 -7.04921558e+00] [-1.95667430e-01 9.80669916e-01 8.78982873e-04 1.19250614e+00] [ 5.94608906e-03 2.90096254e-04 9.99982280e-01 3.60880504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.073741732 meters 0.039075620955527184 Centerline is valid? [True, True] Translation: X:-7.08, Y:1.20, Z:0.36 [[ 9.80805770e-01 1.94900116e-01 -5.82979578e-03 -7.08097646e+00] [-1.94898378e-01 9.80823055e-01 8.70221905e-04 1.19834080e+00] [ 5.88760446e-03 2.82699075e-04 9.99982628e-01 3.62042985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1037417320000005 meters 0.041593455447139265 Centerline is valid? [True, True] Translation: X:-7.11, Y:1.21, Z:0.36 [[ 9.81123506e-01 1.93354323e-01 -3.28216410e-03 -7.11207241e+00] [-1.93353767e-01 9.81128983e-01 4.88947229e-04 1.20632176e+00] [ 3.31476639e-03 1.54901173e-04 9.99994494e-01 3.61110952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.133741732 meters 0.03909514333173301 Centerline is valid? [True, True] Translation: X:-7.14, Y:1.21, Z:0.36 [[ 9.81488943e-01 1.91481397e-01 -3.78534471e-03 -7.14364307e+00] [-1.91480641e-01 9.81496228e-01 5.64284366e-04 1.20790566e+00] [ 3.82335151e-03 1.70981367e-04 9.99992676e-01 3.62439240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.163741732 meters 0.04097381271071111 Centerline is valid? [True, True] Translation: X:-7.17, Y:1.22, Z:0.36 [[ 9.81831153e-01 1.89668888e-01 -5.77053733e-03 -7.17474287e+00] [-1.89667104e-01 9.81848079e-01 8.59943372e-04 1.21759635e+00] [ 5.82889550e-03 2.50161909e-04 9.99982981e-01 3.58308356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.193741732 meters 0.03939681220327916 Centerline is valid? [True, True] Translation: X:-7.21, Y:1.22, Z:0.36 [[ 9.82524896e-01 1.86045844e-01 -5.63675767e-03 -7.20543619e+00] [-1.86044075e-01 9.82541040e-01 8.41147873e-04 1.22020791e+00] [ 5.69483781e-03 2.22236641e-04 9.99983760e-01 3.58711423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.223741732 meters 0.03284244822556569 Centerline is valid? [True, True] Translation: X:-7.24, Y:1.22, Z:0.37 [[ 9.82956832e-01 1.83734479e-01 -6.12426858e-03 -7.23643746e+00] [-1.83732351e-01 9.82975884e-01 9.13214399e-04 1.21956291e+00] [ 6.18779729e-03 2.27575929e-04 9.99980830e-01 3.65820515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.253741732 meters 0.03929210211686189 Centerline is valid? [True, True] Translation: X:-7.27, Y:1.23, Z:0.36 [[ 9.83482081e-01 1.81001957e-01 -1.13444180e-03 -7.26630851e+00] [-1.81001883e-01 9.83482735e-01 1.68250151e-04 1.23048421e+00] [ 1.14615753e-03 3.98650929e-05 9.99999342e-01 3.63620028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.283741732 meters 0.037681143540164753 Centerline is valid? [True, True] Translation: X:-7.30, Y:1.24, Z:0.37 [[ 9.83667755e-01 1.79986567e-01 -1.60747572e-03 -7.29785215e+00] [-1.79986418e-01 9.83669067e-01 2.38181024e-04 1.23635243e+00] [ 1.62409352e-03 5.50328031e-05 9.99998680e-01 3.66829829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.313741732 meters 0.036206555500214524 Centerline is valid? [True, True] Translation: X:-7.33, Y:1.24, Z:0.37 [[ 9.83611342e-01 1.80301760e-01 5.74696440e-05 -7.32788127e+00] [-1.80301760e-01 9.83611344e-01 -9.76411828e-06 1.24367241e+00] [-5.82882815e-05 -7.57780484e-07 9.99999998e-01 3.71706763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.343741732 meters 0.03792594819971314 Centerline is valid? [True, True] Translation: X:-7.36, Y:1.26, Z:0.37 [[ 9.83404870e-01 1.81424077e-01 4.07167819e-04 -7.35894475e+00] [-1.81424067e-01 9.83404954e-01 -6.22688332e-05 1.25608329e+00] [-4.11707916e-04 -1.26345678e-05 9.99999915e-01 3.70403746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.373741732 meters 0.03740048418549062 Centerline is valid? [True, True] Translation: X:-7.39, Y:1.27, Z:0.37 [[ 9.83265336e-01 1.82152067e-01 -3.14700894e-03 -7.38905548e+00] [-1.82151501e-01 9.83270365e-01 4.67889375e-04 1.26783991e+00] [ 3.17958764e-03 1.13172999e-04 9.99994939e-01 3.66917671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.403741732 meters 0.037425800654558694 Centerline is valid? [True, True] Translation: X:-7.42, Y:1.28, Z:0.36 [[ 9.83421132e-01 1.81268371e-01 -4.96540582e-03 -7.41991169e+00] [-1.81266954e-01 9.83433652e-01 7.37534589e-04 1.27615873e+00] [ 5.01683887e-03 1.74756890e-04 9.99987400e-01 3.64278208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4337417320000005 meters 0.03669039120471778 Centerline is valid? [True, True] Translation: X:-7.45, Y:1.28, Z:0.37 [[ 9.84078811e-01 1.77715781e-01 -2.44862740e-03 -7.45014458e+00] [-1.77715425e-01 9.84081854e-01 3.64036211e-04 1.28308616e+00] [ 2.47434477e-03 7.69185371e-05 9.99996936e-01 3.66357605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.463741732 meters 0.03562420790609037 Centerline is valid? [True, True] Translation: X:-7.48, Y:1.29, Z:0.37 [[ 9.84494619e-01 1.75383349e-01 -3.32047220e-03 -7.48080500e+00] [-1.75382684e-01 9.84500214e-01 4.92771236e-04 1.29011026e+00] [ 3.35542946e-03 9.72226955e-05 9.99994366e-01 3.69424330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.493741732 meters 0.033175089063711645 Centerline is valid? [True, True] Translation: X:-7.51, Y:1.30, Z:0.37 [[ 9.84784441e-01 1.73722995e-01 -4.46391515e-03 -7.51256181e+00] [-1.73721777e-01 9.84794550e-01 6.62084378e-04 1.29754232e+00] [ 4.51105859e-03 1.23468877e-04 9.99989818e-01 3.72861639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.523741732 meters 0.0317339866774701 Centerline is valid? [True, True] Translation: X:-7.54, Y:1.31, Z:0.38 [[ 9.85173838e-01 1.71516390e-01 -3.82589661e-03 -7.54284202e+00] [-1.71515479e-01 9.85181262e-01 5.67390171e-04 1.30527310e+00] [ 3.86651837e-03 9.72225378e-05 9.99992520e-01 3.77251914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.553741732 meters 0.034196755951965065 Centerline is valid? [True, True] Translation: X:-7.57, Y:1.32, Z:0.37 [[ 9.85399005e-01 1.70224137e-01 -3.54174703e-03 -7.57340203e+00] [-1.70223351e-01 9.85405366e-01 5.24430521e-04 1.31631524e+00] [ 3.57932726e-03 8.61147357e-05 9.99993590e-01 3.72757822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.583741732 meters 0.031374259653019695 Centerline is valid? [True, True] Translation: X:-7.60, Y:1.32, Z:0.37 [[ 9.85496028e-01 1.69579215e-01 -6.36152181e-03 -7.60359876e+00] [-1.69576657e-01 9.85516549e-01 9.43261483e-04 1.32432264e+00] [ 6.42934256e-03 1.49185159e-04 9.99979320e-01 3.72040201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.613741732 meters 0.03193530081620375 Centerline is valid? [True, True] Translation: X:-7.63, Y:1.34, Z:0.37 [[ 9.85061072e-01 1.72051036e-01 -7.28876270e-03 -7.63423005e+00] [-1.72047757e-01 9.85088019e-01 1.07928969e-03 1.34127562e+00] [ 7.36576572e-03 1.90849012e-04 9.99972854e-01 3.71856172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6437417320000005 meters 0.031203516262382134 Centerline is valid? [True, True] Translation: X:-7.66, Y:1.35, Z:0.38 [[ 9.84530834e-01 1.75058486e-01 -7.31874918e-03 -7.66409946e+00] [-1.75055301e-01 9.84558012e-01 1.07844731e-03 1.35359322e+00] [ 7.39452449e-03 2.19421219e-04 9.99972636e-01 3.78663474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.673741732 meters 0.03338269552209331 Centerline is valid? [True, True] Translation: X:-7.69, Y:1.37, Z:0.38 [[ 9.83923892e-01 1.78422090e-01 -7.70272849e-03 -7.69409649e+00] [-1.78418635e-01 9.83954010e-01 1.13895127e-03 1.36754439e+00] [ 7.78234465e-03 2.53668935e-04 9.99969685e-01 3.79511986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.703741732 meters 0.03748825403557641 Centerline is valid? [True, True] Translation: X:-7.72, Y:1.39, Z:0.38 [[ 9.83093794e-01 1.83045983e-01 -4.55645709e-03 -7.72451225e+00] [-1.83044837e-01 9.83104337e-01 6.70755260e-04 1.38505755e+00] [ 4.60225179e-03 1.74620614e-04 9.99989394e-01 3.82639695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.733741732 meters 0.03998776429150052 Centerline is valid? [True, True] Translation: X:-7.75, Y:1.40, Z:0.38 [[ 9.82415838e-01 1.86663822e-01 -3.96711446e-03 -7.75330154e+00] [-1.86662976e-01 9.82423834e-01 5.85667720e-04 1.40273078e+00] [ 4.00671077e-03 1.65144148e-04 9.99991959e-01 3.80867345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.763741732 meters 0.04165754469252594 Centerline is valid? [True, True] Translation: X:-7.78, Y:1.41, Z:0.38 [[ 9.81987095e-01 1.88883936e-01 -4.91978205e-03 -7.78395283e+00] [-1.88882665e-01 9.81999395e-01 7.25838652e-04 1.41325738e+00] [ 4.96832226e-03 2.16497357e-04 9.99987634e-01 3.79358622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.793741732 meters 0.04117526647152902 Centerline is valid? [True, True] Translation: X:-7.81, Y:1.42, Z:0.38 [[ 9.81802152e-01 1.89811155e-01 -6.02169096e-03 -7.81434589e+00] [-1.89809302e-01 9.81820579e-01 8.82937967e-04 1.42194152e+00] [ 6.07981158e-03 2.76102563e-04 9.99981480e-01 3.82296709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.823741732 meters 0.04175614521065257 Centerline is valid? [True, True] Translation: X:-7.84, Y:1.43, Z:0.39 [[ 9.81921270e-01 1.89228981e-01 -4.79708841e-03 -7.84479151e+00] [-1.89227812e-01 9.81932963e-01 7.00446729e-04 1.43355852e+00] [ 4.84296406e-03 2.19959003e-04 9.99988249e-01 3.86058794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8537417320000005 meters 0.042868093487701604 Centerline is valid? [True, True] Translation: X:-7.88, Y:1.45, Z:0.38 [[ 9.82184718e-01 1.87817185e-01 -6.15511575e-03 -7.87536212e+00] [-1.87815234e-01 9.82203966e-01 8.98647833e-04 1.44738984e+00] [ 6.21436061e-03 2.73386341e-04 9.99980653e-01 3.84925573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.883741732 meters 0.03817598136330471 Centerline is valid? [True, True] Translation: X:-7.91, Y:1.45, Z:0.39 [[ 9.82589170e-01 1.85586155e-01 -8.73506594e-03 -7.90708233e+00] [-1.85582136e-01 9.82627927e-01 1.27561783e-03 1.44823767e+00] [ 8.82005675e-03 3.67663925e-04 9.99961035e-01 3.88420997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.913741732 meters 0.03993336045888834 Centerline is valid? [True, True] Translation: X:-7.94, Y:1.46, Z:0.39 [[ 9.82713799e-01 1.84956944e-01 -8.03235803e-03 -7.93836107e+00] [-1.84953550e-01 9.82746567e-01 1.16975460e-03 1.45808939e+00] [ 8.11012652e-03 3.36079148e-04 9.99967056e-01 3.86724464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.943741732 meters 0.043137299445862615 Centerline is valid? [True, True] Translation: X:-7.97, Y:1.47, Z:0.38 [[ 9.82784917e-01 1.84611476e-01 -7.23944660e-03 -7.96908239e+00] [-1.84608728e-01 9.82811534e-01 1.05174567e-03 1.47235580e+00] [ 7.30917594e-03 3.02825249e-04 9.99973242e-01 3.83963746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.973741732 meters 0.03847747836016179 Centerline is valid? [True, True] Translation: X:-8.00, Y:1.47, Z:0.39 [[ 9.82838059e-01 1.84270085e-01 -8.59564085e-03 -8.00069333e+00] [-1.84266183e-01 9.82875582e-01 1.25054576e-03 1.47252250e+00] [ 8.67888368e-03 3.54801971e-04 9.99962275e-01 3.87947871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.003741732 meters 0.037055404036753004 Centerline is valid? [True, True] Translation: X:-8.03, Y:1.48, Z:0.39 [[ 9.83140283e-01 1.82446855e-01 -1.21790614e-02 -8.03198986e+00] [-1.82438943e-01 9.83215597e-01 1.76685411e-03 1.48314204e+00] [ 1.22970001e-02 4.84869653e-04 9.99924271e-01 3.86754839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.033741732 meters 0.039599923528399604 Centerline is valid? [True, True] Translation: X:-8.06, Y:1.49, Z:0.39 [[ 9.83482890e-01 1.80655988e-01 -1.11722872e-02 -8.06322600e+00] [-1.80649247e-01 9.83546253e-01 1.61798489e-03 1.48847622e+00] [ 1.12807599e-02 4.27004820e-04 9.99936279e-01 3.85894188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.063741731999999 meters 0.0398269495697995 Centerline is valid? [True, True] Translation: X:-8.09, Y:1.49, Z:0.39 [[ 9.83702377e-01 1.79504233e-01 -1.03857493e-02 -8.09496653e+00] [-1.79498383e-01 9.83757124e-01 1.50027396e-03 1.49298916e+00] [ 1.04863604e-02 3.88402151e-04 9.99944941e-01 3.88968045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.093741732 meters 0.0377562530440023 Centerline is valid? [True, True] Translation: X:-8.13, Y:1.50, Z:0.39 [[ 9.83943122e-01 1.78196412e-01 -1.00981403e-02 -8.12638677e+00] [-1.78190845e-01 9.83994870e-01 1.45555495e-03 1.49886179e+00] [ 1.01958929e-02 3.67212880e-04 9.99947953e-01 3.91853119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.123741732 meters 0.036658895996483074 Centerline is valid? [True, True] Translation: X:-8.16, Y:1.51, Z:0.40 [[ 9.84069372e-01 1.77564496e-01 -8.84985665e-03 -8.15747423e+00] [-1.77560190e-01 9.84109115e-01 1.27625117e-03 1.50504170e+00] [ 8.93584149e-03 3.15462543e-04 9.99960025e-01 3.97282295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.153741731999999 meters 0.03795162098366492 Centerline is valid? [True, True] Translation: X:-8.19, Y:1.51, Z:0.40 [[ 9.83881618e-01 1.78677914e-01 -7.15299022e-03 -8.18948406e+00] [-1.78675178e-01 9.83907582e-01 1.02492904e-03 1.51374691e+00] [ 7.22101349e-03 2.69652959e-04 9.99973892e-01 3.98130827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.183741732 meters 0.03865097988798632 Centerline is valid? [True, True] Translation: X:-8.22, Y:1.53, Z:0.40 [[ 9.83543961e-01 1.80380911e-01 -1.01981878e-02 -8.21961681e+00] [-1.80375356e-01 9.83596753e-01 1.46946346e-03 1.52590004e+00] [ 1.02959676e-02 3.94219843e-04 9.99946917e-01 3.96841926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.213741731999999 meters 0.04131931895354713 Centerline is valid? [True, True] Translation: X:-8.25, Y:1.54, Z:0.39 [[ 9.83127895e-01 1.82433051e-01 -1.33312905e-02 -8.24946198e+00] [-1.82423751e-01 9.83218128e-01 1.92065039e-03 1.53544253e+00] [ 1.34579566e-02 5.43699040e-04 9.99909290e-01 3.94694489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.243741731999998 meters 0.04197930622882799 Centerline is valid? [True, True] Translation: X:-8.28, Y:1.55, Z:0.39 [[ 9.83044860e-01 1.82803924e-01 -1.43362511e-02 -8.28074690e+00] [-1.82793339e-01 9.83149209e-01 2.05635396e-03 1.54534170e+00] [ 1.44705834e-02 5.99083014e-04 9.99895116e-01 3.92759820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.273741732 meters 0.042461266183322105 Centerline is valid? [True, True] Translation: X:-8.31, Y:1.56, Z:0.40 [[ 9.82973568e-01 1.83266213e-01 -1.32838360e-02 -8.31283905e+00] [-1.83257242e-01 9.83063159e-01 1.89990139e-03 1.55714330e+00] [ 1.34070375e-02 5.66806297e-04 9.99909961e-01 3.95907169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.303741731999999 meters 0.039118487636290916 Centerline is valid? [True, True] Translation: X:-8.34, Y:1.56, Z:0.40 [[ 9.83506862e-01 1.80382653e-01 -1.32796862e-02 -8.34354438e+00] [-1.80373458e-01 9.83596369e-01 1.89678075e-03 1.56121586e+00] [ 1.34039975e-02 5.29806036e-04 9.99910022e-01 4.01570343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.333741732 meters 0.038659851167042285 Centerline is valid? [True, True] Translation: X:-8.38, Y:1.57, Z:0.40 [[ 9.83893604e-01 1.78196324e-01 -1.41225671e-02 -8.37536004e+00] [-1.78185762e-01 9.83994808e-01 2.01286549e-03 1.56598068e+00] [ 1.42552180e-02 5.35994900e-04 9.99898246e-01 4.00353221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.363741732 meters 0.03793272083708554 Centerline is valid? [True, True] Translation: X:-8.41, Y:1.57, Z:0.39 [[ 9.84540448e-01 1.74351919e-01 -1.67783859e-02 -8.40694098e+00] [-1.74336520e-01 9.84683238e-01 2.38741381e-03 1.57193382e+00] [ 1.69376455e-02 5.74579941e-04 9.99856383e-01 3.94365774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.393741731999999 meters 0.03741161106952988 Centerline is valid? [True, True] Translation: X:-8.44, Y:1.57, Z:0.39 [[ 9.85119850e-01 1.70977088e-01 -1.74847372e-02 -8.43929420e+00] [-1.70959917e-01 9.85274855e-01 2.48322484e-03 1.57428533e+00] [ 1.76518465e-02 5.42915134e-04 9.99844047e-01 3.93497909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.423741732 meters 0.03866278551689266 Centerline is valid? [True, True] Translation: X:-8.47, Y:1.57, Z:0.39 [[ 9.85817246e-01 1.66886261e-01 -1.77012194e-02 -8.47113333e+00] [-1.66867993e-01 9.85976039e-01 2.51448242e-03 1.57393833e+00] [ 1.78726108e-02 4.74946829e-04 9.99840159e-01 3.91626513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.453741732 meters 0.03244387233507392 Centerline is valid? [True, True] Translation: X:-8.50, Y:1.58, Z:0.40 [[ 9.86204674e-01 1.64375604e-01 -1.95192711e-02 -8.50201785e+00] [-1.64353059e-01 9.86397703e-01 2.76458268e-03 1.57631132e+00] [ 1.97081941e-02 4.81607557e-04 9.99805659e-01 3.99093557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.483741731999999 meters 0.032444345208442735 Centerline is valid? [True, True] Translation: X:-8.53, Y:1.58, Z:0.40 [[ 9.86049967e-01 1.65526083e-01 -1.75093735e-02 -8.53335408e+00] [-1.65508239e-01 9.86205306e-01 2.47339214e-03 1.58439301e+00] [ 1.76772479e-02 4.59057330e-04 9.99843640e-01 4.02407019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.513741732 meters 0.03702824524964712 Centerline is valid? [True, True] Translation: X:-8.57, Y:1.59, Z:0.40 [[ 9.85817857e-01 1.67203406e-01 -1.43587873e-02 -8.56500008e+00] [-1.67191656e-01 9.85922338e-01 2.02330570e-03 1.59317161e+00] [ 1.44949527e-02 4.06058544e-04 9.99894860e-01 3.98473142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.543741731999999 meters 0.0349708336012507 Centerline is valid? [True, True] Translation: X:-8.59, Y:1.60, Z:0.40 [[ 9.85360592e-01 1.69718855e-01 -1.61249354e-02 -8.59449712e+00] [-1.69704280e-01 9.85492399e-01 2.27789590e-03 1.60155704e+00] [ 1.62776031e-02 4.91921709e-04 9.99867390e-01 3.99864897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.573741731999998 meters 0.03827184963537274 Centerline is valid? [True, True] Translation: X:-8.62, Y:1.61, Z:0.41 [[ 9.84553091e-01 1.74421397e-01 -1.52442360e-02 -8.62298115e+00] [-1.74408939e-01 9.84670953e-01 2.15313743e-03 1.61364861e+00] [ 1.53861097e-02 5.38852923e-04 9.99881482e-01 4.06317133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.603741732 meters 0.03827184963537274 Centerline is valid? [True, True] Translation: X:-8.66, Y:1.62, Z:0.41 [[ 9.84611349e-01 1.74092092e-01 -1.52458174e-02 -8.65523766e+00] [-1.74079768e-01 9.84729225e-01 2.14192905e-03 1.61844075e+00] [ 1.53858949e-02 5.45020716e-04 9.99881482e-01 4.06958457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.633741731999999 meters 0.04052549611540238 Centerline is valid? [True, True] Translation: X:-8.68, Y:1.63, Z:0.41 [[ 9.84198830e-01 1.76512291e-01 -1.40026853e-02 -8.68496299e+00] [-1.76502134e-01 9.84298291e-01 1.96764686e-03 1.62875753e+00] [ 1.41301331e-02 5.34948103e-04 9.99900022e-01 4.06685868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.663741732 meters 0.03830991298162172 Centerline is valid? [True, True] Translation: X:-8.71, Y:1.64, Z:0.40 [[ 9.83583312e-01 1.79403616e-01 -1.94476608e-02 -8.71424444e+00] [-1.79384506e-01 9.83775232e-01 2.73694134e-03 1.64413446e+00] [ 1.96231442e-02 7.96599202e-04 9.99807130e-01 4.03316753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.693741732 meters 0.04048924472526315 Centerline is valid? [True, True] Translation: X:-8.75, Y:1.66, Z:0.40 [[ 9.83320355e-01 1.80854730e-01 -1.93040435e-02 -8.74530489e+00] [-1.80836402e-01 9.83509470e-01 2.70539311e-03 1.65644224e+00] [ 1.94749928e-02 8.30605654e-04 9.99809999e-01 4.02050593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.723741731999999 meters 0.040198900775654405 Centerline is valid? [True, True] Translation: X:-8.78, Y:1.67, Z:0.40 [[ 9.83288465e-01 1.80895826e-01 -2.05059600e-02 -8.77620416e+00] [-1.80875274e-01 9.83501861e-01 2.86802532e-03 1.66646050e+00] [ 2.06864636e-02 8.88924920e-04 9.99785617e-01 4.01390191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.753741732 meters 0.0418565268607904 Centerline is valid? [True, True] Translation: X:-8.81, Y:1.67, Z:0.40 [[ 9.83333092e-01 1.80727417e-01 -1.98401416e-02 -8.80783705e+00] [-1.80708266e-01 9.83532845e-01 2.76875394e-03 1.67419683e+00] [ 2.00138206e-02 8.62670200e-04 9.99799331e-01 3.99030024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.783741732 meters 0.042495667870810744 Centerline is valid? [True, True] Translation: X:-8.84, Y:1.68, Z:0.40 [[ 9.83714187e-01 1.78569290e-01 -2.04794299e-02 -8.83908859e+00] [-1.78548537e-01 9.83926971e-01 2.85219962e-03 1.68215380e+00] [ 2.06595787e-02 8.50823022e-04 9.99786206e-01 3.95551263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.813741731999999 meters 0.04076401340807902 Centerline is valid? [True, True] Translation: X:-8.87, Y:1.69, Z:0.40 [[ 9.83990962e-01 1.77107712e-01 -1.98656618e-02 -8.87021255e+00] [-1.77087891e-01 9.84191153e-01 2.76650756e-03 1.68517997e+00] [ 2.00415784e-02 7.95749723e-04 9.99798831e-01 3.98039255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.843741732 meters 0.04096549512204733 Centerline is valid? [True, True] Translation: X:-8.90, Y:1.69, Z:0.40 [[ 9.84204668e-01 1.75762359e-01 -2.11840848e-02 -8.90260344e+00] [-1.75739698e-01 9.84432277e-01 2.94125143e-03 1.68958759e+00] [ 2.13712581e-02 8.28091282e-04 9.99771266e-01 3.98482942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.873741732 meters 0.040952188606709135 Centerline is valid? [True, True] Translation: X:-8.93, Y:1.70, Z:0.40 [[ 9.83917887e-01 1.77068496e-01 -2.35019089e-02 -8.93246105e+00] [-1.77040956e-01 9.84198073e-01 3.26396022e-03 1.69622118e+00] [ 2.37084780e-02 9.49331576e-04 9.99718464e-01 3.97405642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.903741731999999 meters 0.04080986295813044 Centerline is valid? [True, True] Translation: X:-8.96, Y:1.70, Z:0.40 [[ 9.83860966e-01 1.77304686e-01 -2.40966211e-02 -8.96454047e+00] [-1.77275857e-01 9.84155519e-01 3.34443530e-03 1.70319769e+00] [ 2.43078067e-02 9.81289804e-04 9.99704040e-01 3.95666715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.933741732 meters 0.04165837537245183 Centerline is valid? [True, True] Translation: X:-8.99, Y:1.71, Z:0.40 [[ 9.83677831e-01 1.78674015e-01 -2.12960377e-02 -8.99477019e+00] [-1.78651910e-01 9.83907914e-01 2.95143028e-03 1.70786900e+00] [ 2.14806839e-02 9.01321278e-04 9.99768857e-01 3.99996525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.963741731999999 meters 0.04166969429244049 Centerline is valid? [True, True] Translation: X:-9.03, Y:1.72, Z:0.40 [[ 9.83897769e-01 1.77716930e-01 -1.90229790e-02 -9.02593818e+00] [-1.77699128e-01 9.84081335e-01 2.63567274e-03 1.71563387e+00] [ 1.91885623e-02 7.87134258e-04 9.99815573e-01 4.00796494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.993741731999998 meters 0.03765969050942628 Centerline is valid? [True, True] Translation: X:-9.06, Y:1.72, Z:0.41 [[ 9.84029429e-01 1.76811063e-01 -2.05895891e-02 -9.05679359e+00] [-1.76790209e-01 9.84244451e-01 2.84315815e-03 1.71890380e+00] [ 2.07678907e-02 8.42286478e-04 9.99783969e-01 4.06993070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.023741732 meters 0.041202209100035116 Centerline is valid? [True, True] Translation: X:-9.09, Y:1.73, Z:0.40 [[ 9.84023039e-01 1.76975729e-01 -1.94486576e-02 -9.08818690e+00] [-1.76957287e-01 9.84214886e-01 2.67882587e-03 1.72986536e+00] [ 1.96157455e-02 8.05555306e-04 9.99807268e-01 4.00154968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.053741731999999 meters 0.04126093814816065 Centerline is valid? [True, True] Translation: X:-9.12, Y:1.73, Z:0.40 [[ 9.84348061e-01 1.75126281e-01 -1.97403453e-02 -9.11896999e+00] [-1.75107001e-01 9.84545667e-01 2.71444165e-03 1.73379433e+00] [ 1.99106415e-02 7.84717287e-04 9.99801456e-01 4.01607332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.083741732 meters 0.03890967671090992 Centerline is valid? [True, True] Translation: X:-9.15, Y:1.74, Z:0.40 [[ 9.84618992e-01 1.73434279e-01 -2.11185282e-02 -9.15105576e+00] [-1.73411991e-01 9.84845112e-01 2.89610415e-03 1.73634354e+00] [ 2.13007630e-02 8.10646888e-04 9.99772784e-01 4.04023525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.113741732 meters 0.0406130704908922 Centerline is valid? [True, True] Translation: X:-9.18, Y:1.74, Z:0.40 [[ 9.85094863e-01 1.70671633e-01 -2.14313828e-02 -9.18203434e+00] [-1.70648145e-01 9.85327664e-01 2.93353702e-03 1.74473561e+00] [ 2.16176059e-02 7.67413475e-04 9.99766018e-01 3.97495744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.143741731999999 meters 0.03920589472542499 Centerline is valid? [True, True] Translation: X:-9.21, Y:1.75, Z:0.40 [[ 9.85255914e-01 1.69726768e-01 -2.15315775e-02 -9.21370723e+00] [-1.69702975e-01 9.85490869e-01 2.94078130e-03 1.75003307e+00] [ 2.17183023e-02 7.56550605e-04 9.99763844e-01 3.98257988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.173741732 meters 0.04044643754525075 Centerline is valid? [True, True] Translation: X:-9.25, Y:1.76, Z:0.40 [[ 9.84907510e-01 1.71877068e-01 -2.03831109e-02 -9.24562107e+00] [-1.71856179e-01 9.85118113e-01 2.78520604e-03 1.75756282e+00] [ 2.05584848e-02 7.59793221e-04 9.99788363e-01 3.99215735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.203741732 meters 0.04191218846611234 Centerline is valid? [True, True] Translation: X:-9.27, Y:1.77, Z:0.40 [[ 9.83852521e-01 1.77738811e-01 -2.10507216e-02 -9.27448358e+00] [-1.77717842e-01 9.84077277e-01 2.87770475e-03 1.77087826e+00] [ 2.12270166e-02 9.09851743e-04 9.99774267e-01 4.02757918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.233741731999999 meters 0.047217994982730396 Centerline is valid? [True, True] Translation: X:-9.30, Y:1.78, Z:0.40 [[ 9.82030380e-01 1.87620397e-01 -2.03695879e-02 -9.30242852e+00] [-1.87602855e-01 9.82241013e-01 2.78580844e-03 1.78266260e+00] [ 2.05305191e-02 1.08564433e-03 9.99788637e-01 4.01015113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.263741732 meters 0.051678734997365354 Centerline is valid? [True, True] Translation: X:-9.33, Y:1.80, Z:0.40 [[ 9.80361199e-01 1.95455034e-01 -2.62535406e-02 -9.33153001e+00] [-1.95428712e-01 9.80711340e-01 3.58966472e-03 1.79813925e+00] [ 2.64487630e-02 1.61152762e-03 9.99648871e-01 3.97456811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.293741731999999 meters 0.05826031292684083 Centerline is valid? [True, True] Translation: X:-9.36, Y:1.81, Z:0.40 [[ 9.78140287e-01 2.06494105e-01 -2.45308535e-02 -9.35998023e+00] [-2.06474581e-01 9.78446217e-01 3.35373475e-03 1.80960183e+00] [ 2.46946473e-02 1.78457463e-03 9.99693448e-01 3.95657812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.323741731999998 meters 0.055906635102831975 Centerline is valid? [True, True] Translation: X:-9.39, Y:1.81, Z:0.40 [[ 9.76905257e-01 2.12311968e-01 -2.40779402e-02 -9.39024394e+00] [-2.12294890e-01 9.77200101e-01 3.29273943e-03 1.80802585e+00] [ 2.42280536e-02 1.89492920e-03 9.99704662e-01 4.02376084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.353741732 meters 0.05609149929137177 Centerline is valid? [True, True] Translation: X:-9.42, Y:1.80, Z:0.40 [[ 9.77179493e-01 2.11305945e-01 -2.16803026e-02 -9.42229586e+00] [-2.11291897e-01 9.77418516e-01 2.96280297e-03 1.80452656e+00] [ 2.18167871e-02 1.68568195e-03 9.99760564e-01 4.03473690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.383741731999999 meters 0.05477729587971167 Centerline is valid? [True, True] Translation: X:-9.45, Y:1.80, Z:0.40 [[ 9.78597615e-01 2.04602959e-01 -2.20076547e-02 -9.45477157e+00] [-2.04586790e-01 9.78843807e-01 3.00778694e-03 1.79570457e+00] [ 2.21574586e-02 1.55906230e-03 9.99753278e-01 4.03065323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.413741731999998 meters 0.05187611031353536 Centerline is valid? [True, True] Translation: X:-9.49, Y:1.78, Z:0.40 [[ 9.80366306e-01 1.96257419e-01 -1.91031652e-02 -9.48795992e+00] [-1.96243664e-01 9.80551687e-01 2.61043356e-03 1.77768669e+00] [ 1.92439578e-02 1.18969402e-03 9.99814110e-01 4.03352043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.443741732 meters 0.04707261183830444 Centerline is valid? [True, True] Translation: X:-9.52, Y:1.77, Z:0.41 [[ 9.80963559e-01 1.92761701e-01 -2.35249470e-02 -9.52117999e+00] [-1.92740154e-01 9.81244610e-01 3.20138360e-03 1.76823479e+00] [ 2.37008316e-02 1.39376127e-03 9.99718124e-01 4.05511660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.473741731999999 meters 0.05123703653556029 Centerline is valid? [True, True] Translation: X:-9.55, Y:1.76, Z:0.40 [[ 9.80826470e-01 1.93689186e-01 -2.15391495e-02 -9.55493853e+00] [-1.93671528e-01 9.81062076e-01 2.92277065e-03 1.76358815e+00] [ 2.16973518e-02 1.30478917e-03 9.99763733e-01 3.99237014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.503741732 meters 0.05171626858103787 Centerline is valid? [True, True] Translation: X:-9.59, Y:1.75, Z:0.40 [[ 9.79913460e-01 1.98552420e-01 -1.86158070e-02 -9.58621617e+00] [-1.98539994e-01 9.80089517e-01 2.53184988e-03 1.75435764e+00] [ 1.87478622e-02 1.21498843e-03 9.99823505e-01 4.03028756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.533741732 meters 0.0528685616781567 Centerline is valid? [True, True] Translation: X:-9.62, Y:1.75, Z:0.41 [[ 9.79078063e-01 2.02674794e-01 -1.81403912e-02 -9.61801595e+00] [-2.02663713e-01 9.79245289e-01 2.46639349e-03 1.74847402e+00] [ 1.82637684e-02 1.26160727e-03 9.99832408e-01 4.05027763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.563741731999999 meters 0.0511657213925548 Centerline is valid? [True, True] Translation: X:-9.65, Y:1.73, Z:0.40 [[ 9.78679096e-01 2.04497437e-01 -1.91839807e-02 -9.65152081e+00] [-2.04485432e-01 9.78866138e-01 2.60628329e-03 1.73345567e+00] [ 1.93115274e-02 1.37212960e-03 9.99812574e-01 4.03705520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.593741732 meters 0.053323429357139324 Centerline is valid? [True, True] Translation: X:-9.68, Y:1.72, Z:0.40 [[ 9.78964173e-01 2.03310456e-01 -1.71466146e-02 -9.68414196e+00] [-2.03300678e-01 9.79113582e-01 2.32981297e-03 1.72198257e+00] [ 1.72621586e-02 1.20511495e-03 9.99850272e-01 3.99007271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.623741732 meters 0.05346243519539073 Centerline is valid? [True, True] Translation: X:-9.72, Y:1.72, Z:0.40 [[ 9.79356737e-01 2.01522673e-01 -1.57795376e-02 -9.71635990e+00] [-2.01514179e-01 9.79483253e-01 2.14297785e-03 1.71746101e+00] [ 1.58876514e-02 1.08106076e-03 9.99873199e-01 3.99562371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.653741731999999 meters 0.05407204587404872 Centerline is valid? [True, True] Translation: X:-9.75, Y:1.72, Z:0.40 [[ 9.79494710e-01 2.00766872e-01 -1.68159516e-02 -9.74987666e+00] [-2.00757303e-01 9.79638372e-01 2.27257616e-03 1.72009131e+00] [ 1.69298094e-02 1.14994875e-03 9.99856019e-01 3.98148412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.683741732 meters 0.05294469400676406 Centerline is valid? [True, True] Translation: X:-9.78, Y:1.72, Z:0.40 [[ 9.79829230e-01 1.99288684e-01 -1.47885120e-02 -9.78155126e+00] [-1.99281042e-01 9.79940331e-01 2.00355816e-03 1.71513870e+00] [ 1.48911458e-02 9.83925234e-04 9.99888637e-01 3.98548723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.713741731999999 meters 0.05082200104096568 Centerline is valid? [True, True] Translation: X:-9.81, Y:1.70, Z:0.40 [[ 9.80596837e-01 1.95645324e-01 -1.23592365e-02 -9.81280081e+00] [-1.95639688e-01 9.80674414e-01 1.67519862e-03 1.70229213e+00] [ 1.24481318e-02 7.75262716e-04 9.99922218e-01 3.99341809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.743741731999998 meters 0.04886330910525988 Centerline is valid? [True, True] Translation: X:-9.85, Y:1.70, Z:0.40 [[ 9.80823850e-01 1.94440597e-01 -1.33202994e-02 -9.84508091e+00] [-1.94434070e-01 9.80913945e-01 1.79579548e-03 1.70194216e+00] [ 1.34152430e-02 8.28560990e-04 9.99909668e-01 4.00005181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.773741732 meters 0.05284107621969915 Centerline is valid? [True, True] Translation: X:-9.88, Y:1.70, Z:0.40 [[ 9.81221253e-01 1.92552876e-01 -1.13244697e-02 -9.87604765e+00] [-1.92547997e-01 9.81286364e-01 1.52985016e-03 1.70276359e+00] [ 1.14071247e-02 6.79382460e-04 9.99934706e-01 3.99143563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.803741731999999 meters 0.052100374561222317 Centerline is valid? [True, True] Translation: X:-9.91, Y:1.70, Z:0.40 [[ 9.81349657e-01 1.91937191e-01 -1.06285153e-02 -9.90840756e+00] [-1.91932927e-01 9.81407004e-01 1.42933292e-03 1.69671833e+00] [ 1.07052415e-02 6.37286679e-04 9.99942494e-01 4.01166359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.833741732 meters 0.05207671361301573 Centerline is valid? [True, True] Translation: X:-9.94, Y:1.69, Z:0.40 [[ 9.81212343e-01 1.92660167e-01 -1.02175620e-02 -9.94096879e+00] [-1.92656300e-01 9.81265342e-01 1.37072546e-03 1.69240303e+00] [ 1.02902236e-02 6.23504939e-04 9.99946860e-01 4.02682129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.863741732 meters 0.047495675225083675 Centerline is valid? [True, True] Translation: X:-9.97, Y:1.69, Z:0.40 [[ 9.80806138e-01 1.94460138e-01 -1.43029252e-02 -9.97184397e+00] [-1.94452645e-01 9.80910016e-01 1.92611937e-03 1.68912525e+00] [ 1.44044360e-02 8.92091940e-04 9.99895853e-01 4.03733404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.893741731999999 meters 0.05133078469217164 Centerline is valid? [True, True] Translation: X:-10.00, Y:1.69, Z:0.40 [[ 9.80386862e-01 1.96568851e-01 -1.42228099e-02 -1.00033404e+01] [-1.96561704e-01 9.80489592e-01 1.91238379e-03 1.69316833e+00] [ 1.43212322e-02 9.20783819e-04 9.99897022e-01 4.00122923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.923741732 meters 0.05167767941415883 Centerline is valid? [True, True] Translation: X:-10.04, Y:1.69, Z:0.40 [[ 9.80444990e-01 1.96463124e-01 -1.13957252e-02 -1.00351823e+01] [-1.96458606e-01 9.80510932e-01 1.52558465e-03 1.68848098e+00] [ 1.14733542e-02 7.43036457e-04 9.99933903e-01 4.03460510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.953741732 meters 0.04967018722310504 Centerline is valid? [True, True] Translation: X:-10.07, Y:1.69, Z:0.41 [[ 9.80550712e-01 1.95776258e-01 -1.38549003e-02 -1.00675218e+01] [-1.95769463e-01 9.80648186e-01 1.85828231e-03 1.68771559e+00] [ 1.39505904e-02 8.90226358e-04 9.99902289e-01 4.05933005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.983741731999999 meters 0.049941469951158446 Centerline is valid? [True, True] Translation: X:-10.10, Y:1.68, Z:0.41 [[ 9.81264912e-01 1.92375464e-01 -1.05286978e-02 -1.00991324e+01] [-1.92371333e-01 9.81321188e-01 1.41323836e-03 1.68234878e+00] [ 1.06039066e-02 6.38658415e-04 9.99943573e-01 4.06272407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.013741732 meters 0.049275705381832666 Centerline is valid? [True, True] Translation: X:-10.13, Y:1.68, Z:0.41 [[ 9.81302562e-01 1.92131351e-01 -1.14379413e-02 -1.01312345e+01] [-1.92126480e-01 9.81368974e-01 1.53349607e-03 1.68102304e+00] [ 1.15194734e-02 6.92707783e-04 9.99933409e-01 4.06650095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.043741731999999 meters 0.04847897390986084 Centerline is valid? [True, True] Translation: X:-10.16, Y:1.68, Z:0.40 [[ 9.81645277e-01 1.90247775e-01 -1.33541844e-02 -1.01633409e+01] [-1.90241010e-01 9.81735792e-01 1.78678996e-03 1.67991868e+00] [ 1.34502137e-02 7.86519620e-04 9.99909232e-01 4.04735704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.073741731999998 meters 0.04474133010440249 Centerline is valid? [True, True] Translation: X:-10.20, Y:1.67, Z:0.41 [[ 9.81811086e-01 1.89315707e-01 -1.43719992e-02 -1.01953734e+01] [-1.89307756e-01 9.81915919e-01 1.92407986e-03 1.67484728e+00] [ 1.44763533e-02 8.31647973e-04 9.99894866e-01 4.09454523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.103741732 meters 0.046331019542252834 Centerline is valid? [True, True] Translation: X:-10.23, Y:1.67, Z:0.41 [[ 9.82320131e-01 1.86804886e-01 -1.22920573e-02 -1.02266295e+01] [-1.86798869e-01 9.82396800e-01 1.64599166e-03 1.67386835e+00] [ 1.23831570e-02 6.79251660e-04 9.99923095e-01 4.11763773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.133741731999999 meters 0.045100679674601796 Centerline is valid? [True, True] Translation: X:-10.26, Y:1.67, Z:0.41 [[ 9.82940012e-01 1.83432990e-01 -1.34636578e-02 -1.02577294e+01] [-1.83425459e-01 9.83031969e-01 1.80263540e-03 1.67287931e+00] [ 1.35658688e-02 6.97695148e-04 9.99907736e-01 4.10865537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.163741731999998 meters 0.04361229102553293 Centerline is valid? [True, True] Translation: X:-10.29, Y:1.67, Z:0.41 [[ 9.83310183e-01 1.81272761e-01 -1.55328991e-02 -1.02901782e+01] [-1.81262506e-01 9.83432554e-01 2.07729156e-03 1.67308838e+00] [ 1.56521150e-02 7.72910273e-04 9.99877199e-01 4.10419985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.193741732 meters 0.03996588227951586 Centerline is valid? [True, True] Translation: X:-10.32, Y:1.67, Z:0.41 [[ 9.83834702e-01 1.78114133e-01 -1.85643670e-02 -1.03230080e+01] [-1.78098946e-01 9.84009455e-01 2.48148420e-03 1.67115429e+00] [ 1.87095000e-02 8.64923920e-04 9.99824588e-01 4.09809504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.223741731999999 meters 0.042142009482640394 Centerline is valid? [True, True] Translation: X:-10.35, Y:1.67, Z:0.41 [[ 9.84445418e-01 1.75298061e-01 -1.17392361e-02 -1.03541460e+01] [-1.75291776e-01 9.84515275e-01 1.57018018e-03 1.66999848e+00] [ 1.18327068e-02 5.12034870e-04 9.99929860e-01 4.13202122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.253741732 meters 0.041054720198332215 Centerline is valid? [True, True] Translation: X:-10.39, Y:1.67, Z:0.42 [[ 9.84511231e-01 1.75010623e-01 -1.04363367e-02 -1.03864565e+01] [-1.75005666e-01 9.84566440e-01 1.39344630e-03 1.67236033e+00] [ 1.05191348e-02 4.54554525e-04 9.99944569e-01 4.18722484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.283741732 meters 0.041109295389268566 Centerline is valid? [True, True] Translation: X:-10.42, Y:1.68, Z:0.42 [[ 9.84382065e-01 1.75631914e-01 -1.20574411e-02 -1.04175397e+01] [-1.75625353e-01 9.84455761e-01 1.60912820e-03 1.67992822e+00] [ 1.21526316e-02 5.33595406e-04 9.99926012e-01 4.18458449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.313741731999999 meters 0.043678952902117874 Centerline is valid? [True, True] Translation: X:-10.45, Y:1.69, Z:0.42 [[ 9.84080694e-01 1.77377163e-01 -1.10693494e-02 -1.04478098e+01] [-1.77371778e-01 9.84142815e-01 1.47415039e-03 1.68660128e+00] [ 1.11553012e-02 5.12707241e-04 9.99937646e-01 4.18572602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.343741732 meters 0.04263215548585963 Centerline is valid? [True, True] Translation: X:-10.48, Y:1.69, Z:0.42 [[ 9.83585785e-01 1.79947087e-01 -1.33435386e-02 -1.04779745e+01] [-1.79939460e-01 9.83676076e-01 1.77987872e-03 1.69321886e+00] [ 1.34460036e-02 6.50365710e-04 9.99909387e-01 4.19412049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.373741732 meters 0.043577344265800365 Centerline is valid? [True, True] Translation: X:-10.51, Y:1.70, Z:0.42 [[ 9.83110489e-01 1.82295569e-01 -1.61892394e-02 -1.05077908e+01] [-1.82284651e-01 9.83243429e-01 2.15994566e-03 1.70019857e+00] [ 1.63117118e-02 8.27584616e-04 9.99866613e-01 4.17228128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.403741731999999 meters 0.04353689173349579 Centerline is valid? [True, True] Translation: X:-10.54, Y:1.71, Z:0.41 [[ 9.82843523e-01 1.83493424e-01 -1.86754774e-02 -1.05375315e+01] [-1.83479125e-01 9.83020450e-01 2.49087585e-03 1.70567867e+00] [ 1.88154356e-02 9.78419071e-04 9.99822495e-01 4.14879700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.433741732 meters 0.042591491141439654 Centerline is valid? [True, True] Translation: X:-10.57, Y:1.71, Z:0.42 [[ 9.82754290e-01 1.83713820e-01 -2.10531929e-02 -1.05690388e+01] [-1.83695743e-01 9.82979146e-01 2.80594533e-03 1.71077705e+00] [ 2.12103405e-02 1.10982710e-03 9.99774419e-01 4.17245441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.463741731999999 meters 0.045185802984746025 Centerline is valid? [True, True] Translation: X:-10.60, Y:1.72, Z:0.42 [[ 9.83104209e-01 1.82556894e-01 -1.33826346e-02 -1.05991354e+01] [-1.82549474e-01 9.83195050e-01 1.78431850e-03 1.71643933e+00] [ 1.34834797e-02 6.88821875e-04 9.99908856e-01 4.20389157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.493741731999998 meters 0.04219124288262142 Centerline is valid? [True, True] Translation: X:-10.63, Y:1.72, Z:0.42 [[ 9.83462436e-01 1.80349519e-01 -1.66038666e-02 -1.06304416e+01] [-1.80337830e-01 9.83602246e-01 2.21092897e-03 1.72163038e+00] [ 1.67303404e-02 8.19939683e-04 9.99859702e-01 4.21785239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.523741732 meters 0.04219124288262142 Centerline is valid? [True, True] Translation: X:-10.66, Y:1.73, Z:0.42 [[ 9.83476589e-01 1.80272310e-01 -1.66040367e-02 -1.06618742e+01] [-1.80260632e-01 9.83616400e-01 2.20965146e-03 1.72591963e+00] [ 1.67303418e-02 8.19913666e-04 9.99859702e-01 4.22409195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.553741731999999 meters 0.039572606652119965 Centerline is valid? [True, True] Translation: X:-10.69, Y:1.72, Z:0.42 [[ 9.84159562e-01 1.76424220e-01 -1.74485355e-02 -1.06926120e+01] [-1.76410705e-01 9.84313907e-01 2.32289912e-03 1.72431651e+00] [ 1.75846518e-02 7.92005065e-04 9.99845064e-01 4.22444160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.583741731999998 meters 0.040963198046376215 Centerline is valid? [True, True] Translation: X:-10.72, Y:1.73, Z:0.42 [[ 9.84958181e-01 1.72103737e-01 -1.54170190e-02 -1.07233962e+01] [-1.72092673e-01 9.85078628e-01 2.05141509e-03 1.72936185e+00] [ 1.55400322e-02 6.32597949e-04 9.99879046e-01 4.21185030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.613741732 meters 0.03488586699898468 Centerline is valid? [True, True] Translation: X:-10.75, Y:1.73, Z:0.43 [[ 9.85290026e-01 1.70289227e-01 -1.43228178e-02 -1.07547804e+01] [-1.70279508e-01 9.85393963e-01 1.90435937e-03 1.72907521e+00] [ 1.44379101e-02 5.62536068e-04 9.99895610e-01 4.33413361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.643741731999999 meters 0.03762665239033898 Centerline is valid? [True, True] Translation: X:-10.79, Y:1.74, Z:0.43 [[ 9.85256035e-01 1.70702896e-01 -1.14484373e-02 -1.07857408e+01] [-1.70696734e-01 9.85322441e-01 1.52050671e-03 1.74085906e+00] [ 1.15399571e-02 4.56122439e-04 9.99933308e-01 4.31883134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.673741732 meters 0.039965154572076673 Centerline is valid? [True, True] Translation: X:-10.82, Y:1.75, Z:0.43 [[ 9.84909063e-01 1.72600780e-01 -1.27714114e-02 -1.08151818e+01] [-1.72593254e-01 9.84991719e-01 1.69743325e-03 1.74891474e+00] [ 1.28727128e-02 5.32442078e-04 9.99917001e-01 4.28365844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.703741732 meters 0.03950508107386804 Centerline is valid? [True, True] Translation: X:-10.84, Y:1.76, Z:0.43 [[ 9.84477939e-01 1.74741654e-01 -1.63872597e-02 -1.08444842e+01] [-1.74729552e-01 9.84614055e-01 2.17852723e-03 1.75905697e+00] [ 1.65158057e-02 7.18626546e-04 9.99863347e-01 4.26775281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.733741731999999 meters 0.04094860370971058 Centerline is valid? [True, True] Translation: X:-10.88, Y:1.77, Z:0.43 [[ 9.83989197e-01 1.77816182e-01 -1.21105651e-02 -1.08756385e+01] [-1.77809845e-01 9.84063554e-01 1.60667713e-03 1.76525559e+00] [ 1.22032589e-02 5.72424763e-04 9.99925374e-01 4.34043245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.763741732 meters 0.041528239704672926 Centerline is valid? [True, True] Translation: X:-10.91, Y:1.77, Z:0.44 [[ 9.83872631e-01 1.78519802e-01 -1.11949345e-02 -1.09059044e+01] [-1.78514433e-01 9.83936172e-01 1.48513291e-03 1.77229652e+00] [ 1.12802267e-02 5.37275769e-04 9.99936232e-01 4.37836030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.793741731999999 meters 0.04340189133401937 Centerline is valid? [True, True] Translation: X:-10.94, Y:1.79, Z:0.43 [[ 9.83143120e-01 1.82380217e-01 -1.29252596e-02 -1.09351182e+01] [-1.82373386e-01 9.83227851e-01 1.71519810e-03 1.78646722e+00] [ 1.30212935e-02 6.70938157e-04 9.99914994e-01 4.32690376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.823741731999998 meters 0.04716796874210072 Centerline is valid? [True, True] Translation: X:-10.97, Y:1.80, Z:0.43 [[ 9.82905903e-01 1.83356870e-01 -1.66205814e-02 -1.09655723e+01] [-1.83345739e-01 9.83046022e-01 2.20404402e-03 1.79868534e+00] [ 1.67429231e-02 8.80944908e-04 9.99859439e-01 4.26162763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.853741732 meters 0.045647500502948586 Centerline is valid? [True, True] Translation: X:-11.00, Y:1.80, Z:0.43 [[ 9.83085063e-01 1.82145532e-01 -1.91510793e-02 -1.09974397e+01] [-1.82130558e-01 9.83271081e-01 2.53788900e-03 1.80372250e+00] [ 1.92929676e-02 9.93035988e-04 9.99813380e-01 4.26684785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.883741731999999 meters 0.0447750120476813 Centerline is valid? [True, True] Translation: X:-11.03, Y:1.80, Z:0.43 [[ 9.83964632e-01 1.77532938e-01 -1.71947386e-02 -1.10286300e+01] [-1.77520142e-01 9.84114527e-01 2.27992045e-03 1.80432477e+00] [ 1.73263531e-02 8.09051349e-04 9.99849560e-01 4.26968312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.913741731999998 meters 0.03964155022907041 Centerline is valid? [True, True] Translation: X:-11.06, Y:1.80, Z:0.44 [[ 9.84835916e-01 1.73000908e-01 -1.29963092e-02 -1.10582099e+01] [-1.72993195e-01 9.84921511e-01 1.72384880e-03 1.80196585e+00] [ 1.30985719e-02 5.50564837e-04 9.99914058e-01 4.37594053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.943741732 meters 0.037786087579767445 Centerline is valid? [True, True] Translation: X:-11.09, Y:1.81, Z:0.44 [[ 9.85452015e-01 1.69680646e-01 -9.63350484e-03 -1.10887708e+01] [-1.69676264e-01 9.85499029e-01 1.27632546e-03 1.81032975e+00] [ 9.71037740e-03 3.76819614e-04 9.99952782e-01 4.40391282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.973741731999999 meters 0.0377469782728236 Centerline is valid? [True, True] Translation: X:-11.12, Y:1.82, Z:0.44 [[ 9.85099356e-01 1.70970334e-01 -1.86655577e-02 -1.11175193e+01] [-1.70954070e-01 9.85275890e-01 2.47532578e-03 1.81996938e+00] [ 1.88139313e-02 7.52511236e-04 9.99822719e-01 4.36857240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.003741732 meters 0.041009239679668304 Centerline is valid? [True, True] Translation: X:-11.15, Y:1.83, Z:0.44 [[ 9.84538151e-01 1.74156744e-01 -1.88164179e-02 -1.11475612e+01] [-1.74140834e-01 9.84717601e-01 2.49335367e-03 1.82875328e+00] [ 1.89630922e-02 8.21904897e-04 9.99819847e-01 4.36044000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.033741732 meters 0.043192366911467425 Centerline is valid? [True, True] Translation: X:-11.18, Y:1.84, Z:0.44 [[ 9.84330823e-01 1.75720126e-01 -1.46720417e-02 -1.11786509e+01] [-1.75710659e-01 9.84439939e-01 1.94196814e-03 1.83968649e+00] [ 1.47849867e-02 6.66495031e-04 9.99890474e-01 4.38376425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.063741731999999 meters 0.04062143937389039 Centerline is valid? [True, True] Translation: X:-11.21, Y:1.85, Z:0.45 [[ 9.83488254e-01 1.80375609e-01 -1.46797186e-02 -1.12075447e+01] [-1.80366625e-01 9.83597529e-01 1.94460708e-03 1.84660423e+00] [ 1.47896946e-02 7.35233073e-04 9.99890356e-01 4.47383907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.093741732 meters 0.043084857482088366 Centerline is valid? [True, True] Translation: X:-11.24, Y:1.86, Z:0.44 [[ 9.82758502e-01 1.83902476e-01 -1.91208511e-02 -1.12372143e+01] [-1.83887900e-01 9.82943958e-01 2.53287572e-03 1.85682561e+00] [ 1.92605272e-02 1.02688800e-03 9.99813971e-01 4.41631992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.123741732 meters 0.04728826506967117 Centerline is valid? [True, True] Translation: X:-11.27, Y:1.87, Z:0.44 [[ 9.82877204e-01 1.83442933e-01 -1.73520231e-02 -1.12687552e+01] [-1.83430910e-01 9.83029924e-01 2.29553317e-03 1.86522810e+00] [ 1.74786572e-02 9.26670155e-04 9.99846807e-01 4.37098483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.153741731999999 meters 0.04239769637410357 Centerline is valid? [True, True] Translation: X:-11.30, Y:1.87, Z:0.44 [[ 9.83143629e-01 1.81813997e-01 -1.92944340e-02 -1.12992948e+01] [-1.81798832e-01 9.83332432e-01 2.55187647e-03 1.86894110e+00] [ 1.94368096e-02 9.98844461e-04 9.99810588e-01 4.44352273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.183741732 meters 0.041731800639401836 Centerline is valid? [True, True] Translation: X:-11.33, Y:1.87, Z:0.45 [[ 9.83763614e-01 1.78937336e-01 -1.38051549e-02 -1.13292133e+01] [-1.78929279e-01 9.83860242e-01 1.82660655e-03 1.87418786e+00] [ 1.39091912e-02 6.73197356e-04 9.99903036e-01 4.50774039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.213741731999999 meters 0.03909818820900976 Centerline is valid? [True, True] Translation: X:-11.36, Y:1.88, Z:0.45 [[ 9.84310237e-01 1.75996963e-01 -1.25867238e-02 -1.13599607e+01] [-1.75990046e-01 9.84390540e-01 1.66379970e-03 1.87556857e+00] [ 1.26830755e-02 5.77443031e-04 9.99919400e-01 4.52992022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.243741731999998 meters 0.0406803327987295 Centerline is valid? [True, True] Translation: X:-11.39, Y:1.88, Z:0.44 [[ 9.85283783e-01 1.70115653e-01 -1.66292584e-02 -1.13920380e+01] [-1.70102803e-01 9.85423879e-01 2.19450042e-03 1.87760733e+00] [ 1.67601872e-02 6.66477791e-04 9.99859316e-01 4.41915041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.273741732 meters 0.03607561591335919 Centerline is valid? [True, True] Translation: X:-11.42, Y:1.88, Z:0.44 [[ 9.85732985e-01 1.66558023e-01 -2.42674288e-02 -1.14225800e+01] [-1.66529507e-01 9.86031261e-01 3.20551152e-03 1.87871419e+00] [ 2.44623471e-02 8.81464505e-04 9.99700363e-01 4.38410311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.303741731999999 meters 0.03910755391993263 Centerline is valid? [True, True] Translation: X:-11.45, Y:1.88, Z:0.44 [[ 9.86040140e-01 1.65584023e-01 -1.75149481e-02 -1.14529801e+01] [-1.65569015e-01 9.86195492e-01 2.31358903e-03 1.88291524e+00] [ 1.76562562e-02 6.18641037e-04 9.99843925e-01 4.43449746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.333741731999998 meters 0.037705684524826526 Centerline is valid? [True, True] Translation: X:-11.48, Y:1.89, Z:0.45 [[ 9.86209971e-01 1.65142326e-01 -1.08584037e-02 -1.14828412e+01] [-1.65136537e-01 9.86269673e-01 1.43377368e-03 1.88810369e+00] [ 1.09460910e-02 3.79117286e-04 9.99940018e-01 4.53820645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.363741732 meters 0.03784155731856123 Centerline is valid? [True, True] Translation: X:-11.51, Y:1.90, Z:0.45 [[ 9.85355851e-01 1.69405615e-01 -1.93800169e-02 -1.15124218e+01] [-1.69387997e-01 9.85546122e-01 2.55896527e-03 1.90007174e+00] [ 1.95334036e-02 7.61250855e-04 9.99808915e-01 4.47328055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.393741731999999 meters 0.04346753968406116 Centerline is valid? [True, True] Translation: X:-11.54, Y:1.91, Z:0.44 [[ 9.84630360e-01 1.73593346e-01 -1.91938524e-02 -1.15424640e+01] [-1.73576882e-01 9.84817064e-01 2.53318014e-03 1.91198797e+00] [ 1.93421766e-02 8.37362980e-04 9.99812572e-01 4.42327256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.423741732 meters 0.04209951738984113 Centerline is valid? [True, True] Translation: X:-11.57, Y:1.92, Z:0.45 [[ 9.83827087e-01 1.78161274e-01 -1.85154960e-02 -1.15708007e+01] [-1.78146731e-01 9.84000896e-01 2.44517978e-03 1.92113261e+00] [ 1.86549010e-02 8.92840987e-04 9.99825584e-01 4.50667287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.453741732 meters 0.04231411367887948 Centerline is valid? [True, True] Translation: X:-11.60, Y:1.93, Z:0.45 [[ 9.83609364e-01 1.79399106e-01 -1.81267587e-02 -1.16021021e+01] [-1.79385440e-01 9.83775965e-01 2.39040203e-03 1.92955220e+00] [ 1.82615056e-02 9.00454773e-04 9.99832839e-01 4.52972064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.483741731999999 meters 0.04588315026106861 Centerline is valid? [True, True] Translation: X:-11.63, Y:1.94, Z:0.45 [[ 9.83342657e-01 1.80836706e-01 -1.83113432e-02 -1.16339155e+01] [-1.80823050e-01 9.83512686e-01 2.41249471e-03 1.93893328e+00] [ 1.84457060e-02 9.38803976e-04 9.99829423e-01 4.50668349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.513741732 meters 0.04336187234127119 Centerline is valid? [True, True] Translation: X:-11.66, Y:1.94, Z:0.45 [[ 9.83983634e-01 1.77550812e-01 -1.58719230e-02 -1.16637668e+01] [-1.77540093e-01 9.84111342e-01 2.09313574e-03 1.93986482e+00] [ 1.59913774e-02 7.58291375e-04 9.99871842e-01 4.52082394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.543741731999999 meters 0.042107903751042695 Centerline is valid? [True, True] Translation: X:-11.69, Y:1.94, Z:0.45 [[ 9.85010567e-01 1.71870432e-01 -1.46539212e-02 -1.16942635e+01] [-1.71860671e-01 9.85119372e-01 1.93219013e-03 1.94037668e+00] [ 1.47679480e-02 6.15205043e-04 9.99890759e-01 4.54491823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.573741731999998 meters 0.041979000645836026 Centerline is valid? [True, True] Translation: X:-11.73, Y:1.95, Z:0.45 [[ 9.85101177e-01 1.70847936e-01 -1.96635326e-02 -1.17256697e+01] [-1.70830203e-01 9.85297078e-01 2.59045852e-03 1.94502171e+00] [ 1.98169957e-02 8.07261532e-04 9.99803298e-01 4.50368621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.603741732 meters 0.039981021373081335 Centerline is valid? [True, True] Translation: X:-11.76, Y:1.95, Z:0.45 [[ 9.85152427e-01 1.70191058e-01 -2.25765385e-02 -1.17565102e+01] [-1.70167519e-01 9.85410661e-01 2.97383765e-03 1.94793267e+00] [ 2.27532823e-02 9.12110160e-04 9.99740694e-01 4.49616927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.633741731999999 meters 0.04190427499022987 Centerline is valid? [True, True] Translation: X:-11.79, Y:1.95, Z:0.46 [[ 9.85384853e-01 1.69539239e-01 -1.65268845e-02 -1.17866901e+01] [-1.69526546e-01 9.85523219e-01 2.17616461e-03 1.95142680e+00] [ 1.66565737e-02 6.57386006e-04 9.99861054e-01 4.55991428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.663741731999998 meters 0.04203967991762273 Centerline is valid? [True, True] Translation: X:-11.82, Y:1.96, Z:0.46 [[ 9.85190204e-01 1.70903018e-01 -1.38716052e-02 -1.18175841e+01] [-1.70894327e-01 9.85287685e-01 1.81820712e-03 1.95786790e+00] [ 1.39782588e-02 5.79298793e-04 9.99902132e-01 4.61936645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.693741732 meters 0.04159693205035134 Centerline is valid? [True, True] Translation: X:-11.85, Y:1.97, Z:0.47 [[ 9.84875877e-01 1.72929537e-01 -1.07182718e-02 -1.18489080e+01] [-1.72924452e-01 9.84934087e-01 1.40641727e-03 1.96621799e+00] [ 1.08000023e-02 4.68304833e-04 9.99941569e-01 4.68353355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.723741731999999 meters 0.039905672278202006 Centerline is valid? [True, True] Translation: X:-11.88, Y:1.97, Z:0.47 [[ 9.84918843e-01 1.72703601e-01 -1.04086219e-02 -1.18813354e+01] [-1.72698877e-01 9.84973733e-01 1.35782269e-03 1.96876521e+00] [ 1.04867200e-02 4.60212157e-04 9.99944907e-01 4.71426918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.753741732 meters 0.03917668923942432 Centerline is valid? [True, True] Translation: X:-11.91, Y:1.98, Z:0.46 [[ 9.85241473e-01 1.70217233e-01 -1.80369851e-02 -1.19127359e+01] [-1.70202478e-01 9.85406282e-01 2.36129878e-03 1.97587997e+00] [ 1.81756922e-02 7.43490069e-04 9.99834532e-01 4.59212997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.783741732 meters 0.04061728110013699 Centerline is valid? [True, True] Translation: X:-11.94, Y:1.98, Z:0.45 [[ 9.85273679e-01 1.69399214e-01 -2.32310752e-02 -1.19434224e+01] [-1.69374514e-01 9.85547069e-01 3.04113022e-03 1.98477523e+00] [ 2.34104831e-02 9.38406502e-04 9.99725497e-01 4.51506796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.813741731999999 meters 0.04046591555200027 Centerline is valid? [True, True] Translation: X:-11.97, Y:1.99, Z:0.46 [[ 9.85350571e-01 1.69334040e-01 -2.02542533e-02 -1.19747054e+01] [-1.69315287e-01 9.85558376e-01 2.64964850e-03 1.98749641e+00] [ 2.04104247e-02 8.18522054e-04 9.99791351e-01 4.56254760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.843741732 meters 0.03483499887831008 Centerline is valid? [True, True] Translation: X:-12.01, Y:1.99, Z:0.47 [[ 9.86512900e-01 1.62679833e-01 -1.80989100e-02 -1.20052657e+01] [-1.62663723e-01 9.86678723e-01 2.36859158e-03 1.98775620e+00] [ 1.82431315e-02 6.07389930e-04 9.99833396e-01 4.66497261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.873741732 meters 0.03695309944091079 Centerline is valid? [True, True] Translation: X:-12.04, Y:2.00, Z:0.47 [[ 9.86411783e-01 1.63753235e-01 -1.32918103e-02 -1.20359606e+01] [-1.63744680e-01 9.86501223e-01 1.73679389e-03 1.99928738e+00] [ 1.33967927e-02 4.63269268e-04 9.99910152e-01 4.68843076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.903741731999999 meters 0.03957514936497109 Centerline is valid? [True, True] Translation: X:-12.07, Y:2.01, Z:0.47 [[ 9.86247544e-01 1.64836035e-01 -1.20359009e-02 -1.20686711e+01] [-1.64829130e-01 9.86320887e-01 1.57032815e-03 2.00716851e+00] [ 1.21301071e-02 4.35134791e-04 9.99926333e-01 4.66646440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.933741732 meters 0.038797120338680144 Centerline is valid? [True, True] Translation: X:-12.10, Y:2.01, Z:0.46 [[ 9.86167831e-01 1.65169717e-01 -1.38554677e-02 -1.21005661e+01] [-1.65160608e-01 9.86265029e-01 1.80703194e-03 2.01461118e+00] [ 1.39636302e-02 5.06340698e-04 9.99902376e-01 4.64990477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.963741731999999 meters 0.039242916106759416 Centerline is valid? [True, True] Translation: X:-12.13, Y:2.02, Z:0.46 [[ 9.86212356e-01 1.64795658e-01 -1.50857821e-02 -1.21313248e+01] [-1.64784925e-01 9.86327575e-01 1.96031309e-03 2.02275179e+00] [ 1.52025740e-02 5.52624486e-04 9.99884281e-01 4.64934849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.993741731999998 meters 0.04118599763787436 Centerline is valid? [True, True] Translation: X:-12.16, Y:2.03, Z:0.46 [[ 9.86194583e-01 1.64764076e-01 -1.65240535e-02 -1.21631018e+01] [-1.64751160e-01 9.86332822e-01 2.14923195e-03 2.03150539e+00] [ 1.66523325e-02 6.02796074e-04 9.99861159e-01 4.63352846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.023741732 meters 0.04045844565277009 Centerline is valid? [True, True] Translation: X:-12.19, Y:2.04, Z:0.46 [[ 9.86136549e-01 1.64905888e-01 -1.84595489e-02 -1.21945111e+01] [-1.64889811e-01 9.86309074e-01 2.40008860e-03 2.04168340e+00] [ 1.86026094e-02 6.76976445e-04 9.99826727e-01 4.59238578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.053741731999999 meters 0.03622250474055643 Centerline is valid? [True, True] Translation: X:-12.22, Y:2.05, Z:0.47 [[ 9.86462238e-01 1.62993888e-01 -1.80345457e-02 -1.22249290e+01] [-1.62978295e-01 9.86626878e-01 2.34088995e-03 2.04946019e+00] [ 1.81749182e-02 6.30039975e-04 9.99834624e-01 4.66113628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.083741731999998 meters 0.03922715623570098 Centerline is valid? [True, True] Translation: X:-12.26, Y:2.06, Z:0.46 [[ 9.86400434e-01 1.63028928e-01 -2.08746698e-02 -1.22555119e+01] [-1.63008011e-01 9.86621020e-01 2.71116924e-03 2.05871335e+00] [ 2.10373870e-02 7.28439872e-04 9.99778424e-01 4.59662372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.113741732 meters 0.036487991285187024 Centerline is valid? [True, True] Translation: X:-12.29, Y:2.06, Z:0.46 [[ 9.86524608e-01 1.62011574e-01 -2.28352429e-02 -1.22871752e+01] [-1.61986328e-01 9.86788553e-01 2.96330341e-03 2.06325813e+00] [ 2.30136457e-02 7.75625421e-04 9.99734850e-01 4.60952170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.143741731999999 meters 0.038455155106502506 Centerline is valid? [True, True] Translation: X:-12.32, Y:2.07, Z:0.47 [[ 9.86535979e-01 1.62556038e-01 -1.79526109e-02 -1.23177881e+01] [-1.62540530e-01 9.86699118e-01 2.32939791e-03 2.07183067e+00] [ 1.80924831e-02 6.19992037e-04 9.99836125e-01 4.65454095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.173741732 meters 0.04282706030982862 Centerline is valid? [True, True] Translation: X:-12.35, Y:2.09, Z:0.47 [[ 9.86201394e-01 1.65118183e-01 -1.19496993e-02 -1.23476499e+01] [-1.65111592e-01 9.86273685e-01 1.54279549e-03 2.08677137e+00] [ 1.20404176e-02 4.51526813e-04 9.99927410e-01 4.69835221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.203741732 meters 0.03898594801792054 Centerline is valid? [True, True] Translation: X:-12.38, Y:2.10, Z:0.47 [[ 9.85248575e-01 1.70149421e-01 -1.82871738e-02 -1.23765021e+01] [-1.70134706e-01 9.85417967e-01 2.36887870e-03 2.09741627e+00] [ 1.84235730e-02 7.77348583e-04 9.99829969e-01 4.72788948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.233741731999999 meters 0.04276781179984381 Centerline is valid? [True, True] Translation: X:-12.41, Y:2.11, Z:0.46 [[ 9.84549343e-01 1.73681244e-01 -2.23028575e-02 -1.24059983e+01] [-1.73660267e-01 9.84801384e-01 2.88875880e-03 2.11227978e+00] [ 2.24656082e-02 1.02899462e-03 9.99747087e-01 4.63028080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.263741732 meters 0.04452671719711921 Centerline is valid? [True, True] Translation: X:-12.44, Y:2.12, Z:0.46 [[ 9.84727275e-01 1.72776041e-01 -2.14623689e-02 -1.24369218e+01] [-1.72756647e-01 9.84960647e-01 2.76851564e-03 2.12405724e+00] [ 2.16179220e-02 9.81534034e-04 9.99765824e-01 4.62735660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.293741731999999 meters 0.0430754124990641 Centerline is valid? [True, True] Translation: X:-12.47, Y:2.12, Z:0.47 [[ 9.85449521e-01 1.69241540e-01 -1.57016911e-02 -1.24671105e+01] [-1.69230648e-01 9.85574385e-01 2.02944953e-03 2.12065176e+00] [ 1.58186517e-02 6.57287293e-04 9.99874661e-01 4.71853160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.323741731999998 meters 0.04088440775475956 Centerline is valid? [True, True] Translation: X:-12.50, Y:2.12, Z:0.47 [[ 9.86326707e-01 1.64222613e-01 -1.38043568e-02 -1.24983311e+01] [-1.64213719e-01 9.86423173e-01 1.78307562e-03 2.12240730e+00] [ 1.39097588e-02 5.08169662e-04 9.99903125e-01 4.73434770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.353741732 meters 0.041758732962519494 Centerline is valid? [True, True] Translation: X:-12.53, Y:2.13, Z:0.47 [[ 9.85783448e-01 1.66526202e-01 -2.23610763e-02 -1.25271765e+01] [-1.66503411e-01 9.86036642e-01 2.89028082e-03 2.12985675e+00] [ 2.25301480e-02 8.74004479e-04 9.99745782e-01 4.65790941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.383741731999999 meters 0.044397625594767516 Centerline is valid? [True, True] Translation: X:-12.56, Y:2.14, Z:0.47 [[ 9.85496176e-01 1.68428703e-01 -2.07137289e-02 -1.25588644e+01] [-1.68409814e-01 9.85713462e-01 2.66552550e-03 2.13806604e+00] [ 2.08667524e-02 8.61530036e-04 9.99781894e-01 4.67872795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.413741731999998 meters 0.044397625594767516 Centerline is valid? [True, True] Translation: X:-12.59, Y:2.14, Z:0.47 [[ 9.85549901e-01 1.68113936e-01 -2.07146784e-02 -1.25911817e+01] [-1.68095132e-01 9.85767194e-01 2.65814598e-03 2.14248313e+00] [ 2.08667218e-02 8.62301091e-04 9.99781894e-01 4.68513420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.443741732 meters 0.04037681255811739 Centerline is valid? [True, True] Translation: X:-12.62, Y:2.15, Z:0.48 [[ 9.85243404e-01 1.70175106e-01 -1.83267014e-02 -1.26229685e+01] [-1.70160860e-01 9.85413508e-01 2.34536899e-03 2.14687268e+00] [ 1.84585026e-02 8.07727953e-04 9.99829301e-01 4.80737957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.473741731999999 meters 0.04151682631632127 Centerline is valid? [True, True] Translation: X:-12.65, Y:2.16, Z:0.48 [[ 9.84772952e-01 1.72886912e-01 -1.82304306e-02 -1.26531468e+01] [-1.72873196e-01 9.84941315e-01 2.33758069e-03 2.15771680e+00] [ 1.83600413e-02 8.49566557e-04 9.99831079e-01 4.80209851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.503741732 meters 0.045825243051937796 Centerline is valid? [True, True] Translation: X:-12.68, Y:2.17, Z:0.48 [[ 9.84057140e-01 1.76803644e-01 -1.92877488e-02 -1.26826185e+01] [-1.76789024e-01 9.84245660e-01 2.47402445e-03 2.16549167e+00] [ 1.94212996e-02 9.75280868e-04 9.99810913e-01 4.75999862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.533741732 meters 0.044993424243470595 Centerline is valid? [True, True] Translation: X:-12.72, Y:2.17, Z:0.47 [[ 9.84293538e-01 1.75404220e-01 -1.99897774e-02 -1.27151160e+01] [-1.75388457e-01 9.84495999e-01 2.55268587e-03 2.16881636e+00] [ 2.01276078e-02 9.93384009e-04 9.99796926e-01 4.72632419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.563741731999999 meters 0.04195106127612141 Centerline is valid? [True, True] Translation: X:-12.75, Y:2.17, Z:0.48 [[ 9.85022619e-01 1.70990848e-01 -2.21939386e-02 -1.27468997e+01] [-1.70970287e-01 9.85272107e-01 2.83468542e-03 2.16969529e+00] [ 2.23517739e-02 1.00227479e-03 9.99749665e-01 4.76370781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.593741732 meters 0.043970275685041305 Centerline is valid? [True, True] Translation: X:-12.78, Y:2.17, Z:0.48 [[ 9.85563287e-01 1.68215608e-01 -1.91968063e-02 -1.27778918e+01] [-1.68199671e-01 9.85749893e-01 2.45339997e-03 2.17068441e+00] [ 1.93359499e-02 8.10915571e-04 9.99812714e-01 4.78660755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.623741732 meters 0.03989539328625237 Centerline is valid? [True, True] Translation: X:-12.81, Y:2.17, Z:0.48 [[ 9.86251009e-01 1.64191885e-01 -1.87075334e-02 -1.28079808e+01] [-1.64176019e-01 9.86428161e-01 2.39125831e-03 2.16989584e+00] [ 1.88462629e-02 7.12947432e-04 9.99822139e-01 4.83619293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.653741731999999 meters 0.040657258575253694 Centerline is valid? [True, True] Translation: X:-12.84, Y:2.17, Z:0.48 [[ 9.86917827e-01 1.60344125e-01 -1.68215362e-02 -1.28390827e+01] [-1.60330764e-01 9.87061006e-01 2.14868143e-03 2.17352279e+00] [ 1.69484109e-02 5.76437740e-04 9.99856199e-01 4.84205578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.683741732 meters 0.03937333342969051 Centerline is valid? [True, True] Translation: X:-12.87, Y:2.18, Z:0.48 [[ 9.86791196e-01 1.60591797e-01 -2.12934117e-02 -1.28694975e+01] [-1.60570440e-01 9.87020635e-01 2.72010731e-03 2.18208127e+00] [ 2.14538637e-02 7.34914547e-04 9.99769569e-01 4.82385090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.713741731999999 meters 0.045726492046407136 Centerline is valid? [True, True] Translation: X:-12.90, Y:2.20, Z:0.48 [[ 9.84303265e-01 1.74563492e-01 -2.59744222e-02 -1.28972068e+01] [-1.74536517e-01 9.84645106e-01 3.31961445e-03 2.19833467e+00] [ 2.61550712e-02 1.26597784e-03 9.99657096e-01 4.77597197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.743741731999998 meters 0.04933351260882594 Centerline is valid? [True, True] Translation: X:-12.93, Y:2.21, Z:0.48 [[ 9.83190297e-01 1.80512275e-01 -2.74254927e-02 -1.29265797e+01] [-1.80484522e-01 9.83571581e-01 3.50451104e-03 2.20504552e+00] [ 2.76075425e-02 1.50427568e-03 9.99617707e-01 4.76129020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.773741732 meters 0.0522553350327851 Centerline is valid? [True, True] Translation: X:-12.96, Y:2.21, Z:0.47 [[ 9.82962419e-01 1.81811300e-01 -2.70098884e-02 -1.29582850e+01] [-1.81785234e-01 9.83332247e-01 3.43801754e-03 2.21155754e+00] [ 2.71847647e-02 1.53055686e-03 9.99629254e-01 4.74736058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.803741731999999 meters 0.04842536940121606 Centerline is valid? [True, True] Translation: X:-12.99, Y:2.21, Z:0.48 [[ 9.83171579e-01 1.80348414e-01 -2.91220807e-02 -1.29899854e+01] [-1.80317665e-01 9.83601468e-01 3.70034951e-03 2.21228621e+00] [ 2.93118735e-02 1.61314711e-03 9.99569013e-01 4.81087029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.833741731999998 meters 0.04573832305832692 Centerline is valid? [True, True] Translation: X:-13.02, Y:2.21, Z:0.49 [[ 9.83462178e-01 1.79212129e-01 -2.61755188e-02 -1.30200401e+01] [-1.79186766e-01 9.83809438e-01 3.33048389e-03 2.21050181e+00] [ 2.63485856e-02 1.41490162e-03 9.99651814e-01 4.86434816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.863741732 meters 0.043572980193517956 Centerline is valid? [True, True] Translation: X:-13.05, Y:2.21, Z:0.49 [[ 9.84413582e-01 1.74330074e-01 -2.32147744e-02 -1.30510544e+01] [-1.74308769e-01 9.84686614e-01 2.95374973e-03 2.20770580e+00] [ 2.33742050e-02 1.13882740e-03 9.99726137e-01 4.92493971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.893741731999999 meters 0.04255446227928842 Centerline is valid? [True, True] Translation: X:-13.08, Y:2.20, Z:0.49 [[ 9.86054643e-01 1.65202926e-01 -2.01055821e-02 -1.30825766e+01] [-1.65185068e-01 9.86259273e-01 2.55721817e-03 2.20075692e+00] [ 2.02517767e-02 7.99585100e-04 9.99794592e-01 4.91033507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.923741732 meters 0.03734101332912252 Centerline is valid? [True, True] Translation: X:-13.11, Y:2.20, Z:0.50 [[ 9.86736537e-01 1.61098440e-01 -1.99574491e-02 -1.31131574e+01] [-1.61080012e-01 9.86938087e-01 2.53802592e-03 2.20224504e+00] [ 2.01056387e-02 7.10383237e-04 9.99797609e-01 4.96756445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.953741732 meters 0.04364613103393017 Centerline is valid? [True, True] Translation: X:-13.14, Y:2.21, Z:0.49 [[ 9.86600389e-01 1.62101943e-01 -1.85103421e-02 -1.31448059e+01] [-1.62086494e-01 9.86773776e-01 2.34184307e-03 2.21392716e+00] [ 1.86451375e-02 6.89813173e-04 9.99825926e-01 4.87669858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.983741731999999 meters 0.044264503049499235 Centerline is valid? [True, True] Translation: X:-13.17, Y:2.22, Z:0.48 [[ 9.86135683e-01 1.63965338e-01 -2.55300188e-02 -1.31743651e+01] [-1.63936345e-01 9.86465603e-01 3.23880046e-03 2.22136491e+00] [ 2.57155364e-02 9.91401270e-04 9.99668809e-01 4.79649991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.013741732 meters 0.04446345361774064 Centerline is valid? [True, True] Translation: X:-13.20, Y:2.23, Z:0.48 [[ 9.85683367e-01 1.66674397e-01 -2.54547714e-02 -1.32048825e+01] [-1.66646520e-01 9.86011420e-01 3.22752224e-03 2.23049504e+00] [ 2.56366406e-02 1.06063409e-03 9.99670765e-01 4.81547436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.043741731999999 meters 0.048600852627261416 Centerline is valid? [True, True] Translation: X:-13.23, Y:2.25, Z:0.48 [[ 9.84482476e-01 1.73848940e-01 -2.38914269e-02 -1.32334882e+01] [-1.73826470e-01 9.84771637e-01 3.03003720e-03 2.24659788e+00] [ 2.40543684e-02 1.16994386e-03 9.99709967e-01 4.84253060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.073741731999998 meters 0.05079385976576213 Centerline is valid? [True, True] Translation: X:-13.26, Y:2.26, Z:0.49 [[ 9.83646027e-01 1.78611477e-01 -2.32041828e-02 -1.32632601e+01] [-1.78591620e-01 9.83918888e-01 2.94204243e-03 2.25868475e+00] [ 2.33565163e-02 1.25014426e-03 9.99726418e-01 4.85961400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.103741732 meters 0.05105920128466043 Centerline is valid? [True, True] Translation: X:-13.29, Y:2.27, Z:0.49 [[ 9.83462884e-01 1.79708824e-01 -2.24832028e-02 -1.32935532e+01] [-1.79690607e-01 9.83719063e-01 2.84447068e-03 2.26536220e+00] [ 2.26283316e-02 1.24258902e-03 9.99743174e-01 4.87200653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.133741731999999 meters 0.04852859012467595 Centerline is valid? [True, True] Translation: X:-13.33, Y:2.27, Z:0.48 [[ 9.83829343e-01 1.77183041e-01 -2.61914968e-02 -1.33259433e+01] [-1.77157667e-01 9.84176936e-01 3.30455055e-03 2.26692570e+00] [ 2.63625773e-02 1.38891067e-03 9.99651482e-01 4.84675173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.163741731999998 meters 0.046336601424236026 Centerline is valid? [True, True] Translation: X:-13.36, Y:2.27, Z:0.48 [[ 9.84357735e-01 1.73862504e-01 -2.84899822e-02 -1.33583497e+01] [-1.73831311e-01 9.84768911e-01 3.58697757e-03 2.26907090e+00] [ 2.86796897e-02 1.42158185e-03 9.99587642e-01 4.82830915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.193741732 meters 0.04586103455173649 Centerline is valid? [True, True] Translation: X:-13.39, Y:2.27, Z:0.48 [[ 9.85109009e-01 1.69898121e-01 -2.63603554e-02 -1.33899111e+01] [-1.69869902e-01 9.85460896e-01 3.32258752e-03 2.26798671e+00] [ 2.65416008e-02 1.20472007e-03 9.99646984e-01 4.83066332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.223741731999999 meters 0.041648390169687105 Centerline is valid? [True, True] Translation: X:-13.42, Y:2.26, Z:0.49 [[ 9.86079892e-01 1.64395681e-01 -2.49099629e-02 -1.34203568e+01] [-1.64368745e-01 9.86393969e-01 3.13904872e-03 2.26454527e+00] [ 2.50870832e-02 9.99066514e-04 9.99684770e-01 4.87401595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.253741731999998 meters 0.041107667861583715 Centerline is valid? [True, True] Translation: X:-13.45, Y:2.27, Z:0.49 [[ 9.86481195e-01 1.62057280e-01 -2.43370189e-02 -1.34527321e+01] [-1.62030934e-01 9.86780923e-01 3.06379982e-03 2.26759877e+00] [ 2.45118171e-02 9.20968989e-04 9.99699116e-01 4.88388034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.283741732 meters 0.03974488730812047 Centerline is valid? [True, True] Translation: X:-13.48, Y:2.27, Z:0.49 [[ 9.86693757e-01 1.61142796e-01 -2.16432245e-02 -1.34829401e+01] [-1.61121727e-01 9.86930779e-01 2.72524785e-03 2.27448115e+00] [ 2.17995185e-02 7.98208666e-04 9.99762044e-01 4.91123840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.313741731999999 meters 0.041965758898133976 Centerline is valid? [True, True] Translation: X:-13.51, Y:2.28, Z:0.48 [[ 9.86059525e-01 1.64060957e-01 -2.77599747e-02 -1.35119925e+01] [-1.64027437e-01 9.86449582e-01 3.49591595e-03 2.28478759e+00] [ 2.79573588e-02 1.10621628e-03 9.99608505e-01 4.81423564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.343741732 meters 0.042759209762980574 Centerline is valid? [True, True] Translation: X:-13.54, Y:2.30, Z:0.48 [[ 9.85562368e-01 1.66273472e-01 -3.19366626e-02 -1.35419258e+01] [-1.66230282e-01 9.86078761e-01 4.02136289e-03 2.29684277e+00] [ 3.21607107e-02 1.34553649e-03 9.99481805e-01 4.77305361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.373741732 meters 0.043390162434256536 Centerline is valid? [True, True] Translation: X:-13.57, Y:2.31, Z:0.49 [[ 9.84754912e-01 1.71929015e-01 -2.64230460e-02 -1.35730358e+01] [-1.71901875e-01 9.85108509e-01 3.31225092e-03 2.31000797e+00] [ 2.65990395e-02 1.28041579e-03 9.99645363e-01 4.87909214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.403741731999999 meters 0.04856448231793951 Centerline is valid? [True, True] Translation: X:-13.60, Y:2.32, Z:0.48 [[ 9.83645780e-01 1.77933364e-01 -2.79409642e-02 -1.36028821e+01] [-1.77905255e-01 9.84041366e-01 3.50875750e-03 2.32258908e+00] [ 2.81193896e-02 1.51946984e-03 9.99603417e-01 4.83308905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.433741732 meters 0.04694841860298328 Centerline is valid? [True, True] Translation: X:-13.63, Y:2.32, Z:0.48 [[ 9.83346940e-01 1.79425019e-01 -2.89042755e-02 -1.36343528e+01] [-1.79395634e-01 9.83770321e-01 3.62786254e-03 2.31964868e+00] [ 2.90860977e-02 1.61785329e-03 9.99575601e-01 4.84120169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.463741731999999 meters 0.048918211488831846 Centerline is valid? [True, True] Translation: X:-13.67, Y:2.33, Z:0.48 [[ 9.83721730e-01 1.76928600e-01 -3.14297293e-02 -1.36670765e+01] [-1.76893119e-01 9.84222229e-01 3.92798755e-03 2.32673253e+00] [ 3.16288116e-02 1.69565614e-03 9.99498246e-01 4.77568373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.493741731999998 meters 0.050000078029915525 Centerline is valid? [True, True] Translation: X:-13.70, Y:2.32, Z:0.48 [[ 9.84757859e-01 1.72434972e-01 -2.27626909e-02 -1.36985043e+01] [-1.72415060e-01 9.85020268e-01 2.84928388e-03 2.32411695e+00] [ 2.29130280e-02 1.11877602e-03 9.99736836e-01 4.84098153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.523741732 meters 0.04316184059509019 Centerline is valid? [True, True] Translation: X:-13.73, Y:2.32, Z:0.49 [[ 9.85596011e-01 1.67802451e-01 -2.10437904e-02 -1.37293540e+01] [-1.67784364e-01 9.85820199e-01 2.63474632e-03 2.31598006e+00] [ 2.11875105e-02 9.34023522e-04 9.99775083e-01 4.94232737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.553741731999999 meters 0.0420577496547427 Centerline is valid? [True, True] Translation: X:-13.76, Y:2.32, Z:0.49 [[ 9.85501264e-01 1.67420913e-01 -2.75226403e-02 -1.37599224e+01] [-1.67389834e-01 9.85884765e-01 3.44567116e-03 2.31794621e+00] [ 2.77110292e-02 1.21129691e-03 9.99615242e-01 4.86044671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.583741731999998 meters 0.051343237753230665 Centerline is valid? [True, True] Translation: X:-13.79, Y:2.33, Z:0.47 [[ 9.84037689e-01 1.75160672e-01 -3.14414787e-02 -1.37899891e+01] [-1.75124073e-01 9.84538507e-01 3.93548541e-03 2.33088904e+00] [ 3.16446887e-02 1.63349386e-03 9.99497847e-01 4.70225753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.613741732 meters 0.05438758402460612 Centerline is valid? [True, True] Translation: X:-13.82, Y:2.34, Z:0.48 [[ 9.82691030e-01 1.82435880e-01 -3.21790067e-02 -1.38193186e+01] [-1.82401415e-01 9.83215896e-01 4.02818336e-03 2.34004079e+00] [ 3.23737960e-02 1.91103668e-03 9.99474004e-01 4.75035651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.643741731999999 meters 0.053059225597045775 Centerline is valid? [True, True] Translation: X:-13.85, Y:2.34, Z:0.49 [[ 9.82741398e-01 1.83201490e-01 -2.56234137e-02 -1.38496212e+01] [-1.83179908e-01 9.83074176e-01 3.20705250e-03 2.33943730e+00] [ 2.57772531e-02 1.54199130e-03 9.99666522e-01 4.87117519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.673741732 meters 0.04877095106151349 Centerline is valid? [True, True] Translation: X:-13.88, Y:2.33, Z:0.49 [[ 9.84243098e-01 1.75323964e-01 -2.29571643e-02 -1.38814943e+01] [-1.75304514e-01 9.84510068e-01 2.87274053e-03 2.32783357e+00] [ 2.31052197e-02 1.19701949e-03 9.99732322e-01 4.88494018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.703741732 meters 0.044610011791670574 Centerline is valid? [True, True] Translation: X:-13.91, Y:2.33, Z:0.49 [[ 9.85120814e-01 1.70272118e-01 -2.33321061e-02 -1.39131117e+01] [-1.70250646e-01 9.85396469e-01 2.91826934e-03 2.32707224e+00] [ 2.34882749e-02 1.09745827e-03 9.99723510e-01 4.90297674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.733741731999999 meters 0.039349762223324904 Centerline is valid? [True, True] Translation: X:-13.94, Y:2.32, Z:0.49 [[ 9.86450582e-01 1.62559326e-01 -2.21294831e-02 -1.39448735e+01] [-1.62538073e-01 9.86698391e-01 2.76777244e-03 2.32203455e+00] [ 2.22850526e-02 8.66612800e-04 9.99751282e-01 4.90841597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.763741732 meters 0.041884454266968546 Centerline is valid? [True, True] Translation: X:-13.98, Y:2.32, Z:0.48 [[ 9.86895208e-01 1.59426677e-01 -2.49195198e-02 -1.39772235e+01] [-1.59399041e-01 9.87209354e-01 3.10428197e-03 2.32159983e+00] [ 2.50956884e-02 9.08546542e-04 9.99684641e-01 4.81962335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.793741731999999 meters 0.044071203366282015 Centerline is valid? [True, True] Translation: X:-14.01, Y:2.32, Z:0.47 [[ 9.86718328e-01 1.59901338e-01 -2.86094913e-02 -1.40077621e+01] [-1.59864923e-01 9.87132442e-01 3.57044378e-03 2.32270229e+00] [ 2.88122757e-02 1.05063180e-03 9.99584288e-01 4.73236737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.823741731999998 meters 0.03957654533478855 Centerline is valid? [True, True] Translation: X:-14.04, Y:2.32, Z:0.50 [[ 9.86728365e-01 1.61420154e-01 -1.76257410e-02 -1.40378022e+01] [-1.61406582e-01 9.86885545e-01 2.19927237e-03 2.32161276e+00] [ 1.77495959e-02 6.74826169e-04 9.99842236e-01 4.95777007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.853741732 meters 0.04621442911224048 Centerline is valid? [True, True] Translation: X:-14.07, Y:2.33, Z:0.49 [[ 9.85458852e-01 1.68858465e-01 -1.89121612e-02 -1.40679952e+01] [-1.68844204e-01 9.85639927e-01 2.35983920e-03 2.33103602e+00] [ 1.90390600e-02 8.67684371e-04 9.99818364e-01 4.90550141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.883741731999999 meters 0.04907806328646748 Centerline is valid? [True, True] Translation: X:-14.10, Y:2.34, Z:0.48 [[ 9.84736021e-01 1.72417678e-01 -2.38141353e-02 -1.40985011e+01] [-1.72396109e-01 9.85023225e-01 2.97129054e-03 2.33775653e+00] [ 2.39697794e-02 1.17952744e-03 9.99711988e-01 4.83763741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.913741731999998 meters 0.04934845255646242 Centerline is valid? [True, True] Translation: X:-14.13, Y:2.34, Z:0.48 [[ 9.83714738e-01 1.76792913e-01 -3.23972313e-02 -1.41287349e+01] [-1.76755371e-01 9.84246515e-01 4.04185912e-03 2.34363466e+00] [ 3.26014341e-02 1.75034825e-03 9.99466899e-01 4.80138768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.943741732 meters 0.051844484196997984 Centerline is valid? [True, True] Translation: X:-14.16, Y:2.35, Z:0.49 [[ 9.83512269e-01 1.79320735e-01 -2.34027930e-02 -1.41593972e+01] [-1.79301881e-01 9.83789773e-01 2.91867031e-03 2.34854977e+00] [ 2.35468065e-02 1.32561675e-03 9.99721857e-01 4.87334664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.973741731999999 meters 0.051111252181275095 Centerline is valid? [True, True] Translation: X:-14.19, Y:2.35, Z:0.48 [[ 9.83745756e-01 1.77364949e-01 -2.80350375e-02 -1.41903517e+01] [-1.77337242e-01 9.84143949e-01 3.49141786e-03 2.34668576e+00] [ 2.82097677e-02 1.53698874e-03 9.99600844e-01 4.79221855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.003741731999998 meters 0.0483458425726712 Centerline is valid? [True, True] Translation: X:-14.22, Y:2.35, Z:0.47 [[ 9.84314794e-01 1.72970874e-01 -3.47197868e-02 -1.42222386e+01] [-1.72925630e-01 9.84925390e-01 4.32460313e-03 2.34714025e+00] [ 3.49444299e-02 1.74717016e-03 9.99387730e-01 4.71216425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.033741732 meters 0.04341776030828295 Centerline is valid? [True, True] Translation: X:-14.25, Y:2.34, Z:0.48 [[ 9.86169548e-01 1.63821500e-01 -2.51423655e-02 -1.42533925e+01] [-1.63794771e-01 9.86489462e-01 3.13289019e-03 2.33521138e+00] [ 2.53159134e-02 1.02862710e-03 9.99678972e-01 4.84512323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.063741731999999 meters 0.03915913938052042 Centerline is valid? [True, True] Translation: X:-14.28, Y:2.33, Z:0.48 [[ 9.87543594e-01 1.55173660e-01 -2.60534885e-02 -1.42848360e+01] [-1.55141969e-01 9.87886853e-01 3.24567289e-03 2.33195146e+00] [ 2.62415417e-02 8.36746030e-04 9.99655281e-01 4.81977085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.093741732 meters 0.03783067321291019 Centerline is valid? [True, True] Translation: X:-14.31, Y:2.33, Z:0.49 [[ 9.88019246e-01 1.52359832e-01 -2.45855916e-02 -1.43146477e+01] [-1.52330848e-01 9.88324824e-01 3.05848444e-03 2.33465056e+00] [ 2.47645407e-02 7.23302537e-04 9.99693050e-01 4.88330721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.123741732 meters 0.05102406758938292 Centerline is valid? [True, True] Translation: X:-14.34, Y:2.37, Z:0.48 [[ 9.86720931e-01 1.61497330e-01 -1.73325533e-02 -1.43430526e+01] [-1.61484494e-01 9.86872914e-01 2.14685537e-03 2.36682423e+00] [ 1.74517388e-02 6.80591464e-04 9.99847475e-01 4.80102950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.153741731999999 meters 0.045682095105977615 Centerline is valid? [True, True] Translation: X:-14.37, Y:2.36, Z:0.49 [[ 9.85645238e-01 1.67142004e-01 -2.38120805e-02 -1.43726969e+01] [-1.67119209e-01 9.85932259e-01 2.95820331e-03 2.36459156e+00] [ 2.39715383e-02 1.06371704e-03 9.99712075e-01 4.85429669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.183741732 meters 0.04663907371782205 Centerline is valid? [True, True] Translation: X:-14.40, Y:2.37, Z:0.48 [[ 9.85723872e-01 1.66199255e-01 -2.69491318e-02 -1.44036336e+01] [-1.66169771e-01 9.86091484e-01 3.34553959e-03 2.37240991e+00] [ 2.71303356e-02 1.18035282e-03 9.99631208e-01 4.78842581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.213741731999999 meters 0.04412964021967293 Centerline is valid? [True, True] Translation: X:-14.43, Y:2.37, Z:0.48 [[ 9.86356712e-01 1.62669833e-01 -2.52777062e-02 -1.44347306e+01] [-1.62642765e-01 9.86680035e-01 3.13688335e-03 2.37276475e+00] [ 2.54512843e-02 1.01715009e-03 9.99675546e-01 4.81078497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.243741731999998 meters 0.04336183418546693 Centerline is valid? [True, True] Translation: X:-14.47, Y:2.38, Z:0.48 [[ 9.88064907e-01 1.52710533e-01 -2.01800283e-02 -1.44658105e+01] [-1.52691212e-01 9.88270775e-01 2.50389814e-03 2.37615776e+00] [ 2.03257038e-02 6.07299100e-04 9.99793227e-01 4.75906205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.273741732 meters 0.042150490329448544 Centerline is valid? [True, True] Translation: X:-14.50, Y:2.38, Z:0.48 [[ 9.88495695e-01 1.50360391e-01 -1.63711186e-02 -1.44960143e+01] [-1.50347356e-01 9.88631148e-01 2.03110695e-03 2.37827797e+00] [ 1.64903958e-02 4.53613916e-04 9.99863921e-01 4.81176488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.303741731999999 meters 0.03916196914671281 Centerline is valid? [True, True] Translation: X:-14.52, Y:2.38, Z:0.48 [[ 9.88524655e-01 1.49560470e-01 -2.12290637e-02 -1.45247775e+01] [-1.49538343e-01 9.88752416e-01 2.63495804e-03 2.38496480e+00] [ 2.13843736e-02 5.69838020e-04 9.99771166e-01 4.77785240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.333741731999998 meters 0.03916196914671281 Centerline is valid? [True, True] Translation: X:-14.56, Y:2.39, Z:0.48 [[ 9.88566498e-01 1.49283437e-01 -2.12305208e-02 -1.45570898e+01] [-1.49261498e-01 9.88794278e-01 2.62320412e-03 2.38925144e+00] [ 2.13842184e-02 5.75687619e-04 9.99771166e-01 4.78426386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.363741732 meters 0.0402496523594507 Centerline is valid? [True, True] Translation: X:-14.59, Y:2.40, Z:0.47 [[ 9.88374011e-01 1.49758503e-01 -2.62527137e-02 -1.45867527e+01] [-1.49724941e-01 9.88722345e-01 3.25061578e-03 2.39587325e+00] [ 2.64434520e-02 7.17861860e-04 9.99650053e-01 4.70923040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.393741731999999 meters 0.039024561239389105 Centerline is valid? [True, True] Translation: X:-14.62, Y:2.40, Z:0.47 [[ 9.88601576e-01 1.47885404e-01 -2.82281962e-02 -1.46180182e+01] [-1.47846033e-01 9.89004238e-01 3.48835406e-03 2.39955030e+00] [ 2.84336823e-02 7.24834506e-04 9.99595418e-01 4.69939484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.423741731999998 meters 0.04296430606469113 Centerline is valid? [True, True] Translation: X:-14.65, Y:2.41, Z:0.47 [[ 9.87990886e-01 1.52470929e-01 -2.50324956e-02 -1.46480657e+01] [-1.52441639e-01 9.88307658e-01 3.08543825e-03 2.40856602e+00] [ 2.52102468e-02 7.67609796e-04 9.99681877e-01 4.70400872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.453741732 meters 0.044422055721321595 Centerline is valid? [True, True] Translation: X:-14.68, Y:2.41, Z:0.47 [[ 9.88037095e-01 1.52032381e-01 -2.58621947e-02 -1.46796983e+01] [-1.52001148e-01 9.88375199e-01 3.18077237e-03 2.41326331e+00] [ 2.60451322e-02 7.88362196e-04 9.99660457e-01 4.65734317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.483741731999999 meters 0.04069365855297172 Centerline is valid? [True, True] Translation: X:-14.71, Y:2.41, Z:0.47 [[ 9.88434121e-01 1.49523382e-01 -2.53129532e-02 -1.47117981e+01] [-1.49492599e-01 9.88757938e-01 3.11483432e-03 2.41499875e+00] [ 2.54941240e-02 7.05290640e-04 9.99674723e-01 4.69058951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.513741732 meters 0.04068160002308135 Centerline is valid? [True, True] Translation: X:-14.74, Y:2.42, Z:0.47 [[ 9.88535512e-01 1.49277402e-01 -2.26671267e-02 -1.47431009e+01] [-1.49252854e-01 9.88795153e-01 2.78043386e-03 2.41877773e+00] [ 2.28282009e-02 6.34575749e-04 9.99739201e-01 4.73249011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.543741731999999 meters 0.0422718153195651 Centerline is valid? [True, True] Translation: X:-14.77, Y:2.42, Z:0.48 [[ 9.88393587e-01 1.50760579e-01 -1.86912901e-02 -1.47744976e+01] [-1.50744133e-01 9.88570152e-01 2.29380200e-03 2.42479624e+00] [ 1.88234664e-02 5.50423124e-04 9.99822671e-01 4.81018767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.573741731999998 meters 0.039721748483271944 Centerline is valid? [True, True] Translation: X:-14.80, Y:2.44, Z:0.49 [[ 9.88094335e-01 1.53358244e-01 -1.22814832e-02 -1.48031506e+01] [-1.53351339e-01 9.88170579e-01 1.50753784e-03 2.43651980e+00] [ 1.23673938e-02 3.93792304e-04 9.99923443e-01 4.92936802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.603741732 meters 0.03943793382485602 Centerline is valid? [True, True] Translation: X:-14.83, Y:2.44, Z:0.49 [[ 9.87911509e-01 1.54185740e-01 -1.60501806e-02 -1.48334090e+01] [-1.54174072e-01 9.88041739e-01 1.96926578e-03 2.44280963e+00] [ 1.61618810e-02 5.29061367e-04 9.99869248e-01 4.89428977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.633741731999999 meters 0.04431431016559674 Centerline is valid? [True, True] Translation: X:-14.86, Y:2.45, Z:0.48 [[ 9.87550518e-01 1.56006540e-01 -2.01477965e-02 -1.48625609e+01] [-1.55988496e-01 9.87755774e-01 2.47370940e-03 2.44804364e+00] [ 2.02870171e-02 6.99911479e-04 9.99793952e-01 4.77586106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.663741731999998 meters 0.041066835964696645 Centerline is valid? [True, True] Translation: X:-14.89, Y:2.45, Z:0.49 [[ 9.87857339e-01 1.54484963e-01 -1.65007139e-02 -1.48920276e+01] [-1.54472705e-01 9.87994986e-01 2.02255349e-03 2.45089196e+00] [ 1.66150767e-02 5.50915600e-04 9.99861808e-01 4.86302016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.693741732 meters 0.044553722532842906 Centerline is valid? [True, True] Translation: X:-14.92, Y:2.46, Z:0.48 [[ 9.88025288e-01 1.53446167e-01 -1.61339347e-02 -1.49229887e+01] [-1.53434367e-01 9.88156869e-01 1.97404120e-03 2.46015065e+00] [ 1.62457675e-02 5.25097436e-04 9.99867891e-01 4.77700198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.723741731999999 meters 0.043483856991736 Centerline is valid? [True, True] Translation: X:-14.95, Y:2.46, Z:0.47 [[ 9.88030551e-01 1.52650256e-01 -2.22155383e-02 -1.49537022e+01] [-1.52627612e-01 9.88280024e-01 2.72132133e-03 2.46203932e+00] [ 2.23705831e-02 7.01955941e-04 9.99749501e-01 4.68849360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.753741731999998 meters 0.04578532017387433 Centerline is valid? [True, True] Translation: X:-14.99, Y:2.47, Z:0.47 [[ 9.88018374e-01 1.52505875e-01 -2.36991754e-02 -1.49853555e+01] [-1.52480309e-01 9.88302275e-01 2.89278775e-03 2.46697262e+00] [ 2.38631161e-02 7.55530136e-04 9.99714950e-01 4.65105175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.783741732 meters 0.045123287894538844 Centerline is valid? [True, True] Translation: X:-15.02, Y:2.47, Z:0.47 [[ 9.87735279e-01 1.53941002e-01 -2.60995660e-02 -1.50159122e+01] [-1.53910395e-01 9.88079661e-01 3.18953650e-03 2.47298708e+00] [ 2.62794508e-02 8.66576802e-04 9.99654260e-01 4.66568019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.813741731999999 meters 0.039806519218724364 Centerline is valid? [True, True] Translation: X:-15.04, Y:2.48, Z:0.49 [[ 9.88191938e-01 1.52363188e-01 -1.61911350e-02 -1.50446673e+01] [-1.52351218e-01 9.88324439e-01 1.97739798e-03 2.47666578e+00] [ 1.63033770e-02 5.12690394e-04 9.99866960e-01 4.85308638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.843741732 meters 0.04185418151824122 Centerline is valid? [True, True] Translation: X:-15.08, Y:2.48, Z:0.49 [[ 9.88186755e-01 1.52751314e-01 -1.24085828e-02 -1.50763323e+01] [-1.52744334e-01 9.88264578e-01 1.51388479e-03 2.48299606e+00] [ 1.24942107e-02 3.99339812e-04 9.99921865e-01 4.86820369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.873741732 meters 0.043687203641832865 Centerline is valid? [True, True] Translation: X:-15.11, Y:2.50, Z:0.48 [[ 9.87227982e-01 1.58165545e-01 -1.90937724e-02 -1.51051681e+01] [-1.58149985e-01 9.87412348e-01 2.33169162e-03 2.49677861e+00] [ 1.92222199e-02 7.17768618e-04 9.99814978e-01 4.80777482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.903741731999999 meters 0.04589993186461007 Centerline is valid? [True, True] Translation: X:-15.14, Y:2.50, Z:0.48 [[ 9.86845117e-01 1.60745963e-01 -1.72467664e-02 -1.51360681e+01] [-1.60733816e-01 9.86995563e-01 2.09730122e-03 2.50470391e+00] [ 1.73596146e-02 7.02427110e-04 9.99849064e-01 4.80395602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.933741732 meters 0.045433281369393536 Centerline is valid? [True, True] Translation: X:-15.17, Y:2.51, Z:0.47 [[ 9.86947942e-01 1.59421079e-01 -2.27745314e-02 -1.51672093e+01] [-1.59399421e-01 9.87210274e-01 2.77485226e-03 2.50627440e+00] [ 2.29256213e-02 8.91612393e-04 9.99736776e-01 4.72657881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.963741731999999 meters 0.04444145342614827 Centerline is valid? [True, True] Translation: X:-15.20, Y:2.51, Z:0.48 [[ 9.86626921e-01 1.61713864e-01 -2.03947533e-02 -1.51995549e+01] [-1.61697222e-01 9.86837317e-01 2.47333126e-03 2.51360184e+00] [ 2.05262756e-02 8.57519766e-04 9.99788946e-01 4.82607890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.993741731999998 meters 0.04577034122712503 Centerline is valid? [True, True] Translation: X:-15.23, Y:2.52, Z:0.48 [[ 9.86293170e-01 1.63914325e-01 -1.89176307e-02 -1.52313389e+01] [-1.63900500e-01 9.86474219e-01 2.28948933e-03 2.52240359e+00] [ 1.90370350e-02 8.42501433e-04 9.99818424e-01 4.84314051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.023741732 meters 0.047535966546512626 Centerline is valid? [True, True] Translation: X:-15.26, Y:2.53, Z:0.49 [[ 9.86213763e-01 1.64648862e-01 -1.65277322e-02 -1.52636467e+01] [-1.64638496e-01 9.86351958e-01 1.99525149e-03 2.52669644e+00] [ 1.66306769e-02 7.53356494e-04 9.99861417e-01 4.85433376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.053741731999999 meters 0.04513925481294012 Centerline is valid? [True, True] Translation: X:-15.29, Y:2.53, Z:0.48 [[ 9.86950664e-01 1.60322545e-01 -1.50022584e-02 -1.52949864e+01] [-1.60313453e-01 9.87064488e-01 1.81452140e-03 2.52867911e+00] [ 1.50991052e-02 6.14220747e-04 9.99885813e-01 4.83577560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.083741731999998 meters 0.04021894426490368 Centerline is valid? [True, True] Translation: X:-15.33, Y:2.53, Z:0.48 [[ 9.87657840e-01 1.55746796e-01 -1.65809024e-02 -1.53258956e+01] [-1.55735113e-01 9.87796826e-01 2.00140292e-03 2.53056960e+00] [ 1.66902748e-02 6.05527421e-04 9.99860524e-01 4.82222049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.113741732 meters 0.04600073051507109 Centerline is valid? [True, True] Translation: X:-15.36, Y:2.54, Z:0.48 [[ 9.87063465e-01 1.59332752e-01 -1.78546878e-02 -1.53555870e+01] [-1.59319740e-01 9.87224677e-01 2.15796494e-03 2.53732278e+00] [ 1.79704229e-02 7.14555870e-04 9.99838264e-01 4.78187796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.143741731999999 meters 0.045674488281573875 Centerline is valid? [True, True] Translation: X:-15.39, Y:2.54, Z:0.47 [[ 9.86984316e-01 1.59028093e-01 -2.39170618e-02 -1.53860817e+01] [-1.59004656e-01 9.87273601e-01 2.89067955e-03 2.53985274e+00] [ 2.40723830e-02 9.49868810e-04 9.99709767e-01 4.71972936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.173741731999998 meters 0.041974652218672824 Centerline is valid? [True, True] Translation: X:-15.42, Y:2.54, Z:0.48 [[ 9.87487916e-01 1.56218937e-01 -2.15234746e-02 -1.54167299e+01] [-1.56199326e-01 9.87722133e-01 2.59968110e-03 2.54123677e+00] [ 2.16653317e-02 7.94798562e-04 9.99764963e-01 4.75876988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.203741732 meters 0.04466233767621983 Centerline is valid? [True, True] Translation: X:-15.45, Y:2.55, Z:0.48 [[ 9.87144683e-01 1.58287154e-01 -2.21484027e-02 -1.54469070e+01] [-1.58266926e-01 9.87392743e-01 2.67438085e-03 2.55040038e+00] [ 2.22924922e-02 8.65358760e-04 9.99751117e-01 4.77183194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.233741731999999 meters 0.0435304785361918 Centerline is valid? [True, True] Translation: X:-15.48, Y:2.56, Z:0.48 [[ 9.87228622e-01 1.57877067e-01 -2.13185375e-02 -1.54780366e+01] [-1.57858437e-01 9.87458423e-01 2.56458209e-03 2.55520843e+00] [ 2.14560581e-02 8.33482155e-04 9.99769445e-01 4.81065350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.263741732 meters 0.040744107897725916 Centerline is valid? [True, True] Translation: X:-15.51, Y:2.56, Z:0.49 [[ 9.87953247e-01 1.54367008e-01 -1.09182357e-02 -1.55073808e+01] [-1.54361899e-01 9.88013500e-01 1.31423829e-03 2.55577841e+00] [ 1.09902393e-02 3.86953599e-04 9.99939531e-01 4.90787687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.293741731999999 meters 0.041894366820223294 Centerline is valid? [True, True] Translation: X:-15.54, Y:2.56, Z:0.49 [[ 9.88191550e-01 1.52632457e-01 -1.34459295e-02 -1.55400526e+01] [-1.52624574e-01 9.88282918e-01 1.61655746e-03 2.55832473e+00] [ 1.35351216e-02 4.54710833e-04 9.99908293e-01 4.87271548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.323741731999998 meters 0.03912266005297218 Centerline is valid? [True, True] Translation: X:-15.57, Y:2.56, Z:0.48 [[ 9.88324404e-01 1.50626561e-01 -2.29458534e-02 -1.55700401e+01] [-1.50602974e-01 9.88590468e-01 2.76250188e-03 2.56116794e+00] [ 2.31001581e-02 7.25465745e-04 9.99732893e-01 4.78901873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.353741732 meters 0.03762436753610958 Centerline is valid? [True, True] Translation: X:-15.60, Y:2.57, Z:0.49 [[ 9.88328751e-01 1.51586209e-01 -1.50963924e-02 -1.55984701e+01] [-1.51576108e-01 9.88443918e-01 1.81766995e-03 2.56870860e+00] [ 1.51974710e-02 4.91796946e-04 9.99884391e-01 4.90948516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.383741731999999 meters 0.04060437588407774 Centerline is valid? [True, True] Translation: X:-15.63, Y:2.58, Z:0.49 [[ 9.88180155e-01 1.52634955e-01 -1.42320774e-02 -1.56301111e+01] [-1.52626230e-01 9.88282516e-01 1.70361156e-03 2.57568979e+00] [ 1.43253439e-02 4.88713170e-04 9.99897268e-01 4.89654504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.413741731999998 meters 0.039254321413013875 Centerline is valid? [True, True] Translation: X:-15.66, Y:2.58, Z:0.49 [[ 9.88214312e-01 1.51776851e-01 -1.99062910e-02 -1.56606615e+01] [-1.51759481e-01 9.88414565e-01 2.38913278e-03 2.58121365e+00] [ 2.00382830e-02 6.59993177e-04 9.99798996e-01 4.86172641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.443741732 meters 0.038557591320300816 Centerline is valid? [True, True] Translation: X:-15.69, Y:2.59, Z:0.48 [[ 9.88233320e-01 1.51606327e-01 -2.02589794e-02 -1.56916714e+01] [-1.51588526e-01 9.88440722e-01 2.42042009e-03 2.59188390e+00] [ 2.03917512e-02 6.79089039e-04 9.99791836e-01 4.84290644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.473741731999999 meters 0.04235668270634527 Centerline is valid? [True, True] Translation: X:-15.72, Y:2.60, Z:0.49 [[ 9.88005934e-01 1.53635812e-01 -1.55019868e-02 -1.57224257e+01] [-1.53625712e-01 9.88127384e-01 1.84737684e-03 2.59849177e+00] [ 1.56017609e-02 5.56284483e-04 9.99878130e-01 4.88173804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.503741731999998 meters 0.041531067450867945 Centerline is valid? [True, True] Translation: X:-15.75, Y:2.60, Z:0.49 [[ 9.87743688e-01 1.55167462e-01 -1.68957540e-02 -1.57528769e+01] [-1.55155618e-01 9.87887981e-01 2.01753664e-03 2.60337541e+00] [ 1.70041683e-02 6.28662080e-04 9.99855221e-01 4.85940367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.533741732 meters 0.04297370631229211 Centerline is valid? [True, True] Translation: X:-15.78, Y:2.61, Z:0.48 [[ 9.87531593e-01 1.55960059e-01 -2.13965621e-02 -1.57837863e+01] [-1.55941247e-01 9.87763028e-01 2.55514495e-03 2.60846150e+00] [ 2.15332335e-02 8.13320214e-04 9.99767802e-01 4.77568761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.563741731999999 meters 0.03988735193584629 Centerline is valid? [True, True] Translation: X:-15.81, Y:2.62, Z:0.49 [[ 9.87302909e-01 1.57372458e-01 -2.16072908e-02 -1.58145603e+01] [-1.57353863e-01 9.87538943e-01 2.56875820e-03 2.61588131e+00] [ 2.17422929e-02 8.63848246e-04 9.99763235e-01 4.87366929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.593741732 meters 0.04404322872751645 Centerline is valid? [True, True] Translation: X:-15.85, Y:2.63, Z:0.49 [[ 9.86850239e-01 1.60935771e-01 -1.50427555e-02 -1.58454214e+01] [-1.60927185e-01 9.86964663e-01 1.78745052e-03 2.62548934e+00] [ 1.51343329e-02 6.56842319e-04 9.99885254e-01 4.90283583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.623741732 meters 0.04234751325426068 Centerline is valid? [True, True] Translation: X:-15.88, Y:2.63, Z:0.49 [[ 9.87092922e-01 1.58751340e-01 -2.11086628e-02 -1.58772062e+01] [-1.58733906e-01 9.87318211e-01 2.50955769e-03 2.63014750e+00] [ 2.12393628e-02 8.73493865e-04 9.99774038e-01 4.85172255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.653741731999999 meters 0.04143838508609245 Centerline is valid? [True, True] Translation: X:-15.91, Y:2.63, Z:0.48 [[ 9.87625784e-01 1.55549976e-01 -1.99879116e-02 -1.59086341e+01] [-1.55533699e-01 9.87827730e-01 2.37582724e-03 2.63271137e+00] [ 2.01141732e-02 7.62365587e-04 9.99797399e-01 4.83688979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.683741732 meters 0.03737158615248409 Centerline is valid? [True, True] Translation: X:-15.94, Y:2.63, Z:0.49 [[ 9.88492381e-01 1.49902492e-01 -2.02991285e-02 -1.59400130e+01] [-1.49884531e-01 9.88700566e-01 2.41200044e-03 2.63283561e+00] [ 2.04313248e-02 6.58281306e-04 9.99791042e-01 4.86436907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.713741731999999 meters 0.037687500973672586 Centerline is valid? [True, True] Translation: X:-15.97, Y:2.63, Z:0.47 [[ 9.89034826e-01 1.45555848e-01 -2.49721352e-02 -1.59722996e+01] [-1.45527578e-01 9.89349781e-01 2.95544659e-03 2.63346185e+00] [ 2.51363591e-02 7.11094758e-04 9.99683779e-01 4.73753306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.743741731999998 meters 0.03949331612585201 Centerline is valid? [True, True] Translation: X:-16.00, Y:2.64, Z:0.48 [[ 9.89152955e-01 1.45472095e-01 -2.03543896e-02 -1.60023895e+01] [-1.45453219e-01 9.89362189e-01 2.41269176e-03 2.63723649e+00] [ 2.04888427e-02 5.74090293e-04 9.99789917e-01 4.83270979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.773741732 meters 0.03892683091640762 Centerline is valid? [True, True] Translation: X:-16.03, Y:2.65, Z:0.49 [[ 9.88801925e-01 1.48090793e-01 -1.84355838e-02 -1.60339020e+01] [-1.48075961e-01 9.88973600e-01 2.17457483e-03 2.64724364e+00] [ 1.85543402e-02 5.79643008e-04 9.99827685e-01 4.89085014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.803741731999999 meters 0.042038140175990356 Centerline is valid? [True, True] Translation: X:-16.06, Y:2.66, Z:0.48 [[ 9.87763230e-01 1.54455433e-01 -2.16176198e-02 -1.60634679e+01] [-1.54436420e-01 9.87999422e-01 2.55633483e-03 2.65868681e+00] [ 2.17530356e-02 8.13494262e-04 9.99763044e-01 4.84150892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.833741731999998 meters 0.04079743422779968 Centerline is valid? [True, True] Translation: X:-16.10, Y:2.67, Z:0.48 [[ 9.87900187e-01 1.53414357e-01 -2.27432695e-02 -1.60954934e+01] [-1.53393315e-01 9.88161588e-01 2.67728339e-03 2.66632540e+00] [ 2.28847591e-02 8.43776750e-04 9.99737754e-01 4.81498544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.863741732 meters 0.042736925202817806 Centerline is valid? [True, True] Translation: X:-16.13, Y:2.67, Z:0.49 [[ 9.87641497e-01 1.55582872e-01 -1.89273379e-02 -1.61261244e+01] [-1.55568803e-01 9.87822559e-01 2.22246378e-03 2.67057657e+00] [ 1.90426287e-02 7.49505850e-04 9.99818392e-01 4.88532971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.893741731999999 meters 0.04170616062436406 Centerline is valid? [True, True] Translation: X:-16.16, Y:2.67, Z:0.48 [[ 9.88316748e-01 1.50581193e-01 -2.35650043e-02 -1.61585213e+01] [-1.50558108e-01 9.88597306e-01 2.76093044e-03 2.67448665e+00] [ 2.37120439e-02 8.19228661e-04 9.99718494e-01 4.79606006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.923741731999998 meters 0.038760612226883644 Centerline is valid? [True, True] Translation: X:-16.19, Y:2.67, Z:0.49 [[ 9.88933708e-01 1.47057868e-01 -1.95985796e-02 -1.61888194e+01] [-1.47041154e-01 9.89127703e-01 2.29903709e-03 2.67260431e+00] [ 1.97235896e-02 6.08202484e-04 9.99805286e-01 4.88719171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.953741732 meters 0.03945725348736617 Centerline is valid? [True, True] Translation: X:-16.22, Y:2.68, Z:0.49 [[ 9.89007249e-01 1.46678853e-01 -1.87076132e-02 -1.62203797e+01] [-1.46663756e-01 9.89183994e-01 2.18394764e-03 2.67922323e+00] [ 1.88256105e-02 5.83788763e-04 9.99822612e-01 4.85842569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.983741731999999 meters 0.03788456063386199 Centerline is valid? [True, True] Translation: X:-16.25, Y:2.68, Z:0.49 [[ 9.89201947e-01 1.45044924e-01 -2.10113852e-02 -1.62518568e+01] [-1.45025604e-01 9.89424873e-01 2.44847021e-03 2.68209552e+00] [ 2.11443253e-02 6.25157316e-04 9.99776238e-01 4.87473260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.013741732 meters 0.03659578704368246 Centerline is valid? [True, True] Translation: X:-16.28, Y:2.69, Z:0.48 [[ 9.89319290e-01 1.43916325e-01 -2.31394430e-02 -1.62840861e+01] [-1.43892553e-01 9.89589640e-01 2.69780773e-03 2.68969510e+00] [ 2.32868117e-02 6.60600307e-04 9.99728607e-01 4.81890840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.043741732 meters 0.04064464410268437 Centerline is valid? [True, True] Translation: X:-16.31, Y:2.70, Z:0.48 [[ 9.88817504e-01 1.47529363e-01 -2.17951964e-02 -1.63142172e+01] [-1.47509346e-01 9.89057421e-01 2.53210299e-03 2.70085722e+00] [ 2.19302603e-02 7.11207399e-04 9.99759250e-01 4.84754460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.073741732000002 meters 0.03893472779305399 Centerline is valid? [True, True] Translation: X:-16.34, Y:2.71, Z:0.48 [[ 9.88182970e-01 1.50045132e-01 -3.13189413e-02 -1.63437647e+01] [-1.50004824e-01 9.88678542e-01 3.64605279e-03 2.70847765e+00] [ 3.15114377e-02 1.09502499e-03 9.99502791e-01 4.77684267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.103741732 meters 0.041220464601504095 Centerline is valid? [True, True] Translation: X:-16.38, Y:2.71, Z:0.48 [[ 9.88192342e-01 1.50573178e-01 -2.83480902e-02 -1.63759340e+01] [-1.50540489e-01 9.88598350e-01 3.29607094e-03 2.71131107e+00] [ 2.85211751e-02 1.01038330e-03 9.99592678e-01 4.77351114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.133741732 meters 0.042782243260843955 Centerline is valid? [True, True] Translation: X:-16.41, Y:2.72, Z:0.49 [[ 9.87947333e-01 1.53673275e-01 -1.85631602e-02 -1.64057602e+01] [-1.53659796e-01 9.88121453e-01 2.15876210e-03 2.72300675e+00] [ 1.86744009e-02 7.19668159e-04 9.99825359e-01 4.88048348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.163741732000002 meters 0.04523163675519031 Centerline is valid? [True, True] Translation: X:-16.43, Y:2.73, Z:0.49 [[ 9.87340981e-01 1.57370782e-01 -1.98046399e-02 -1.64344107e+01] [-1.57356159e-01 9.87539229e-01 2.30429830e-03 2.73080123e+00] [ 1.99204881e-02 8.41253929e-04 9.99801213e-01 4.86843402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.193741732 meters 0.049318764466739315 Centerline is valid? [True, True] Translation: X:-16.46, Y:2.74, Z:0.48 [[ 9.86578269e-01 1.61281983e-01 -2.55233573e-02 -1.64642849e+01] [-1.61259016e-01 9.86907652e-01 2.96912359e-03 2.73699080e+00] [ 2.56680627e-02 1.18659867e-03 9.99669817e-01 4.78291761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.223741732 meters 0.049318764466739315 Centerline is valid? [True, True] Translation: X:-16.50, Y:2.74, Z:0.48 [[ 9.86629676e-01 1.60966941e-01 -2.55250252e-02 -1.64967024e+01] [-1.60944239e-01 9.86959078e-01 2.95476532e-03 2.74101187e+00] [ 2.56677749e-02 1.19284663e-03 9.99669817e-01 4.78934235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.253741732 meters 0.049330320862767466 Centerline is valid? [True, True] Translation: X:-16.53, Y:2.75, Z:0.48 [[ 9.85629043e-01 1.66310478e-01 -2.96009111e-02 -1.65254762e+01] [-1.66282101e-01 9.86072241e-01 3.43494220e-03 2.74590599e+00] [ 2.97599036e-02 1.53652290e-03 9.99555895e-01 4.81689222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.283741732 meters 0.057335972109001945 Centerline is valid? [True, True] Translation: X:-16.55, Y:2.77, Z:0.48 [[ 9.83326951e-01 1.79076876e-01 -3.16161482e-02 -1.65541996e+01] [-1.79051112e-01 9.83832938e-01 3.66729515e-03 2.76570838e+00] [ 3.17617358e-02 2.05475634e-03 9.99493357e-01 4.80633968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.313741732 meters 0.05722590056182767 Centerline is valid? [True, True] Translation: X:-16.59, Y:2.77, Z:0.49 [[ 9.82525329e-01 1.84500217e-01 -2.45692514e-02 -1.65852064e+01] [-1.84486640e-01 9.82830925e-01 2.83777245e-03 2.77278854e+00] [ 2.46709898e-02 1.74451535e-03 9.99694103e-01 4.90035141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.343741732 meters 0.061104794144107626 Centerline is valid? [True, True] Translation: X:-16.62, Y:2.77, Z:0.49 [[ 9.82042682e-01 1.87472917e-01 -2.11205242e-02 -1.66161600e+01] [-1.87463608e-01 9.82268525e-01 2.43751644e-03 2.77463246e+00] [ 2.12029945e-02 1.56558449e-03 9.99773965e-01 4.88269502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.373741732 meters 0.06132451567247426 Centerline is valid? [True, True] Translation: X:-16.65, Y:2.77, Z:0.48 [[ 9.81737865e-01 1.87805044e-01 -3.03320012e-02 -1.66476095e+01] [-1.87785903e-01 9.82203735e-01 3.50405880e-03 2.77365289e+00] [ 3.04502848e-02 2.25585502e-03 9.99533737e-01 4.78010726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.403741732 meters 0.059148709670706075 Centerline is valid? [True, True] Translation: X:-16.68, Y:2.77, Z:0.47 [[ 9.82203857e-01 1.84476106e-01 -3.52725022e-02 -1.66806618e+01] [-1.84448640e-01 9.82833771e-01 4.05926569e-03 2.77289032e+00] [ 3.54158439e-02 2.51893866e-03 9.99369488e-01 4.74751173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.433741732 meters 0.05404848670572036 Centerline is valid? [True, True] Translation: X:-16.71, Y:2.77, Z:0.49 [[ 9.83958257e-01 1.76120626e-01 -2.84195840e-02 -1.67125028e+01] [-1.76099203e-01 9.84366978e-01 3.27462950e-03 2.76596319e+00] [ 2.85520298e-02 1.78256735e-03 9.99590718e-01 4.85726925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.463741732 meters 0.05080724408916197 Centerline is valid? [True, True] Translation: X:-16.74, Y:2.76, Z:0.49 [[ 9.85837104e-01 1.66479347e-01 -2.02442895e-02 -1.67440827e+01] [-1.66466452e-01 9.86044360e-01 2.33234064e-03 2.75761634e+00] [ 2.03500540e-02 1.07068709e-03 9.99792343e-01 4.94568933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.493741732 meters 0.05469871153040068 Centerline is valid? [True, True] Translation: X:-16.77, Y:2.77, Z:0.48 [[ 9.84299281e-01 1.73153689e-01 -3.42450876e-02 -1.67739937e+01] [-1.73120806e-01 9.84892694e-01 3.94564465e-03 2.76574885e+00] [ 3.44109396e-02 2.04484198e-03 9.99405676e-01 4.76015715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.523741732 meters 0.05594430127873821 Centerline is valid? [True, True] Translation: X:-16.80, Y:2.77, Z:0.48 [[ 9.83513981e-01 1.77538345e-01 -3.43567378e-02 -1.68034069e+01] [-1.77507900e-01 9.84111413e-01 3.95875446e-03 2.77009459e+00] [ 3.45136885e-02 2.20510202e-03 9.99401792e-01 4.79544916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.553741732000002 meters 0.06658622061087142 Centerline is valid? [True, True] Translation: X:-16.83, Y:2.79, Z:0.48 [[ 9.81053763e-01 1.91058770e-01 -3.20945575e-02 -1.68327869e+01] [-1.91039417e-01 9.81575404e-01 3.69691313e-03 2.78560339e+00] [ 3.22095559e-02 2.50445502e-03 9.99478000e-01 4.76953942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.583741732 meters 0.064810090900013 Centerline is valid? [True, True] Translation: X:-16.86, Y:2.78, Z:0.49 [[ 9.81495284e-01 1.89569372e-01 -2.70270406e-02 -1.68645944e+01] [-1.89555107e-01 9.81865151e-01 3.11232712e-03 2.78181602e+00] [ 2.71269112e-02 2.06837917e-03 9.99629858e-01 4.86574079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.613741732 meters 0.058432352313125525 Centerline is valid? [True, True] Translation: X:-16.90, Y:2.77, Z:0.50 [[ 9.83021636e-01 1.82071459e-01 -2.27694240e-02 -1.68955598e+01] [-1.82059399e-01 9.83284047e-01 2.61896736e-03 2.76930594e+00] [ 2.28656506e-02 1.57088608e-03 9.99737313e-01 4.96368309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.643741732000002 meters 0.05674748088041489 Centerline is valid? [True, True] Translation: X:-16.93, Y:2.76, Z:0.49 [[ 9.84701720e-01 1.73052669e-01 -2.03788135e-02 -1.69275380e+01] [-1.73041067e-01 9.84911819e-01 2.34475019e-03 2.76097698e+00] [ 2.04770995e-02 1.21749208e-03 9.99789581e-01 4.93218743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.673741732 meters 0.05000337246102904 Centerline is valid? [True, True] Translation: X:-16.96, Y:2.75, Z:0.48 [[ 9.86146241e-01 1.63566573e-01 -2.75965130e-02 -1.69602752e+01] [-1.63541631e-01 9.86531329e-01 3.17370929e-03 2.75275174e+00] [ 2.77439374e-02 1.38343727e-03 9.99614106e-01 4.84877457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.703741732 meters 0.05400319462971774 Centerline is valid? [True, True] Translation: X:-16.99, Y:2.75, Z:0.48 [[ 9.86019239e-01 1.63836313e-01 -3.03928219e-02 -1.69906883e+01] [-1.63806194e-01 9.86486348e-01 3.49514603e-03 2.75319449e+00] [ 3.05547357e-02 1.53225126e-03 9.99531921e-01 4.80336599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.733741732000002 meters 0.07332842477980683 Centerline is valid? [True, True] Translation: X:-17.02, Y:2.79, Z:0.48 [[ 9.79286843e-01 1.99682161e-01 -3.35307935e-02 -1.70181644e+01] [-1.99666265e-01 9.79856374e-01 3.85591693e-03 2.78749002e+00] [ 3.36253196e-02 2.91891961e-03 9.99430247e-01 4.79264534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.763741732 meters 0.07799376334239021 Centerline is valid? [True, True] Translation: X:-17.05, Y:2.79, Z:0.48 [[ 9.77468860e-01 2.08277414e-01 -3.42804023e-02 -1.70490418e+01] [-2.08266067e-01 9.78064269e-01 3.94108378e-03 2.78909214e+00] [ 3.43492753e-02 3.28715787e-03 9.99404484e-01 4.76839890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.793741732 meters 0.07898584447262613 Centerline is valid? [True, True] Translation: X:-17.08, Y:2.78, Z:0.48 [[ 9.78597783e-01 2.03362538e-01 -3.14651812e-02 -1.70803861e+01] [-2.03350464e-01 9.79099334e-01 3.61709870e-03 2.78243139e+00] [ 3.15431203e-02 2.85877442e-03 9.99498304e-01 4.76033143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.823741732000002 meters 0.06925991942010219 Centerline is valid? [True, True] Translation: X:-17.11, Y:2.75, Z:0.49 [[ 9.80714958e-01 1.94049590e-01 -2.33008354e-02 -1.71139650e+01] [-1.94040381e-01 9.80989889e-01 2.67722110e-03 2.74969334e+00] [ 2.33773976e-02 1.89571220e-03 9.99724914e-01 4.86791942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.853741732 meters 0.06452777590014694 Centerline is valid? [True, True] Translation: X:-17.15, Y:2.73, Z:0.49 [[ 9.82528611e-01 1.84787501e-01 -2.21609385e-02 -1.71478518e+01] [-1.84776831e-01 9.82777208e-01 2.54594982e-03 2.72852800e+00] [ 2.22497250e-02 1.59335946e-03 9.99751175e-01 4.85220702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.883741732 meters 0.06828430679825213 Centerline is valid? [True, True] Translation: X:-17.18, Y:2.72, Z:0.48 [[ 9.83100906e-01 1.81443413e-01 -2.43083716e-02 -1.71802290e+01] [-1.81429590e-01 9.83399976e-01 2.79136276e-03 2.72069253e+00] [ 2.44113264e-02 1.66606663e-03 9.99700611e-01 4.78245828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.913741732000002 meters 0.07577114664962986 Centerline is valid? [True, True] Translation: X:-17.21, Y:2.70, Z:0.48 [[ 9.81350972e-01 1.90727611e-01 -2.39425887e-02 -1.72139849e+01] [-1.90716966e-01 9.81641220e-01 2.74845733e-03 2.69922694e+00] [ 2.40272387e-02 1.86905660e-03 9.99709557e-01 4.75223199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.943741732 meters 0.08082248524612493 Centerline is valid? [True, True] Translation: X:-17.25, Y:2.69, Z:0.48 [[ 9.80094918e-01 1.97520326e-01 -1.99918042e-02 -1.72454914e+01] [-1.97514291e-01 9.80297320e-01 2.29558838e-03 2.68680519e+00] [ 2.00513374e-02 1.69877253e-03 9.99797509e-01 4.81877528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.973741732 meters 0.08442404433797718 Centerline is valid? [True, True] Translation: X:-17.28, Y:2.68, Z:0.48 [[ 9.80097903e-01 1.97634290e-01 -1.86758644e-02 -1.72778233e+01] [-1.97629241e-01 9.80274517e-01 2.13397835e-03 2.68413105e+00] [ 1.87292213e-02 1.59938921e-03 9.99823314e-01 4.82335019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.003741732 meters 0.08430019438588857 Centerline is valid? [True, True] Translation: X:-17.31, Y:2.66, Z:0.48 [[ 9.80497719e-01 1.95553012e-01 -1.95765678e-02 -1.73112486e+01] [-1.95547131e-01 9.80691763e-01 2.23288955e-03 2.66483894e+00] [ 1.96352271e-02 1.63879855e-03 9.99805867e-01 4.80807146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.033741732 meters 0.08256742665836869 Centerline is valid? [True, True] Translation: X:-17.34, Y:2.66, Z:0.48 [[ 9.80675484e-01 1.94772843e-01 -1.84156376e-02 -1.73436433e+01] [-1.94767592e-01 9.80847182e-01 2.09557364e-03 2.65501144e+00] [ 1.84710871e-02 1.53169170e-03 9.99828222e-01 4.82400238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.063741732 meters 0.08554231467045989 Centerline is valid? [True, True] Translation: X:-17.38, Y:2.65, Z:0.48 [[ 9.81084083e-01 1.92949642e-01 -1.56351328e-02 -1.73752281e+01] [-1.92945573e-01 9.81207841e-01 1.78257505e-03 2.64670077e+00] [ 1.56852621e-02 1.26787365e-03 9.99876175e-01 4.83310616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.093741732 meters 0.08295052208443662 Centerline is valid? [True, True] Translation: X:-17.41, Y:2.64, Z:0.48 [[ 9.81310080e-01 1.91714705e-01 -1.66132324e-02 -1.74084758e+01] [-1.91709975e-01 9.81449798e-01 1.89170784e-03 2.64069587e+00] [ 1.66677218e-02 1.32857041e-03 9.99860201e-01 4.82412486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.123741732 meters 0.08744599976968091 Centerline is valid? [True, True] Translation: X:-17.44, Y:2.64, Z:0.48 [[ 9.81191650e-01 1.92270520e-01 -1.71753750e-02 -1.74404975e+01] [-1.92265572e-01 9.81340986e-01 1.95441590e-03 2.64289429e+00] [ 1.72306760e-02 1.38457674e-03 9.99850582e-01 4.83024311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.153741732 meters 0.08979105760094443 Centerline is valid? [True, True] Translation: X:-17.47, Y:2.64, Z:0.48 [[ 9.80316628e-01 1.96280482e-01 -2.12903991e-02 -1.74716232e+01] [-1.96273793e-01 9.80546135e-01 2.42386148e-03 2.64070225e+00] [ 2.13519752e-02 1.80259566e-03 9.99770396e-01 4.76965095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.183741732 meters 0.08718220588758875 Centerline is valid? [True, True] Translation: X:-17.50, Y:2.63, Z:0.49 [[ 9.80561995e-01 1.95612057e-01 -1.53002566e-02 -1.75026184e+01] [-1.95608527e-01 9.80680514e-01 1.74144720e-03 2.62721989e+00] [ 1.53453116e-02 1.28526372e-03 9.99881428e-01 4.86017084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.213741732 meters 0.0872411093108201 Centerline is valid? [True, True] Translation: X:-17.53, Y:2.62, Z:0.49 [[ 9.80953642e-01 1.93941513e-01 -1.08000713e-02 -1.75337197e+01] [-1.93939652e-01 9.81012691e-01 1.22940965e-03 2.61951671e+00] [ 1.08334405e-02 8.88568193e-04 9.99940922e-01 4.93038203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.243741732 meters 0.08477044088773716 Centerline is valid? [True, True] Translation: X:-17.56, Y:2.61, Z:0.50 [[ 9.81362382e-01 1.91963094e-01 -8.83440787e-03 -1.75645851e+01] [-1.91961768e-01 9.81401889e-01 1.00570847e-03 2.60919024e+00] [ 8.86316349e-03 7.08904097e-04 9.99960470e-01 4.96805555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.273741732 meters 0.0866025299026834 Centerline is valid? [True, True] Translation: X:-17.60, Y:2.61, Z:0.50 [[ 9.81262201e-01 1.92543929e-01 -7.16432127e-03 -1.75974495e+01] [-1.92543088e-01 9.81288183e-01 8.13485072e-04 2.60783142e+00] [ 7.18689541e-03 5.81198384e-04 9.99974005e-01 4.99412307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.303741732000002 meters 0.0913026682766458 Centerline is valid? [True, True] Translation: X:-17.63, Y:2.61, Z:0.50 [[ 9.80945295e-01 1.94143878e-01 -7.38125058e-03 -1.76287052e+01] [-1.94143026e-01 9.80972875e-01 8.38640285e-04 2.60877562e+00] [ 7.40362348e-03 6.10358085e-04 9.99972407e-01 4.96976847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.333741732 meters 0.08901984092895258 Centerline is valid? [True, True] Translation: X:-17.66, Y:2.61, Z:0.49 [[ 9.81013297e-01 1.93599167e-01 -1.15010583e-02 -1.76615380e+01] [-1.93597076e-01 9.81080256e-01 1.30551206e-03 2.60605752e+00] [ 1.15362073e-02 9.45846581e-04 9.99933008e-01 4.88328368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.363741732 meters 0.0938758646050014 Centerline is valid? [True, True] Translation: X:-17.69, Y:2.61, Z:0.49 [[ 9.80410553e-01 1.96712710e-01 -9.96281699e-03 -1.76921593e+01] [-1.96711295e-01 9.80460803e-01 1.13147699e-03 2.61161427e+00] [ 9.99072745e-03 8.50486644e-04 9.99949730e-01 4.91485927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.393741732000002 meters 0.09273000834099401 Centerline is valid? [True, True] Translation: X:-17.72, Y:2.61, Z:0.49 [[ 9.79993473e-01 1.98827785e-01 -8.96127933e-03 -1.77231694e+01] [-1.98826733e-01 9.80034130e-01 1.01705013e-03 2.61243123e+00] [ 8.98457742e-03 7.85039401e-04 9.99959330e-01 4.94966984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.423741732 meters 0.09510071789677052 Centerline is valid? [True, True] Translation: X:-17.75, Y:2.62, Z:0.49 [[ 9.79475319e-01 2.01187858e-01 -1.23103499e-02 -1.77530069e+01] [-2.01186048e-01 9.79552051e-01 1.39802429e-03 2.61923786e+00] [ 1.23398940e-02 1.10734035e-03 9.99923247e-01 4.89870612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.453741732 meters 0.0970937142861508 Centerline is valid? [True, True] Translation: X:-17.78, Y:2.62, Z:0.49 [[ 9.78960770e-01 2.03704906e-01 -1.18373649e-02 -1.77838285e+01] [-2.03703420e-01 9.79031721e-01 1.34381430e-03 2.62077750e+00] [ 1.18628973e-02 1.09577024e-03 9.99929033e-01 4.92103274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.483741732000002 meters 0.09497746090845592 Centerline is valid? [True, True] Translation: X:-17.81, Y:2.62, Z:0.50 [[ 9.78421759e-01 2.06448691e-01 -8.35461542e-03 -1.78141258e+01] [-2.06448052e-01 9.78457103e-01 9.48159896e-04 2.62031717e+00] [ 8.37037917e-03 7.97093809e-04 9.99964650e-01 4.99951091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.513741732 meters 0.10555000082519295 Centerline is valid? [True, False] Translation: X:-17.85, Y:2.64, Z:0.50 [[ 9.84813392e-01 1.73615875e-01 3.33939832e-04 -1.78454538e+01] [-1.73600851e-01 9.84750100e-01 -1.14010613e-02 2.63855870e+00] [-2.30825251e-03 1.11699456e-02 9.99934950e-01 4.95799877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.543741732 meters 0.10088185317898297 Centerline is valid? [False, False] Translation: X:-17.87, Y:2.66, Z:0.49 [[ 9.89107097e-01 1.47005576e-01 7.51740673e-03 -1.78718932e+01] [-1.46851066e-01 9.88993020e-01 -1.80988931e-02 2.65503659e+00] [-1.00953010e-02 1.67978045e-02 9.99807941e-01 4.90564629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.573741732000002 meters 0.09469422168141545 Centerline is valid? [False, True] Translation: X:-17.88, Y:2.68, Z:0.49 [[ 9.95910660e-01 8.97486742e-02 1.03504788e-02 -1.78759620e+01] [-8.95339482e-02 9.95790524e-01 -1.96189797e-02 2.67718525e+00] [-1.20676862e-02 1.86120318e-02 9.99753951e-01 4.88867512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.603741732 meters 0.09442564636714126 Centerline is valid? [True, True] Translation: X:-17.91, Y:2.67, Z:0.48 [[ 9.96680839e-01 8.12220384e-02 5.50319244e-03 -1.79071388e+01] [-8.12233499e-02 9.96695925e-01 1.48752152e-05 2.67270995e+00] [-5.48380128e-03 -4.61813567e-04 9.99984857e-01 4.83819028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.633741732 meters 0.09108764214048548 Centerline is valid? [True, True] Translation: X:-17.94, Y:2.67, Z:0.49 [[ 9.97015652e-01 7.65685700e-02 9.85108689e-03 -1.79371381e+01] [-7.65725490e-02 9.97064012e-01 2.68257306e-05 2.67170941e+00] [-9.82011021e-03 -7.81068507e-04 9.99951477e-01 4.88871586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.663741732000002 meters 0.0936576098271839 Centerline is valid? [True, True] Translation: X:-17.97, Y:2.68, Z:0.48 [[ 9.97119185e-01 7.54661665e-02 7.62809469e-03 -1.79682748e+01] [-7.54685074e-02 9.97148186e-01 1.90952846e-05 2.68208509e+00] [-7.60489973e-03 -5.94721195e-04 9.99970905e-01 4.81434135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.693741732 meters 0.08824697418518389 Centerline is valid? [True, True] Translation: X:-18.00, Y:2.67, Z:0.48 [[ 9.97281532e-01 7.36192693e-02 3.12227161e-03 -1.79994816e+01] [-7.36196432e-02 9.97286392e-01 4.83202711e-06 2.66898747e+00] [-3.11344326e-03 -2.34679413e-04 9.99995126e-01 4.78340854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.723741732 meters 0.08740332070494769 Centerline is valid? [True, True] Translation: X:-18.03, Y:2.66, Z:0.48 [[ 9.97780775e-01 6.63605143e-02 5.45968000e-03 -1.80297543e+01] [-6.63615906e-02 9.97795640e-01 1.60234075e-05 2.66231954e+00] [-5.44658158e-03 -3.78300897e-04 9.99985096e-01 4.84048352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.753741732 meters 0.08399953920440924 Centerline is valid? [True, True] Translation: X:-18.06, Y:2.66, Z:0.50 [[ 9.97891994e-01 6.38810236e-02 1.14360745e-02 -1.80600365e+01] [-6.38855784e-02 9.97957229e-01 3.30416996e-05 2.65917811e+00] [-1.14106025e-02 -7.63572284e-04 9.99934605e-01 4.96782038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.783741732 meters 0.07842291883407088 Centerline is valid? [True, True] Translation: X:-18.09, Y:2.66, Z:0.51 [[ 9.97844326e-01 6.28890982e-02 1.87526883e-02 -1.80892524e+01] [-6.29011746e-02 9.98019759e-01 5.42593214e-05 2.65526305e+00] [-1.87121411e-02 -1.23370848e-03 9.99824151e-01 5.08208102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.813741732 meters 0.08228409031093338 Centerline is valid? [True, True] Translation: X:-18.12, Y:2.67, Z:0.50 [[ 9.97869058e-01 6.29393148e-02 1.72042329e-02 -1.81223510e+01] [-6.29494549e-02 9.98016715e-01 4.79570477e-05 2.67122686e+00] [-1.71670936e-02 -1.13085194e-03 9.99851995e-01 4.99448858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.843741732 meters 0.07835428325802546 Centerline is valid? [True, True] Translation: X:-18.15, Y:2.67, Z:0.48 [[ 9.98165119e-01 6.04130000e-02 4.08211733e-03 -1.81525043e+01] [-6.04135555e-02 9.98173433e-01 1.27990402e-05 2.66513539e+00] [-4.07388784e-03 -2.59390777e-04 9.99991668e-01 4.84063663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.873741732 meters 0.07342920367142895 Centerline is valid? [True, True] Translation: X:-18.18, Y:2.66, Z:0.48 [[ 9.98556572e-01 5.37018502e-02 9.40036490e-04 -1.81823993e+01] [-5.37018768e-02 9.98557013e-01 3.00636953e-06 2.65943416e+00] [-9.38518582e-04 -5.34837538e-05 9.99999558e-01 4.79828727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.903741732 meters 0.07266394849403539 Centerline is valid? [True, True] Translation: X:-18.21, Y:2.66, Z:0.50 [[ 9.98489481e-01 5.23753168e-02 1.66007054e-02 -1.82114473e+01] [-5.23833571e-02 9.98627048e-01 4.95784832e-05 2.66153430e+00] [-1.65753167e-02 -9.19104271e-04 9.99862198e-01 5.04979979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.933741732 meters 0.07146552376951222 Centerline is valid? [True, True] Translation: X:-18.24, Y:2.67, Z:0.51 [[ 9.98277782e-01 5.63307812e-02 1.63802739e-02 -1.82419779e+01] [-5.63391303e-02 9.98411689e-01 4.83306336e-05 2.67064904e+00] [-1.63515344e-02 -9.71097784e-04 9.99865833e-01 5.06300033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.963741732 meters 0.0711367135265434 Centerline is valid? [True, True] Translation: X:-18.27, Y:2.68, Z:0.50 [[ 9.98166207e-01 5.88868218e-02 1.40201910e-02 -1.82727324e+01] [-5.88931892e-02 9.98264289e-01 4.13671174e-05 2.67928765e+00] [-1.39934200e-02 -8.66985020e-04 9.99901711e-01 5.02063842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.993741732 meters 0.07115270448102214 Centerline is valid? [True, True] Translation: X:-18.30, Y:2.68, Z:0.50 [[ 9.98212785e-01 5.91663144e-02 8.40137258e-03 -1.83033690e+01] [-5.91685845e-02 9.98248004e-01 2.16849016e-05 2.67877195e+00] [-8.38537040e-03 -5.18743469e-04 9.99964708e-01 4.95275873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.023741732 meters 0.06747259685008868 Centerline is valid? [True, True] Translation: X:-18.33, Y:2.68, Z:0.49 [[ 9.98405743e-01 5.63347404e-02 3.51687021e-03 -1.83346799e+01] [-5.63351223e-02 9.98411916e-01 9.54085928e-06 2.67798654e+00] [-3.51074764e-03 -2.07648962e-04 9.99993816e-01 4.87233280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.053741732 meters 0.067527062226929 Centerline is valid? [True, True] Translation: X:-18.36, Y:2.69, Z:0.50 [[ 9.98121041e-01 6.00756875e-02 1.20539956e-02 -1.83648792e+01] [-6.00804969e-02 9.98193535e-01 3.69437805e-05 2.68800119e+00] [-1.20300010e-02 -7.61084409e-04 9.99927347e-01 5.03356573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.083741732 meters 0.06927019306641173 Centerline is valid? [True, True] Translation: X:-18.40, Y:2.70, Z:0.51 [[ 9.97718421e-01 6.53594286e-02 1.69143916e-02 -1.83954466e+01] [-6.53696653e-02 9.97861115e-01 5.24401789e-05 2.70005459e+00] [-1.68747862e-02 -1.15800865e-03 9.99856940e-01 5.12616860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.113741732 meters 0.07473991096339572 Centerline is valid? [True, True] Translation: X:-18.43, Y:2.72, Z:0.51 [[ 9.97566719e-01 6.82480542e-02 1.42423156e-02 -1.84265611e+01] [-6.82556072e-02 9.97667866e-01 4.43462749e-05 2.71898355e+00] [-1.42060741e-02 -1.01635627e-03 9.99898572e-01 5.06950920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.143741732000002 meters 0.07473991096339572 Centerline is valid? [True, True] Translation: X:-18.46, Y:2.72, Z:0.51 [[ 9.97571505e-01 6.81780617e-02 1.42423184e-02 -1.84583028e+01] [-6.81855955e-02 9.97672653e-01 4.34927227e-05 2.71898556e+00] [-1.42062063e-02 -1.01450806e-03 9.99898572e-01 5.08085224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.173741732 meters 0.06703463282075987 Centerline is valid? [True, True] Translation: X:-18.49, Y:2.71, Z:0.51 [[ 9.97543501e-01 6.86481303e-02 1.39426503e-02 -1.84890150e+01] [-6.86554128e-02 9.97640432e-01 4.37859492e-05 2.71133356e+00] [-1.39067459e-02 -1.00091680e-03 9.99902796e-01 5.10645306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.203741732 meters 0.06555746090759852 Centerline is valid? [True, True] Translation: X:-18.52, Y:2.72, Z:0.51 [[ 9.97479583e-01 7.04444744e-02 8.48862614e-03 -1.85193473e+01] [-7.04472498e-02 9.97515506e-01 2.80176510e-05 2.71726676e+00] [-8.46556251e-03 -6.25947401e-04 9.99963971e-01 5.06277149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.233741732000002 meters 0.05750537513965787 Centerline is valid? [True, True] Translation: X:-18.55, Y:2.72, Z:0.50 [[ 9.98090729e-01 6.17567364e-02 1.00144613e-03 -1.85497767e+01] [-6.17567704e-02 9.98091229e-01 3.12216842e-06 2.72149704e+00] [-9.99341786e-04 -6.49622863e-05 9.99999499e-01 4.99112054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.263741732 meters 0.055489744059727286 Centerline is valid? [True, True] Translation: X:-18.58, Y:2.72, Z:0.51 [[ 9.98188708e-01 6.00461502e-02 3.70982030e-03 -1.85802313e+01] [-6.00466063e-02 9.98195574e-01 1.15875762e-05 2.72469993e+00] [-3.70243041e-03 -2.34328706e-04 9.99993119e-01 5.05894254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.293741732 meters 0.05207137759223288 Centerline is valid? [True, True] Translation: X:-18.61, Y:2.72, Z:0.52 [[ 9.98227687e-01 5.90595813e-02 7.31105538e-03 -1.86103786e+01] [-5.90613274e-02 9.98254356e-01 2.29744408e-05 2.71918856e+00] [-7.29693602e-03 -4.54734359e-04 9.99973274e-01 5.17375425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.323741732000002 meters 0.05335497815203279 Centerline is valid? [True, True] Translation: X:-18.64, Y:2.73, Z:0.52 [[ 9.98263758e-01 5.85925387e-02 6.03186043e-03 -1.86422793e+01] [-5.85937121e-02 9.98281912e-01 1.78575760e-05 2.72902404e+00] [-6.02045085e-03 -3.71255665e-04 9.99981808e-01 5.17492202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.353741732 meters 0.054257532663823216 Centerline is valid? [True, True] Translation: X:-18.67, Y:2.74, Z:0.51 [[ 9.98197567e-01 6.00123946e-02 -3.60539386e-04 -1.86720352e+01] [-6.00123987e-02 9.98197632e-01 -6.32807864e-07 2.73544371e+00] [ 3.59851585e-04 2.22685007e-05 9.99999935e-01 5.12603998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.383741732 meters 0.051055486482973124 Centerline is valid? [True, True] Translation: X:-18.70, Y:2.74, Z:0.52 [[ 9.97979804e-01 6.35314733e-02 -2.52054284e-04 -1.87013815e+01] [-6.35314754e-02 9.97979835e-01 -1.56895194e-07 2.73982155e+00] [ 2.51535126e-04 1.61699588e-05 9.99999968e-01 5.17820783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.413741732000002 meters 0.05737056121714044 Centerline is valid? [True, True] Translation: X:-18.73, Y:2.75, Z:0.52 [[ 9.97814917e-01 6.60531354e-02 1.54078362e-03 -1.87326437e+01] [-6.60532198e-02 9.97816101e-01 3.87742248e-06 2.74670949e+00] [-1.53716259e-03 -1.05642669e-04 9.99998813e-01 5.15046055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.443741732 meters 0.06444521730146541 Centerline is valid? [True, True] Translation: X:-18.76, Y:2.77, Z:0.51 [[ 9.96651351e-01 8.14599503e-02 -7.09659102e-03 -1.87637355e+01] [-8.14621756e-02 9.96676434e-01 -2.46029537e-05 2.76562374e+00] [ 7.07100087e-03 6.02624311e-04 9.99974819e-01 5.07508565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.473741732 meters 0.06994928248172701 Centerline is valid? [True, True] Translation: X:-18.79, Y:2.77, Z:0.51 [[ 9.96021336e-01 8.90628543e-02 -3.05058979e-03 -1.87947666e+01] [-8.90633029e-02 9.96025968e-01 -1.12695464e-05 2.77348207e+00] [ 3.03746295e-03 2.82920311e-04 9.99995347e-01 5.12642591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.503741732 meters 0.06924015964209586 Centerline is valid? [True, True] Translation: X:-18.83, Y:2.77, Z:0.53 [[ 9.95694108e-01 9.22002826e-02 9.60990458e-03 -1.88252424e+01] [-9.22048438e-02 9.95740059e-01 3.17288397e-05 2.77145473e+00] [-9.56604155e-03 -9.17671970e-04 9.99953823e-01 5.31590757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.533741732 meters 0.07376033799271178 Centerline is valid? [True, True] Translation: X:-18.86, Y:2.77, Z:0.54 [[ 9.95883584e-01 8.92773348e-02 1.56666935e-02 -1.88565064e+01] [-8.92891428e-02 9.96005746e-01 5.44471691e-05 2.77305851e+00] [-1.55992559e-02 -1.45308867e-03 9.99877268e-01 5.35837225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.563741732 meters 0.06485354505838008 Centerline is valid? [True, True] Translation: X:-18.89, Y:2.76, Z:0.53 [[ 9.96283535e-01 8.56992962e-02 8.64570347e-03 -1.88869272e+01] [-8.57027589e-02 9.96320750e-01 3.01370573e-05 2.76411905e+00] [-8.61131104e-03 -7.70985694e-04 9.99962625e-01 5.30216165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.593741732 meters 0.07097186277126835 Centerline is valid? [True, True] Translation: X:-18.92, Y:2.77, Z:0.52 [[ 9.96179676e-01 8.72635486e-02 3.33555848e-03 -1.89175114e+01] [-8.72640733e-02 9.96185214e-01 1.17925719e-05 2.76851270e+00] [-3.32180498e-03 -3.02821940e-04 9.99994437e-01 5.19797856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.623741732 meters 0.07098844201217115 Centerline is valid? [True, True] Translation: X:-18.95, Y:2.77, Z:0.52 [[ 9.95675371e-01 9.28934376e-02 1.16816052e-03 -1.89467431e+01] [-9.28935065e-02 9.95676050e-01 4.78513917e-06 2.76695934e+00] [-1.16266494e-03 -1.13278972e-04 9.99999318e-01 5.19530160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.653741732 meters 0.07347945830103478 Centerline is valid? [True, True] Translation: X:-18.98, Y:2.76, Z:0.52 [[ 9.95306367e-01 9.67551161e-02 -1.91921346e-03 -1.89774309e+01] [-9.67553072e-02 9.95308199e-01 -6.74312345e-06 2.76441393e+00] [ 1.90955646e-03 1.92405562e-04 9.99998158e-01 5.15418195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.683741732 meters 0.07519002635606055 Centerline is valid? [True, True] Translation: X:-19.01, Y:2.76, Z:0.52 [[ 9.95226874e-01 9.75807930e-02 -1.20712568e-03 -1.90097754e+01] [-9.75808726e-02 9.95227599e-01 -7.07032425e-06 2.76219744e+00] [ 1.20067486e-03 1.24828954e-04 9.99999271e-01 5.18441718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.713741732 meters 0.07368337434648028 Centerline is valid? [True, True] Translation: X:-19.04, Y:2.75, Z:0.53 [[ 9.95457618e-01 9.51153434e-02 4.14766865e-03 -1.90394622e+01] [-9.51162129e-02 9.95466175e-01 1.24331937e-05 2.75258735e+00] [-4.12768126e-03 -4.06887252e-04 9.99991398e-01 5.25989635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.743741732 meters 0.06703852284892284 Centerline is valid? [True, True] Translation: X:-19.07, Y:2.74, Z:0.53 [[ 9.96283078e-01 8.59822839e-02 5.20339324e-03 -1.90697102e+01] [-8.59835471e-02 9.96296557e-01 1.91343898e-05 2.73646823e+00] [-5.18247755e-03 -4.66469477e-04 9.99986462e-01 5.31416782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.773741732 meters 0.06344090240928733 Centerline is valid? [True, True] Translation: X:-19.10, Y:2.73, Z:0.54 [[ 9.96793456e-01 7.94332302e-02 9.65237881e-03 -1.90992695e+01] [-7.94372748e-02 9.96839866e-01 3.57595676e-05 2.72757064e+00] [-9.61903550e-03 -8.02403571e-04 9.99953414e-01 5.38981058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.803741732 meters 0.0568760656887038 Centerline is valid? [True, True] Translation: X:-19.13, Y:2.72, Z:0.55 [[ 9.97237095e-01 7.27930176e-02 1.48106024e-02 -1.91284466e+01] [-7.28018194e-02 9.97346425e-01 5.52957209e-05 2.72044565e+00] [-1.47672762e-02 -1.13338174e-03 9.99890315e-01 5.47859947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.833741732 meters 0.05619109691811339 Centerline is valid? [True, True] Translation: X:-19.16, Y:2.73, Z:0.54 [[ 9.97526361e-01 6.97346988e-02 8.84485952e-03 -1.91609411e+01] [-6.97376964e-02 9.97565363e-01 3.05746753e-05 2.72653353e+00] [-8.82119338e-03 -6.47319173e-04 9.99960883e-01 5.40532626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.863741732 meters 0.05803213346028311 Centerline is valid? [True, True] Translation: X:-19.19, Y:2.73, Z:0.53 [[ 9.97623428e-01 6.89014747e-02 2.85922961e-04 -1.91923653e+01] [-6.89014776e-02 9.97623469e-01 3.95847546e-07 2.73206144e+00] [-2.85216181e-04 -2.00954212e-05 9.99999959e-01 5.26504802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.893741732000002 meters 0.05899874003245669 Centerline is valid? [True, True] Translation: X:-19.22, Y:2.73, Z:0.52 [[ 9.97704106e-01 6.77229760e-02 -3.40084401e-04 -1.92249733e+01] [-6.77229813e-02 9.97704163e-01 -4.01032737e-06 2.73135515e+00] [ 3.39032031e-04 2.70326496e-05 9.99999942e-01 5.23881291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.923741732 meters 0.04889743223856913 Centerline is valid? [True, True] Translation: X:-19.25, Y:2.71, Z:0.54 [[ 9.97958388e-01 6.36689236e-02 5.03227829e-03 -1.92543453e+01] [-6.36698287e-02 9.97971018e-01 1.97018197e-05 2.71404235e+00] [-5.02081349e-03 -3.40065893e-04 9.99987338e-01 5.38865702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.953741732 meters 0.05220163785130205 Centerline is valid? [True, True] Translation: X:-19.28, Y:2.72, Z:0.55 [[ 9.98140748e-01 5.95893824e-02 1.28122373e-02 -1.92847465e+01] [-5.95948947e-02 9.98222644e-01 4.85404864e-05 2.71945363e+00] [-1.27865729e-02 -8.11994169e-04 9.99917919e-01 5.45801439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.983741732000002 meters 0.04846824981673418 Centerline is valid? [True, True] Translation: X:-19.31, Y:2.72, Z:0.55 [[ 9.98182827e-01 5.77431814e-02 1.72270008e-02 -1.93148800e+01] [-5.77529026e-02 9.98330906e-01 6.69274432e-05 2.71816887e+00] [-1.71943827e-02 -1.06171512e-03 9.99851602e-01 5.51671339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.013741732 meters 0.0508351964045288 Centerline is valid? [True, True] Translation: X:-19.35, Y:2.73, Z:0.54 [[ 9.98068455e-01 6.15637518e-02 8.32243595e-03 -1.93459486e+01] [-6.15661558e-02 9.98103004e-01 3.27225276e-05 2.73449564e+00] [-8.30463381e-03 -5.45039711e-04 9.99965367e-01 5.43279536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.043741732 meters 0.05550722392643869 Centerline is valid? [True, True] Translation: X:-19.38, Y:2.75, Z:0.53 [[ 9.97854344e-01 6.53858898e-02 3.37539371e-03 -1.93767217e+01] [-6.53863071e-02 9.97860026e-01 1.32822164e-05 2.74827294e+00] [-3.36730198e-03 -2.33958247e-04 9.99994303e-01 5.33313204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.073741732000002 meters 0.05732561420140813 Centerline is valid? [True, True] Translation: X:-19.41, Y:2.76, Z:0.54 [[ 9.97601489e-01 6.91302865e-02 3.50310331e-03 -1.94059218e+01] [-6.91307614e-02 9.97607607e-01 1.45377478e-05 2.76064854e+00] [-3.49371751e-03 -2.56675078e-04 9.99993864e-01 5.37280275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.103741732 meters 0.05407351837455726 Centerline is valid? [True, True] Translation: X:-19.44, Y:2.77, Z:0.55 [[ 9.97635065e-01 6.79006397e-02 1.06668264e-02 -1.94355329e+01] [-6.79049498e-02 9.97691794e-01 4.19908836e-05 2.76544981e+00] [-1.06393539e-02 -7.66221887e-04 9.99943107e-01 5.50739739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.133741732 meters 0.05269356649754112 Centerline is valid? [True, True] Translation: X:-19.47, Y:2.77, Z:0.55 [[ 9.97945715e-01 6.32476576e-02 1.02021241e-02 -1.94656895e+01] [-6.32513518e-02 9.97997628e-01 3.95259735e-05 2.76807951e+00] [-1.01791957e-02 -6.84742914e-04 9.99947956e-01 5.50891224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.163741732000002 meters 0.05173064981177827 Centerline is valid? [True, True] Translation: X:-19.50, Y:2.77, Z:0.54 [[ 9.98535700e-01 5.39490859e-02 3.99400629e-03 -1.94970471e+01] [-5.39495767e-02 9.98543661e-01 1.51674550e-05 2.76619127e+00] [-3.98737139e-03 -2.30620194e-04 9.99992024e-01 5.36846796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.193741732 meters 0.048407529044292144 Centerline is valid? [True, True] Translation: X:-19.53, Y:2.76, Z:0.54 [[ 9.98767889e-01 4.92851108e-02 5.80366348e-03 -1.95260059e+01] [-4.92860697e-02 9.98784703e-01 2.22467582e-05 2.76281998e+00] [-5.79551387e-03 -3.08259111e-04 9.99983158e-01 5.42338235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.223741732 meters 0.04073027172888419 Centerline is valid? [True, True] Translation: X:-19.56, Y:2.76, Z:0.56 [[ 9.98899477e-01 4.56384724e-02 1.08150507e-02 -1.95552808e+01] [-4.56416028e-02 9.98957878e-01 4.26782970e-05 2.76080787e+00] [-1.08018324e-02 -5.36247579e-04 9.99941515e-01 5.55621123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.253741732 meters 0.04300739624846806 Centerline is valid? [True, True] Translation: X:-19.59, Y:2.77, Z:0.55 [[ 9.98935893e-01 4.54506386e-02 7.83075113e-03 -1.95877735e+01] [-4.54522533e-02 9.98966512e-01 2.82718843e-05 2.77201195e+00] [-7.82137316e-03 -3.84167084e-04 9.99969339e-01 5.54501444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.283741732 meters 0.0447852269296635 Centerline is valid? [True, True] Translation: X:-19.62, Y:2.78, Z:0.55 [[ 9.98893241e-01 4.58897371e-02 1.03162211e-02 -1.96188486e+01] [-4.58925864e-02 9.98946379e-01 3.95152433e-05 2.77721482e+00] [-1.03035384e-02 -5.12909579e-04 9.99946786e-01 5.54839923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.313741732 meters 0.04532990073842659 Centerline is valid? [True, True] Translation: X:-19.65, Y:2.79, Z:0.57 [[ 9.98719171e-01 4.80879579e-02 1.57342317e-02 -1.96505205e+01] [-4.80948838e-02 9.98842770e-01 6.18696298e-05 2.79321521e+00] [-1.57130484e-02 -8.18526434e-04 9.99876207e-01 5.65429910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.343741732 meters 0.04783635305540252 Centerline is valid? [True, True] Translation: X:-19.68, Y:2.81, Z:0.57 [[ 9.98358141e-01 5.48644618e-02 1.64594640e-02 -1.96796794e+01] [-5.48730128e-02 9.98493339e-01 6.80033371e-05 2.80546934e+00] [-1.64309342e-02 -9.71072064e-04 9.99864532e-01 5.65654575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.373741732 meters 0.05282527674605088 Centerline is valid? [True, True] Translation: X:-19.71, Y:2.82, Z:0.55 [[ 9.98244021e-01 5.88149583e-02 7.04801317e-03 -1.97107555e+01] [-5.88166195e-02 9.98268804e-01 2.84828652e-05 2.81902337e+00] [-7.03413645e-03 -4.42973159e-04 9.99975162e-01 5.53683977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.403741732 meters 0.053498568908880446 Centerline is valid? [True, True] Translation: X:-19.74, Y:2.83, Z:0.55 [[ 9.98063456e-01 6.21825239e-02 -1.63441902e-03 -1.97403671e+01] [-6.21826166e-02 9.98064789e-01 -5.90460689e-06 2.82966249e+00] [ 1.63088891e-03 1.07525624e-04 9.99998664e-01 5.50267273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.433741732 meters 0.05094240162287747 Centerline is valid? [True, True] Translation: X:-19.77, Y:2.84, Z:0.58 [[ 9.97929247e-01 6.21902354e-02 1.64192718e-02 -1.97690985e+01] [-6.21997049e-02 9.98063722e-01 6.61937819e-05 2.83655217e+00] [-1.63833629e-02 -1.08733057e-03 9.99865192e-01 5.78068460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.463741732 meters 0.050774431401125655 Centerline is valid? [True, True] Translation: X:-19.80, Y:2.84, Z:0.59 [[ 9.97710624e-01 6.34484136e-02 2.34053330e-02 -1.98008711e+01] [-6.34680287e-02 9.97983868e-01 9.54222510e-05 2.84293979e+00] [-2.33520903e-02 -1.58069414e-03 9.99726053e-01 5.87854582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.493741732 meters 0.054054328451877874 Centerline is valid? [True, True] Translation: X:-19.83, Y:2.86, Z:0.57 [[ 9.97865270e-01 6.45177653e-02 1.01173894e-02 -1.98326804e+01] [-6.45214908e-02 9.97916317e-01 4.19166859e-05 2.85559185e+00] [-1.00936036e-02 -6.94616251e-04 9.99948817e-01 5.68149823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.523741732 meters 0.05631766971532696 Centerline is valid? [True, True] Translation: X:-19.87, Y:2.86, Z:0.56 [[ 9.98064392e-01 6.21806619e-02 1.01753943e-03 -1.98651074e+01] [-6.21806964e-02 9.98064908e-01 2.27237288e-06 2.86164394e+00] [-1.01542910e-03 -6.55392850e-05 9.99999482e-01 5.58024001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.553741732 meters 0.048838144137436104 Centerline is valid? [True, True] Translation: X:-19.89, Y:2.85, Z:0.57 [[ 9.98365621e-01 5.66720242e-02 7.37353270e-03 -1.98942620e+01] [-5.66738006e-02 9.98392748e-01 3.20300647e-05 2.85399646e+00] [-7.35986637e-03 -4.49863838e-04 9.99972815e-01 5.72116008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.583741732 meters 0.048810563125652934 Centerline is valid? [True, True] Translation: X:-19.92, Y:2.86, Z:0.58 [[ 9.98513905e-01 5.29101599e-02 1.30574179e-02 -1.99243162e+01] [-5.29153951e-02 9.98598998e-01 5.55397563e-05 2.85505448e+00] [-1.30361858e-02 -7.46395645e-04 9.99914747e-01 5.78089903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.613741732 meters 0.05008112500423579 Centerline is valid? [True, True] Translation: X:-19.96, Y:2.86, Z:0.57 [[ 9.98485395e-01 5.48490608e-02 4.30077587e-03 -1.99555984e+01] [-5.48496441e-02 9.98494625e-01 1.77013676e-05 2.86462304e+00] [-4.29333069e-03 -2.53570583e-04 9.99990751e-01 5.71668457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.643741732000002 meters 0.048575454572582444 Centerline is valid? [True, True] Translation: X:-19.99, Y:2.86, Z:0.58 [[ 9.98486467e-01 5.45171027e-02 7.25676835e-03 -1.99861146e+01] [-5.45187353e-02 9.98512747e-01 2.72018695e-05 2.86158312e+00] [-7.24449273e-03 -4.22790531e-04 9.99973669e-01 5.78435950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.673741732 meters 0.043226457233039715 Centerline is valid? [True, True] Translation: X:-20.02, Y:2.86, Z:0.59 [[ 9.98700673e-01 4.93689972e-02 1.26359392e-02 -2.00157512e+01] [-4.93736312e-02 9.98780377e-01 5.48508973e-05 2.85876546e+00] [-1.26178202e-02 -6.78661831e-04 9.99920162e-01 5.88166752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.703741732 meters 0.04779904670816375 Centerline is valid? [True, True] Translation: X:-20.05, Y:2.87, Z:0.58 [[ 9.98641154e-01 5.09691438e-02 1.08623652e-02 -2.00471991e+01] [-5.09726660e-02 9.98700048e-01 4.74750137e-05 2.86916855e+00] [-1.08458249e-02 -6.01094216e-04 9.99941002e-01 5.80734696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.733741732000002 meters 0.05304569911542822 Centerline is valid? [True, True] Translation: X:-20.08, Y:2.88, Z:0.57 [[ 9.98319697e-01 5.78317615e-02 3.64286226e-03 -2.00783777e+01] [-5.78322047e-02 9.98326317e-01 1.63603716e-05 2.88421662e+00] [-3.63581912e-03 -2.27007638e-04 9.99993365e-01 5.71828404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.763741732 meters 0.05279107233729806 Centerline is valid? [True, True] Translation: X:-20.11, Y:2.89, Z:0.58 [[ 9.98300353e-01 5.74949504e-02 9.52550987e-03 -2.01084430e+01] [-5.74979555e-02 9.98345623e-01 4.17056451e-05 2.88621066e+00] [-9.50735323e-03 -5.89332103e-04 9.99954630e-01 5.81812266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.793741732 meters 0.050483663264399584 Centerline is valid? [True, True] Translation: X:-20.14, Y:2.88, Z:0.59 [[ 9.98549910e-01 5.23634861e-02 1.24957192e-02 -2.01396864e+01] [-5.23682759e-02 9.98627839e-01 5.61968811e-05 2.88486294e+00] [-1.24756304e-02 -7.10494659e-04 9.99921924e-01 5.87703356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.823741732000002 meters 0.04992745598550045 Centerline is valid? [True, True] Translation: X:-20.17, Y:2.89, Z:0.58 [[ 9.98603443e-01 5.26184130e-02 4.73993299e-03 -2.01705640e+01] [-5.26191039e-02 9.98614655e-01 2.10940885e-05 2.89064571e+00] [-4.73225661e-03 -2.70475656e-04 9.99988766e-01 5.82806266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.853741732 meters 0.048020686393799784 Centerline is valid? [True, True] Translation: X:-20.20, Y:2.89, Z:0.59 [[ 9.98564248e-01 5.31475959e-02 6.69151884e-03 -2.02024843e+01] [-5.31489762e-02 9.98586594e-01 2.84932199e-05 2.89446446e+00] [-6.68054666e-03 -3.84099686e-04 9.99977611e-01 5.89560412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.883741732 meters 0.04999313548822884 Centerline is valid? [True, True] Translation: X:-20.23, Y:2.90, Z:0.60 [[ 9.98454133e-01 5.45823023e-02 1.04936469e-02 -2.02349624e+01] [-5.45858012e-02 9.98509083e-01 4.70906006e-05 2.90297556e+00] [-1.04754314e-02 -6.19821927e-04 9.99944939e-01 5.95098264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.913741732000002 meters 0.05158366372829295 Centerline is valid? [True, True] Translation: X:-20.27, Y:2.91, Z:0.58 [[ 9.98405915e-01 5.64397213e-02 4.32685993e-04 -2.02653529e+01] [-5.64397275e-02 9.98406008e-01 2.10510748e-06 2.90575319e+00] [-4.31877483e-04 -2.65224313e-05 9.99999906e-01 5.80710918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.943741732 meters 0.05741131174399349 Centerline is valid? [True, True] Translation: X:-20.30, Y:2.92, Z:0.58 [[ 9.98390849e-01 5.66429348e-02 2.69993606e-03 -2.02971896e+01] [-5.66431633e-02 9.98394487e-01 8.16521066e-06 2.91789595e+00] [-2.69513878e-03 -1.61084991e-04 9.99996355e-01 5.82083234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.973741732 meters 0.055644111589165025 Centerline is valid? [True, True] Translation: X:-20.33, Y:2.92, Z:0.60 [[ 9.98330065e-01 5.66270783e-02 1.14217047e-02 -2.03263817e+01] [-5.66314017e-02 9.98395153e-01 5.51917538e-05 2.91944807e+00] [-1.14002492e-02 -7.01926732e-04 9.99934769e-01 6.01644675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.003741732 meters 0.05328154127911582 Centerline is valid? [True, True] Translation: X:-20.36, Y:2.92, Z:0.59 [[ 9.98585817e-01 5.31396935e-02 1.59345698e-03 -2.03595612e+01] [-5.31397685e-02 9.98587084e-01 4.73428892e-06 2.91907831e+00] [-1.59095399e-03 -8.94035291e-05 9.99998730e-01 5.89483292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.033741732 meters 0.05328154127911582 Centerline is valid? [True, True] Translation: X:-20.39, Y:2.92, Z:0.59 [[ 9.98591639e-01 5.30301793e-02 1.59345963e-03 -2.03921470e+01] [-5.30302534e-02 9.98592906e-01 4.24716405e-06 2.91907190e+00] [-1.59099226e-03 -8.87427505e-05 9.99998730e-01 5.90646982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.063741732 meters 0.05137451196727902 Centerline is valid? [True, True] Translation: X:-20.42, Y:2.91, Z:0.58 [[ 9.98807336e-01 4.87547806e-02 -2.62225100e-03 -2.04238005e+01] [-4.87549891e-02 9.98810768e-01 -1.56166870e-05 2.91092304e+00] [ 2.61837115e-03 1.43445880e-04 9.99996562e-01 5.84465545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.093741732 meters 0.04938305091838913 Centerline is valid? [True, True] Translation: X:-20.45, Y:2.92, Z:0.59 [[ 9.98924756e-01 4.62617254e-02 3.03050708e-03 -2.04541129e+01] [-4.62619850e-02 9.98929341e-01 1.55882935e-05 2.91532875e+00] [-3.02654130e-03 -1.55768805e-04 9.99995408e-01 5.91558920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.123741732 meters 0.04766629995831296 Centerline is valid? [True, True] Translation: X:-20.48, Y:2.92, Z:0.61 [[ 9.98843170e-01 4.68305427e-02 1.09188501e-02 -2.04834218e+01] [-4.68339304e-02 9.98902688e-01 5.46304456e-05 2.92090586e+00] [-1.09043103e-02 -5.65939913e-04 9.99940386e-01 6.09302455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.153741732 meters 0.05054728637426505 Centerline is valid? [True, True] Translation: X:-20.51, Y:2.93, Z:0.61 [[ 9.98638921e-01 5.08097607e-02 1.17759908e-02 -2.05135344e+01] [-5.08140127e-02 9.98708132e-01 6.19638794e-05 2.92924089e+00] [-1.17576294e-02 -6.60264887e-04 9.99930659e-01 6.09785671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.183741732 meters 0.053358724811564534 Centerline is valid? [True, True] Translation: X:-20.54, Y:2.94, Z:0.59 [[ 9.98570911e-01 5.34426093e-02 -1.51242765e-04 -2.05445402e+01] [-5.34426100e-02 9.98570923e-01 -7.22573739e-07 2.93730248e+00] [ 1.50988011e-04 8.80434924e-06 9.99999989e-01 5.94636419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.213741732 meters 0.053267173634936354 Centerline is valid? [True, True] Translation: X:-20.58, Y:2.94, Z:0.60 [[ 9.98379875e-01 5.68079514e-02 -3.23757844e-03 -2.05753595e+01] [-5.68083043e-02 9.98385104e-01 -1.70774477e-05 2.94362273e+00] [ 3.23137995e-03 2.00971121e-04 9.99994759e-01 5.98448092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.243741732 meters 0.06510732403609076 Centerline is valid? [True, True] Translation: X:-20.61, Y:2.96, Z:0.60 [[ 9.97017692e-01 7.71680893e-02 -8.98912840e-04 -2.06065021e+01] [-7.71681252e-02 9.97018094e-01 -5.26879264e-06 2.96397822e+00] [ 8.95825784e-04 7.46204980e-05 9.99999596e-01 6.02762595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.273741732 meters 0.07157252515200724 Centerline is valid? [True, True] Translation: X:-20.64, Y:2.97, Z:0.60 [[ 9.96121109e-01 8.79819957e-02 -1.38003685e-03 -2.06374532e+01] [-8.79820878e-02 9.96122057e-01 -6.04011452e-06 2.96515874e+00] [ 1.37415372e-03 1.27435208e-04 9.99999048e-01 5.99461849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.303741732 meters 0.06520484407737785 Centerline is valid? [True, True] Translation: X:-20.67, Y:2.95, Z:0.61 [[ 9.96893026e-01 7.83864022e-02 7.73740304e-03 -2.06676707e+01] [-7.83890595e-02 9.96922842e-01 4.02947314e-05 2.94540508e+00] [-7.71043527e-03 -6.46697284e-04 9.99970065e-01 6.11615463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.333741732 meters 0.0546218931978498 Centerline is valid? [True, True] Translation: X:-20.70, Y:2.92, Z:0.62 [[ 9.97889267e-01 6.43284635e-02 8.88031096e-03 -2.06965983e+01] [-6.43314054e-02 9.97928589e-01 4.57404236e-05 2.92289934e+00] [-8.85897377e-03 -6.16926762e-04 9.99960568e-01 6.19913545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.363741732 meters 0.052614103119575435 Centerline is valid? [True, True] Translation: X:-20.73, Y:2.91, Z:0.61 [[ 9.98435336e-01 5.56613755e-02 5.35644981e-03 -2.07275794e+01] [-5.56623231e-02 9.98449651e-01 2.78827236e-05 2.90813206e+00] [-5.34659346e-03 -3.25991537e-04 9.99985654e-01 6.11263016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.393741732000002 meters 0.04687561267882324 Centerline is valid? [True, True] Translation: X:-20.76, Y:2.89, Z:0.60 [[ 9.98862590e-01 4.72097037e-02 -6.69109080e-03 -2.07594510e+01] [-4.72110144e-02 9.98884938e-01 -3.79828891e-05 2.89123221e+00] [ 6.68183665e-03 3.53832871e-04 9.99977614e-01 5.97657448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.423741732 meters 0.045000521079170214 Centerline is valid? [True, True] Translation: X:-20.79, Y:2.89, Z:0.62 [[ 9.98849087e-01 4.77701334e-02 4.30297507e-03 -2.07888820e+01] [-4.77706771e-02 9.98858329e-01 2.35907771e-05 2.88678784e+00] [-4.29693555e-03 -2.29119659e-04 9.99990742e-01 6.18703666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.453741732 meters 0.050213027358663474 Centerline is valid? [True, True] Translation: X:-20.82, Y:2.90, Z:0.63 [[ 9.98313093e-01 5.77164614e-02 6.30693852e-03 -2.08194979e+01] [-5.77178181e-02 9.98332937e-01 3.31634416e-05 2.89597458e+00] [-6.29451038e-03 -3.97130228e-04 9.99980111e-01 6.25700776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.483741732000002 meters 0.05725263845923791 Centerline is valid? [True, True] Translation: X:-20.85, Y:2.90, Z:0.62 [[ 9.97912214e-01 6.45627323e-02 1.69299310e-03 -2.08502782e+01] [-6.45628399e-02 9.97913643e-01 8.94668375e-06 2.90147141e+00] [-1.68888329e-03 -1.18232448e-04 9.99998567e-01 6.15344386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.513741732 meters 0.0579535297423688 Centerline is valid? [True, True] Translation: X:-20.88, Y:2.90, Z:0.60 [[ 9.98070516e-01 6.19388122e-02 -4.33909808e-03 -2.08826988e+01] [-6.19395095e-02 9.98079905e-01 -2.63933757e-05 2.89532101e+00] [ 4.32913183e-03 2.95104057e-04 9.99990586e-01 6.03253612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.543741732 meters 0.05253902832533528 Centerline is valid? [True, True] Translation: X:-20.91, Y:2.88, Z:0.61 [[ 9.98655307e-01 5.17481787e-02 -3.11512245e-03 -2.09126216e+01] [-5.17484830e-02 9.98660150e-01 -1.70838850e-05 2.88060514e+00] [ 3.11006459e-03 1.78263773e-04 9.99995148e-01 6.07611120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.573741732000002 meters 0.045752080795016144 Centerline is valid? [True, True] Translation: X:-20.94, Y:2.87, Z:0.62 [[ 9.98907201e-01 4.66382481e-02 3.04579893e-03 -2.09421717e+01] [-4.66385150e-02 9.98911832e-01 1.66119516e-05 2.86751882e+00] [-3.04170984e-03 -1.58645337e-04 9.99995361e-01 6.19372299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.603741732 meters 0.04578707156687721 Centerline is valid? [True, True] Translation: X:-20.97, Y:2.87, Z:0.62 [[ 9.99025065e-01 4.39697917e-02 3.94665198e-03 -2.09728272e+01] [-4.39702164e-02 9.99032842e-01 2.08426064e-05 2.87271727e+00] [-3.94191850e-03 -1.94357428e-04 9.99992212e-01 6.24155476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.633741732 meters 0.0440284077800647 Centerline is valid? [True, True] Translation: X:-21.00, Y:2.87, Z:0.63 [[ 9.99060388e-01 4.27760940e-02 6.96760115e-03 -2.10026387e+01] [-4.27773937e-02 9.99084628e-01 3.75363108e-05 2.87176898e+00] [-6.95961754e-03 -3.35556859e-04 9.99975725e-01 6.34872823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.663741732000002 meters 0.04274944988103811 Centerline is valid? [True, True] Translation: X:-21.03, Y:2.87, Z:0.64 [[ 9.98966701e-01 4.48906951e-02 7.09614485e-03 -2.10332590e+01] [-4.48920931e-02 9.98991841e-01 3.77776130e-05 2.87177431e+00] [-7.08729494e-03 -3.56299373e-04 9.99974821e-01 6.40174578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.693741732 meters 0.05134762016008471 Centerline is valid? [True, True] Translation: X:-21.06, Y:2.88, Z:0.62 [[ 9.98637847e-01 5.21403622e-02 -1.95783100e-03 -2.10644483e+01] [-5.21404832e-02 9.98639760e-01 -1.07703340e-05 2.88465892e+00] [ 1.95460631e-03 1.12837918e-04 9.99998083e-01 6.20033215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.723741732 meters 0.05352711735938844 Centerline is valid? [True, True] Translation: X:-21.10, Y:2.89, Z:0.63 [[ 9.98404453e-01 5.64649442e-02 5.07873205e-04 -2.10963159e+01] [-5.64649519e-02 9.98404582e-01 7.70702266e-07 2.89368734e+00] [-5.07019417e-04 -2.94465086e-05 9.99999871e-01 6.26425515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.753741732 meters 0.043222343443155196 Centerline is valid? [True, True] Translation: X:-21.12, Y:2.88, Z:0.64 [[ 9.98983279e-01 4.44869881e-02 7.30173913e-03 -2.11247298e+01] [-4.44884747e-02 9.99009897e-01 4.12126853e-05 2.87516021e+00] [-7.29267622e-03 -3.66014020e-04 9.99973341e-01 6.44218745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.783741732 meters 0.04081244618976342 Centerline is valid? [True, True] Translation: X:-21.15, Y:2.87, Z:0.65 [[ 9.99091663e-01 4.11899928e-02 1.09194021e-02 -2.11545295e+01] [-4.11930939e-02 9.99151203e-01 5.91494695e-05 2.87437966e+00] [-1.09076974e-02 -5.08899699e-04 9.99940380e-01 6.49463924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.813741732 meters 0.04488174874018668 Centerline is valid? [True, True] Translation: X:-21.19, Y:2.88, Z:0.65 [[ 9.99014872e-01 4.18903221e-02 1.46453853e-02 -2.11864946e+01] [-4.18959967e-02 9.99121974e-01 8.07408681e-05 2.87736885e+00] [-1.46291440e-02 -6.94244343e-04 9.99892747e-01 6.47389565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.843741732 meters 0.04142591403678819 Centerline is valid? [True, True] Translation: X:-21.22, Y:2.88, Z:0.64 [[ 9.99091516e-01 4.20865848e-02 6.69791351e-03 -2.12161173e+01] [-4.20877886e-02 9.99113916e-01 3.88117455e-05 2.88239639e+00] [-6.69034514e-03 -3.20676854e-04 9.99977568e-01 6.42003398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.873741732 meters 0.04907247124043426 Centerline is valid? [True, True] Translation: X:-21.25, Y:2.90, Z:0.63 [[ 9.98987245e-01 4.49914986e-02 4.98864886e-04 -2.12470904e+01] [-4.49915055e-02 9.98987370e-01 2.79757384e-06 2.89969266e+00] [-4.98233853e-04 -2.52394229e-05 9.99999876e-01 6.31940690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.903741732 meters 0.048140044609820784 Centerline is valid? [True, True] Translation: X:-21.28, Y:2.91, Z:0.64 [[ 9.98822954e-01 4.84971818e-02 -8.54773722e-04 -2.12780867e+01] [-4.84972043e-02 9.98823318e-01 -5.56880420e-06 2.91118320e+00] [ 8.53497854e-04 4.70163853e-05 9.99999635e-01 6.35374416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.933741732 meters 0.054011310189755156 Centerline is valid? [True, True] Translation: X:-21.31, Y:2.93, Z:0.63 [[ 9.98343492e-01 5.74065293e-02 -3.84229255e-03 -2.13084913e+01] [-5.74070372e-02 9.98350856e-01 -2.19471534e-05 2.92959645e+00] [ 3.83469615e-03 2.42485429e-04 9.99992618e-01 6.33304232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.963741732 meters 0.05882575681906201 Centerline is valid? [True, True] Translation: X:-21.34, Y:2.94, Z:0.64 [[ 9.97866962e-01 6.51374837e-02 -4.31683357e-03 -2.13392686e+01] [-6.51381992e-02 9.97876252e-01 -2.51983351e-05 2.94147435e+00] [ 4.30602435e-03 3.06335351e-04 9.99990682e-01 6.40424494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.993741732 meters 0.0583924682568156 Centerline is valid? [True, True] Translation: X:-21.37, Y:2.94, Z:0.65 [[ 9.97696944e-01 6.76365421e-02 5.10942831e-03 -2.13687018e+01] [-6.76375586e-02 9.97709958e-01 2.62144766e-05 2.93959322e+00] [-5.09595444e-03 -3.71743360e-04 9.99986946e-01 6.51039172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.023741732 meters 0.057956163926368404 Centerline is valid? [True, True] Translation: X:-21.40, Y:2.94, Z:0.65 [[ 9.97700296e-01 6.77099853e-02 3.07843163e-03 -2.14008179e+01] [-6.77103532e-02 9.97705020e-01 1.53244834e-05 2.94138843e+00] [-3.07032907e-03 -2.23730935e-04 9.99995262e-01 6.52319936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.053741732 meters 0.057896371809797946 Centerline is valid? [True, True] Translation: X:-21.43, Y:2.93, Z:0.64 [[ 9.98111120e-01 6.14140751e-02 1.58211890e-03 -2.14318103e+01] [-6.14141662e-02 9.98112368e-01 9.01274116e-06 2.93444691e+00] [-1.57857894e-03 -1.06160230e-04 9.99998748e-01 6.42087249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.083741732 meters 0.052392826237642784 Centerline is valid? [True, True] Translation: X:-21.46, Y:2.92, Z:0.64 [[ 9.98552833e-01 5.35953554e-02 4.44726878e-03 -2.14616957e+01] [-5.35960043e-02 9.98562701e-01 2.67759933e-05 2.92245265e+00] [-4.43944165e-03 -2.65093081e-04 9.99990110e-01 6.44294264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.113741732 meters 0.04542914587850306 Centerline is valid? [True, True] Translation: X:-21.49, Y:2.91, Z:0.65 [[ 9.99142427e-01 4.13879466e-02 1.20352570e-03 -2.14924392e+01] [-4.13879847e-02 9.99143150e-01 6.74852816e-06 2.90791816e+00] [-1.20221515e-03 -5.65542441e-05 9.99999276e-01 6.45187716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.143741732 meters 0.043082546362397875 Centerline is valid? [True, True] Translation: X:-21.52, Y:2.91, Z:0.64 [[ 9.99339669e-01 3.58645299e-02 -5.82766561e-03 -2.15245903e+01] [-3.58653586e-02 9.99356630e-01 -3.77156295e-05 2.90806824e+00] [ 5.82256361e-03 2.46702042e-04 9.99983018e-01 6.38107089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.173741732 meters 0.04104049076636394 Centerline is valid? [True, True] Translation: X:-21.55, Y:2.92, Z:0.65 [[ 9.99242053e-01 3.89136740e-02 1.02281138e-03 -2.15548102e+01] [-3.89136992e-02 9.99242575e-01 4.71139233e-06 2.91514423e+00] [-1.02185334e-03 -4.45091956e-05 9.99999477e-01 6.52195378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.203741732 meters 0.043639819316036894 Centerline is valid? [True, True] Translation: X:-21.59, Y:2.93, Z:0.66 [[ 9.99023492e-01 4.34736754e-02 7.88045384e-03 -2.15865361e+01] [-4.34753812e-02 9.99054498e-01 4.51983277e-05 2.93159150e+00] [-7.87103791e-03 -3.87759925e-04 9.99968948e-01 6.62658748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.233741732000002 meters 0.0525565537816437 Centerline is valid? [True, True] Translation: X:-21.62, Y:2.96, Z:0.64 [[ 9.98704536e-01 5.07168674e-02 -4.12895803e-03 -2.16183953e+01] [-5.07174058e-02 9.98713044e-01 -2.57443368e-05 2.95681628e+00] [ 4.12233857e-03 2.35121026e-04 9.99991475e-01 6.40816847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.263741732 meters 0.05132564034608683 Centerline is valid? [True, True] Translation: X:-21.65, Y:2.96, Z:0.64 [[ 9.98876056e-01 4.71504343e-02 -4.84368744e-03 -2.16492996e+01] [-4.71511347e-02 9.98887766e-01 -3.04420981e-05 2.95669686e+00] [ 4.83686477e-03 2.58793242e-04 9.99988269e-01 6.36601807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.293741732 meters 0.04847700551645903 Centerline is valid? [True, True] Translation: X:-21.68, Y:2.95, Z:0.64 [[ 9.99030337e-01 4.38662660e-02 -3.75973393e-03 -2.16804662e+01] [-4.38666685e-02 9.99037394e-01 -2.46187230e-05 2.95378289e+00] [ 3.75503486e-03 1.89521853e-04 9.99992932e-01 6.43176646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.323741732000002 meters 0.045744586955027845 Centerline is valid? [True, True] Translation: X:-21.71, Y:2.95, Z:0.65 [[ 9.99206076e-01 3.98203399e-02 1.24796423e-03 -2.17107965e+01] [-3.98203803e-02 9.99206854e-01 7.56170461e-06 2.95223772e+00] [-1.24667330e-03 -5.72501114e-05 9.99999221e-01 6.50198936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.353741732 meters 0.04213308368964322 Centerline is valid? [True, True] Translation: X:-21.74, Y:2.95, Z:0.66 [[ 9.99291636e-01 3.71854285e-02 5.78525789e-03 -2.17403724e+01] [-3.71862461e-02 9.99308352e-01 3.37820303e-05 2.94961190e+00] [-5.78000033e-03 -2.48890124e-04 9.99983265e-01 6.58080411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.383741732 meters 0.04243449864969293 Centerline is valid? [True, True] Translation: X:-21.77, Y:2.96, Z:0.66 [[ 9.99353743e-01 3.57722164e-02 3.52784462e-03 -2.17723184e+01] [-3.57725075e-02 9.99359959e-01 1.94303745e-05 2.95804932e+00] [-3.52489159e-03 -1.45617666e-04 9.99993777e-01 6.56719097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.413741732000002 meters 0.04372298065422601 Centerline is valid? [True, True] Translation: X:-21.80, Y:2.97, Z:0.65 [[ 9.99324917e-01 3.67048376e-02 -1.57028609e-03 -2.18039645e+01] [-3.67048999e-02 9.99326148e-01 -1.08931872e-05 2.96932841e+00] [ 1.56882812e-03 6.85230272e-05 9.99998767e-01 6.49410452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.443741732 meters 0.04660244701224104 Centerline is valid? [True, True] Translation: X:-21.84, Y:2.98, Z:0.66 [[ 9.99160156e-01 4.08382064e-02 3.35010288e-03 -2.18351257e+01] [-4.08384898e-02 9.99165761e-01 1.62141186e-05 2.98360146e+00] [-3.34664594e-03 -1.53013644e-04 9.99994388e-01 6.57309003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.473741732 meters 0.050547623651946566 Centerline is valid? [True, True] Translation: X:-21.87, Y:3.00, Z:0.65 [[ 9.98713221e-01 5.02401989e-02 -6.91558401e-03 -2.18663445e+01] [-5.02417140e-02 9.98737087e-01 -4.54274646e-05 3.00295384e+00] [ 6.90456794e-03 3.92819803e-04 9.99976086e-01 6.50576776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.503741732 meters 0.05364576778003945 Centerline is valid? [True, True] Translation: X:-21.90, Y:3.01, Z:0.65 [[ 9.98651290e-01 5.19176067e-02 -4.03840821e-04 -2.18978926e+01] [-5.19176125e-02 9.98651371e-01 -4.06125149e-06 3.01130843e+00] [ 4.03085340e-04 2.50222253e-05 9.99999918e-01 6.46957593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.533741732 meters 0.04963823509058209 Centerline is valid? [True, True] Translation: X:-21.93, Y:3.01, Z:0.66 [[ 9.98841269e-01 4.76489813e-02 6.75978629e-03 -2.19274257e+01] [-4.76503687e-02 9.98864075e-01 4.42367243e-05 3.00660665e+00] [-6.74999985e-03 -3.66291775e-04 9.99977151e-01 6.60203999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.563741732 meters 0.04353177857344287 Centerline is valid? [True, True] Translation: X:-21.96, Y:3.00, Z:0.67 [[ 9.98950666e-01 4.54558209e-02 5.59772603e-03 -2.19586698e+01] [-4.54566932e-02 9.98966310e-01 2.86433974e-05 3.00155132e+00] [-5.59063771e-03 -2.83067456e-04 9.99984332e-01 6.66661485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.593741732 meters 0.04642014065217339 Centerline is valid? [True, True] Translation: X:-21.99, Y:3.00, Z:0.66 [[ 9.98979265e-01 4.47435178e-02 6.20042450e-03 -2.19912965e+01] [-4.47446249e-02 9.98998457e-01 3.98739461e-05 3.00474897e+00] [-6.19243040e-03 -3.17268913e-04 9.99980776e-01 6.64661379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.623741732 meters 0.0483168261478555 Centerline is valid? [True, True] Translation: X:-22.02, Y:3.01, Z:0.65 [[ 9.98995492e-01 4.45056732e-02 -5.22038818e-03 -2.20219136e+01] [-4.45064680e-02 9.99009096e-01 -3.61112588e-05 3.01344742e+00] [ 5.21360812e-03 2.68416024e-04 9.99986373e-01 6.53323403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.653741732 meters 0.05121483794299212 Centerline is valid? [True, True] Translation: X:-22.05, Y:3.02, Z:0.65 [[ 9.98895606e-01 4.57951059e-02 -1.05060102e-02 -2.20528164e+01] [-4.57983990e-02 9.98950700e-01 -7.29476524e-05 3.02137815e+00] [ 1.04916456e-02 5.54025536e-04 9.99944808e-01 6.45324337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.683741732 meters 0.05160252091370287 Centerline is valid? [True, True] Translation: X:-22.08, Y:3.02, Z:0.65 [[ 9.98727659e-01 4.99971567e-02 -6.58383181e-03 -2.20844041e+01] [-4.99985681e-02 9.98749288e-01 -4.98544849e-05 3.02288640e+00] [ 6.57310475e-03 3.78973216e-04 9.99978325e-01 6.51065797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.713741732 meters 0.05071577994142705 Centerline is valid? [True, True] Translation: X:-22.12, Y:3.02, Z:0.66 [[ 9.98606716e-01 5.27690698e-02 -2.29013570e-04 -2.21156636e+01] [-5.27690738e-02 9.98606742e-01 -1.15547256e-05 3.02159027e+00] [ 2.28084763e-04 2.36234606e-05 9.99999974e-01 6.58346838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.743741732 meters 0.05301143824868266 Centerline is valid? [True, True] Translation: X:-22.15, Y:3.02, Z:0.65 [[ 9.98632442e-01 5.21850669e-02 -3.15659531e-03 -2.21482571e+01] [-5.21854100e-02 9.98637413e-01 -2.63797967e-05 3.02226629e+00] [ 3.15091754e-03 1.91071941e-04 9.99995018e-01 6.53366677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.773741732 meters 0.05294942786175561 Centerline is valid? [True, True] Translation: X:-22.18, Y:3.02, Z:0.65 [[ 9.98687623e-01 5.10539229e-02 -4.06563887e-03 -2.21809260e+01] [-5.10544802e-02 9.98695869e-01 -3.33332691e-05 3.02464771e+00] [ 4.05863495e-03 2.40858603e-04 9.99991735e-01 6.54484085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.803741732 meters 0.051580420830629484 Centerline is valid? [True, True] Translation: X:-22.21, Y:3.02, Z:0.67 [[ 9.98815453e-01 4.84541556e-02 4.45922127e-03 -2.22112273e+01] [-4.84547839e-02 9.98825377e-01 3.28941319e-05 3.02011231e+00] [-4.45238951e-03 -2.48925770e-04 9.99990057e-01 6.68940347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.833741732 meters 0.048788455437092426 Centerline is valid? [True, True] Translation: X:-22.24, Y:3.02, Z:0.67 [[ 9.98874787e-01 4.72602078e-02 3.95378532e-03 -2.22420972e+01] [-4.72606866e-02 9.98882589e-01 2.76923572e-05 3.01780752e+00] [-3.94805857e-03 -2.14519806e-04 9.99992183e-01 6.73211489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.863741732 meters 0.052782030112015745 Centerline is valid? [True, True] Translation: X:-22.27, Y:3.03, Z:0.66 [[ 9.98650391e-01 5.17610282e-02 -4.26518977e-03 -2.22736791e+01] [-5.17616392e-02 9.98659467e-01 -3.28950217e-05 3.02587479e+00] [ 4.25776946e-03 2.53623840e-04 9.99990903e-01 6.61429128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.893741732 meters 0.07196896752921483 Centerline is valid? [True, True] Translation: X:-22.31, Y:3.05, Z:0.65 [[ 9.96733746e-01 8.03296957e-02 -8.30534347e-03 -2.23051464e+01] [-8.03329879e-02 9.96768081e-01 -6.30087750e-05 3.05249441e+00] [ 8.27343979e-03 7.29996029e-04 9.99965508e-01 6.53471545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.923741732 meters 0.07327180922845807 Centerline is valid? [True, True] Translation: X:-22.33, Y:3.04, Z:0.66 [[ 9.95617276e-01 9.34678196e-02 -3.16313878e-03 -2.23342582e+01] [-9.34683599e-02 9.95622250e-01 -2.30933466e-05 3.03547217e+00] [ 3.14713287e-03 3.18645529e-04 9.99994997e-01 6.60786873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.953741732 meters 0.07327180922845807 Centerline is valid? [True, True] Translation: X:-22.37, Y:3.04, Z:0.66 [[ 9.95647592e-01 9.31443410e-02 -3.16303551e-03 -2.23670666e+01] [-9.31449219e-02 9.95652561e-01 -3.65072186e-05 3.03545607e+00] [ 3.14588397e-03 3.30969020e-04 9.99994997e-01 6.61959590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.983741732000002 meters 0.07477452970916261 Centerline is valid? [True, True] Translation: X:-22.40, Y:3.03, Z:0.67 [[ 9.95936640e-01 9.00483357e-02 -1.22751328e-03 -2.23978323e+01] [-9.00484162e-02 9.95937389e-01 -1.03749213e-05 3.02593849e+00] [ 1.22159213e-03 1.20868391e-04 9.99999247e-01 6.67615438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.013741732 meters 0.07442876693994921 Centerline is valid? [True, True] Translation: X:-22.43, Y:3.02, Z:0.67 [[ 9.95932270e-01 9.00953328e-02 -1.32117597e-03 -2.24301619e+01] [-9.00954384e-02 9.95933136e-01 -2.05006454e-05 3.01646235e+00] [ 1.31395592e-03 1.39449183e-04 9.99999127e-01 6.70568676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.043741732 meters 0.07595493747700428 Centerline is valid? [True, True] Translation: X:-22.46, Y:3.00, Z:0.66 [[ 9.95921975e-01 9.01772308e-02 -2.73611064e-03 -2.24628288e+01] [-9.01776575e-02 9.95925695e-01 -3.27355231e-05 2.99703588e+00] [ 2.72201089e-03 2.79338075e-04 9.99996256e-01 6.64675235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.073741732000002 meters 0.07302549759765557 Centerline is valid? [True, True] Translation: X:-22.49, Y:2.96, Z:0.66 [[ 9.95915825e-01 8.98692004e-02 -8.67160418e-03 -2.24926402e+01] [-8.98732109e-02 9.95953212e-01 -7.31310997e-05 2.95950530e+00] [ 8.62993980e-03 8.52177330e-04 9.99962398e-01 6.58307373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.103741732 meters 0.07194478236499263 Centerline is valid? [True, True] Translation: X:-22.52, Y:2.93, Z:0.68 [[ 9.95984230e-01 8.90752862e-02 9.00033907e-03 -2.25222504e+01] [-8.90795761e-02 9.96024509e-01 7.60917079e-05 2.93364441e+00] [-8.95778042e-03 -8.77532530e-04 9.99959493e-01 6.76870747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.133741732 meters 0.0733975325243908 Centerline is valid? [True, True] Translation: X:-22.55, Y:2.88, Z:0.66 [[ 9.95818342e-01 9.13469083e-02 1.25400748e-03 -2.25520568e+01] [-9.13469934e-02 9.95819123e-01 1.06333927e-05 2.88264021e+00] [-1.24779330e-03 -1.25138740e-04 9.99999214e-01 6.64021596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.163741732000002 meters 0.06262164429770738 Centerline is valid? [True, True] Translation: X:-22.58, Y:2.85, Z:0.68 [[ 9.96392292e-01 8.41997105e-02 1.06211981e-02 -2.25806043e+01] [-8.42054031e-02 9.96448414e-01 8.91135759e-05 2.85144682e+00] [-1.05759726e-02 -9.83154343e-04 9.99943590e-01 6.79359406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.193741732 meters 0.06518074733011416 Centerline is valid? [True, True] Translation: X:-22.61, Y:2.85, Z:0.68 [[ 9.96571765e-01 8.15068773e-02 1.41896411e-02 -2.26108244e+01] [-8.15167760e-02 9.96671963e-01 1.19664021e-04 2.84617356e+00] [-1.41326640e-02 -1.27594758e-03 9.99899315e-01 6.79722463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.223741732 meters 0.06992109283856356 Centerline is valid? [True, True] Translation: X:-22.64, Y:2.83, Z:0.67 [[ 9.96786489e-01 8.00567642e-02 2.75853574e-03 -2.26424053e+01] [-8.00571309e-02 9.96790276e-01 2.25924188e-05 2.83174700e+00] [-2.74787292e-03 -2.43360274e-04 9.99996195e-01 6.66639500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.253741732 meters 0.0707456143300289 Centerline is valid? [True, True] Translation: X:-22.67, Y:2.83, Z:0.67 [[ 9.96573908e-01 8.22300661e-02 8.86921704e-03 -2.26735400e+01] [-8.22339286e-02 9.96613052e-01 7.10791132e-05 2.82720228e+00] [-8.83333263e-03 -8.00186151e-04 9.99960665e-01 6.71783353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.283741732 meters 0.06442560368632394 Centerline is valid? [True, True] Translation: X:-22.70, Y:2.81, Z:0.69 [[ 9.96184643e-01 8.57093485e-02 1.64336238e-02 -2.27035940e+01] [-8.57232287e-02 9.96318979e-01 1.40774676e-04 2.81162122e+00] [-1.63610656e-02 -1.54898086e-03 9.99864949e-01 6.88535694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.313741732 meters 0.06754854738826745 Centerline is valid? [True, True] Translation: X:-22.73, Y:2.81, Z:0.69 [[ 9.95848758e-01 8.94956728e-02 1.66065093e-02 -2.27346573e+01] [-8.95103910e-02 9.95985878e-01 1.43640782e-04 2.81041647e+00] [-1.65269935e-02 -1.62949963e-03 9.99862092e-01 6.88134399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.343741732 meters 0.07461951726588067 Centerline is valid? [True, True] Translation: X:-22.77, Y:2.80, Z:0.66 [[ 9.94650691e-01 1.03246760e-01 -3.17940694e-03 -2.27651044e+01] [-1.03247369e-01 9.94655709e-01 -2.74240005e-05 2.80430356e+00] [ 3.15958382e-03 3.55542701e-04 9.99994945e-01 6.57713616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.373741732 meters 0.07854796949487228 Centerline is valid? [True, True] Translation: X:-22.80, Y:2.80, Z:0.66 [[ 9.94724101e-01 1.02574093e-01 -1.58707024e-03 -2.27966858e+01] [-1.02574248e-01 9.94725351e-01 -1.59419130e-05 2.80021126e+00] [ 1.57706378e-03 1.78650341e-04 9.99998740e-01 6.57163647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.403741732 meters 0.07425135566568956 Centerline is valid? [True, True] Translation: X:-22.83, Y:2.78, Z:0.67 [[ 9.95274965e-01 9.70739896e-02 2.09412102e-03 -2.28254172e+01] [-9.70742371e-02 9.95277143e-01 1.66500029e-05 2.77887280e+00] [-2.08261451e-03 -2.19856532e-04 9.99997807e-01 6.66248125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.433741732 meters 0.07116124049546747 Centerline is valid? [True, True] Translation: X:-22.86, Y:2.77, Z:0.67 [[ 9.95770527e-01 9.16473972e-02 6.46620971e-03 -2.28560558e+01] [-9.16496767e-02 9.95791310e-01 5.64758200e-05 2.76641914e+00] [-6.43381958e-03 -6.48862987e-04 9.99979092e-01 6.70804692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.463741732 meters 0.06377606114624426 Centerline is valid? [True, True] Translation: X:-22.89, Y:2.74, Z:0.68 [[ 9.96608654e-01 8.09635565e-02 1.47001277e-02 -2.28857637e+01] [-8.09741915e-02 9.96716190e-01 1.28736146e-04 2.74374132e+00] [-1.46414323e-02 -1.31863051e-03 9.99891939e-01 6.84324208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.493741732 meters 0.05650472707837602 Centerline is valid? [True, True] Translation: X:-22.91, Y:2.72, Z:0.70 [[ 9.97181655e-01 7.10765054e-02 2.40182675e-02 -2.29143094e+01] [-7.11020432e-02 9.97469025e-01 2.09867503e-04 2.72198186e+00] [-2.39425612e-02 -1.91702392e-03 9.99711498e-01 6.95554531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.523741732 meters 0.061014853477219765 Centerline is valid? [True, True] Translation: X:-22.95, Y:2.73, Z:0.69 [[ 9.97370125e-01 6.95672683e-02 2.03280312e-02 -2.29469688e+01] [-6.95852609e-02 9.97575992e-01 1.78260080e-04 2.72882471e+00] [-2.02663548e-02 -1.59232263e-03 9.99793348e-01 6.88311692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.553741732 meters 0.05793917786638414 Centerline is valid? [True, True] Translation: X:-22.98, Y:2.73, Z:0.67 [[ 9.97560837e-01 6.93039614e-02 8.32688330e-03 -2.29769359e+01] [-6.93069848e-02 9.97595377e-01 7.47312264e-05 2.72525570e+00] [-8.30168112e-03 -6.51660119e-04 9.99965328e-01 6.70682658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.583741732 meters 0.06267909622687175 Centerline is valid? [True, True] Translation: X:-23.01, Y:2.73, Z:0.67 [[ 9.97324624e-01 7.28263710e-02 6.31774765e-03 -2.30078337e+01] [-7.28281781e-02 9.97344501e-01 5.61490437e-05 2.73366994e+00] [-6.29688174e-03 -5.16108875e-04 9.99980041e-01 6.68500378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.613741732 meters 0.06898867249087191 Centerline is valid? [True, True] Translation: X:-23.04, Y:2.75, Z:0.67 [[ 9.96545710e-01 8.28363302e-02 5.89835371e-03 -2.30385810e+01] [-8.28380783e-02 9.96563019e-01 5.22512608e-05 2.74689912e+00] [-5.87375288e-03 -5.40679056e-04 9.99982603e-01 6.71393812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.643741732 meters 0.06801978538251517 Centerline is valid? [True, True] Translation: X:-23.07, Y:2.74, Z:0.67 [[ 9.96656780e-01 8.16430192e-02 3.11118376e-03 -2.30701621e+01] [-8.16434943e-02 9.96661597e-01 2.57976908e-05 2.74213849e+00] [-3.09869117e-03 -2.79719357e-04 9.99995160e-01 6.67247030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.673741732 meters 0.06393915481325706 Centerline is valid? [True, True] Translation: X:-23.10, Y:2.73, Z:0.68 [[ 9.97064952e-01 7.63288588e-02 5.94869443e-03 -2.31006365e+01] [-7.63305249e-02 9.97082568e-01 5.32209609e-05 2.73287363e+00] [-5.92727722e-03 -5.07131723e-04 9.99982305e-01 6.75058829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.703741732 meters 0.057313409736498115 Centerline is valid? [True, True] Translation: X:-23.13, Y:2.72, Z:0.68 [[ 9.97227304e-01 7.38487342e-02 9.16891905e-03 -2.31301863e+01] [-7.38525934e-02 9.97269165e-01 8.25693789e-05 2.72358836e+00] [-9.13778261e-03 -7.59488890e-04 9.99957961e-01 6.84241090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.733741732000002 meters 0.058132830382172845 Centerline is valid? [True, True] Translation: X:-23.16, Y:2.72, Z:0.69 [[ 9.97224735e-01 7.19786522e-02 1.90236959e-02 -2.31599468e+01] [-7.19949053e-02 9.97404985e-01 1.69993854e-04 2.71853909e+00] [-1.89620932e-02 -1.53913126e-03 9.99819019e-01 6.91423007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.763741732 meters 0.0559279979215072 Centerline is valid? [True, True] Translation: X:-23.19, Y:2.72, Z:0.68 [[ 9.97848380e-01 6.49107137e-02 9.23093083e-03 -2.31903706e+01] [-6.49142372e-02 9.97890843e-01 8.22890389e-05 2.71928669e+00] [-9.20611991e-03 -6.81330818e-04 9.99957391e-01 6.81482677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.793741732 meters 0.06180288864104599 Centerline is valid? [True, True] Translation: X:-23.22, Y:2.73, Z:0.68 [[ 9.98077117e-01 6.15912502e-02 6.97046039e-03 -2.32221991e+01] [-6.15931734e-02 9.98101336e-01 6.13689839e-05 2.73253946e+00] [-6.95344604e-03 -4.90583754e-04 9.99975704e-01 6.77077948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.823741732000002 meters 0.05781770018255372 Centerline is valid? [True, True] Translation: X:-23.25, Y:2.74, Z:0.69 [[ 9.97964601e-01 6.29354963e-02 1.02848518e-02 -2.32526167e+01] [-6.29397608e-02 9.98017324e-01 9.11675053e-05 2.73524083e+00] [-1.02587225e-02 -7.38308052e-04 9.99947105e-01 6.86854638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.853741732 meters 0.05654075366518869 Centerline is valid? [True, True] Translation: X:-23.28, Y:2.74, Z:0.69 [[ 9.97721585e-01 6.69363022e-02 8.43624498e-03 -2.32823222e+01] [-6.69393316e-02 9.97757045e-01 7.69260214e-05 2.73738553e+00] [-8.41217372e-03 -6.41467352e-04 9.99964411e-01 6.86446500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.883741732 meters 0.058737495873993656 Centerline is valid? [True, True] Translation: X:-23.31, Y:2.74, Z:0.69 [[ 9.97676661e-01 6.75052619e-02 9.18259872e-03 -2.33140820e+01] [-6.75088492e-02 9.97718672e-01 8.09186094e-05 2.74066517e+00] [-9.15618777e-03 -7.00637281e-04 9.99957836e-01 6.86420981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.913741732000002 meters 0.058941827796388804 Centerline is valid? [True, True] Translation: X:-23.35, Y:2.75, Z:0.70 [[ 9.97405396e-01 7.03121410e-02 1.54492471e-02 -2.33455255e+01] [-7.03226788e-02 9.97524286e-01 1.39235314e-04 2.74791753e+00] [-1.54012093e-02 -1.22530650e-03 9.99880644e-01 6.98368367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.943741732 meters 0.05859584393050501 Centerline is valid? [True, True] Translation: X:-23.38, Y:2.76, Z:0.70 [[ 9.97263490e-01 7.26532397e-02 1.36761835e-02 -2.33765335e+01] [-7.26617438e-02 9.97356634e-01 1.25297219e-04 2.75929647e+00] [-1.36309291e-02 -1.11868968e-03 9.99906469e-01 6.99914891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.973741732 meters 0.06142420017224191 Centerline is valid? [True, True] Translation: X:-23.41, Y:2.76, Z:0.69 [[ 9.97171182e-01 7.38162711e-02 1.41701232e-02 -2.34081127e+01] [-7.38255095e-02 9.97271165e-01 1.29273717e-04 2.76474609e+00] [-1.41219128e-02 -1.17502459e-03 9.99899590e-01 6.93023599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.003741732 meters 0.06377082200914748 Centerline is valid? [True, True] Translation: X:-23.44, Y:2.78, Z:0.68 [[ 9.97283580e-01 7.33773935e-02 6.42021654e-03 -2.34407044e+01] [-7.33792756e-02 9.97304105e-01 5.77594068e-05 2.77736405e+00] [-6.39867008e-03 -5.28713347e-04 9.99979389e-01 6.81461756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.033741732 meters 0.05864072879960115 Centerline is valid? [True, True] Translation: X:-23.47, Y:2.77, Z:0.68 [[ 9.97543339e-01 6.99976550e-02 2.75957881e-03 -2.34707328e+01] [-6.99979924e-02 9.97547132e-01 2.57573769e-05 2.77206513e+00] [-2.75100697e-03 -2.18859076e-04 9.99996192e-01 6.83850740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.063741732 meters 0.05523334252939362 Centerline is valid? [True, True] Translation: X:-23.50, Y:2.77, Z:0.69 [[ 9.97850161e-01 6.50782247e-02 7.73827876e-03 -2.35012299e+01] [-6.50807290e-02 9.97880000e-01 7.19916771e-05 2.77183974e+00] [-7.71718852e-03 -5.75449729e-04 9.99970056e-01 6.93262627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.093741732 meters 0.05254622028288925 Centerline is valid? [True, True] Translation: X:-23.53, Y:2.78, Z:0.70 [[ 9.97885912e-01 6.31593563e-02 1.53167321e-02 -2.35303945e+01] [-6.31689583e-02 9.98002837e-01 1.43424580e-04 2.78042562e+00] [-1.52770835e-02 -1.11066338e-03 9.99882682e-01 7.04652028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.123741732 meters 0.053195594886556855 Centerline is valid? [True, True] Translation: X:-23.56, Y:2.79, Z:0.71 [[ 9.97906070e-01 6.25252789e-02 1.65549187e-02 -2.35626168e+01] [-6.25363740e-02 9.98042674e-01 1.52868146e-04 2.78914949e+00] [-1.65129572e-02 -1.18783264e-03 9.99862946e-01 7.10352285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.153741732 meters 0.057265584370915196 Centerline is valid? [True, True] Translation: X:-23.60, Y:2.80, Z:0.70 [[ 9.98036676e-01 6.14963562e-02 1.18739984e-02 -2.35951159e+01] [-6.15019930e-02 9.98106955e-01 1.09803471e-04 2.80438056e+00] [-1.18447679e-02 -8.39862460e-04 9.99929496e-01 7.01505901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.183741732 meters 0.058919288850720966 Centerline is valid? [True, True] Translation: X:-23.63, Y:2.81, Z:0.69 [[ 9.97868363e-01 6.44876455e-02 1.00037339e-02 -2.36253927e+01] [-6.44918209e-02 9.97918231e-01 9.50251895e-05 2.81291371e+00] [-9.97678048e-03 -7.39981645e-04 9.99949957e-01 6.89968995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.213741732 meters 0.05956903167792839 Centerline is valid? [True, True] Translation: X:-23.66, Y:2.82, Z:0.69 [[ 9.97950818e-01 6.36846332e-02 6.19945610e-03 -2.36580434e+01] [-6.36862063e-02 9.97969971e-01 5.64791553e-05 2.82097963e+00] [-6.18327417e-03 -4.51183259e-04 9.99980782e-01 6.85897874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.243741732 meters 0.059189871009861866 Centerline is valid? [True, True] Translation: X:-23.69, Y:2.82, Z:0.68 [[ 9.98136428e-01 6.10215698e-02 -1.97064587e-04 -2.36892289e+01] [-6.10215718e-02 9.98136447e-01 -3.91351174e-06 2.82006305e+00] [ 1.96458538e-04 1.59314095e-05 9.99999981e-01 6.76195640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.273741732 meters 0.05453069863650641 Centerline is valid? [True, True] Translation: X:-23.72, Y:2.82, Z:0.70 [[ 9.98183221e-01 5.89217177e-02 1.25892407e-02 -2.37179235e+01] [-5.89279135e-02 9.98262233e-01 1.21449753e-04 2.81781090e+00] [-1.25602075e-02 -8.63086794e-04 9.99920745e-01 7.00739784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.303741732 meters 0.056105460068511255 Centerline is valid? [True, True] Translation: X:-23.75, Y:2.82, Z:0.71 [[ 9.98088699e-01 5.89749890e-02 1.84634522e-02 -2.37491442e+01] [-5.89882673e-02 9.98258661e-01 1.74907486e-04 2.82442184e+00] [-1.84209859e-02 -1.26370024e-03 9.99829521e-01 7.12990738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.333741732 meters 0.05623211385018589 Centerline is valid? [True, True] Translation: X:-23.78, Y:2.83, Z:0.71 [[ 9.98119601e-01 5.99152674e-02 1.29391760e-02 -2.37804259e+01] [-5.99218968e-02 9.98203061e-01 1.24930017e-04 2.82948564e+00] [-1.29084399e-02 -9.00035069e-04 9.99916278e-01 7.06840868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.363741732 meters 0.052352256571690466 Centerline is valid? [True, True] Translation: X:-23.81, Y:2.84, Z:0.71 [[ 9.98229110e-01 5.82373271e-02 1.21267219e-02 -2.38129631e+01] [-5.82430198e-02 9.98302428e-01 1.16504379e-04 2.83641370e+00] [-1.20993510e-02 -8.22594964e-04 9.99926462e-01 7.07361328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.393741732 meters 0.0551797841783751 Centerline is valid? [True, True] Translation: X:-23.84, Y:2.86, Z:0.71 [[ 9.98158630e-01 5.75595195e-02 1.91376945e-02 -2.38439596e+01] [-5.75736448e-02 9.98341244e-01 1.87488270e-04 2.85562009e+00] [-1.90951580e-02 -1.28896986e-03 9.99816840e-01 7.11868966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.423741732 meters 0.055775482583504066 Centerline is valid? [True, True] Translation: X:-23.88, Y:2.87, Z:0.70 [[ 9.98388489e-01 5.55118178e-02 1.17839912e-02 -2.38766813e+01] [-5.55170217e-02 9.98457734e-01 1.14699587e-04 2.87081718e+00] [-1.17594500e-02 -7.68726843e-04 9.99930560e-01 7.01764613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.453741732 meters 0.055302065929947214 Centerline is valid? [True, True] Translation: X:-23.91, Y:2.88, Z:0.70 [[ 9.98607703e-01 5.21669850e-02 7.82690764e-03 -2.39090429e+01] [-5.21691759e-02 9.98638258e-01 7.58835060e-05 2.87675668e+00] [-7.81229080e-03 -4.84101175e-04 9.99969366e-01 6.96644253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.483741732000002 meters 0.04750403507713258 Centerline is valid? [True, True] Translation: X:-23.94, Y:2.88, Z:0.72 [[ 9.98798843e-01 4.67504592e-02 1.46719280e-02 -2.39379968e+01] [-4.67576366e-02 9.98906253e-01 1.46359019e-04 2.88111062e+00] [-1.46490382e-02 -8.32207894e-04 9.99892351e-01 7.18072486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.513741732 meters 0.049888064915643945 Centerline is valid? [True, True] Translation: X:-23.97, Y:2.89, Z:0.71 [[ 9.98881667e-01 4.59043244e-02 1.13229250e-02 -2.39704436e+01] [-4.59085378e-02 9.98945641e-01 1.12330761e-04 2.88792921e+00] [-1.13058301e-02 -6.32024066e-04 9.99935887e-01 7.10251249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.543741732 meters 0.04906791875317628 Centerline is valid? [True, True] Translation: X:-24.00, Y:2.89, Z:0.71 [[ 9.98921086e-01 4.59694495e-02 6.59353006e-03 -2.40018723e+01] [-4.59708827e-02 9.98942778e-01 6.58946195e-05 2.89103222e+00] [-6.58353010e-03 -3.68933922e-04 9.99978260e-01 7.06410186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.573741732000002 meters 0.051686948799064714 Centerline is valid? [True, True] Translation: X:-24.03, Y:2.90, Z:0.70 [[ 9.98829830e-01 4.80053283e-02 5.87016639e-03 -2.40334068e+01] [-4.80064997e-02 9.98847022e-01 5.87427520e-05 2.89784374e+00] [-5.86057825e-03 -3.40480154e-04 9.99982769e-01 7.02792552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.603741732 meters 0.05407501653954009 Centerline is valid? [True, True] Translation: X:-24.06, Y:2.92, Z:0.71 [[ 9.98616931e-01 5.17929731e-02 9.03956894e-03 -2.40647802e+01] [-5.17959158e-02 9.98657686e-01 9.15749924e-05 2.91521331e+00] [-9.02269206e-03 -5.59661090e-04 9.99959138e-01 7.09997743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.633741732 meters 0.05353532684381889 Centerline is valid? [True, True] Translation: X:-24.09, Y:2.92, Z:0.72 [[ 9.98270621e-01 5.69580673e-02 1.45446165e-02 -2.40941948e+01] [-5.69662647e-02 9.98376093e-01 1.49588024e-04 2.91842096e+00] [-1.45124771e-02 -9.77881801e-04 9.99894210e-01 7.17510897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.663741732000002 meters 0.05377458046043161 Centerline is valid? [True, True] Translation: X:-24.13, Y:2.93, Z:0.72 [[ 9.98113566e-01 5.85189539e-02 1.85699314e-02 -2.41267157e+01] [-5.85325614e-02 9.98285482e-01 1.89629213e-04 2.93043388e+00] [-1.85269960e-02 -1.27621714e-03 9.99827546e-01 7.24098470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.693741732 meters 0.05657344800308942 Centerline is valid? [True, True] Translation: X:-24.16, Y:2.95, Z:0.72 [[ 9.98268067e-01 5.74036574e-02 1.28719469e-02 -2.41591222e+01] [-5.74100448e-02 9.98350675e-01 1.26964452e-04 2.95208828e+00] [-1.28434287e-02 -8.65723606e-04 9.99917145e-01 7.22255977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.723741732 meters 0.05407060349562233 Centerline is valid? [True, True] Translation: X:-24.19, Y:2.95, Z:0.72 [[ 9.98200017e-01 5.88293012e-02 1.16549746e-02 -2.41900737e+01] [-5.88347294e-02 9.98267729e-01 1.23119328e-04 2.95440802e+00] [-1.16275420e-02 -8.08614990e-04 9.99932071e-01 7.20339887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.753741732 meters 0.05719071683297936 Centerline is valid? [True, True] Translation: X:-24.22, Y:2.97, Z:0.72 [[ 9.98287391e-01 5.78584739e-02 8.64193046e-03 -2.42223726e+01] [-5.78614121e-02 9.98324621e-01 9.01509458e-05 2.96683773e+00] [-8.62223596e-03 -5.90030852e-04 9.99962654e-01 7.15480104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.783741732 meters 0.05639965554160566 Centerline is valid? [True, True] Translation: X:-24.25, Y:2.97, Z:0.71 [[ 9.98479344e-01 5.48533335e-02 5.48747435e-03 -2.42545736e+01] [-5.48544699e-02 9.98494358e-01 5.66951012e-05 2.97036266e+00] [-5.47610226e-03 -3.57621384e-04 9.99984942e-01 7.11395598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.813741732 meters 0.05168098729719829 Centerline is valid? [True, True] Translation: X:-24.29, Y:2.97, Z:0.71 [[ 9.98711971e-01 5.04982036e-02 4.93266964e-03 -2.42856108e+01] [-5.04990786e-02 9.98724106e-01 5.29129561e-05 2.97020021e+00] [-4.92370407e-03 -3.01940075e-04 9.99987833e-01 7.12843524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.843741732 meters 0.05168098729719829 Centerline is valid? [True, True] Translation: X:-24.32, Y:2.97, Z:0.71 [[ 9.98717897e-01 5.03808546e-02 4.93270175e-03 -2.43182092e+01] [-5.03817137e-02 9.98730034e-01 4.99781078e-05 2.96999956e+00] [-4.92391944e-03 -2.98431998e-04 9.99987833e-01 7.14008266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.873741732 meters 0.05245666279496221 Centerline is valid? [True, True] Translation: X:-24.35, Y:2.97, Z:0.71 [[ 9.98639798e-01 5.18466138e-02 5.52110522e-03 -2.43506635e+01] [-5.18477253e-02 9.98655000e-01 5.82778012e-05 2.97334619e+00] [-5.51065783e-03 -3.44455278e-04 9.99984757e-01 7.13475649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.903741732 meters 0.05589182086049846 Centerline is valid? [True, True] Translation: X:-24.38, Y:2.98, Z:0.72 [[ 9.98327478e-01 5.68539833e-02 1.04819349e-02 -2.43811916e+01] [-5.68583147e-02 9.98382251e-01 1.15449155e-04 2.98106018e+00] [-1.04584140e-02 -7.11241214e-04 9.99945056e-01 7.20058250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.933741732 meters 0.058697640094764233 Centerline is valid? [True, True] Translation: X:-24.41, Y:2.99, Z:0.73 [[ 9.97882854e-01 6.31262511e-02 1.56488228e-02 -2.44105032e+01] [-6.31366952e-02 9.98004873e-01 1.73773603e-04 2.98692131e+00] [-1.56066317e-02 -1.16142065e-03 9.99877535e-01 7.32571601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.963741732 meters 0.058098343271187555 Centerline is valid? [True, True] Translation: X:-24.44, Y:2.99, Z:0.73 [[ 9.97834081e-01 6.49654567e-02 1.03264376e-02 -2.44412415e+01] [-6.49700925e-02 9.97887205e-01 1.13740217e-04 2.98997629e+00] [-1.02972308e-02 -7.84403473e-04 9.99946674e-01 7.32144743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.993741732 meters 0.06273754589978374 Centerline is valid? [True, True] Translation: X:-24.47, Y:2.99, Z:0.72 [[ 9.97871507e-01 6.48217015e-02 7.11360594e-03 -2.44742209e+01] [-6.48238450e-02 9.97896720e-01 7.09209770e-05 2.99323268e+00] [-7.09404682e-03 -5.31901311e-04 9.99974695e-01 7.20345713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.023741732 meters 0.05798851429977261 Centerline is valid? [True, True] Translation: X:-24.50, Y:2.98, Z:0.72 [[ 9.98143522e-01 6.07725010e-02 4.02636705e-03 -2.45041322e+01] [-6.07731773e-02 9.98151601e-01 4.57388953e-05 2.98267343e+00] [-4.01614505e-03 -2.90349101e-04 9.99991893e-01 7.17984246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.053741732 meters 0.05246892920689989 Centerline is valid? [True, True] Translation: X:-24.53, Y:2.97, Z:0.73 [[ 9.98757031e-01 4.87799208e-02 1.02427180e-02 -2.45343277e+01] [-4.87836686e-02 9.98809361e-01 1.16219866e-04 2.97349978e+00] [-1.02248534e-02 -6.15752766e-04 9.99947535e-01 7.25469200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.083741732 meters 0.04612095162070654 Centerline is valid? [True, True] Translation: X:-24.56, Y:2.96, Z:0.73 [[ 9.99072186e-01 4.10393988e-02 1.30588647e-02 -2.45634974e+01] [-4.10448177e-02 9.99157296e-01 1.47100205e-04 2.95982187e+00] [-1.30418231e-02 -6.82962445e-04 9.99914719e-01 7.31290637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.113741732 meters 0.05051134789525939 Centerline is valid? [True, True] Translation: X:-24.60, Y:2.96, Z:0.72 [[ 9.99178523e-01 4.01234666e-02 5.69100649e-03 -2.45960104e+01] [-4.01244754e-02 9.99194687e-01 6.31544300e-05 2.96430453e+00] [-5.68388947e-03 -2.91451200e-04 9.99983804e-01 7.18819710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.143741732 meters 0.04655339743123627 Centerline is valid? [True, True] Translation: X:-24.63, Y:2.96, Z:0.72 [[ 9.99314341e-01 3.69789080e-02 -1.84606422e-03 -2.46271593e+01] [-3.69790128e-02 9.99316042e-01 -2.26494447e-05 2.96206577e+00] [ 1.84396404e-03 9.08995475e-05 9.99998296e-01 7.15260963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.173741732 meters 0.04630746293836743 Centerline is valid? [True, True] Translation: X:-24.66, Y:2.96, Z:0.72 [[ 9.99287617e-01 3.76837504e-02 -2.04775282e-03 -2.46583285e+01] [-3.76838822e-02 9.99289710e-01 -2.58381578e-05 2.96400917e+00] [ 2.04532464e-03 1.02987027e-04 9.99997903e-01 7.15335612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.203741732 meters 0.048706932905313256 Centerline is valid? [True, True] Translation: X:-24.69, Y:2.98, Z:0.73 [[ 9.99088140e-01 4.12727192e-02 1.09293940e-02 -2.46894010e+01] [-4.12765557e-02 9.99147752e-01 1.25593735e-04 2.98247133e+00] [-1.09148958e-02 -5.76606951e-04 9.99940265e-01 7.32396430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.233741732000002 meters 0.04666135982328684 Centerline is valid? [True, True] Translation: X:-24.72, Y:2.99, Z:0.75 [[ 9.99004510e-01 4.04213464e-02 1.88707334e-02 -2.47193289e+01] [-4.04326748e-02 9.99182241e-01 2.19014415e-04 2.98724956e+00] [-1.88464488e-02 -9.81790613e-04 9.99821908e-01 7.45658990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.263741732 meters 0.04711451127071089 Centerline is valid? [True, True] Translation: X:-24.75, Y:3.00, Z:0.74 [[ 9.99009903e-01 4.23382055e-02 1.36634213e-02 -2.47499134e+01] [-4.23443294e-02 9.99103064e-01 1.59085442e-04 2.99722291e+00] [-1.36444307e-02 -7.37496343e-04 9.99906638e-01 7.39771944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.293741732 meters 0.04849216811197233 Centerline is valid? [True, True] Translation: X:-24.78, Y:3.01, Z:0.74 [[ 9.99020656e-01 4.26904217e-02 1.16299745e-02 -2.47819788e+01] [-4.26948594e-02 9.99088150e-01 1.33457475e-04 3.00815037e+00] [-1.16136723e-02 -6.29866898e-04 9.99932361e-01 7.39563017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.323741732000002 meters 0.051224425145071334 Centerline is valid? [True, True] Translation: X:-24.81, Y:3.03, Z:0.73 [[ 9.99003731e-01 4.44684150e-02 3.75573553e-03 -2.48132720e+01] [-4.44688935e-02 9.99010768e-01 4.39750184e-05 3.03102400e+00] [-3.75006474e-03 -2.10944611e-04 9.99992946e-01 7.25060031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.353741732 meters 0.051271856247961906 Centerline is valid? [True, True] Translation: X:-24.85, Y:3.03, Z:0.73 [[ 9.99070777e-01 4.30411709e-02 2.24517014e-03 -2.48454547e+01] [-4.30413326e-02 9.99073292e-01 2.37324991e-05 3.03026592e+00] [-2.24206805e-03 -1.20345561e-04 9.99997479e-01 7.27737844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.383741732 meters 0.04817779726494151 Centerline is valid? [True, True] Translation: X:-24.88, Y:3.03, Z:0.73 [[ 9.99076255e-01 4.25739476e-02 5.83920330e-03 -2.48765944e+01] [-4.25750305e-02 9.99093270e-01 6.12182793e-05 3.02922970e+00] [-5.83130242e-03 -3.09765988e-04 9.99982950e-01 7.33492267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.413741732000002 meters 0.04962174437199701 Centerline is valid? [True, True] Translation: X:-24.91, Y:3.03, Z:0.74 [[ 9.98996097e-01 4.34177625e-02 1.10315559e-02 -2.49088988e+01] [-4.34218489e-02 9.99056818e-01 1.31074850e-04 3.03252651e+00] [-1.10154602e-02 -6.09953818e-04 9.99939142e-01 7.40657226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.443741732 meters 0.04838634138347588 Centerline is valid? [True, True] Translation: X:-24.94, Y:3.04, Z:0.75 [[ 9.98942844e-01 4.32893035e-02 1.54671091e-02 -2.49402080e+01] [-4.32973420e-02 9.99062213e-01 1.85075840e-04 3.03573813e+00] [-1.54445924e-02 -8.54564897e-04 9.99880360e-01 7.51184196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.473741732 meters 0.04827305469146607 Centerline is valid? [True, True] Translation: X:-24.97, Y:3.05, Z:0.76 [[ 9.98789464e-01 4.54338323e-02 1.88513635e-02 -2.49722529e+01] [-4.54461745e-02 9.98966763e-01 2.26605742e-04 3.05126263e+00] [-1.88215900e-02 -1.08305378e-03 9.99822272e-01 7.59330333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.503741732 meters 0.051616350417440025 Centerline is valid? [True, True] Translation: X:-25.00, Y:3.07, Z:0.75 [[ 9.98690589e-01 5.02353035e-02 9.67066827e-03 -2.50030081e+01] [-5.02388218e-02 9.98737226e-01 1.21076070e-04 3.06744387e+00] [-9.65237410e-03 -6.06760512e-04 9.99953231e-01 7.51493211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.533741732 meters 0.0523482812331197 Centerline is valid? [True, True] Translation: X:-25.03, Y:3.07, Z:0.75 [[ 9.98594002e-01 5.24773986e-02 7.49280954e-03 -2.50333267e+01] [-5.24795769e-02 9.98621993e-01 9.42616701e-05 3.07303078e+00] [-7.47753779e-03 -4.87348613e-04 9.99971924e-01 7.49435485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.563741732 meters 0.05211353457381951 Centerline is valid? [True, True] Translation: X:-25.07, Y:3.07, Z:0.74 [[ 9.98759241e-01 4.94675570e-02 5.73923238e-03 -2.50655019e+01] [-4.94687392e-02 9.98775670e-01 6.41250027e-05 3.07476664e+00] [-5.72903356e-03 -3.47958029e-04 9.99983528e-01 7.44005611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.593741732 meters 0.04873668555649477 Centerline is valid? [True, True] Translation: X:-25.10, Y:3.07, Z:0.77 [[ 9.98867353e-01 4.28159074e-02 2.07559671e-02 -2.50953374e+01] [-4.28306616e-02 9.99082311e-01 2.66616853e-04 3.07227964e+00] [-2.07255041e-02 -1.15530667e-03 9.99784536e-01 7.67444193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.623741732 meters 0.04964590090957581 Centerline is valid? [True, True] Translation: X:-25.13, Y:3.08, Z:0.76 [[ 9.98906385e-01 4.43926777e-02 1.46739509e-02 -2.51251917e+01] [-4.44002230e-02 9.99013806e-01 1.88651895e-04 3.07708101e+00] [-1.46511048e-02 -8.39972275e-04 9.99892314e-01 7.63727164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.653741732 meters 0.05453075846016018 Centerline is valid? [True, True] Translation: X:-25.16, Y:3.09, Z:0.75 [[ 9.98795639e-01 4.87261488e-02 5.74752358e-03 -2.51562957e+01] [-4.87273780e-02 9.98812113e-01 7.39504882e-05 3.09015279e+00] [-5.73709285e-03 -3.53923179e-04 9.99983480e-01 7.51372662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.683741732 meters 0.05675253876985735 Centerline is valid? [True, True] Translation: X:-25.19, Y:3.10, Z:0.75 [[ 9.98592743e-01 5.28756836e-02 4.08609082e-03 -2.51873019e+01] [-5.28763388e-02 9.98601067e-01 5.24097627e-05 3.09654350e+00] [-4.07760345e-03 -2.68393532e-04 9.99991651e-01 7.49122616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.713741732 meters 0.06377657528432742 Centerline is valid? [True, True] Translation: X:-25.22, Y:3.11, Z:0.75 [[ 9.97748406e-01 6.65301484e-02 8.47694065e-03 -2.52175191e+01] [-6.65334625e-02 9.97784188e-01 1.09232665e-04 3.11467006e+00] [-8.45089008e-03 -6.72986930e-04 9.99964064e-01 7.54993371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.743741732 meters 0.06614120532943948 Centerline is valid? [True, True] Translation: X:-25.25, Y:3.12, Z:0.76 [[ 9.97373368e-01 7.15874335e-02 1.10274257e-02 -2.52480733e+01] [-7.15933437e-02 9.97433894e-01 1.41622968e-04 3.11675957e+00] [-1.09889898e-02 -9.30741256e-04 9.99939186e-01 7.63273035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.773741732 meters 0.05851782405793604 Centerline is valid? [True, True] Translation: X:-25.28, Y:3.10, Z:0.76 [[ 9.97716600e-01 6.69057497e-02 9.23080321e-03 -2.52770717e+01] [-6.69096864e-02 9.97759029e-01 1.17960316e-04 3.10191941e+00] [-9.20222502e-03 -7.35321113e-04 9.99957388e-01 7.64591322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.803741732 meters 0.05893422359572532 Centerline is valid? [True, True] Translation: X:-25.31, Y:3.10, Z:0.77 [[ 9.98087713e-01 5.93829173e-02 1.71635385e-02 -2.53077339e+01] [-5.93954465e-02 9.98234508e-01 2.20709747e-04 3.09519601e+00] [-1.71201301e-02 -1.23972372e-03 9.99852671e-01 7.68810083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.833741732 meters 0.053961056617987405 Centerline is valid? [True, True] Translation: X:-25.34, Y:3.08, Z:0.77 [[ 9.98434190e-01 5.27204970e-02 1.87007235e-02 -2.53382098e+01] [-5.27342177e-02 9.98608554e-01 2.40989412e-04 3.08373464e+00] [-1.86619974e-02 -1.22678010e-03 9.99825097e-01 7.73455367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.863741732 meters 0.05076954531433689 Centerline is valid? [True, True] Translation: X:-25.37, Y:3.07, Z:0.78 [[ 9.98638986e-01 4.99544542e-02 1.49909130e-02 -2.53685673e+01] [-4.99629511e-02 9.98751053e-01 1.92589548e-04 3.07395612e+00] [-1.49625695e-02 -9.41317684e-04 9.99887611e-01 7.77929927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.893741732 meters 0.06226443795000655 Centerline is valid? [True, True] Translation: X:-25.40, Y:3.09, Z:0.77 [[ 9.97898073e-01 6.36633012e-02 1.21003885e-02 -2.53999722e+01] [-6.36698516e-02 9.97971004e-01 1.56495071e-04 3.09141778e+00] [-1.20658739e-02 -9.26596070e-04 9.99926775e-01 7.72905474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.923741732 meters 0.06602808473780702 Centerline is valid? [True, True] Translation: X:-25.43, Y:3.10, Z:0.77 [[ 9.97495453e-01 6.98972258e-02 1.08258442e-02 -2.54305434e+01] [-6.99028311e-02 9.97553795e-01 1.39791181e-04 3.09872255e+00] [-1.07895909e-02 -8.96198225e-04 9.99941389e-01 7.71142673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.953741732 meters 0.07224067722583855 Centerline is valid? [True, True] Translation: X:-25.46, Y:3.11, Z:0.77 [[ 9.96968482e-01 7.74474548e-02 7.46579866e-03 -2.54611987e+01] [-7.74503338e-02 9.96996207e-01 9.68448498e-05 3.11156229e+00] [-7.43587256e-03 -6.74779861e-04 9.99972126e-01 7.70986053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.983741732000002 meters 0.06818135174161817 Centerline is valid? [True, True] Translation: X:-25.49, Y:3.10, Z:0.78 [[ 9.96795894e-01 7.89450463e-02 1.28695633e-02 -2.54918761e+01] [-7.89536481e-02 9.96878275e-01 1.60899424e-04 3.10101265e+00] [-1.28166859e-02 -1.17648286e-03 9.99917171e-01 7.76440149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.013741732 meters 0.07509203788703964 Centerline is valid? [True, True] Translation: X:-25.52, Y:3.11, Z:0.78 [[ 9.96355674e-01 8.44433326e-02 1.20288811e-02 -2.55224035e+01] [-8.44513484e-02 9.96427591e-01 1.59095933e-04 3.11076192e+00] [-1.19724744e-02 -1.17437137e-03 9.99927638e-01 7.77484097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.043741732 meters 0.07898872605557512 Centerline is valid? [True, True] Translation: X:-25.55, Y:3.11, Z:0.77 [[ 9.95645696e-01 9.28838929e-02 7.88859481e-03 -2.55529054e+01] [-9.28875991e-02 9.95676596e-01 1.03948809e-04 3.11365943e+00] [-7.84483405e-03 -8.36248816e-04 9.99968879e-01 7.73907514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.073741732000002 meters 0.07699921734227194 Centerline is valid? [True, True] Translation: X:-25.58, Y:3.10, Z:0.77 [[ 9.96263391e-01 8.60680179e-02 7.18002380e-03 -2.55836232e+01] [-8.60709117e-02 9.96289009e-01 9.44385740e-05 3.10357055e+00] [-7.14525066e-03 -7.12076889e-04 9.99974219e-01 7.69710582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.103741732 meters 0.07074802137408047 Centerline is valid? [True, True] Translation: X:-25.61, Y:3.09, Z:0.77 [[ 9.97048423e-01 7.66119785e-02 5.00477489e-03 -2.56140662e+01] [-7.66132676e-02 9.97060882e-01 6.60873263e-05 3.09305539e+00] [-4.98500219e-03 -4.49324423e-04 9.99987474e-01 7.68812713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.133741732 meters 0.0619624513461875 Centerline is valid? [True, True] Translation: X:-25.64, Y:3.09, Z:0.78 [[ 9.97829901e-01 6.48703552e-02 1.12838596e-02 -2.56430046e+01] [-6.48761594e-02 9.97893312e-01 1.48719473e-04 3.08668485e+00] [-1.12504405e-02 -8.80450209e-04 9.99936324e-01 7.80133872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.163741732000002 meters 0.05526117361906848 Centerline is valid? [True, True] Translation: X:-25.67, Y:3.08, Z:0.77 [[ 9.98440574e-01 5.56122074e-02 4.86847258e-03 -2.56729964e+01] [-5.56131797e-02 9.98452387e-01 6.44684227e-05 3.07840579e+00] [-4.85735284e-03 -3.35119130e-04 9.99988147e-01 7.72634688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.193741732 meters 0.052645349577730205 Centerline is valid? [True, True] Translation: X:-25.70, Y:3.07, Z:0.77 [[ 9.98799506e-01 4.85878198e-02 6.22667799e-03 -2.57029589e+01] [-4.85892754e-02 9.98818840e-01 8.26250770e-05 3.07207148e+00] [-6.21530872e-03 -3.85075658e-04 9.99980611e-01 7.71616912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.223741732 meters 0.045540227354815985 Centerline is valid? [True, True] Translation: X:-25.73, Y:3.05, Z:0.78 [[ 9.99361869e-01 3.38795346e-02 1.13150794e-02 -2.57331445e+01] [-3.38834046e-02 9.99425781e-01 1.50434991e-04 3.04813458e+00] [-1.13034854e-02 -5.33732406e-04 9.99935971e-01 7.79959287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.253741732 meters 0.044797984311013936 Centerline is valid? [True, True] Translation: X:-25.77, Y:3.05, Z:0.79 [[ 9.99219676e-01 3.67531966e-02 1.44651858e-02 -2.57654675e+01] [-3.67597959e-02 9.99324112e-01 1.90509635e-04 3.04706428e+00] [-1.44484072e-02 -7.22098255e-04 9.99895356e-01 7.87663913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.283741732 meters 0.04453709407021942 Centerline is valid? [True, True] Translation: X:-25.80, Y:3.04, Z:0.78 [[ 9.99208451e-01 3.84925914e-02 1.00395037e-02 -2.57951811e+01] [-3.84958825e-02 9.99258750e-01 1.34704099e-04 3.04024309e+00] [-1.00268768e-02 -5.21077027e-04 9.99949594e-01 7.84373959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.313741732 meters 0.0483219710096826 Centerline is valid? [True, True] Translation: X:-25.83, Y:3.04, Z:0.78 [[ 9.99206007e-01 3.94447817e-02 5.60942559e-03 -2.58270687e+01] [-3.94458132e-02 9.99221708e-01 7.33248154e-05 3.04327872e+00] [-5.60216754e-03 -2.94534950e-04 9.99984264e-01 7.76963154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.343741732 meters 0.055647712587031696 Centerline is valid? [True, True] Translation: X:-25.86, Y:3.04, Z:0.77 [[ 9.98811336e-01 4.84744266e-02 5.11324833e-03 -2.58576601e+01] [-4.84754099e-02 9.98824374e-01 6.84611951e-05 3.04150749e+00] [-5.10391844e-03 -3.16246626e-04 9.99986925e-01 7.74566067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.373741732 meters 0.059198532998621434 Centerline is valid? [True, True] Translation: X:-25.89, Y:3.05, Z:0.77 [[ 9.98384661e-01 5.68027896e-02 -1.22970556e-03 -2.58882265e+01] [-5.68028528e-02 9.98385414e-01 -1.65035582e-05 3.04663335e+00] [ 1.22678264e-03 8.63276831e-05 9.99999244e-01 7.70296309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.403741732 meters 0.060982199443855134 Centerline is valid? [True, True] Translation: X:-25.92, Y:3.05, Z:0.77 [[ 9.98094670e-01 6.16091915e-02 3.36701876e-03 -2.59191294e+01] [-6.16096912e-02 9.98100318e-01 4.47996718e-05 3.04627160e+00] [-3.35786243e-03 -2.52155300e-04 9.99994331e-01 7.74422402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.433741732 meters 0.05619691120299573 Centerline is valid? [True, True] Translation: X:-25.95, Y:3.03, Z:0.79 [[ 9.98367118e-01 5.58211521e-02 1.21283187e-02 -2.59476353e+01] [-5.58272458e-02 9.98440430e-01 1.64202170e-04 3.02759093e+00] [-1.21002378e-02 -8.41024678e-04 9.99926436e-01 7.90837019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.463741732 meters 0.05482926875718213 Centerline is valid? [True, True] Translation: X:-25.98, Y:3.02, Z:0.79 [[ 9.98529461e-01 5.21013446e-02 1.49788164e-02 -2.59779839e+01] [-5.21102134e-02 9.98641319e-01 2.02138257e-04 3.01892360e+00] [-1.49479333e-02 -9.82390326e-04 9.99887791e-01 7.91672569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.493741732 meters 0.04972807403055846 Centerline is valid? [True, True] Translation: X:-26.01, Y:3.01, Z:0.79 [[ 9.98880807e-01 4.65307700e-02 8.48654797e-03 -2.60088108e+01] [-4.65334126e-02 9.98916728e-01 1.14087131e-04 3.00974531e+00] [-8.47204616e-03 -5.08867484e-04 9.99963982e-01 7.91654168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.523741732 meters 0.04898501561616871 Centerline is valid? [True, True] Translation: X:-26.04, Y:2.99, Z:0.78 [[ 9.99341170e-01 3.62881162e-02 -6.31342377e-04 -2.60397642e+01] [-3.62881293e-02 9.99341369e-01 -9.18440388e-06 2.99176401e+00] [ 6.30593270e-04 3.20885867e-05 9.99999801e-01 7.76362934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.553741732 meters 0.04558220716389122 Centerline is valid? [True, True] Translation: X:-26.07, Y:2.98, Z:0.79 [[ 9.99340361e-01 3.52925442e-02 8.56033715e-03 -2.60682733e+01] [-3.52948283e-02 9.99376937e-01 1.15853087e-04 2.98012208e+00] [-8.55091477e-03 -4.17912295e-04 9.99963353e-01 7.91278521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.583741732 meters 0.049832981707999255 Centerline is valid? [True, True] Translation: X:-26.10, Y:2.97, Z:0.79 [[ 9.98870167e-01 4.67328163e-02 8.62750225e-03 -2.60973011e+01] [-4.67355629e-02 9.98907290e-01 1.16911095e-04 2.97335313e+00] [-8.61261131e-03 -5.19990179e-04 9.99962776e-01 7.93014607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.613741732 meters 0.052728413211755504 Centerline is valid? [True, True] Translation: X:-26.13, Y:2.98, Z:0.79 [[ 9.98617513e-01 5.23744764e-02 4.46965539e-03 -2.61282805e+01] [-5.23752677e-02 9.98627472e-01 6.00865638e-05 2.97715033e+00] [-4.46037366e-03 -2.94102893e-04 9.99990009e-01 7.91064777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.643741732 meters 0.06527617634883624 Centerline is valid? [True, True] Translation: X:-26.16, Y:2.99, Z:0.79 [[ 9.97734509e-01 6.71207006e-02 4.54540879e-03 -2.61589077e+01] [-6.71216719e-02 9.97744796e-01 6.13170924e-05 2.98723859e+00] [-4.53104232e-03 -3.66273616e-04 9.99989668e-01 7.88980313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.673741732 meters 0.0681054854569409 Centerline is valid? [True, True] Translation: X:-26.19, Y:2.99, Z:0.79 [[ 9.97273124e-01 7.37668780e-02 2.18244562e-03 -2.61898801e+01] [-7.37671179e-02 9.97275494e-01 2.95446396e-05 2.98995910e+00] [-2.17432012e-03 -1.90456798e-04 9.99997618e-01 7.89407659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.703741732 meters 0.07536800277689878 Centerline is valid? [True, True] Translation: X:-26.22, Y:2.99, Z:0.79 [[ 9.96361666e-01 8.51712866e-02 -3.04672363e-03 -2.62191219e+01] [-8.51718074e-02 9.96366279e-01 -4.13649824e-05 2.98806490e+00] [ 3.03212957e-03 3.00709441e-04 9.99995358e-01 7.85855898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.733741732 meters 0.07795642374907685 Centerline is valid? [True, True] Translation: X:-26.25, Y:2.98, Z:0.79 [[ 9.96414276e-01 8.44581604e-02 -5.04077272e-03 -2.62511484e+01] [-8.44596330e-02 9.96426899e-01 -7.95900044e-05 2.98345233e+00] [ 5.01603950e-03 5.05046430e-04 9.99987292e-01 7.87497870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.763741732 meters 0.07795642374907685 Centerline is valid? [True, True] Translation: X:-26.28, Y:2.98, Z:0.79 [[ 9.96440060e-01 8.41534205e-02 -5.04073368e-03 -2.62839381e+01] [-8.41549026e-02 9.96452681e-01 -8.22713458e-05 2.98325020e+00] [ 5.01592917e-03 5.06180916e-04 9.99987292e-01 7.88666169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.793741732 meters 0.06609624561147857 Centerline is valid? [True, True] Translation: X:-26.31, Y:2.95, Z:0.81 [[ 9.97174180e-01 7.42405990e-02 1.14886532e-02 -2.63120625e+01] [-7.42473584e-02 9.97239842e-01 1.62374742e-04 2.95021071e+00] [-1.14448879e-02 -1.01491805e-03 9.99933990e-01 8.10374866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.823741732000002 meters 0.059926233485421476 Centerline is valid? [True, True] Translation: X:-26.34, Y:2.93, Z:0.81 [[ 9.97921269e-01 6.27110282e-02 1.48481260e-02 -2.63426781e+01] [-6.27210539e-02 9.98031074e-01 2.10049190e-04 2.93073171e+00] [-1.48057188e-02 -1.14090267e-03 9.99889738e-01 8.13607337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.853741732 meters 0.05727671646619959 Centerline is valid? [True, True] Translation: X:-26.37, Y:2.91, Z:0.80 [[ 9.98593468e-01 5.26425262e-02 6.31266524e-03 -2.63733738e+01] [-5.26441384e-02 9.98613332e-01 8.93820449e-05 2.91304246e+00] [-6.29920637e-03 -4.21581149e-04 9.99980071e-01 8.00718554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.883741732 meters 0.05936982864219538 Centerline is valid? [True, True] Translation: X:-26.40, Y:2.91, Z:0.81 [[ 9.98104544e-01 6.04579339e-02 1.14960122e-02 -2.64024681e+01] [-6.04638055e-02 9.98170377e-01 1.63570365e-04 2.90601917e+00] [-1.14650897e-02 -8.58352968e-04 9.99933905e-01 8.13177362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.913741732000002 meters 0.06456910774436733 Centerline is valid? [True, True] Translation: X:-26.43, Y:2.90, Z:0.81 [[ 9.97521465e-01 6.99745855e-02 7.38128305e-03 -2.64320251e+01] [-6.99772637e-02 9.97548581e-01 1.04881010e-04 2.89911358e+00] [-7.35584943e-03 -6.21143049e-04 9.99972752e-01 8.08439929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.943741732 meters 0.07429805125117217 Centerline is valid? [True, True] Translation: X:-26.46, Y:2.91, Z:0.80 [[ 9.97342653e-01 7.26399333e-02 5.57427379e-03 -2.64634761e+01] [-7.26414987e-02 9.97358113e-01 7.86176451e-05 2.90703717e+00] [-5.55383641e-03 -4.83332333e-04 9.99984461e-01 8.04374126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.973741732 meters 0.06607526553867332 Centerline is valid? [True, True] Translation: X:-26.49, Y:2.89, Z:0.81 [[ 9.97240591e-01 7.36789933e-02 9.08896025e-03 -2.64940557e+01] [-7.36831412e-02 9.97281695e-01 1.21902253e-04 2.89029221e+00] [-9.05527205e-03 -7.91269016e-04 9.99958687e-01 8.13796787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.003741732 meters 0.062001025860641365 Centerline is valid? [True, True] Translation: X:-26.52, Y:2.88, Z:0.83 [[ 9.97069857e-01 7.38587426e-02 1.99144592e-02 -2.65232305e+01] [-7.38790785e-02 9.97267166e-01 2.86397153e-04 2.87875762e+00] [-1.98388833e-02 -1.75681986e-03 9.99801646e-01 8.29592120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.033741732 meters 0.06481231780039293 Centerline is valid? [True, True] Translation: X:-26.56, Y:2.87, Z:0.82 [[ 9.97139958e-01 7.38712755e-02 1.59668290e-02 -2.65562058e+01] [-7.38843380e-02 9.97266791e-01 2.28965569e-04 2.87412398e+00] [-1.59062743e-02 -1.40800931e-03 9.99872496e-01 8.22978132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.063741732 meters 0.06925127810997891 Centerline is valid? [True, True] Translation: X:-26.59, Y:2.87, Z:0.81 [[ 9.96667180e-01 8.11206535e-02 8.60065365e-03 -2.65869504e+01] [-8.11247244e-02 9.96703950e-01 1.24941439e-04 2.86608641e+00] [-8.56217013e-03 -8.22250689e-04 9.99963006e-01 8.14340843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.093741732 meters 0.07416165968054371 Centerline is valid? [True, True] Translation: X:-26.62, Y:2.87, Z:0.82 [[ 9.95681956e-01 9.22158021e-02 1.06624735e-02 -2.66165055e+01] [-9.22226947e-02 9.95738395e-01 1.55529447e-04 2.86904857e+00] [-1.06026920e-02 -1.13817991e-03 9.99943142e-01 8.17010317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.123741732 meters 0.07637890768587577 Centerline is valid? [True, True] Translation: X:-26.65, Y:2.86, Z:0.82 [[ 9.95360834e-01 9.56346050e-02 1.05277436e-02 -2.66472853e+01] [-9.56415112e-02 9.95415832e-01 1.53344884e-04 2.86253167e+00] [-1.04648176e-02 -1.15952280e-03 9.99944570e-01 8.17311313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.153741732 meters 0.06607191812089415 Centerline is valid? [True, True] Translation: X:-26.68, Y:2.83, Z:0.82 [[ 9.96983872e-01 7.67247202e-02 1.16822894e-02 -2.66770521e+01] [-7.67319356e-02 9.97051744e-01 1.70014730e-04 2.83300275e+00] [-1.16348027e-02 -1.06590662e-03 9.99931745e-01 8.18001633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.183741732 meters 0.05843848367457019 Centerline is valid? [True, True] Translation: X:-26.71, Y:2.82, Z:0.82 [[ 9.97758212e-01 6.51946742e-02 1.51064599e-02 -2.67064107e+01] [-6.52054375e-02 9.97871837e-01 2.20534521e-04 2.81520898e+00] [-1.50599332e-02 -1.20506346e-03 9.99885867e-01 8.23334498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.213741732 meters 0.06042305139322009 Centerline is valid? [True, True] Translation: X:-26.74, Y:2.82, Z:0.83 [[ 9.98175825e-01 5.75447685e-02 1.82653137e-02 -2.67372347e+01] [-5.75592242e-02 9.98342058e-01 2.66272135e-04 2.81523814e+00] [-1.82197083e-02 -1.31712370e-03 9.99833140e-01 8.27749068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.243741732 meters 0.05175121961709902 Centerline is valid? [True, True] Translation: X:-26.77, Y:2.79, Z:0.83 [[ 9.98560725e-01 5.02482424e-02 1.87507893e-02 -2.67662722e+01] [-5.02621848e-02 9.98736020e-01 2.72741963e-04 2.79471195e+00] [-1.87133838e-02 -1.21480505e-03 9.99824151e-01 8.29264340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.273741732 meters 0.059305448758191874 Centerline is valid? [True, True] Translation: X:-26.80, Y:2.80, Z:0.81 [[ 9.98253475e-01 5.88473077e-02 5.19550976e-03 -2.67978058e+01] [-5.88484956e-02 9.98266923e-01 7.59310185e-05 2.80124301e+00] [-5.18203720e-03 -3.81546336e-04 9.99986500e-01 8.12821821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.303741732 meters 0.069359381858471 Centerline is valid? [True, True] Translation: X:-26.83, Y:2.82, Z:0.82 [[ 9.96783471e-01 8.00177231e-02 4.45815283e-03 -2.68287154e+01] [-8.00188074e-02 9.96793352e-01 6.51014328e-05 2.82283816e+00] [-4.43864783e-03 -4.21628105e-04 9.99990060e-01 8.24951108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.333741732 meters 0.06489203866524379 Centerline is valid? [True, True] Translation: X:-26.86, Y:2.82, Z:0.85 [[ 9.96127261e-01 8.39792584e-02 2.60377478e-02 -2.68584893e+01] [-8.40176151e-02 9.96464197e-01 3.80700854e-04 2.81579411e+00] [-2.59137124e-02 -2.56685597e-03 9.99660888e-01 8.52318732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.363741732 meters 0.0627280207743861 Centerline is valid? [True, True] Translation: X:-26.89, Y:2.81, Z:0.86 [[ 9.95962082e-01 8.37502547e-02 3.23330386e-02 -2.68898935e+01] [-8.38093660e-02 9.96481693e-01 4.74903182e-04 2.81359166e+00] [-3.21795077e-02 -3.18279702e-03 9.99477038e-01 8.57982697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.393741732 meters 0.06523198935470388 Centerline is valid? [True, True] Translation: X:-26.92, Y:2.82, Z:0.84 [[ 9.96544385e-01 8.08123387e-02 1.92003812e-02 -2.69213691e+01] [-8.08326881e-02 9.96727644e-01 2.84867974e-04 2.81814810e+00] [-1.91145298e-02 -1.83590200e-03 9.99815615e-01 8.41298606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.423741732 meters 0.07082899829772481 Centerline is valid? [True, True] Translation: X:-26.95, Y:2.82, Z:0.83 [[ 9.96651592e-01 8.07897709e-02 1.25943392e-02 -2.69533758e+01] [-8.07985179e-02 9.96730437e-01 1.86418874e-04 2.82204814e+00] [-1.25381005e-02 -1.20339861e-03 9.99920671e-01 8.26252261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.453741732 meters 0.0651775502043593 Centerline is valid? [True, True] Translation: X:-26.98, Y:2.82, Z:0.83 [[ 9.97152119e-01 7.37892865e-02 1.55818336e-02 -2.69825852e+01] [-7.38018519e-02 9.97272898e-01 2.32155478e-04 2.81610797e+00] [-1.55222098e-02 -1.38146250e-03 9.99878569e-01 8.34588969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.483741732 meters 0.059147378313316595 Centerline is valid? [True, True] Translation: X:-27.01, Y:2.81, Z:0.86 [[ 9.97085853e-01 7.10115442e-02 2.78776153e-02 -2.70120312e+01] [-7.10507137e-02 9.97472618e-01 4.15766004e-04 2.81298919e+00] [-2.77776338e-02 -2.39527887e-03 9.99611257e-01 8.56707126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.513741732 meters 0.06544261119528574 Centerline is valid? [True, True] Translation: X:-27.04, Y:2.83, Z:0.85 [[ 9.97107692e-01 7.24746572e-02 2.28839376e-02 -2.70443641e+01] [-7.25014409e-02 9.97368249e-01 3.41829042e-04 2.82631084e+00] [-2.27989388e-02 -1.99995882e-03 9.99738070e-01 8.51118540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.543741732 meters 0.06818319547991344 Centerline is valid? [True, True] Translation: X:-27.07, Y:2.83, Z:0.84 [[ 9.96882152e-01 7.79196138e-02 1.24301239e-02 -2.70747985e+01] [-7.79279486e-02 9.96958976e-01 1.86864196e-04 2.82729490e+00] [-1.23777633e-02 -1.15493564e-03 9.99922726e-01 8.35758656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.573741732000002 meters 0.07308599471654321 Centerline is valid? [True, True] Translation: X:-27.11, Y:2.84, Z:0.83 [[ 9.96819475e-01 7.90804554e-02 9.85979105e-03 -2.71068591e+01] [-7.90857406e-02 9.96867807e-01 1.46689695e-04 2.83583963e+00] [-9.81730799e-03 -9.25992022e-04 9.99951380e-01 8.31767882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.603741732 meters 0.06362504655915814 Centerline is valid? [True, True] Translation: X:-27.14, Y:2.83, Z:0.84 [[ 9.96901256e-01 7.75108822e-02 1.34145380e-02 -2.71367225e+01] [-7.75205567e-02 9.96990733e-01 2.01952814e-04 2.83276468e+00] [-1.33585166e-02 -1.24122947e-03 9.99910001e-01 8.44198060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.633741732 meters 0.06461503432249044 Centerline is valid? [True, True] Translation: X:-27.17, Y:2.84, Z:0.85 [[ 9.96853587e-01 7.72509829e-02 1.77542018e-02 -2.71687539e+01] [-7.72678815e-02 9.97010333e-01 2.66790635e-04 2.83580939e+00] [-1.76805128e-02 -1.63778076e-03 9.99842346e-01 8.47393589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.663741732000002 meters 0.06842082966691061 Centerline is valid? [True, True] Translation: X:-27.20, Y:2.85, Z:0.84 [[ 9.96823022e-01 7.90308763e-02 9.89867211e-03 -2.71995205e+01] [-7.90362306e-02 9.96871733e-01 1.50289112e-04 2.84681526e+00] [-9.85582893e-03 -9.32165378e-04 9.99950996e-01 8.41405617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.693741732 meters 0.06929677081190776 Centerline is valid? [True, True] Translation: X:-27.23, Y:2.85, Z:0.85 [[ 9.96625008e-01 8.05837751e-02 1.56476310e-02 -2.72314179e+01] [-8.05972622e-02 9.96746722e-01 2.32206511e-04 2.85139261e+00] [-1.55780128e-02 -1.49257903e-03 9.99877541e-01 8.53842726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.723741732 meters 0.06375689243360887 Centerline is valid? [True, True] Translation: X:-27.26, Y:2.84, Z:0.86 [[ 9.96598943e-01 7.91968546e-02 2.27685090e-02 -2.72611020e+01] [-7.92253563e-02 9.96856670e-01 3.51086094e-04 2.84464886e+00] [-2.26691351e-02 -2.15373527e-03 9.99740702e-01 8.63674019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.753741732 meters 0.06814921677837653 Centerline is valid? [True, True] Translation: X:-27.29, Y:2.85, Z:0.84 [[ 9.97045553e-01 7.62753047e-02 9.06884733e-03 -2.72946313e+01] [-7.62796456e-02 9.97086455e-01 1.33229946e-04 2.85487633e+00] [-9.03226267e-03 -8.24604785e-04 9.99958868e-01 8.44433373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.783741732 meters 0.0659206012183114 Centerline is valid? [True, True] Translation: X:-27.33, Y:2.86, Z:0.86 [[ 9.96736375e-01 7.83381263e-02 1.94868514e-02 -2.73250710e+01] [-7.83589421e-02 9.96925164e-01 3.05768565e-04 2.86153103e+00] [-1.94029791e-02 -1.83173971e-03 9.99810067e-01 8.64316134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.813741732 meters 0.06431454838590817 Centerline is valid? [True, True] Translation: X:-27.35, Y:2.87, Z:0.88 [[ 9.96197962e-01 8.22959969e-02 2.85830241e-02 -2.73543459e+01] [-8.23426343e-02 9.96603975e-01 4.56456451e-04 2.86681787e+00] [-2.84483908e-02 -2.80832248e-03 9.99591318e-01 8.81816666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.843741732 meters 0.07019479739772068 Centerline is valid? [True, True] Translation: X:-27.39, Y:2.87, Z:0.87 [[ 9.96497553e-01 8.13444092e-02 1.93833349e-02 -2.73873428e+01] [-8.13655791e-02 9.96684278e-01 3.04734829e-04 2.87305890e+00] [-1.92942767e-02 -1.88080378e-03 9.99812079e-01 8.66132323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.873741732 meters 0.07015299059378745 Centerline is valid? [True, True] Translation: X:-27.42, Y:2.88, Z:0.85 [[ 9.97061231e-01 7.62305287e-02 7.60316851e-03 -2.74192864e+01] [-7.62336636e-02 9.97089973e-01 1.22930714e-04 2.87849805e+00] [-7.57167201e-03 -7.02186840e-04 9.99971088e-01 8.50433678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.903741732 meters 0.06874908670807088 Centerline is valid? [True, True] Translation: X:-27.45, Y:2.89, Z:0.86 [[ 9.96805715e-01 7.84129963e-02 1.51581370e-02 -2.74506589e+01] [-7.84256453e-02 9.96919937e-01 2.40928941e-04 2.88694880e+00] [-1.50925570e-02 -1.42894602e-03 9.99885080e-01 8.64630116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.933741732 meters 0.06797546511502052 Centerline is valid? [True, True] Translation: X:-27.48, Y:2.89, Z:0.88 [[ 9.96761901e-01 7.87794701e-02 1.61092168e-02 -2.74824578e+01] [-7.87938819e-02 9.96890895e-01 2.60912026e-04 2.89257554e+00] [-1.60385770e-02 -1.52937489e-03 9.99870204e-01 8.75107028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.963741732 meters 0.06672001501915471 Centerline is valid? [True, True] Translation: X:-27.51, Y:2.89, Z:0.88 [[ 9.96741787e-01 7.89259220e-02 1.66285584e-02 -2.75133474e+01] [-7.89413844e-02 9.96879222e-01 2.74523273e-04 2.89135521e+00] [-1.65549973e-02 -1.58631024e-03 9.99861698e-01 8.76083831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.993741732 meters 0.06725317381274765 Centerline is valid? [True, True] Translation: X:-27.55, Y:2.90, Z:0.87 [[ 9.96870953e-01 7.77984806e-02 1.39892664e-02 -2.75453519e+01] [-7.78093765e-02 9.96968227e-01 2.35466671e-04 2.89524835e+00] [-1.39285352e-02 -1.32322598e-03 9.99902118e-01 8.71029578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.023741732 meters 0.07031863413077934 Centerline is valid? [True, True] Translation: X:-27.58, Y:2.90, Z:0.87 [[ 9.96915934e-01 7.75652475e-02 1.19269507e-02 -2.75776316e+01] [-7.75731262e-02 9.96986645e-01 1.98689859e-04 2.90419013e+00] [-1.18755992e-02 -1.12328794e-03 9.99928852e-01 8.68287006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.053741732 meters 0.06400230338334867 Centerline is valid? [True, True] Translation: X:-27.61, Y:2.90, Z:0.88 [[ 9.96953731e-01 7.69355778e-02 1.28130791e-02 -2.76081773e+01] [-7.69447142e-02 9.97035336e-01 2.20880346e-04 2.90241845e+00] [-1.27580990e-02 -1.20610619e-03 9.99917885e-01 8.76473007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.083741732 meters 0.06876722091759715 Centerline is valid? [True, True] Translation: X:-27.64, Y:2.91, Z:0.87 [[ 9.97021820e-01 7.56648897e-02 1.49102571e-02 -2.76397077e+01] [-7.56771955e-02 9.97132335e-01 2.62037548e-04 2.90970426e+00] [-1.48476724e-02 -1.38962359e-03 9.99888802e-01 8.74963702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.113741732 meters 0.0659607190945815 Centerline is valid? [True, True] Translation: X:-27.67, Y:2.90, Z:0.86 [[ 9.97671179e-01 6.81228247e-02 3.39095051e-03 -2.76705423e+01] [-6.81234196e-02 9.97676900e-01 6.01219927e-05 2.90448247e+00] [-3.37897731e-03 -2.90985124e-04 9.99994249e-01 8.58972551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.143741732 meters 0.061835355636996756 Centerline is valid? [True, True] Translation: X:-27.70, Y:2.90, Z:0.87 [[ 9.98098684e-01 6.13333142e-02 6.10256292e-03 -2.77009054e+01] [-6.13351117e-02 9.98117224e-01 1.07652944e-04 2.89953425e+00] [-6.08447045e-03 -4.81749640e-04 9.99981373e-01 8.67307679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.173741732 meters 0.0545904798158802 Centerline is valid? [True, True] Translation: X:-27.73, Y:2.90, Z:0.89 [[ 9.98143086e-01 5.88557072e-02 1.56966808e-02 -2.77299158e+01] [-5.88672746e-02 9.98265780e-01 2.75517732e-04 2.89533449e+00] [-1.56532435e-02 -1.19902694e-03 9.99876762e-01 8.87681432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.203741732 meters 0.05712792344141279 Centerline is valid? [True, True] Translation: X:-27.76, Y:2.91, Z:0.90 [[ 9.97612770e-01 6.40341437e-02 2.58532439e-02 -2.77595980e+01] [-6.40674001e-02 9.97945468e-01 4.59245299e-04 2.90803717e+00] [-2.57707202e-02 -2.11449910e-03 9.99665644e-01 8.96376920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.233741732 meters 0.06421615533517218 Centerline is valid? [True, True] Translation: X:-27.79, Y:2.93, Z:0.88 [[ 9.97408237e-01 7.13487643e-02 9.28242993e-03 -2.77909403e+01] [-7.13533622e-02 9.97451087e-01 1.64680507e-04 2.92802426e+00] [-9.24702007e-03 -8.26586279e-04 9.99956904e-01 8.76956791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.263741732 meters 0.060502238140567606 Centerline is valid? [True, True] Translation: X:-27.82, Y:2.93, Z:0.88 [[ 9.97204153e-01 7.43306314e-02 7.67041568e-03 -2.78203189e+01] [-7.43338629e-02 9.97233402e-01 1.36676121e-04 2.92958440e+00] [-7.63903550e-03 -7.06465623e-04 9.99970573e-01 8.81375120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.293741732 meters 0.06580672890446429 Centerline is valid? [True, True] Translation: X:-27.85, Y:2.94, Z:0.89 [[ 9.97045804e-01 7.44197409e-02 1.90096333e-02 -2.78516873e+01] [-7.44395738e-02 9.97225469e-01 3.36866134e-04 2.94318588e+00] [-1.89318210e-02 -1.75093997e-03 9.99819244e-01 8.92537649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.323741732000002 meters 0.06365836322742657 Centerline is valid? [True, True] Translation: X:-27.88, Y:2.95, Z:0.89 [[ 9.97189459e-01 7.30442103e-02 1.66650907e-02 -2.78831812e+01] [-7.30592003e-02 9.97327563e-01 2.91642459e-04 2.94805213e+00] [-1.65992515e-02 -1.50836098e-03 9.99861085e-01 8.93183096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.353741732 meters 0.06921311954147129 Centerline is valid? [True, True] Translation: X:-27.92, Y:2.96, Z:0.87 [[ 9.97565920e-01 6.96626700e-02 3.05723793e-03 -2.79167387e+01] [-6.96631537e-02 9.97570570e-01 5.18738295e-05 2.96008748e+00] [-3.04619691e-03 -2.64724400e-04 9.99995325e-01 8.74113745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.383741732 meters 0.06150743218185259 Centerline is valid? [True, True] Translation: X:-27.95, Y:2.95, Z:0.89 [[ 9.97699692e-01 6.72098435e-02 8.84091155e-03 -2.79458611e+01] [-6.72138808e-02 9.97738577e-01 1.59999840e-04 2.94970659e+00] [-8.81016494e-03 -7.53863766e-04 9.99960906e-01 8.86078858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.413741732000002 meters 0.056212601141176696 Centerline is valid? [True, True] Translation: X:-27.98, Y:2.95, Z:0.90 [[ 9.98058494e-01 6.01211053e-02 1.62694532e-02 -2.79760298e+01] [-6.01338643e-02 9.98190278e-01 2.95717658e-04 2.94653355e+00] [-1.62222311e-02 -1.27348861e-03 9.99867600e-01 9.01104803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.443741732 meters 0.05809547250350824 Centerline is valid? [True, True] Translation: X:-28.01, Y:2.95, Z:0.89 [[ 9.98361621e-01 5.69191723e-02 5.85502682e-03 -2.80085567e+01] [-5.69207215e-02 9.98378697e-01 9.81598891e-05 2.94808585e+00] [-5.83994687e-03 -4.31271417e-04 9.99982854e-01 8.87215589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.473741732 meters 0.062496083428757836 Centerline is valid? [True, True] Translation: X:-28.04, Y:2.96, Z:0.87 [[ 9.98253443e-01 5.90651437e-02 -1.17167675e-03 -2.80401284e+01] [-5.90652095e-02 9.98254126e-01 -2.16150114e-05 2.96329762e+00] [ 1.16835446e-03 9.07825923e-05 9.99999313e-01 8.72885225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.503741732 meters 0.058275606294772145 Centerline is valid? [True, True] Translation: X:-28.07, Y:2.96, Z:0.90 [[ 9.98096433e-01 5.98884426e-02 1.47269852e-02 -2.80694799e+01] [-5.98989352e-02 9.98204410e-01 2.72029110e-04 2.96492953e+00] [-1.46842501e-02 -1.15364202e-03 9.99891515e-01 9.00559750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.533741732 meters 0.058573584296356465 Centerline is valid? [True, True] Translation: X:-28.10, Y:2.97, Z:0.90 [[ 9.98095783e-01 5.90182401e-02 1.79347571e-02 -2.81000010e+01] [-5.90336579e-02 9.98255938e-01 3.31001157e-04 2.96605773e+00] [-1.78839426e-02 -1.38912517e-03 9.99839105e-01 9.01570403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.563741732 meters 0.0534516113791559 Centerline is valid? [True, True] Translation: X:-28.13, Y:2.97, Z:0.90 [[ 9.98243436e-01 5.84870666e-02 9.45020563e-03 -2.81311248e+01] [-5.84913192e-02 9.98287902e-01 1.74013770e-04 2.96994649e+00] [-9.42384840e-03 -7.26463098e-04 9.99955331e-01 8.97677772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.593741732 meters 0.06197337246059744 Centerline is valid? [True, True] Translation: X:-28.16, Y:3.00, Z:0.90 [[ 9.97853819e-01 6.37810416e-02 1.48234245e-02 -2.81621405e+01] [-6.37921191e-02 9.97963171e-01 2.75186401e-04 2.99532568e+00] [-1.47756801e-02 -1.22021346e-03 9.99890089e-01 9.03675213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.623741732 meters 0.06566459186286193 Centerline is valid? [True, True] Translation: X:-28.19, Y:3.01, Z:0.91 [[ 9.97595921e-01 6.58528273e-02 2.15819967e-02 -2.81943735e+01] [-6.58767176e-02 9.97827691e-01 3.97100499e-04 3.01364515e+00] [-2.15089638e-02 -1.81789694e-03 9.99767003e-01 9.12609615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.653741732 meters 0.06566459186286193 Centerline is valid? [True, True] Translation: X:-28.23, Y:3.01, Z:0.91 [[ 9.97616687e-01 6.55375366e-02 2.15818916e-02 -2.82271189e+01] [-6.55614742e-02 9.97848451e-01 4.02709130e-04 3.01328823e+00] [-2.15090646e-02 -1.81668998e-03 9.99767003e-01 9.13775694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.683741732 meters 0.06297245808110817 Centerline is valid? [True, True] Translation: X:-28.26, Y:3.01, Z:0.91 [[ 9.97816284e-01 6.38259388e-02 1.69974105e-02 -2.82588871e+01] [-6.38406075e-02 9.97960056e-01 3.21242517e-04 3.01334383e+00] [-1.69422332e-02 -1.40566603e-03 9.99855482e-01 9.06983643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.713741732 meters 0.06015228075272474 Centerline is valid? [True, True] Translation: X:-28.29, Y:3.01, Z:0.89 [[ 9.98330509e-01 5.75883777e-02 4.44680871e-03 -2.82896662e+01] [-5.75893307e-02 9.98340354e-01 8.64451919e-05 3.01307743e+00] [-4.43445034e-03 -3.42389610e-04 9.99990109e-01 8.89911573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.743741732 meters 0.05681995926989695 Centerline is valid? [True, True] Translation: X:-28.32, Y:3.01, Z:0.90 [[ 9.98516572e-01 5.27627683e-02 1.34441825e-02 -2.83202052e+01] [-5.27710411e-02 9.98606604e-01 2.61093191e-04 3.01131223e+00] [-1.34116734e-02 -9.70169383e-04 9.99909589e-01 9.03979898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.773741732 meters 0.05048655887878438 Centerline is valid? [True, True] Translation: X:-28.35, Y:3.00, Z:0.92 [[ 9.98613172e-01 4.91440193e-02 1.88837896e-02 -2.83486468e+01] [-4.91597149e-02 9.98790863e-01 3.67587189e-04 3.00162305e+00] [-1.88428918e-02 -1.29539912e-03 9.99821618e-01 9.19884961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.803741732 meters 0.05880349758332889 Centerline is valid? [True, True] Translation: X:-28.38, Y:3.02, Z:0.90 [[ 9.98424654e-01 5.56063500e-02 7.49287890e-03 -2.83797411e+01] [-5.56089983e-02 9.98452612e-01 1.45412044e-04 3.01678892e+00] [-7.47319867e-03 -5.61854460e-04 9.99971917e-01 9.03334085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.833741732 meters 0.06707588221490059 Centerline is valid? [True, True] Translation: X:-28.41, Y:3.03, Z:0.90 [[ 9.97597050e-01 6.91133764e-02 4.84434413e-03 -2.84110963e+01] [-6.91146402e-02 9.97608720e-01 9.37642445e-05 3.03411839e+00] [-4.82627958e-03 -4.28354035e-04 9.99988262e-01 8.99566033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.863741732 meters 0.0721752110078746 Centerline is valid? [True, True] Translation: X:-28.44, Y:3.04, Z:0.90 [[ 9.96752095e-01 8.02969551e-02 6.13684424e-03 -2.84422159e+01] [-8.02992032e-02 9.96770798e-01 1.20410620e-04 3.04357893e+00] [-6.10735853e-03 -6.12803241e-04 9.99981162e-01 9.02030918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.893741732 meters 0.07897352807079235 Centerline is valid? [True, True] Translation: X:-28.47, Y:3.06, Z:0.91 [[ 9.95507639e-01 9.39573436e-02 1.16857771e-02 -2.84725004e+01] [-9.39663974e-02 9.95575344e-01 2.26933759e-04 3.05762813e+00] [-1.16127495e-02 -1.32398467e-03 9.99931693e-01 9.11289436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.923741732 meters 0.07655813559094116 Centerline is valid? [True, True] Translation: X:-28.50, Y:3.05, Z:0.92 [[ 9.95301797e-01 9.51517973e-02 1.79016450e-02 -2.85031163e+01] [-9.51731574e-02 9.95460673e-01 3.43118621e-04 3.05483240e+00] [-1.77877352e-02 -2.04526265e-03 9.99839694e-01 9.24147073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.953741732 meters 0.07977631209290481 Centerline is valid? [True, True] Translation: X:-28.53, Y:3.06, Z:0.92 [[ 9.95520735e-01 9.30348240e-02 1.68222375e-02 -2.85344326e+01] [-9.30535258e-02 9.95661053e-01 3.30732389e-04 3.05586700e+00] [-1.67184771e-02 -1.89461947e-03 9.99858441e-01 9.18769716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.983741732 meters 0.08665002913252738 Centerline is valid? [True, True] Translation: X:-28.57, Y:3.06, Z:0.91 [[ 9.95884106e-01 9.03587864e-02 7.08080616e-03 -2.85669438e+01] [-9.03619785e-02 9.95908980e-01 1.31535981e-04 3.06004154e+00] [-7.03995301e-03 -7.70830246e-04 9.99974922e-01 9.07762514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.013741732 meters 0.08343656803542565 Centerline is valid? [True, True] Translation: X:-28.60, Y:3.05, Z:0.91 [[ 9.96027887e-01 8.86040673e-02 8.81862137e-03 -2.85980895e+01] [-8.86090506e-02 9.96066466e-01 1.75222629e-04 3.05279126e+00] [-8.76840758e-03 -9.55936291e-04 9.99961100e-01 9.12722705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.043741732 meters 0.08482215443549698 Centerline is valid? [True, True] Translation: X:-28.63, Y:3.05, Z:0.91 [[ 9.96033492e-01 8.85830188e-02 8.38635499e-03 -2.86303667e+01] [-8.85874750e-02 9.96068388e-01 1.60662892e-04 3.05029968e+00] [-8.33915110e-03 -9.02951635e-04 9.99964821e-01 9.11830930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.073741732000002 meters 0.08188162574121582 Centerline is valid? [True, True] Translation: X:-28.66, Y:3.03, Z:0.91 [[ 9.96313548e-01 8.56021689e-02 5.61978939e-03 -2.86605180e+01] [-8.56041553e-02 9.96329221e-01 1.13430667e-04 3.02959147e+00] [-5.58945047e-03 -5.94089834e-04 9.99984202e-01 9.09207920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.103741732 meters 0.07136203264923452 Centerline is valid? [True, True] Translation: X:-28.69, Y:3.00, Z:0.91 [[ 9.97205643e-01 7.41499983e-02 9.09298573e-03 -2.86895290e+01] [-7.41547315e-02 9.97246731e-01 1.84033310e-04 2.99761483e+00] [-9.05430423e-03 -8.57806972e-04 9.99958641e-01 9.13739043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.133741732 meters 0.058606213610937964 Centerline is valid? [True, True] Translation: X:-28.72, Y:2.97, Z:0.92 [[ 9.98044368e-01 6.20564049e-02 7.51284455e-03 -2.87180924e+01] [-6.20592852e-02 9.98072453e-01 1.50645401e-04 2.96687195e+00] [-7.48901468e-03 -6.16592557e-04 9.99971767e-01 9.21834920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.163741732000002 meters 0.06245933169117044 Centerline is valid? [True, True] Translation: X:-28.75, Y:2.97, Z:0.92 [[ 9.98156272e-01 5.99685581e-02 9.37168613e-03 -2.87493656e+01] [-5.99729689e-02 9.98199983e-01 1.90081297e-04 2.96621911e+00] [-9.34341804e-03 -7.51778679e-04 9.99956067e-01 9.22931115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.193741732 meters 0.05967183598712704 Centerline is valid? [True, True] Translation: X:-28.78, Y:2.96, Z:0.92 [[ 9.98225233e-01 5.92072607e-02 6.39415588e-03 -2.87804804e+01] [-5.92092552e-02 9.98245586e-01 1.22915669e-04 2.95863297e+00] [-6.37566038e-03 -5.01290730e-04 9.99979550e-01 9.24540768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.223741732 meters 0.058236910318325646 Centerline is valid? [True, True] Translation: X:-28.81, Y:2.95, Z:0.93 [[ 9.98134105e-01 6.01598869e-02 1.04449179e-02 -2.88114515e+01] [-6.01653522e-02 9.98188402e-01 2.09536780e-04 2.95361039e+00] [-1.04133902e-02 -8.37567968e-04 9.99945428e-01 9.34662324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.253741732 meters 0.06149930349376513 Centerline is valid? [True, True] Translation: X:-28.84, Y:2.96, Z:0.94 [[ 9.97738718e-01 6.54715378e-02 1.51963267e-02 -2.88418463e+01] [-6.54839213e-02 9.97853574e-01 3.18214455e-04 2.96124513e+00] [-1.51428749e-02 -1.31260994e-03 9.99884479e-01 9.41121135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.283741732 meters 0.07577539465077053 Centerline is valid? [True, True] Translation: X:-28.87, Y:2.99, Z:0.93 [[ 9.96842427e-01 7.93487534e-02 2.99175320e-03 -2.88733823e+01] [-7.93492947e-02 9.96846872e-01 6.24841914e-05 2.98853213e+00] [-2.97736177e-03 -2.99680399e-04 9.99995523e-01 9.25371928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.313741732 meters 0.0754692330666258 Centerline is valid? [True, True] Translation: X:-28.90, Y:2.99, Z:0.94 [[ 9.96028062e-01 8.86346227e-02 8.48546101e-03 -2.89026980e+01] [-8.86393150e-02 9.96063773e-01 1.77763189e-04 2.99283505e+00] [-8.43630434e-03 -9.29202575e-04 9.99963982e-01 9.36480607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.343741732 meters 0.09012274423341125 Centerline is valid? [True, True] Translation: X:-28.93, Y:3.01, Z:0.93 [[ 9.95692518e-01 9.23950622e-02 7.71770286e-03 -2.89342923e+01] [-9.23990567e-02 9.95722044e-01 1.61865858e-04 3.01413663e+00] [-7.66973126e-03 -8.74277088e-04 9.99970205e-01 9.31788537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.373741732 meters 0.07398574949763281 Centerline is valid? [True, True] Translation: X:-28.96, Y:2.98, Z:0.93 [[ 9.95423738e-01 9.55499494e-02 1.33782653e-03 -2.89633767e+01] [-9.55500724e-02 9.95424624e-01 2.82106567e-05 2.98477320e+00] [-1.32900994e-03 -1.55910979e-04 9.99999105e-01 9.32906605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.403741732 meters 0.08096257577878141 Centerline is valid? [True, True] Translation: X:-28.99, Y:2.99, Z:0.94 [[ 9.94975261e-01 9.97910337e-02 8.12273659e-03 -2.89935076e+01] [-9.97957067e-02 9.95007933e-01 1.71023970e-04 2.99340150e+00] [-8.06512069e-03 -9.80778858e-04 9.99966995e-01 9.42638106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.433741732 meters 0.08760043975254589 Centerline is valid? [True, True] Translation: X:-29.02, Y:3.00, Z:0.95 [[ 9.94552884e-01 1.03502875e-01 1.23173259e-02 -2.90238494e+01] [-1.03513896e-01 9.94627974e-01 2.58856242e-04 2.99635294e+00] [-1.22243645e-02 -1.53246061e-03 9.99924105e-01 9.46611828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.463741732 meters 0.08242670678504613 Centerline is valid? [True, True] Translation: X:-29.05, Y:2.98, Z:0.94 [[ 9.94876029e-01 1.00860472e-01 6.98939373e-03 -2.90541019e+01] [-1.00863952e-01 9.94900217e-01 1.46418096e-04 2.98153427e+00] [-6.93898154e-03 -8.50645730e-04 9.99975563e-01 9.42687904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.493741732 meters 0.07898224368308757 Centerline is valid? [True, True] Translation: X:-29.08, Y:2.97, Z:0.94 [[ 9.95245169e-01 9.67340324e-02 1.13833114e-02 -2.90836687e+01] [-9.67430041e-02 9.95309366e-01 2.38857573e-04 2.97242128e+00] [-1.13068108e-02 -1.33897759e-03 9.99935179e-01 9.44771884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.523741732 meters 0.07319860724909395 Centerline is valid? [True, True] Translation: X:-29.11, Y:2.96, Z:0.94 [[ 9.96139930e-01 8.72507794e-02 9.61982990e-03 -2.91134857e+01] [-8.72567521e-02 9.96185835e-01 2.02121346e-04 2.95541910e+00] [-9.56550304e-03 -1.04073626e-03 9.99953708e-01 9.43563895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.553741732 meters 0.06859059024788053 Centerline is valid? [True, True] Translation: X:-29.14, Y:2.94, Z:0.94 [[ 9.97352639e-01 7.21955495e-02 8.69002694e-03 -2.91435491e+01] [-7.21998604e-02 9.97390168e-01 1.82978742e-04 2.93783568e+00] [-8.65413718e-03 -8.09913063e-04 9.99962224e-01 9.43898040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.583741732 meters 0.062336876847690424 Centerline is valid? [True, True] Translation: X:-29.17, Y:2.92, Z:0.95 [[ 9.97939443e-01 6.35721015e-02 8.68657356e-03 -2.91732664e+01] [-6.35760847e-02 9.97976978e-01 1.82915624e-04 2.92469967e+00] [-8.65737210e-03 -7.34797053e-04 9.99962254e-01 9.49631151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.613741732 meters 0.05980612877540995 Centerline is valid? [True, True] Translation: X:-29.20, Y:2.92, Z:0.95 [[ 9.98144278e-01 6.01288559e-02 9.61881521e-03 -2.92031755e+01] [-6.01335827e-02 9.98190318e-01 2.02689203e-04 2.92104554e+00] [-9.58922074e-03 -7.80726888e-04 9.99953718e-01 9.52561931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.643741732 meters 0.06259512250170682 Centerline is valid? [True, True] Translation: X:-29.24, Y:2.93, Z:0.95 [[ 9.98167464e-01 5.99689742e-02 8.08923208e-03 -2.92352455e+01] [-5.99722534e-02 9.98200031e-01 1.63210680e-04 2.92680706e+00] [-8.06488414e-03 -6.48041067e-04 9.99967268e-01 9.52497045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.673741732 meters 0.06241258321489457 Centerline is valid? [True, True] Translation: X:-29.26, Y:2.93, Z:0.94 [[ 9.98109956e-01 6.14253352e-02 1.85556683e-03 -2.92648517e+01] [-6.14255156e-02 9.98111669e-01 4.03378912e-05 2.92512722e+00] [-1.84958514e-03 -1.54240800e-04 9.99998278e-01 9.44801878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.703741732 meters 0.06650049195528387 Centerline is valid? [True, True] Translation: X:-29.30, Y:2.93, Z:0.94 [[ 9.97874662e-01 6.51388551e-02 -1.75765546e-03 -2.92954245e+01] [-6.51390217e-02 9.97876198e-01 -3.76210178e-05 2.92860354e+00] [ 1.75147196e-03 1.52033017e-04 9.99998455e-01 9.36129697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.733741732 meters 0.06702975142834362 Centerline is valid? [True, True] Translation: X:-29.33, Y:2.93, Z:0.95 [[ 9.97647204e-01 6.82441143e-02 6.54196339e-03 -2.93269128e+01] [-6.82464364e-02 9.97668485e-01 1.32105701e-04 2.93088237e+00] [-6.51769527e-03 -5.78260572e-04 9.99978592e-01 9.47818562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.763741732 meters 0.06675765445553042 Centerline is valid? [True, True] Translation: X:-29.36, Y:2.93, Z:0.96 [[ 9.97385841e-01 7.08450988e-02 1.42287393e-02 -2.93590310e+01] [-7.08565684e-02 9.97486469e-01 3.02951143e-04 2.93352743e+00] [-1.41715124e-02 -1.31035882e-03 9.99898720e-01 9.58222063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.793741732 meters 0.06631519120410974 Centerline is valid? [True, True] Translation: X:-29.39, Y:2.94, Z:0.97 [[ 9.97073789e-01 7.46153155e-02 1.66256859e-02 -2.93884512e+01] [-7.46316910e-02 9.97211099e-01 3.65828612e-04 2.93722583e+00] [-1.65520221e-02 -1.60556118e-03 9.99861717e-01 9.67642604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.823741732 meters 0.07339224013017567 Centerline is valid? [True, True] Translation: X:-29.42, Y:2.95, Z:0.97 [[ 9.97111129e-01 7.43077320e-02 1.57403042e-02 -2.94213515e+01] [-7.43222749e-02 9.97234217e-01 3.40175479e-04 2.95457850e+00] [-1.56714923e-02 -1.50904797e-03 9.99876056e-01 9.67528598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.853741732 meters 0.06455043559504656 Centerline is valid? [True, True] Translation: X:-29.45, Y:2.95, Z:0.96 [[ 9.97223850e-01 7.42861438e-02 5.11494346e-03 -2.94519567e+01] [-7.42876958e-02 9.97236845e-01 1.13845479e-04 2.95026878e+00] [-5.09235294e-03 -4.93506791e-04 9.99986912e-01 9.56875331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.883741732 meters 0.06629725666797254 Centerline is valid? [True, True] Translation: X:-29.48, Y:2.96, Z:0.95 [[ 9.97709179e-01 6.76483590e-02 3.06850825e-04 -2.94838266e+01] [-6.76483639e-02 9.97709226e-01 5.62237566e-06 2.96162891e+00] [-3.05767555e-04 -2.63674521e-05 9.99999953e-01 9.49214737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.913741732000002 meters 0.06280576119162708 Centerline is valid? [True, True] Translation: X:-29.51, Y:2.96, Z:0.94 [[ 9.98302456e-01 5.82420971e-02 2.54553562e-04 -2.95143388e+01] [-5.82421003e-02 9.98302488e-01 5.02068299e-06 2.95673269e+00] [-2.53829040e-04 -1.98378943e-05 9.99999968e-01 9.44874528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.943741732 meters 0.0601298038536508 Centerline is valid? [True, True] Translation: X:-29.54, Y:2.96, Z:0.95 [[ 9.98433511e-01 5.55937817e-02 6.31307986e-03 -2.95437585e+01] [-5.55957600e-02 9.98453350e-01 1.38168861e-04 2.95664840e+00] [-6.29563441e-03 -4.88932894e-04 9.99980063e-01 9.54270342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.973741732 meters 0.060963766478554345 Centerline is valid? [True, True] Translation: X:-29.57, Y:2.96, Z:0.96 [[ 9.98093188e-01 6.09312640e-02 9.86757064e-03 -2.95730958e+01] [-6.09364108e-02 9.98141626e-01 2.21498536e-04 2.96466711e+00] [-9.83573682e-03 -8.22370519e-04 9.99951290e-01 9.62816872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.003741732 meters 0.07590785551034608 Centerline is valid? [True, True] Translation: X:-29.60, Y:3.00, Z:0.96 [[ 9.97382396e-01 7.18152826e-02 8.42144849e-03 -2.96048655e+01] [-7.18194109e-02 9.97417634e-01 1.88437684e-04 2.99567649e+00] [-8.38616852e-03 -7.92767899e-04 9.99964521e-01 9.60051094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.033741732 meters 0.07572718292876397 Centerline is valid? [True, True] Translation: X:-29.63, Y:3.01, Z:0.97 [[ 9.96486086e-01 8.32904003e-02 8.84247162e-03 -2.96349579e+01] [-8.32954007e-02 9.96524880e-01 1.98093380e-04 3.00685319e+00] [-8.79524370e-03 -9.33934513e-04 9.99960885e-01 9.65936229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.063741732 meters 0.07462333670288362 Centerline is valid? [True, True] Translation: X:-29.67, Y:3.02, Z:0.96 [[ 9.96602940e-01 8.23471541e-02 1.23501487e-03 -2.96665851e+01] [-8.23472492e-02 9.96603697e-01 2.62557565e-05 3.01509802e+00] [-1.22865830e-03 -1.27866641e-04 9.99999237e-01 9.57387134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.093741732 meters 0.07312208043560911 Centerline is valid? [True, True] Translation: X:-29.70, Y:3.02, Z:0.96 [[ 9.97031093e-01 7.69204358e-02 3.49951073e-03 -2.96975486e+01] [-7.69211793e-02 9.97037174e-01 7.81758848e-05 3.01594161e+00] [-3.48312897e-03 -3.47130280e-04 9.99993874e-01 9.55891112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.123741732 meters 0.06391960807256371 Centerline is valid? [True, True] Translation: X:-29.73, Y:3.01, Z:0.97 [[ 9.97692386e-01 6.52582605e-02 1.87419810e-02 -2.97263135e+01] [-6.52775674e-02 9.97867057e-01 4.19572868e-04 3.00810265e+00] [-1.86746248e-02 -1.64203558e-03 9.99824266e-01 9.74210894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.153741732 meters 0.06005534723993715 Centerline is valid? [True, True] Translation: X:-29.76, Y:3.01, Z:0.97 [[ 9.98138090e-01 5.92919791e-02 1.43113552e-02 -2.97564108e+01] [-5.93026415e-02 9.98239998e-01 3.21437160e-04 3.00936462e+00] [-1.42671085e-02 -1.16953984e-03 9.99897536e-01 9.69319951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.183741732 meters 0.058090995613787756 Centerline is valid? [True, True] Translation: X:-29.79, Y:3.02, Z:0.96 [[ 9.98203130e-01 5.98507767e-02 2.89750779e-03 -2.97865787e+01] [-5.98512179e-02 9.98207307e-01 6.57446570e-05 3.02097943e+00] [-2.88837858e-03 -2.39045893e-04 9.99995800e-01 9.61752048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.213741732 meters 0.06694946303117935 Centerline is valid? [True, True] Translation: X:-29.82, Y:3.05, Z:0.96 [[ 9.97821672e-01 6.56320034e-02 6.65969779e-03 -2.98176887e+01] [-6.56344522e-02 9.97843723e-01 1.49583057e-04 3.04909098e+00] [-6.63552020e-03 -5.86362832e-04 9.99977813e-01 9.61166596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.243741732 meters 0.06371060130751692 Centerline is valid? [True, True] Translation: X:-29.85, Y:3.06, Z:0.97 [[ 9.97757940e-01 6.61062739e-02 1.04429028e-02 -2.98484572e+01] [-6.61122519e-02 9.97812166e-01 2.27902489e-04 3.05590240e+00] [-1.04049897e-02 -9.17795339e-04 9.99945445e-01 9.71763913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.273741732 meters 0.06630613600269707 Centerline is valid? [True, True] Translation: X:-29.88, Y:3.07, Z:0.98 [[ 9.97487496e-01 6.90994937e-02 1.56190813e-02 -2.98801976e+01] [-6.91134349e-02 9.97608745e-01 3.53915466e-04 3.06827182e+00] [-1.55572768e-02 -1.43251461e-03 9.99877952e-01 9.78850610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.303741732 meters 0.05959647487117752 Centerline is valid? [True, True] Translation: X:-29.91, Y:3.07, Z:0.98 [[ 9.97450439e-01 7.00015910e-02 1.38707951e-02 -2.99109017e+01] [-7.00126927e-02 9.97546051e-01 3.15803825e-04 3.07486108e+00] [-1.38146501e-02 -1.28613038e-03 9.99903746e-01 9.76985535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.333741732 meters 0.06695220477534931 Centerline is valid? [True, True] Translation: X:-29.94, Y:3.10, Z:0.97 [[ 9.97663419e-01 6.67957843e-02 1.43536011e-02 -2.99430337e+01] [-6.68073439e-02 9.97765840e-01 3.26838664e-04 3.09860035e+00] [-1.42997014e-02 -1.28500094e-03 9.99896928e-01 9.69274229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.363741732 meters 0.06466724396552441 Centerline is valid? [True, True] Translation: X:-29.97, Y:3.10, Z:0.97 [[ 9.97821542e-01 6.46406447e-02 1.31816875e-02 -2.99728344e+01] [-6.46502224e-02 9.97907941e-01 3.01328261e-04 3.09793823e+00] [-1.31346326e-02 -1.15287086e-03 9.99913072e-01 9.65905610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.393741732 meters 0.06254956597709965 Centerline is valid? [True, True] Translation: X:-30.00, Y:3.10, Z:0.97 [[ 9.98082082e-01 6.10574430e-02 1.02052334e-02 -3.00043716e+01] [-6.10629867e-02 9.98133888e-01 2.32226355e-04 3.09909270e+00] [-1.01720101e-02 -8.54942992e-04 9.99947898e-01 9.66347657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.423741732 meters 0.05728520392520254 Centerline is valid? [True, True] Translation: X:-30.03, Y:3.09, Z:0.97 [[ 9.98122082e-01 5.95893601e-02 1.41921995e-02 -3.00341353e+01] [-5.95999641e-02 9.98222289e-01 3.25019148e-04 3.09383520e+00] [-1.41476022e-02 -1.17026337e-03 9.99899233e-01 9.74986071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.453741732 meters 0.061486291496171755 Centerline is valid? [True, True] Translation: X:-30.07, Y:3.11, Z:0.97 [[ 9.98016060e-01 6.08367760e-02 1.62120497e-02 -3.00668430e+01] [-6.08506793e-02 9.98146814e-01 3.65224470e-04 3.11289542e+00] [-1.61597866e-02 -1.35101412e-03 9.99868509e-01 9.74458287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.483741732 meters 0.059518905092041746 Centerline is valid? [True, True] Translation: X:-30.10, Y:3.12, Z:0.97 [[ 9.97902171e-01 6.38045150e-02 1.09653998e-02 -3.00972497e+01] [-6.38111392e-02 9.97961960e-01 2.54939068e-04 3.12272043e+00] [-1.09267857e-02 -9.54118905e-04 9.99939846e-01 9.69981336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.513741732 meters 0.06219956686722884 Centerline is valid? [True, True] Translation: X:-30.13, Y:3.14, Z:0.98 [[ 9.97838788e-01 6.41864230e-02 1.40661134e-02 -3.01311537e+01] [-6.41972412e-02 9.97937179e-01 3.18464284e-04 3.13737827e+00] [-1.40166564e-02 -1.22078169e-03 9.99901017e-01 9.75197586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.543741732 meters 0.07175840193836153 Centerline is valid? [True, True] Translation: X:-30.16, Y:3.17, Z:0.98 [[ 9.97615810e-01 6.53115055e-02 2.22957847e-02 -3.01645524e+01] [-6.53393332e-02 9.97862967e-01 5.21138364e-04 3.17344964e+00] [-2.22141015e-02 -1.97668758e-03 9.99751282e-01 9.80934275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.573741732 meters 0.07175840193836153 Centerline is valid? [True, True] Translation: X:-30.20, Y:3.17, Z:0.98 [[ 9.97635680e-01 6.50073402e-02 2.22956251e-02 -3.01973643e+01] [-6.50352414e-02 9.97882828e-01 5.27853939e-04 3.17294683e+00] [-2.22141070e-02 -1.97660728e-03 9.99751282e-01 9.82100354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.603741732 meters 0.06820740322254926 Centerline is valid? [True, True] Translation: X:-30.23, Y:3.18, Z:0.97 [[ 9.97182019e-01 7.37514223e-02 1.37385816e-02 -3.02280346e+01] [-7.37629253e-02 9.97275750e-01 3.31755792e-04 3.17857724e+00] [-1.36766868e-02 -1.34421888e-03 9.99905566e-01 9.71684000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.633741732 meters 0.07280128469582126 Centerline is valid? [True, True] Translation: X:-30.26, Y:3.19, Z:0.97 [[ 9.96545937e-01 8.20278948e-02 1.29467932e-02 -3.02587081e+01] [-8.20388057e-02 9.96629087e-01 3.13025409e-04 3.18884471e+00] [-1.28774739e-02 -1.37408365e-03 9.99916138e-01 9.73878163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.663741732000002 meters 0.08178628049769111 Centerline is valid? [True, True] Translation: X:-30.29, Y:3.21, Z:0.99 [[ 9.94584566e-01 1.02740232e-01 1.56839554e-02 -3.02892224e+01] [-1.02758772e-01 9.94706234e-01 3.78693232e-04 3.20761299e+00] [-1.55620212e-02 -1.98830644e-03 9.99876927e-01 9.85296590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.693741732 meters 0.0865777249773879 Centerline is valid? [True, True] Translation: X:-30.32, Y:3.20, Z:0.97 [[ 9.93302608e-01 1.15315930e-01 7.22248224e-03 -3.03197655e+01] [-1.15320185e-01 9.93328357e-01 1.74132205e-04 3.20338306e+00] [-7.15421620e-03 -1.00586396e-03 9.99973902e-01 9.73820555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.723741732 meters 0.08490461862544832 Centerline is valid? [True, True] Translation: X:-30.35, Y:3.19, Z:0.97 [[ 9.93950713e-01 1.09359722e-01 1.01208706e-02 -3.03500441e+01] [-1.09367777e-01 9.94001323e-01 2.44183799e-04 3.18513892e+00] [-1.00334549e-02 -1.34960377e-03 9.99948753e-01 9.74586229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.753741732 meters 0.07499264364678292 Centerline is valid? [True, True] Translation: X:-30.38, Y:3.14, Z:0.99 [[ 9.95652551e-01 9.05455219e-02 2.18519217e-02 -3.03798837e+01] [-9.05786593e-02 9.95889164e-01 5.29434369e-04 3.14105312e+00] [-2.17141541e-02 -2.50645045e-03 9.99761078e-01 9.87025086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.783741732 meters 0.07025414216529664 Centerline is valid? [True, True] Translation: X:-30.41, Y:3.11, Z:0.98 [[ 9.96637168e-01 8.01621534e-02 1.69819148e-02 -3.04101834e+01] [-8.01806731e-02 9.96780262e-01 4.11418633e-04 3.10871589e+00] [-1.68942572e-02 -1.77165646e-03 9.99855712e-01 9.83951207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.813741732 meters 0.0780228942983614 Centerline is valid? [True, True] Translation: X:-30.44, Y:3.11, Z:0.98 [[ 9.96484256e-01 8.29992167e-02 1.14130212e-02 -3.04411796e+01] [-8.30077721e-02 9.96548861e-01 2.77155388e-04 3.10555286e+00] [-1.13506296e-02 -1.22355044e-03 9.99934831e-01 9.78924274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.843741732 meters 0.07651682718441177 Centerline is valid? [True, True] Translation: X:-30.47, Y:3.07, Z:0.99 [[ 9.96189427e-01 8.56089410e-02 1.66654005e-02 -3.04701483e+01] [-8.56275456e-02 9.96327135e-01 4.04706320e-04 3.07177699e+00] [-1.65695443e-02 -1.83018150e-03 9.99861041e-01 9.90762933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.873741732 meters 0.07071866786925117 Centerline is valid? [True, True] Translation: X:-30.50, Y:3.03, Z:0.99 [[ 9.96982299e-01 7.66469763e-02 1.23099927e-02 -3.04990294e+01] [-7.66564479e-02 9.97057521e-01 2.98737733e-04 3.03324444e+00] [-1.22508735e-02 -1.24147655e-03 9.99924185e-01 9.94040936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.903741732 meters 0.06825409354582698 Centerline is valid? [True, True] Translation: X:-30.53, Y:3.02, Z:1.00 [[ 9.96991957e-01 7.48814650e-02 1.99950769e-02 -3.05289959e+01] [-7.49061585e-02 9.97190468e-01 4.87843004e-04 3.02307163e+00] [-1.99023696e-02 -1.98412995e-03 9.99799959e-01 1.00320268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.933741732 meters 0.06585382789136149 Centerline is valid? [True, True] Translation: X:-30.56, Y:3.02, Z:1.01 [[ 9.97024956e-01 7.38107680e-02 2.22082969e-02 -3.05601637e+01] [-7.38409140e-02 9.97269888e-01 5.39331909e-04 3.01758963e+00] [-2.21078573e-02 -2.17760832e-03 9.99753220e-01 1.00867302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.963741732 meters 0.06655253463249565 Centerline is valid? [True, True] Translation: X:-30.59, Y:3.02, Z:1.01 [[ 9.97109967e-01 7.27210184e-02 2.19856176e-02 -3.05926565e+01] [-7.27504225e-02 9.97350031e-01 5.39507085e-04 3.01784497e+00] [-2.18881229e-02 -2.13741086e-03 9.99758142e-01 1.00972449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.993741732 meters 0.06950522137348863 Centerline is valid? [True, True] Translation: X:-30.63, Y:3.02, Z:1.00 [[ 9.97252455e-01 7.20176101e-02 1.73495111e-02 -3.06255567e+01] [-7.20358631e-02 9.97401950e-01 4.28628021e-04 3.01837045e+00] [-1.72735675e-02 -1.67723735e-03 9.99849394e-01 1.00124802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.023741732 meters 0.0660631237513538 Centerline is valid? [True, True] Translation: X:-30.66, Y:3.00, Z:1.01 [[ 9.97717542e-01 6.53073938e-02 1.71653817e-02 -3.06553283e+01] [-6.53244444e-02 9.97863983e-01 4.33900945e-04 2.99623380e+00] [-1.71003792e-02 -1.55422961e-03 9.99852570e-01 1.00983143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.053741732 meters 0.06806406225635096 Centerline is valid? [True, True] Translation: X:-30.69, Y:3.00, Z:1.00 [[ 9.97802405e-01 6.59638380e-02 6.25568616e-03 -3.06866525e+01] [-6.59661159e-02 9.97821851e-01 1.58284865e-04 3.00011765e+00] [-6.23161927e-03 -5.70600338e-04 9.99980420e-01 1.00094740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.083741732 meters 0.07159081735707232 Centerline is valid? [True, True] Translation: X:-30.72, Y:3.00, Z:1.00 [[ 9.97506679e-01 7.04675074e-02 3.84140399e-03 -3.07171042e+01] [-7.04684004e-02 9.97514007e-01 9.74245332e-05 3.00166573e+00] [-3.82498903e-03 -3.67879217e-04 9.99992617e-01 9.97856535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.113741732 meters 0.07376685447130658 Centerline is valid? [True, True] Translation: X:-30.75, Y:3.00, Z:1.00 [[ 9.97097692e-01 7.60199126e-02 4.14307458e-03 -3.07475781e+01] [-7.60209961e-02 9.97106212e-01 1.04435353e-04 3.00216527e+00] [-4.12314623e-03 -4.19092906e-04 9.99991412e-01 9.99009468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.143741732 meters 0.08009458453804791 Centerline is valid? [True, True] Translation: X:-30.78, Y:3.01, Z:1.02 [[ 9.95346864e-01 9.49361314e-02 1.64848548e-02 -3.07768910e+01] [-9.49558841e-02 9.95481394e-01 4.17905233e-04 3.01480231e+00] [-1.63706919e-02 -1.98129462e-03 9.99864028e-01 1.02129189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.173741732 meters 0.07837780852059215 Centerline is valid? [True, True] Translation: X:-30.81, Y:3.01, Z:1.03 [[ 9.95471248e-01 9.34218583e-02 1.75883910e-02 -3.08079519e+01] [-9.34441116e-02 9.95624427e-01 4.45875588e-04 3.01409007e+00] [-1.74697772e-02 -2.08738790e-03 9.99845213e-01 1.02537451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.203741732 meters 0.07519851906022744 Centerline is valid? [True, True] Translation: X:-30.84, Y:3.01, Z:1.02 [[ 9.96146937e-01 8.58683001e-02 1.78301961e-02 -3.08374945e+01] [-8.58899727e-02 9.96304526e-01 4.51881477e-04 3.00776399e+00] [-1.77255027e-02 -1.98157540e-03 9.99840927e-01 1.01841320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.233741732 meters 0.06379645403691356 Centerline is valid? [True, True] Translation: X:-30.87, Y:2.99, Z:1.02 [[ 9.97411295e-01 7.01239700e-02 1.59165614e-02 -3.08669871e+01] [-7.01392684e-02 9.97537127e-01 4.04297544e-04 2.99007928e+00] [-1.58490100e-02 -1.51962691e-03 9.99873242e-01 1.02208541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.263741732 meters 0.07574115339546653 Centerline is valid? [True, True] Translation: X:-30.90, Y:3.01, Z:1.03 [[ 9.97413450e-01 7.00564464e-02 1.60780928e-02 -3.08996322e+01] [-7.00719727e-02 9.97541857e-01 4.03681390e-04 3.01111839e+00] [-1.60102901e-02 -1.52926093e-03 9.99870658e-01 1.02663254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.293741732 meters 0.09290390087740177 Centerline is valid? [True, True] Translation: X:-30.93, Y:3.04, Z:1.02 [[ 9.94293125e-01 1.06648133e-01 2.71259188e-03 -3.09302302e+01] [-1.06648713e-01 9.94296760e-01 6.95655808e-05 3.03835655e+00] [-2.68970228e-03 -3.58463012e-04 9.99996318e-01 1.01601157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.323741732 meters 0.09516701034080184 Centerline is valid? [True, True] Translation: X:-30.96, Y:3.04, Z:1.02 [[ 9.93756814e-01 1.11308021e-01 7.61047405e-03 -3.09609268e+01] [-1.11312722e-01 9.93785409e-01 1.95654800e-04 3.04127009e+00] [-7.54140012e-03 -1.04157588e-03 9.99971021e-01 1.02400599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.353741732 meters 0.09256236669709811 Centerline is valid? [True, True] Translation: X:-30.99, Y:3.04, Z:1.03 [[ 9.93541212e-01 1.12674012e-01 1.34322913e-02 -3.09920117e+01] [-1.12688720e-01 9.93630281e-01 3.40755926e-04 3.03680205e+00] [-1.33083371e-02 -1.85222277e-03 9.99909725e-01 1.03354821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.383741732 meters 0.08559577132590997 Centerline is valid? [True, True] Translation: X:-31.02, Y:3.02, Z:1.05 [[ 9.93409315e-01 1.12788825e-01 2.04111169e-02 -3.10221993e+01] [-1.12823016e-01 9.93614960e-01 5.27708876e-04 3.02314700e+00] [-2.02212715e-02 -2.82707468e-03 9.99791532e-01 1.04775314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.413741732000002 meters 0.08588083798204535 Centerline is valid? [True, True] Translation: X:-31.05, Y:3.01, Z:1.04 [[ 9.94444088e-01 1.04316846e-01 1.41050336e-02 -3.10534130e+01] [-1.04332420e-01 9.94542412e-01 3.70840487e-04 3.01448856e+00] [-1.39893693e-02 -1.84039243e-03 9.99900450e-01 1.03746348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.443741732 meters 0.08675874244360042 Centerline is valid? [True, True] Translation: X:-31.08, Y:3.01, Z:1.03 [[ 9.95376477e-01 9.56574401e-02 8.67893638e-03 -3.10845630e+01] [-9.56630114e-02 9.95413751e-01 2.28130820e-04 3.00705628e+00] [-8.61731021e-03 -1.05732924e-03 9.99962311e-01 1.02674239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.473741732 meters 0.07602824868120445 Centerline is valid? [True, True] Translation: X:-31.11, Y:2.98, Z:1.03 [[ 9.96289208e-01 8.56975244e-02 7.98431683e-03 -3.11139204e+01] [-8.57019243e-02 9.96320800e-01 2.09941578e-04 2.97852567e+00] [-7.93694946e-03 -8.93433845e-04 9.99968103e-01 1.03062071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.503741732 meters 0.07548212982687597 Centerline is valid? [True, True] Translation: X:-31.15, Y:2.96, Z:1.04 [[ 9.96099675e-01 8.71359484e-02 1.38839341e-02 -3.11451537e+01] [-8.71493245e-02 9.96195194e-01 3.60178120e-04 2.96114045e+00] [-1.37997240e-02 -1.56874879e-03 9.99903549e-01 1.04454124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.533741732 meters 0.08735950186177147 Centerline is valid? [True, True] Translation: X:-31.18, Y:2.97, Z:1.04 [[ 9.95811162e-01 9.08815321e-02 1.00337606e-02 -3.11763230e+01] [-9.08887735e-02 9.95861014e-01 2.67136860e-04 2.96593585e+00] [-9.96795322e-03 -1.17797406e-03 9.99949625e-01 1.04390092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.563741732 meters 0.08224832428603997 Centerline is valid? [True, True] Translation: X:-31.21, Y:2.95, Z:1.04 [[ 9.95578847e-01 9.36795076e-02 6.84902625e-03 -3.12055044e+01] [-9.36829476e-02 9.95602065e-01 1.82471940e-04 2.94930902e+00] [-6.80181079e-03 -8.23302171e-04 9.99976528e-01 1.04091517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.593741732 meters 0.09076371472184423 Centerline is valid? [True, True] Translation: X:-31.24, Y:2.96, Z:1.04 [[ 9.95894299e-01 9.02620614e-02 6.87794348e-03 -3.12365690e+01] [-9.02654441e-02 9.95917726e-01 1.82345986e-04 2.95558691e+00] [-6.83340691e-03 -8.02437951e-04 9.99976330e-01 1.03879099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.623741732 meters 0.0744787438950493 Centerline is valid? [True, True] Translation: X:-31.26, Y:2.93, Z:1.06 [[ 9.96111773e-01 8.64524502e-02 1.69502291e-02 -3.12645850e+01] [-8.64724968e-02 9.96254136e-01 4.51970209e-04 2.92871133e+00] [-1.68476619e-02 -1.91594148e-03 9.99856232e-01 1.05779891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.653741732 meters 0.06955925765799982 Centerline is valid? [True, True] Translation: X:-31.29, Y:2.93, Z:1.07 [[ 9.96518979e-01 8.12018766e-02 1.88727183e-02 -3.12939940e+01] [-8.12258572e-02 9.96695592e-01 5.06328159e-04 2.92560175e+00] [-1.87692404e-02 -2.03751834e-03 9.99821766e-01 1.06533784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.683741732 meters 0.06822486655752355 Centerline is valid? [True, True] Translation: X:-31.32, Y:2.92, Z:1.07 [[ 9.96621397e-01 7.98371445e-02 1.92826871e-02 -3.13244040e+01] [-7.98619115e-02 9.96805803e-01 5.16572446e-04 2.92393086e+00] [-1.91798527e-02 -2.05477940e-03 9.99813938e-01 1.06725360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.713741732 meters 0.07500365492927107 Centerline is valid? [True, True] Translation: X:-31.36, Y:2.93, Z:1.04 [[ 9.96795413e-01 7.99845779e-02 1.17092263e-03 -3.13555835e+01] [-7.99846689e-02 9.96796093e-01 3.10213656e-05 2.92928582e+00] [-1.16468987e-03 -1.24577813e-04 9.99999314e-01 1.04423838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.743741732 meters 0.07190538812679144 Centerline is valid? [True, True] Translation: X:-31.39, Y:2.93, Z:1.07 [[ 9.96561065e-01 8.18377901e-02 1.29853586e-02 -3.13860317e+01] [-8.18491204e-02 9.96644673e-01 3.42618399e-04 2.92990470e+00] [-1.29137493e-02 -1.40428033e-03 9.99915628e-01 1.06823313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.773741732 meters 0.07037439547732738 Centerline is valid? [True, True] Translation: X:-31.42, Y:2.94, Z:1.08 [[ 9.96138077e-01 8.42044188e-02 2.48705981e-02 -3.14175539e+01] [-8.42470833e-02 9.96444669e-01 6.70808536e-04 2.93514652e+00] [-2.47256898e-02 -2.76349327e-03 9.99690454e-01 1.08451290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.803741732 meters 0.07415603104719434 Centerline is valid? [True, True] Translation: X:-31.45, Y:2.95, Z:1.08 [[ 9.95843621e-01 8.85618420e-02 2.12669524e-02 -3.14486474e+01] [-8.85942032e-02 9.96067632e-01 5.82493871e-04 2.94525325e+00] [-2.11317362e-02 -2.46420151e-03 9.99773663e-01 1.07759555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.833741732 meters 0.08008080269289157 Centerline is valid? [True, True] Translation: X:-31.48, Y:2.96, Z:1.06 [[ 9.96094310e-01 8.80157656e-02 7.02497155e-03 -3.14803182e+01] [-8.80192780e-02 9.96118753e-01 1.91790630e-04 2.95769116e+00] [-6.98082530e-03 -8.09374478e-04 9.99975306e-01 1.05780720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.863741732 meters 0.07460626125727596 Centerline is valid? [True, True] Translation: X:-31.51, Y:2.95, Z:1.06 [[ 9.96037855e-01 8.84175492e-02 9.53559046e-03 -3.15111729e+01] [-8.84239822e-02 9.96082895e-01 2.54333629e-04 2.94911935e+00] [-9.47575100e-03 -1.09650080e-03 9.99954503e-01 1.06466903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.893741732 meters 0.07887617514233083 Centerline is valid? [True, True] Translation: X:-31.54, Y:2.97, Z:1.07 [[ 9.95810735e-01 9.10461506e-02 8.46036731e-03 -3.15425613e+01] [-9.10513762e-02 9.95846169e-01 2.33750463e-04 2.96508852e+00] [-8.40394229e-03 -1.00309931e-03 9.99964183e-01 1.06723554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.923741732 meters 0.07545832211437738 Centerline is valid? [True, True] Translation: X:-31.57, Y:2.97, Z:1.08 [[ 9.95480165e-01 9.36833704e-02 1.55777747e-02 -3.15732758e+01] [-9.37014083e-02 9.95600251e-01 4.30502976e-04 2.97460337e+00] [-1.54689054e-02 -1.88821660e-03 9.99878566e-01 1.07826222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.953741732 meters 0.07533895677195161 Centerline is valid? [True, True] Translation: X:-31.61, Y:2.98, Z:1.09 [[ 9.95502485e-01 9.30227616e-02 1.79323386e-02 -3.16052206e+01] [-9.30465636e-02 9.95661635e-01 4.95777231e-04 2.98293417e+00] [-1.78084230e-02 -2.16208995e-03 9.99839080e-01 1.08662410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.983741732 meters 0.07604898721778697 Centerline is valid? [True, True] Translation: X:-31.64, Y:2.99, Z:1.08 [[ 9.95156185e-01 9.73992531e-02 1.33248881e-02 -3.16356875e+01] [-9.74128123e-02 9.95243993e-01 3.70818650e-04 2.99216751e+00] [-1.32253974e-02 -1.66703730e-03 9.99911151e-01 1.08378487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.013741732 meters 0.09459021899839204 Centerline is valid? [True, True] Translation: X:-31.67, Y:3.03, Z:1.07 [[ 9.93602825e-01 1.12764514e-01 6.13113649e-03 -3.16679744e+01] [-1.12767666e-01 9.93621369e-01 1.69852772e-04 3.02742773e+00] [-6.07287487e-03 -8.60160148e-04 9.99981190e-01 1.06989107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.043741732 meters 0.10580151606023866 Centerline is valid? [True, False] Translation: X:-31.67, Y:3.04, Z:1.06 [[ 9.94474750e-01 1.02924611e-01 2.06517787e-02 -3.16700364e+01] [-1.02933567e-01 9.94688032e-01 -6.31668488e-04 3.03792945e+00] [-2.06070913e-02 -1.49758289e-03 9.99786530e-01 1.06185034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.073741732 meters 0.09280973027154092 Centerline is valid? [False, True] Translation: X:-31.76, Y:3.05, Z:1.05 [[ 9.97136906e-01 5.04314739e-02 5.63440919e-02 -3.17550172e+01] [-5.08696324e-02 9.98684996e-01 6.36857387e-03 3.04500949e+00] [-5.59488227e-02 -9.21654329e-03 9.98391098e-01 1.05336441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.103741732 meters 0.09086025776017143 Centerline is valid? [True, True] Translation: X:-31.78, Y:3.02, Z:1.06 [[ 9.97409241e-01 4.02056024e-02 5.96516163e-02 -3.17824617e+01] [-4.06848102e-02 9.99148616e-01 6.84027929e-03 3.02326774e+00] [-5.93258123e-02 -9.24947246e-03 9.98195820e-01 1.06136235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.133741732 meters 0.0978214855118662 Centerline is valid? [True, True] Translation: X:-31.81, Y:3.02, Z:1.06 [[ 9.97687324e-01 3.28555934e-02 5.95022154e-02 -3.18129091e+01] [-3.33197522e-02 9.99421439e-01 6.82512330e-03 3.01893208e+00] [-5.92435463e-02 -8.79193808e-03 9.98204841e-01 1.06158153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.163741732000002 meters 0.08617907787906373 Centerline is valid? [True, True] Translation: X:-31.84, Y:2.98, Z:1.07 [[ 9.97655915e-01 3.26049055e-02 6.01630789e-02 -3.18401670e+01] [-3.30785413e-02 9.99428984e-01 6.89317681e-03 2.98077598e+00] [-5.99039734e-02 -8.86712551e-03 9.98164760e-01 1.07272180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.193741732 meters 0.094841893851416 Centerline is valid? [True, True] Translation: X:-31.87, Y:2.98, Z:1.07 [[ 9.97634755e-01 3.44379982e-02 5.94888282e-02 -3.18706351e+01] [-3.49058963e-02 9.99367170e-01 6.84381457e-03 2.97819940e+00] [-5.92154946e-02 -8.90413813e-03 9.98205511e-01 1.07065539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.223741732 meters 0.08944938065908875 Centerline is valid? [True, True] Translation: X:-31.90, Y:2.95, Z:1.07 [[ 9.97774860e-01 3.37485649e-02 5.75009801e-02 -3.18994236e+01] [-3.41840225e-02 9.99393723e-01 6.60605027e-03 2.94547154e+00] [-5.72431738e-02 -8.55696568e-03 9.98323594e-01 1.07493965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.253741732 meters 0.09206044562491272 Centerline is valid? [True, True] Translation: X:-31.93, Y:2.93, Z:1.08 [[ 9.97772709e-01 3.28239531e-02 5.80707203e-02 -3.19291582e+01] [-3.32677682e-02 9.99424069e-01 6.69222714e-03 2.92830622e+00] [-5.78176102e-02 -8.60920486e-03 9.98290041e-01 1.07909762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.283741732 meters 0.08982408881287653 Centerline is valid? [True, True] Translation: X:-31.96, Y:2.89, Z:1.08 [[ 9.98039683e-01 2.35379476e-02 5.79892685e-02 -3.19556248e+01] [-2.39664256e-02 9.99690282e-01 6.70445316e-03 2.89347649e+00] [-5.78134992e-02 -8.08110580e-03 9.98294693e-01 1.08327983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.313741732 meters 0.08834372863054771 Centerline is valid? [True, True] Translation: X:-31.99, Y:2.88, Z:1.08 [[ 9.98310348e-01 2.25954230e-02 5.35340700e-02 -3.19853014e+01] [-2.29589834e-02 9.99717270e-01 6.18589465e-03 2.87951796e+00] [-5.33791614e-02 -7.40453046e-03 9.98546863e-01 1.08089850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.343741732 meters 0.08253887466702609 Centerline is valid? [True, True] Translation: X:-32.01, Y:2.87, Z:1.09 [[ 9.98021822e-01 2.38669516e-02 5.81619349e-02 -3.20145451e+01] [-2.42987571e-02 9.99682100e-01 6.72820723e-03 2.86613035e+00] [-5.79828634e-02 -8.12816038e-03 9.98284489e-01 1.09337235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.373741732 meters 0.08156814247507424 Centerline is valid? [True, True] Translation: X:-32.04, Y:2.86, Z:1.10 [[ 9.97611877e-01 2.72585858e-02 6.34626886e-02 -3.20440442e+01] [-2.77811501e-02 9.99586888e-01 7.36622348e-03 2.86158699e+00] [-6.32356786e-02 -9.11169851e-03 9.97957026e-01 1.10229463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.403741732 meters 0.08819581941226444 Centerline is valid? [True, True] Translation: X:-32.08, Y:2.86, Z:1.10 [[ 9.97968224e-01 3.31609339e-02 5.44038182e-02 -3.20752296e+01] [-3.35533276e-02 9.99416978e-01 6.31489655e-03 2.86342642e+00] [-5.41626917e-02 -8.12749523e-03 9.98499047e-01 1.09819175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.433741732 meters 0.08836265265327538 Centerline is valid? [True, True] Translation: X:-32.11, Y:2.85, Z:1.10 [[ 9.98005392e-01 3.33972732e-02 5.35710628e-02 -3.21066960e+01] [-3.37778847e-02 9.99410040e-01 6.21493900e-03 2.85051627e+00] [-5.33318960e-02 -8.01205982e-03 9.98544699e-01 1.10021968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.463741732 meters 0.08836265265327538 Centerline is valid? [True, True] Translation: X:-32.14, Y:2.85, Z:1.10 [[ 9.98016268e-01 3.30704039e-02 5.35712272e-02 -3.21393917e+01] [-3.34504818e-02 9.99421061e-01 6.21353840e-03 2.84693109e+00] [-5.33347285e-02 -7.99319577e-03 9.98544699e-01 1.10299874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.493741732 meters 0.08460876502573655 Centerline is valid? [True, True] Translation: X:-32.17, Y:2.83, Z:1.12 [[ 9.97399035e-01 3.01374868e-02 6.54744013e-02 -3.21669540e+01] [-3.07016962e-02 9.99499484e-01 7.62801341e-03 2.83227881e+00] [-6.52117412e-02 -9.61834839e-03 9.97825093e-01 1.12175601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.523741732 meters 0.08882726775346157 Centerline is valid? [True, True] Translation: X:-32.20, Y:2.84, Z:1.12 [[ 9.97769468e-01 2.70728928e-02 6.10175943e-02 -3.21990444e+01] [-2.75571940e-02 9.99594947e-01 7.10942417e-03 2.83772044e+00] [-6.08004062e-02 -8.77504006e-03 9.98111371e-01 1.11628633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.553741732 meters 0.09153721745200571 Centerline is valid? [True, True] Translation: X:-32.23, Y:2.84, Z:1.11 [[ 9.98377155e-01 2.32704442e-02 5.19763630e-02 -3.22309065e+01] [-2.36166444e-02 9.99702743e-01 6.05643306e-03 2.83850531e+00] [-5.18199768e-02 -7.27411170e-03 9.98629950e-01 1.10798088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.583741732 meters 0.08450943821834374 Centerline is valid? [True, True] Translation: X:-32.26, Y:2.83, Z:1.13 [[ 9.97926446e-01 2.36879470e-02 5.98472232e-02 -3.22595745e+01] [-2.41475451e-02 9.99684122e-01 6.96789766e-03 2.82677452e+00] [-5.96632636e-02 -8.39861287e-03 9.98183229e-01 1.12619102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.613741732 meters 0.08475719343690245 Centerline is valid? [True, True] Translation: X:-32.29, Y:2.84, Z:1.14 [[ 9.97158879e-01 3.09140483e-02 6.86912806e-02 -3.22894611e+01] [-3.15383982e-02 9.99470339e-01 8.02313492e-03 2.83720600e+00] [-6.84068699e-02 -1.01667532e-02 9.97605702e-01 1.14069235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.643741732 meters 0.09305610931266099 Centerline is valid? [True, True] Translation: X:-32.32, Y:2.86, Z:1.14 [[ 9.97403847e-01 3.67090531e-02 6.19516781e-02 -3.23228379e+01] [-3.72275195e-02 9.99280624e-01 7.23508584e-03 2.85631990e+00] [-6.16415184e-02 -9.52260975e-03 9.98052926e-01 1.13769277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.673741732 meters 0.09402874566499649 Centerline is valid? [True, True] Translation: X:-32.36, Y:2.87, Z:1.13 [[ 9.97744927e-01 4.07478289e-02 5.33354884e-02 -3.23550228e+01] [-4.11375828e-02 9.99134069e-01 6.22981834e-03 2.86538655e+00] [-5.30354520e-02 -8.40986272e-03 9.98557217e-01 1.12626916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.703741732 meters 0.09201258163393865 Centerline is valid? [True, True] Translation: X:-32.39, Y:2.87, Z:1.14 [[ 9.96915340e-01 4.32651732e-02 6.54822866e-02 -3.23862447e+01] [-4.38582749e-02 9.99008500e-01 7.64651441e-03 2.87152451e+00] [-6.50865332e-02 -1.04948676e-02 9.97824434e-01 1.14167344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.733741732 meters 0.0912495840477761 Centerline is valid? [True, True] Translation: X:-32.42, Y:2.87, Z:1.15 [[ 9.96584575e-01 4.12305786e-02 7.15487507e-02 -3.24169191e+01] [-4.19344175e-02 9.99085368e-01 8.36249260e-03 2.87215101e+00] [-7.11385195e-02 -1.13342863e-02 9.97402048e-01 1.14820359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.763741732 meters 0.09430326663505145 Centerline is valid? [True, True] Translation: X:-32.45, Y:2.88, Z:1.13 [[ 9.97716419e-01 3.48205872e-02 5.78746444e-02 -3.24500149e+01] [-3.52702342e-02 9.99354909e-01 6.76577909e-03 2.87711987e+00] [-5.76017216e-02 -8.79158114e-03 9.98300931e-01 1.13353288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.793741732 meters 0.08978396622823158 Centerline is valid? [True, True] Translation: X:-32.48, Y:2.87, Z:1.14 [[ 9.97572161e-01 3.09248203e-02 6.23974354e-02 -3.24786422e+01] [-3.14402978e-02 9.99479002e-01 7.29609050e-03 2.87178642e+00] [-6.21392962e-02 -9.24017072e-03 9.98024713e-01 1.14233855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.823741732 meters 0.08585457602865641 Centerline is valid? [True, True] Translation: X:-32.51, Y:2.87, Z:1.15 [[ 9.97488183e-01 2.56398910e-02 6.60296893e-02 -3.25079151e+01] [-2.62060695e-02 9.99626732e-01 7.72264956e-03 2.86551863e+00] [-6.58070346e-02 -9.43363030e-03 9.97787773e-01 1.15353000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.853741732 meters 0.0839772391216322 Centerline is valid? [True, True] Translation: X:-32.54, Y:2.86, Z:1.14 [[ 9.98328575e-01 1.44398027e-02 5.59602474e-02 -3.25389256e+01] [-1.48289550e-02 9.99868623e-01 6.54507244e-03 2.85841401e+00] [-5.58583860e-02 -7.36396483e-03 9.98411545e-01 1.14068954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.883741732 meters 0.07974641554887081 Centerline is valid? [True, True] Translation: X:-32.57, Y:2.85, Z:1.14 [[ 9.98363125e-01 8.30345006e-03 5.65873011e-02 -3.25681339e+01] [-8.69166181e-03 9.99940328e-01 6.61774056e-03 2.85369655e+00] [-5.65289744e-02 -7.09874583e-03 9.98375722e-01 1.14413222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.913741732000002 meters 0.08192905553608419 Centerline is valid? [True, True] Translation: X:-32.60, Y:2.87, Z:1.15 [[ 9.97805195e-01 1.44789019e-02 6.46154317e-02 -3.26002501e+01] [-1.49983991e-02 9.99858922e-01 7.56199028e-03 2.86682388e+00] [-6.44968266e-02 -8.51452122e-03 9.97881587e-01 1.15416436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.943741732 meters 0.08234057797209571 Centerline is valid? [True, True] Translation: X:-32.63, Y:2.89, Z:1.16 [[ 9.97533208e-01 2.26016065e-02 6.64580114e-02 -3.26329622e+01] [-2.31689282e-02 9.99701306e-01 7.77813950e-03 2.88738090e+00] [-6.62623623e-02 -9.29871334e-03 9.97758905e-01 1.15970153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.973741732 meters 0.08365383562315337 Centerline is valid? [True, True] Translation: X:-32.67, Y:2.90, Z:1.16 [[ 9.97449634e-01 1.93956953e-02 6.86879441e-02 -3.26655819e+01] [-1.99943931e-02 9.99767769e-01 8.03938845e-03 2.89896990e+00] [-6.85160631e-02 -9.39225882e-03 9.97605801e-01 1.16298957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.003741732 meters 0.07775300009750528 Centerline is valid? [True, True] Translation: X:-32.70, Y:2.90, Z:1.16 [[ 9.98133901e-01 1.20958267e-02 5.98532175e-02 -3.26968961e+01] [-1.25374230e-02 9.99896846e-01 7.00794388e-03 2.90385924e+00] [-5.97622765e-02 -7.74527146e-03 9.98182589e-01 1.15650417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.033741731999996 meters 0.07984735270899497 Centerline is valid? [True, True] Translation: X:-32.73, Y:2.93, Z:1.16 [[ 9.97931828e-01 1.16405468e-02 6.32183927e-02 -3.27315791e+01] [-1.21320301e-02 9.99899051e-01 7.39606455e-03 2.92797544e+00] [-6.31259167e-02 -8.14773566e-03 9.97972311e-01 1.16002852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.063741732 meters 0.07860465385503283 Centerline is valid? [True, True] Translation: X:-32.76, Y:2.94, Z:1.18 [[ 9.96762998e-01 1.72010348e-02 7.85343945e-02 -3.27623012e+01] [-1.79796453e-02 9.99795861e-01 9.21789465e-03 2.94465272e+00] [-7.83598053e-02 -1.06000769e-02 9.96868787e-01 1.18449926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.093741732 meters 0.08519003356447244 Centerline is valid? [True, True] Translation: X:-32.80, Y:2.97, Z:1.17 [[ 9.97702495e-01 1.72650211e-02 6.55106875e-02 -3.27983250e+01] [-1.78063492e-02 9.99811894e-01 7.68829687e-03 2.97287314e+00] [-6.53656259e-02 -8.83713915e-03 9.97822249e-01 1.17143918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.123741732 meters 0.07893820005146458 Centerline is valid? [True, True] Translation: X:-32.83, Y:2.97, Z:1.17 [[ 9.97915723e-01 1.53170780e-02 6.26864917e-02 -3.28299418e+01] [-1.58090653e-02 9.99847941e-01 7.35989506e-03 2.97468639e+00] [-6.25642276e-02 -8.33556984e-03 9.98006130e-01 1.16510371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.15374173199999 meters 0.085000464289244 Centerline is valid? [True, True] Translation: X:-32.86, Y:2.99, Z:1.17 [[ 9.97476249e-01 2.06365560e-02 6.79357401e-02 -3.28631271e+01] [-2.12268077e-02 9.99742855e-01 7.97793818e-03 2.99364057e+00] [-6.77536336e-02 -9.39986274e-03 9.97657801e-01 1.16732102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.183741731999994 meters 0.08758404929050492 Centerline is valid? [True, True] Translation: X:-32.89, Y:3.00, Z:1.17 [[ 9.97534253e-01 2.51570235e-02 6.55174580e-02 -3.28933232e+01] [-2.57155288e-02 9.99639684e-01 7.69507578e-03 2.99555186e+00] [-6.53002658e-02 -9.36091775e-03 9.97821752e-01 1.17324012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.213741731999995 meters 0.08694652813777505 Centerline is valid? [True, True] Translation: X:-32.92, Y:2.99, Z:1.19 [[ 9.97217250e-01 2.80849373e-02 6.90578960e-02 -3.29234584e+01] [-2.87124582e-02 9.99554805e-01 8.11094191e-03 2.99359959e+00] [-6.87993565e-02 -1.00711931e-02 9.97579681e-01 1.18523037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.243741732 meters 0.08829209027592 Centerline is valid? [True, True] Translation: X:-32.95, Y:3.00, Z:1.18 [[ 9.96881535e-01 3.24266222e-02 7.19424785e-02 -3.29545564e+01] [-3.31190050e-02 9.99415678e-01 8.45188971e-03 3.00279362e+00] [-7.16263746e-02 -1.08081961e-02 9.97372972e-01 1.18459582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.273741732 meters 0.08875975137569904 Centerline is valid? [True, True] Translation: X:-32.99, Y:3.01, Z:1.18 [[ 9.97128629e-01 3.49499828e-02 6.71788361e-02 -3.29850391e+01] [-3.55590692e-02 9.99336414e-01 7.89200043e-03 3.00598593e+00] [-6.68584320e-02 -1.02581565e-02 9.97709738e-01 1.18255078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.303741732 meters 0.08458181462414947 Centerline is valid? [True, True] Translation: X:-33.01, Y:3.00, Z:1.19 [[ 9.96777392e-01 3.41883555e-02 7.25671206e-02 -3.30146409e+01] [-3.48972075e-02 9.99354567e-01 8.52256871e-03 3.00345567e+00] [-7.22289108e-02 -1.10274937e-02 9.97327117e-01 1.19021361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.333741732 meters 0.07911534242807279 Centerline is valid? [True, True] Translation: X:-33.04, Y:2.99, Z:1.19 [[ 9.97380116e-01 2.50007721e-02 6.78812600e-02 -3.30434593e+01] [-2.56002024e-02 9.99640450e-01 7.97495186e-03 2.99416236e+00] [-6.76574733e-02 -9.69183240e-03 9.97661533e-01 1.18981738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.363741731999994 meters 0.08762760045822454 Centerline is valid? [True, True] Translation: X:-33.08, Y:3.00, Z:1.18 [[ 9.97811306e-01 1.66667266e-02 6.39907617e-02 -3.30762214e+01] [-1.71826735e-02 9.99824080e-01 7.52094975e-03 3.00399035e+00] [-6.38541548e-02 -8.60402106e-03 9.97922150e-01 1.17775751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.393741731999995 meters 0.08362720569071086 Centerline is valid? [True, True] Translation: X:-33.11, Y:2.99, Z:1.18 [[ 9.97975911e-01 8.89063869e-03 6.29685373e-02 -3.31052349e+01] [-9.37511630e-03 9.99928651e-01 7.40267919e-03 2.99250221e+00] [-6.28982300e-02 -7.97803287e-03 9.97988058e-01 1.18086706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.423741731999996 meters 0.07735913978189696 Centerline is valid? [True, True] Translation: X:-33.13, Y:2.98, Z:1.21 [[ 9.96736033e-01 6.60559723e-03 8.04589704e-02 -3.31323151e+01] [-7.39036832e-03 9.99927945e-01 9.45979213e-03 2.98491098e+00] [-8.03906854e-02 -1.00235371e-02 9.96713031e-01 1.21396380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.453741732 meters 0.07163921635330713 Centerline is valid? [True, True] Translation: X:-33.16, Y:2.98, Z:1.22 [[ 9.96534733e-01 1.07064492e-02 8.24857397e-02 -3.31620031e+01] [-1.15455038e-02 9.99886281e-01 9.70184458e-03 2.98403968e+00] [-8.23724872e-02 -1.06205645e-02 9.96545020e-01 1.21852742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.483741732 meters 0.0827986164237725 Centerline is valid? [True, True] Translation: X:-33.20, Y:3.02, Z:1.20 [[ 9.97165336e-01 2.24012718e-02 7.18294904e-02 -3.31982573e+01] [-2.30668009e-02 9.99698221e-01 8.44921363e-03 3.01557299e+00] [-7.16185407e-02 -1.00821395e-02 9.97381138e-01 1.19761406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.513741732 meters 0.08424027481869578 Centerline is valid? [True, True] Translation: X:-33.23, Y:3.02, Z:1.20 [[ 9.97452660e-01 2.68455464e-02 6.60871174e-02 -3.32298560e+01] [-2.74183119e-02 9.99593810e-01 7.77498268e-03 3.01691663e+00] [-6.58515498e-02 -9.56717436e-03 9.97783565e-01 1.19518615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.543741731999994 meters 0.0866170383381689 Centerline is valid? [True, True] Translation: X:-33.26, Y:3.01, Z:1.20 [[ 9.97391858e-01 2.66397898e-02 6.70805668e-02 -3.32621341e+01] [-2.72291206e-02 9.99598110e-01 7.88633318e-03 3.01478597e+00] [-6.68435175e-02 -9.69230935e-03 9.97716394e-01 1.20424292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.573741731999995 meters 0.08154881144463845 Centerline is valid? [True, True] Translation: X:-33.29, Y:3.01, Z:1.21 [[ 9.97339769e-01 2.59350025e-02 6.81231305e-02 -3.32923629e+01] [-2.65429773e-02 9.99615384e-01 8.03455951e-03 3.00709738e+00] [-6.78885529e-02 -9.82137644e-03 9.97644568e-01 1.20673409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.603741731999996 meters 0.08549758583421374 Centerline is valid? [True, True] Translation: X:-33.32, Y:3.01, Z:1.21 [[ 9.97127979e-01 2.34001477e-02 7.20293422e-02 -3.33239419e+01] [-2.40753800e-02 9.99673836e-01 8.52041003e-03 3.01237490e+00] [-7.18064700e-02 -1.02300730e-02 9.97366120e-01 1.21001988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.633741732 meters 0.08382179748196117 Centerline is valid? [True, True] Translation: X:-33.35, Y:3.00, Z:1.22 [[ 9.97156275e-01 2.03768826e-02 7.25544322e-02 -3.33533105e+01] [-2.10543212e-02 9.99741479e-01 8.58436558e-03 3.00389228e+00] [-7.23607527e-02 -1.00875383e-02 9.97327510e-01 1.21644090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.663741732 meters 0.07900363134511312 Centerline is valid? [True, True] Translation: X:-33.38, Y:2.99, Z:1.21 [[ 9.97334571e-01 2.14562377e-02 6.97379571e-02 -3.33826948e+01] [-2.20845976e-02 9.99722051e-01 8.25172854e-03 2.99239374e+00] [-6.95415225e-02 -9.76986887e-03 9.97531216e-01 1.21480145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.693741732 meters 0.08547447130096052 Centerline is valid? [True, True] Translation: X:-33.42, Y:3.01, Z:1.21 [[ 9.97407462e-01 1.73856254e-02 6.98290450e-02 -3.34154666e+01] [-1.80059773e-02 9.99803724e-01 8.26422781e-03 3.00642079e+00] [-6.96716605e-02 -9.50014268e-03 9.97524740e-01 1.21213472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.72374173199999 meters 0.07897386920585586 Centerline is valid? [True, True] Translation: X:-33.44, Y:3.00, Z:1.22 [[ 9.97325110e-01 1.02588874e-02 7.23697521e-02 -3.34442849e+01] [-1.09069644e-02 9.99903830e-01 8.56557586e-03 3.00392817e+00] [-7.22749191e-02 -9.33199819e-03 9.97341090e-01 1.21754591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.753741731999995 meters 0.07351570260057642 Centerline is valid? [True, True] Translation: X:-33.47, Y:3.00, Z:1.22 [[ 9.97500133e-01 5.07735438e-03 7.04819467e-02 -3.34732398e+01] [-5.67941211e-03 9.99949058e-01 8.34424471e-03 3.00017732e+00] [-7.04359895e-02 -8.72368123e-03 9.97478155e-01 1.22350703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.783741731999996 meters 0.07416634441927526 Centerline is valid? [True, True] Translation: X:-33.51, Y:3.01, Z:1.23 [[ 9.97289315e-01 3.79139795e-03 7.34822871e-02 -3.35055675e+01] [-4.44274947e-03 9.99952262e-01 8.70263636e-03 3.01128805e+00] [-7.34457840e-02 -9.00550965e-03 9.97258551e-01 1.22822296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.813741732 meters 0.07207004289717323 Centerline is valid? [True, True] Translation: X:-33.54, Y:3.02, Z:1.23 [[ 9.97000067e-01 3.51358656e-03 7.73209026e-02 -3.35368291e+01] [-4.23416506e-03 9.99949106e-01 9.15735694e-03 3.01537319e+00] [-7.72847923e-02 -9.45727494e-03 9.96964202e-01 1.23409675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.843741732 meters 0.0716790361334116 Centerline is valid? [True, True] Translation: X:-33.57, Y:3.02, Z:1.23 [[ 9.97360584e-01 4.20437385e-04 7.26064002e-02 -3.35686371e+01] [-1.04921927e-03 9.99962278e-01 8.62222089e-03 3.02477128e+00] [-7.26000362e-02 -8.67564329e-03 9.97323402e-01 1.23442439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.873741732 meters 0.08213896273187907 Centerline is valid? [True, True] Translation: X:-33.60, Y:3.04, Z:1.23 [[ 9.97673631e-01 6.42214513e-03 6.78681296e-02 -3.36026115e+01] [-6.98517338e-03 9.99943105e-01 8.06186265e-03 3.04326353e+00] [-6.78124938e-02 -8.51717843e-03 9.97661728e-01 1.23021617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.90374173199999 meters 0.0818890174999137 Centerline is valid? [True, True] Translation: X:-33.63, Y:3.04, Z:1.24 [[ 9.97588326e-01 1.40804897e-02 6.79652247e-02 -3.36315381e+01] [-1.46626398e-02 9.99859898e-01 8.07414849e-03 3.04390858e+00] [-6.78420147e-02 -9.05122589e-03 9.97655019e-01 1.23766126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.933741731999994 meters 0.07933842450330786 Centerline is valid? [True, True] Translation: X:-33.66, Y:3.04, Z:1.24 [[ 9.97190157e-01 2.01571810e-02 7.21489997e-02 -3.36609816e+01] [-2.08289116e-02 9.99746323e-01 8.57001467e-03 3.04248833e+00] [-7.19579499e-02 -1.00487194e-02 9.97357046e-01 1.23997794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.963741731999995 meters 0.08096779116301815 Centerline is valid? [True, True] Translation: X:-33.69, Y:3.05, Z:1.24 [[ 9.96758586e-01 2.22684854e-02 7.73074157e-02 -3.36927511e+01] [-2.30460621e-02 9.99692251e-01 9.18059411e-03 3.04718168e+00] [-7.70791864e-02 -1.09324675e-02 9.96965035e-01 1.24096352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.993741732 meters 0.07785215017675244 Centerline is valid? [True, True] Translation: X:-33.72, Y:3.04, Z:1.24 [[ 9.97243605e-01 1.79477931e-02 7.19935330e-02 -3.37215863e+01] [-1.86109787e-02 9.99790230e-01 8.55147999e-03 3.03743493e+00] [-7.18249507e-02 -9.86777885e-03 9.97368439e-01 1.23884823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.023741732 meters 0.08517396268684724 Centerline is valid? [True, True] Translation: X:-33.75, Y:3.05, Z:1.24 [[ 9.97737953e-01 9.92043001e-03 6.64873016e-02 -3.37542262e+01] [-1.04682700e-02 9.99914027e-01 7.89644304e-03 3.04810548e+00] [-6.64032493e-02 -8.57458795e-03 9.97756025e-01 1.23680565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.053741732 meters 0.08303478534060267 Centerline is valid? [True, True] Translation: X:-33.78, Y:3.06, Z:1.26 [[ 9.96931181e-01 1.41586684e-02 7.69919017e-02 -3.37832671e+01] [-1.49063393e-02 9.99847073e-01 9.14500454e-03 3.05536672e+00] [-7.68506465e-02 -1.02646076e-02 9.96989777e-01 1.25550152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.083741732 meters 0.0769703591601587 Centerline is valid? [True, True] Translation: X:-33.81, Y:3.05, Z:1.26 [[ 9.96734885e-01 1.89260104e-02 7.84944294e-02 -3.38125849e+01] [-1.97175787e-02 9.99762135e-01 9.32155301e-03 3.05393077e+00] [-7.82993384e-02 -1.08388372e-02 9.96870971e-01 1.26075221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.113741731999994 meters 0.09289463970555244 Centerline is valid? [True, True] Translation: X:-33.85, Y:3.09, Z:1.26 [[ 9.97036703e-01 2.76783394e-02 7.17755052e-02 -3.38476800e+01] [-2.83619839e-02 9.99561382e-01 8.52295894e-03 3.08557900e+00] [-7.15081218e-02 -1.05333986e-02 9.97384397e-01 1.25831862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.143741731999995 meters 0.09478713549985503 Centerline is valid? [True, True] Translation: X:-33.88, Y:3.08, Z:1.25 [[ 9.97043414e-01 4.61377362e-02 6.14470465e-02 -3.38778238e+01] [-4.66726435e-02 9.98883580e-01 7.29774091e-03 3.08329013e+00] [-6.10417446e-02 -1.01440606e-02 9.98083666e-01 1.24888133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.173741731999996 meters 0.09965886390223237 Centerline is valid? [True, True] Translation: X:-33.91, Y:3.08, Z:1.25 [[ 9.96108870e-01 5.91097697e-02 6.53693729e-02 -3.39085732e+01] [-5.97423943e-02 9.98183634e-01 7.76394380e-03 3.08146125e+00] [-6.47917133e-02 -1.16390561e-02 9.97830931e-01 1.25090147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.203741732 meters 0.107086188954477 Centerline is valid? [True, False] Translation: X:-33.91, Y:3.07, Z:1.26 [[ 9.95972229e-01 6.08710993e-02 6.58333386e-02 -3.39144689e+01] [-6.17420055e-02 9.98028463e-01 1.12744270e-02 3.07401706e+00] [-6.50172590e-02 -1.52936986e-02 9.97766936e-01 1.25692368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.233741732 meters 0.09674029314192428 Centerline is valid? [False, True] Translation: X:-33.93, Y:3.06, Z:1.27 [[ 9.96449801e-01 5.52528044e-02 6.35210395e-02 -3.39313009e+01] [-5.58669342e-02 9.98406718e-01 7.93161421e-03 3.06391002e+00] [-6.29815887e-02 -1.14521811e-02 9.97948980e-01 1.27372617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.263741732 meters 0.09319709442437349 Centerline is valid? [True, True] Translation: X:-33.96, Y:3.04, Z:1.27 [[ 9.97090080e-01 4.60519619e-02 6.07502166e-02 -3.39584188e+01] [-4.66037279e-02 9.98883806e-01 7.69636417e-03 3.04257191e+00] [-6.03279750e-02 -1.05051549e-02 9.98123328e-01 1.27210901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.293741731999994 meters 0.10325251987709694 Centerline is valid? [True, False] Translation: X:-33.97, Y:3.03, Z:1.27 [[ 9.97903781e-01 3.39892364e-02 5.50706404e-02 -3.39722304e+01] [-3.45667762e-02 9.99356583e-01 9.56861028e-03 3.03441471e+00] [-5.47099772e-02 -1.14521669e-02 9.98436611e-01 1.26643803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.323741731999995 meters 0.08878435106235753 Centerline is valid? [False, True] Translation: X:-34.01, Y:3.01, Z:1.27 [[ 9.98482410e-01 2.13228484e-02 5.07761108e-02 -3.40069709e+01] [-2.22113335e-02 9.99608777e-01 1.69985335e-02 3.01481629e+00] [-5.03937889e-02 -1.81005418e-02 9.98565389e-01 1.26758143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.353741731999996 meters 0.08767303740151683 Centerline is valid? [True, True] Translation: X:-34.03, Y:2.99, Z:1.29 [[ 9.98136118e-01 2.50794444e-02 5.56355268e-02 -3.40332071e+01] [-2.55264183e-02 9.99647217e-01 7.33781626e-03 2.99069790e+00] [-5.54318711e-02 -8.74431516e-03 9.98424181e-01 1.28869078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.383741732 meters 0.08767303740151683 Centerline is valid? [True, True] Translation: X:-34.07, Y:2.99, Z:1.29 [[ 9.98144902e-01 2.47261699e-02 5.56360515e-02 -3.40660356e+01] [-2.51723931e-02 9.99656224e-01 7.33384582e-03 2.98662236e+00] [-5.54355873e-02 -8.72073338e-03 9.98424181e-01 1.29107472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.413741732 meters 0.09911637634247301 Centerline is valid? [True, True] Translation: X:-34.10, Y:2.99, Z:1.28 [[ 9.98135735e-01 3.66310248e-02 4.88182690e-02 -3.40980367e+01] [-3.69893930e-02 9.99294794e-01 6.45747152e-03 2.98594764e+00] [-4.85472983e-02 -8.25119122e-03 9.98786803e-01 1.28294770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.443741732 meters 0.09694637676558933 Centerline is valid? [True, True] Translation: X:-34.13, Y:2.98, Z:1.29 [[ 9.97647572e-01 3.82087259e-02 5.69158560e-02 -3.41274847e+01] [-3.86985729e-02 9.99222566e-01 7.52894258e-03 2.97532422e+00] [-5.65839364e-02 -9.71379369e-03 9.98350590e-01 1.29417261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.47374173199999 meters 0.0952664453259727 Centerline is valid? [True, True] Translation: X:-34.16, Y:2.97, Z:1.31 [[ 9.97435589e-01 3.74988580e-02 6.09596728e-02 -3.41581758e+01] [-3.80596614e-02 9.99242929e-01 8.06421715e-03 2.96960332e+00] [-6.06111231e-02 -1.03636417e-02 9.98107653e-01 1.30681891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.503741731999995 meters 0.09788912309799883 Centerline is valid? [True, True] Translation: X:-34.19, Y:2.97, Z:1.31 [[ 9.97434975e-01 3.71389242e-02 6.11896315e-02 -3.41914099e+01] [-3.77043534e-02 9.99256015e-01 8.11162589e-03 2.96906182e+00] [-6.08428502e-02 -1.03979349e-02 9.98093197e-01 1.30731654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.533741731999996 meters 0.09809543866880377 Centerline is valid? [True, True] Translation: X:-34.22, Y:2.96, Z:1.29 [[ 9.97996407e-01 3.54970377e-02 5.23749140e-02 -3.42231534e+01] [-3.59097333e-02 9.99330805e-01 6.95947009e-03 2.95561385e+00] [-5.20928244e-02 -8.82629534e-03 9.98603242e-01 1.29042161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.563741732 meters 0.09132295398554673 Centerline is valid? [True, True] Translation: X:-34.25, Y:2.93, Z:1.30 [[ 9.98162920e-01 2.84717327e-02 5.34803215e-02 -3.42489859e+01] [-2.88932849e-02 9.99557103e-01 7.12566641e-03 2.92901147e+00] [-5.32537552e-02 -8.65779815e-03 9.98543479e-01 1.29763248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.593741732 meters 0.08970290660210624 Centerline is valid? [True, True] Translation: X:-34.28, Y:2.92, Z:1.32 [[ 9.97812109e-01 2.51688932e-02 6.11352682e-02 -3.42773502e+01] [-2.57142686e-02 9.99636108e-01 8.15035417e-03 2.91909482e+00] [-6.09078861e-02 -9.70457079e-03 9.98096213e-01 1.32119379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.623741732 meters 0.09423093178009018 Centerline is valid? [True, True] Translation: X:-34.31, Y:2.93, Z:1.32 [[ 9.97793011e-01 2.65169810e-02 6.08765711e-02 -3.43096992e+01] [-2.70602538e-02 9.99600849e-01 8.11700435e-03 2.92693926e+00] [-6.06370337e-02 -9.74642568e-03 9.98112297e-01 1.31543250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.65374173199999 meters 0.09360409268096798 Centerline is valid? [True, True] Translation: X:-34.34, Y:2.93, Z:1.31 [[ 9.97990249e-01 2.57922972e-02 5.78810818e-02 -3.43422273e+01] [-2.62819975e-02 9.99624797e-01 7.71508325e-03 2.92594144e+00] [-5.76603749e-02 -9.22080830e-03 9.98293673e-01 1.31467689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.683741731999994 meters 0.08668611209039004 Centerline is valid? [True, True] Translation: X:-34.37, Y:2.92, Z:1.31 [[ 9.98225445e-01 2.53729057e-02 5.38718506e-02 -3.43735415e+01] [-2.57972171e-02 9.99641300e-01 7.19548481e-03 2.91739756e+00] [-5.36699564e-02 -8.57245985e-03 9.98521932e-01 1.31000311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.713741731999995 meters 0.08937004269965695 Centerline is valid? [True, True] Translation: X:-34.41, Y:2.93, Z:1.31 [[ 9.98094351e-01 3.24519715e-02 5.24836714e-02 -3.44057820e+01] [-3.28652347e-02 9.99435067e-01 7.03012512e-03 2.92993566e+00] [-5.22258802e-02 -8.74161635e-03 9.98597037e-01 1.31439077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.743741732 meters 0.11102149027847882 Centerline is valid? [True, False] Translation: X:-34.41, Y:2.93, Z:1.31 [[ 9.97903496e-01 4.48356314e-02 4.66730960e-02 -3.44052192e+01] [-4.50015335e-02 9.98983766e-01 2.50936121e-03 2.93199457e+00] [-4.65131564e-02 -4.60446122e-03 9.98907065e-01 1.31434277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.773741732 meters 0.10967023700973187 Centerline is valid? [False, False] Translation: X:-34.41, Y:2.93, Z:1.32 [[ 9.97561684e-01 5.18127562e-02 4.67560169e-02 -3.44083419e+01] [-5.23109776e-02 9.98585703e-01 9.49502158e-03 2.93338220e+00] [-4.61979267e-02 -1.19177227e-02 9.98861211e-01 1.31780233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.803741732 meters 0.09663589917667853 Centerline is valid? [False, True] Translation: X:-34.43, Y:2.93, Z:1.33 [[ 9.97165079e-01 4.50838535e-02 6.02432661e-02 -3.44314430e+01] [-4.56350264e-02 9.98927695e-01 7.80410496e-03 2.92557845e+00] [-5.98268278e-02 -1.05311840e-02 9.98153217e-01 1.33321990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.833741732 meters 0.09779039425218165 Centerline is valid? [True, True] Translation: X:-34.46, Y:2.92, Z:1.35 [[ 9.97002782e-01 3.26379590e-02 7.01442568e-02 -3.44604621e+01] [-3.34605141e-02 9.99384002e-01 1.05834964e-02 2.91854328e+00] [-6.97556244e-02 -1.28988383e-02 9.97480713e-01 1.34807233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.863741731999994 meters 0.09396036119296253 Centerline is valid? [True, True] Translation: X:-34.49, Y:2.89, Z:1.33 [[ 9.98314649e-01 2.05592614e-02 5.42694921e-02 -3.44882731e+01] [-2.10338817e-02 9.99745226e-01 8.18892474e-03 2.89377543e+00] [-5.40873075e-02 -9.31662161e-03 9.98492746e-01 1.32878374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.893741731999995 meters 0.09215928942336467 Centerline is valid? [True, True] Translation: X:-34.52, Y:2.89, Z:1.32 [[ 9.98658603e-01 2.10286719e-02 4.73158484e-02 -3.45184112e+01] [-2.13899570e-02 9.99745697e-01 7.14222473e-03 2.89285728e+00] [-4.71536243e-02 -8.14472813e-03 9.98854443e-01 1.32430876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.923741731999996 meters 0.09868857164950427 Centerline is valid? [True, True] Translation: X:-34.55, Y:2.90, Z:1.35 [[ 9.97697310e-01 1.98991092e-02 6.48390549e-02 -3.45494700e+01] [-2.05757611e-02 9.99740414e-01 9.78480957e-03 2.90158447e+00] [-6.46275146e-02 -1.10963911e-02 9.97847761e-01 1.34748765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.953741732 meters 0.09331980784629144 Centerline is valid? [True, True] Translation: X:-34.58, Y:2.88, Z:1.33 [[ 9.98367875e-01 2.21229110e-02 5.26513256e-02 -3.45777718e+01] [-2.25718842e-02 9.99713629e-01 7.94791768e-03 2.88200597e+00] [-5.24604167e-02 -9.12338531e-03 9.98581328e-01 1.33490977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.983741732 meters 0.09628708210710993 Centerline is valid? [True, True] Translation: X:-34.61, Y:2.88, Z:1.34 [[ 9.98533952e-01 2.91956480e-02 4.55802777e-02 -3.46089419e+01] [-2.95391191e-02 9.99539947e-01 6.88009918e-03 2.88288618e+00] [-4.53584394e-02 -8.21641387e-03 9.98936986e-01 1.33603238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.013741732 meters 0.09825460683054886 Centerline is valid? [True, True] Translation: X:-34.64, Y:2.88, Z:1.34 [[ 9.98198509e-01 3.37561032e-02 4.96010346e-02 -3.46398603e+01] [-3.41683930e-02 9.99388041e-01 7.48760722e-03 2.88274417e+00] [-4.93179284e-02 -9.16890601e-03 9.98741044e-01 1.33928216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.043741731999994 meters 0.0946100141560349 Centerline is valid? [True, True] Translation: X:-34.67, Y:2.88, Z:1.35 [[ 9.97736134e-01 3.65798436e-02 5.64315621e-02 -3.46684230e+01] [-3.71181333e-02 9.99274564e-01 8.51997707e-03 2.88033510e+00] [-5.60789652e-02 -1.05953232e-02 9.98370116e-01 1.35018928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.073741731999995 meters 0.09359785353287033 Centerline is valid? [True, True] Translation: X:-34.70, Y:2.89, Z:1.35 [[ 9.97696640e-01 3.36079629e-02 5.89229910e-02 -3.46999092e+01] [-3.41898243e-02 9.99375777e-01 8.89446921e-03 2.88549592e+00] [-5.85872849e-02 -1.08885488e-02 9.98222906e-01 1.35222619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.103741731999996 meters 0.09671045229408612 Centerline is valid? [True, True] Translation: X:-34.73, Y:2.90, Z:1.35 [[ 9.98111491e-01 2.64495139e-02 5.54425364e-02 -3.47334179e+01] [-2.69539072e-02 9.99601640e-01 8.36951277e-03 2.90180318e+00] [-5.51990807e-02 -9.84809985e-03 9.98426801e-01 1.35067580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.133741732 meters 0.08940718859310864 Centerline is valid? [True, True] Translation: X:-34.76, Y:2.89, Z:1.36 [[ 9.97579543e-01 1.64692812e-02 6.75560415e-02 -3.47622124e+01] [-1.71967081e-02 9.99800093e-01 1.02003519e-02 2.89287440e+00] [-6.73745441e-02 -1.13374039e-02 9.97663337e-01 1.36068676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.163741732 meters 0.0867976362098152 Centerline is valid? [True, True] Translation: X:-34.79, Y:2.89, Z:1.36 [[ 9.98343552e-01 5.35797913e-03 5.72839003e-02 -3.47919831e+01] [-5.86292133e-03 9.99945398e-01 8.65030355e-03 2.89118127e+00] [-5.72344243e-02 -8.97182577e-03 9.98320453e-01 1.35920506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.193741732 meters 0.09586529612152755 Centerline is valid? [True, True] Translation: X:-34.83, Y:2.94, Z:1.38 [[ 9.97237905e-01 2.49365162e-02 6.99623599e-02 -3.48301422e+01] [-2.57372840e-02 9.99612884e-01 1.05675716e-02 2.94403575e+00] [-6.96717579e-02 -1.23390240e-02 9.97493656e-01 1.37682192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.22374173199999 meters 0.10171024754291906 Centerline is valid? [True, False] Translation: X:-34.87, Y:2.96, Z:1.39 [[ 9.97100908e-01 1.90722963e-02 7.36615696e-02 -3.48715518e+01] [-2.03511731e-02 9.99654242e-01 1.66500830e-02 2.95585069e+00] [-7.33185453e-02 -1.81009122e-02 9.97144296e-01 1.39325159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.253741731999995 meters 0.10243975649464719 Centerline is valid? [False, False] Translation: X:-34.92, Y:2.96, Z:1.40 [[ 9.97624754e-01 1.75406563e-02 6.66121270e-02 -3.49169198e+01] [-1.88984931e-02 9.99625154e-01 1.98090559e-02 2.96430841e+00] [-6.62396938e-02 -2.10208733e-02 9.97582290e-01 1.39650509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.283741731999996 meters 0.10357599734262367 Centerline is valid? [False, False] Translation: X:-34.93, Y:2.97, Z:1.40 [[ 9.97854507e-01 2.17400504e-02 6.17555988e-02 -3.49308781e+01] [-2.25855861e-02 9.99660041e-01 1.30266605e-02 2.96769801e+00] [-6.14514041e-02 -1.43934983e-02 9.98006289e-01 1.40114790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.313741732 meters 0.10784070048919157 Centerline is valid? [False, False] Translation: X:-34.94, Y:2.97, Z:1.40 [[ 9.98671964e-01 1.61236359e-02 4.89319612e-02 -3.49367996e+01] [-1.66517342e-02 9.99807219e-01 1.04040903e-02 2.97294543e+00] [-4.87547763e-02 -1.12050753e-02 9.98747925e-01 1.40467189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.343741732 meters 0.10746088930754277 Centerline is valid? [False, False] Translation: X:-34.93, Y:2.97, Z:1.41 [[ 9.98877368e-01 1.68207155e-02 4.42839415e-02 -3.49275390e+01] [-1.72045714e-02 9.99817530e-01 8.30122014e-03 2.96634101e+00] [-4.41362285e-02 -9.05378715e-03 9.98984496e-01 1.40608146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.373741732 meters 0.10263198065375491 Centerline is valid? [False, False] Translation: X:-34.93, Y:2.96, Z:1.41 [[ 9.98785904e-01 2.16510529e-02 4.42487272e-02 -3.49281913e+01] [-2.22602359e-02 9.99663458e-01 1.33211387e-02 2.96491383e+00] [-4.39454189e-02 -1.42899527e-02 9.98931728e-01 1.40736279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.40374173199999 meters 0.1033523887515166 Centerline is valid? [False, False] Translation: X:-34.93, Y:2.96, Z:1.41 [[ 9.98784991e-01 2.26147787e-02 4.37848573e-02 -3.49282055e+01] [-2.32905680e-02 9.99616409e-01 1.49861387e-02 2.95867863e+00] [-4.34291537e-02 -1.59877046e-02 9.98928577e-01 1.40876604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.433741731999994 meters 0.1119561576102966 Centerline is valid? [False, False] Translation: X:-34.93, Y:2.94, Z:1.42 [[ 9.99483901e-01 1.77275809e-02 2.67892744e-02 -3.49283136e+01] [-1.79685536e-02 9.99799990e-01 8.78130618e-03 2.94394350e+00] [-2.66282450e-02 -9.25813867e-03 9.99602533e-01 1.41892433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.463741731999995 meters 0.10508079029847225 Centerline is valid? [False, False] Translation: X:-34.97, Y:2.92, Z:1.42 [[ 9.99648224e-01 9.11001769e-03 2.49085450e-02 -3.49742137e+01] [-9.44407890e-03 9.99866592e-01 1.33269272e-02 2.92127804e+00] [-2.47838134e-02 -1.35574774e-02 9.99600899e-01 1.41600415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.493741732 meters 0.09557774619723212 Centerline is valid? [False, True] Translation: X:-35.03, Y:2.91, Z:1.42 [[ 9.99240538e-01 3.65744802e-03 3.87939579e-02 -3.50278190e+01] [-4.38546862e-03 9.99815562e-01 1.86978752e-02 2.90987947e+00] [-3.87184163e-02 -1.88538045e-02 9.99072279e-01 1.41819662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.523741732 meters 0.0930106350594226 Centerline is valid? [True, True] Translation: X:-35.06, Y:2.89, Z:1.44 [[ 9.98931693e-01 3.57953745e-03 4.60723254e-02 -3.50556967e+01] [-3.99685779e-03 9.99951790e-01 8.96900779e-03 2.89428862e+00] [-4.60379993e-02 -9.14357068e-03 9.98897841e-01 1.43743151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.553741732 meters 0.09860977699215467 Centerline is valid? [True, True] Translation: X:-35.09, Y:2.89, Z:1.43 [[ 9.99440580e-01 -5.88192889e-03 3.29230805e-02 -3.50856397e+01] [ 5.67370763e-03 9.99963332e-01 6.41433176e-03 2.88557335e+00] [-3.29596019e-02 -6.22394753e-03 9.99437305e-01 1.43440006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.583741732 meters 0.08888817383128095 Centerline is valid? [True, True] Translation: X:-35.11, Y:2.86, Z:1.45 [[ 9.99144143e-01 -3.23803404e-03 4.12370830e-02 -3.51104377e+01] [ 2.90909075e-03 9.99963492e-01 8.03439084e-03 2.86284997e+00] [-4.12615932e-02 -7.90755213e-03 9.99117086e-01 1.44810009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.613741731999994 meters 0.09617518669277413 Centerline is valid? [True, True] Translation: X:-35.14, Y:2.87, Z:1.45 [[ 9.99222776e-01 -2.61032260e-03 3.93322920e-02 -3.51435953e+01] [ 2.31066086e-03 9.99967975e-01 7.66225480e-03 2.86634734e+00] [-3.93510333e-02 -7.56541592e-03 9.99196808e-01 1.44843562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.643741731999995 meters 0.0904916632245496 Centerline is valid? [True, True] Translation: X:-35.17, Y:2.84, Z:1.44 [[ 9.99514489e-01 -3.53785931e-03 3.09559467e-02 -3.51721518e+01] [ 3.35273787e-03 9.99976199e-01 6.03002164e-03 2.84427712e+00] [-3.09765433e-02 -5.92330682e-03 9.99502560e-01 1.43578382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.673741731999996 meters 0.09830821915125271 Centerline is valid? [True, True] Translation: X:-35.21, Y:2.85, Z:1.43 [[ 9.99622989e-01 -4.57651808e-03 2.70727713e-02 -3.52062124e+01] [ 4.43505290e-03 9.99976209e-01 5.28310782e-03 2.84884190e+00] [-2.70963055e-02 -5.16104686e-03 9.99619505e-01 1.43235738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.703741732 meters 0.09147310263843061 Centerline is valid? [True, True] Translation: X:-35.23, Y:2.83, Z:1.43 [[ 9.99630215e-01 6.63270920e-04 2.71844256e-02 -3.52331503e+01] [-8.07879267e-04 9.99985581e-01 5.30889162e-03 2.83280239e+00] [-2.71805124e-02 -5.32889021e-03 9.99616338e-01 1.43368855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.733741732 meters 0.10037719768366994 Centerline is valid? [True, False] Translation: X:-35.25, Y:2.83, Z:1.44 [[ 9.99638984e-01 1.00793627e-02 2.49059804e-02 -3.52464792e+01] [-1.01251965e-02 9.99947268e-01 1.71484482e-03 2.83408353e+00] [-2.48873825e-02 -1.96640368e-03 9.99688327e-01 1.43963064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.763741732 meters 0.09761368047121569 Centerline is valid? [False, True] Translation: X:-35.30, Y:2.83, Z:1.45 [[ 9.99318293e-01 9.44429403e-03 3.56897031e-02 -3.53047529e+01] [-9.65564064e-03 9.99936828e-01 5.75406604e-03 2.83384833e+00] [-3.56331054e-02 -6.09475040e-03 9.99346354e-01 1.45435465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.793741731999994 meters 0.08912080191241598 Centerline is valid? [True, True] Translation: X:-35.34, Y:2.83, Z:1.47 [[ 9.99135766e-01 8.20052207e-03 4.07488883e-02 -3.53356094e+01] [-8.53473585e-03 9.99931299e-01 8.03460335e-03 2.82960365e+00] [-4.06802009e-02 -8.37544057e-03 9.99137114e-01 1.46931911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.823741731999995 meters 0.0934788322813185 Centerline is valid? [True, True] Translation: X:-35.37, Y:2.84, Z:1.46 [[ 9.99447145e-01 4.20728245e-03 3.29803470e-02 -3.53700504e+01] [-4.42433179e-03 9.99969016e-01 6.51095895e-03 2.84304381e+00] [-3.29519317e-02 -6.65327533e-03 9.99434792e-01 1.46203861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.853741731999996 meters 0.09329770261871066 Centerline is valid? [True, True] Translation: X:-35.40, Y:2.85, Z:1.45 [[ 9.99721751e-01 -5.46958767e-03 2.29456673e-02 -3.54022663e+01] [ 5.36700061e-03 9.99975337e-01 4.53007154e-03 2.84711627e+00] [-2.29698790e-02 -4.40566164e-03 9.99726450e-01 1.44708030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.883741732 meters 0.09152923851281203 Centerline is valid? [True, True] Translation: X:-35.43, Y:2.84, Z:1.44 [[ 9.99649426e-01 -1.79709727e-02 1.94440237e-02 -3.54327145e+01] [ 1.78995937e-02 9.99832420e-01 3.83884411e-03 2.84019225e+00] [-1.95097530e-02 -3.48945818e-03 9.99803577e-01 1.43795798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.913741732 meters 0.09211414639199338 Centerline is valid? [True, True] Translation: X:-35.46, Y:2.84, Z:1.45 [[ 9.99538939e-01 -1.31014261e-02 2.73909236e-02 -3.54645746e+01] [ 1.29579817e-02 9.99901418e-01 5.40789501e-03 2.84449452e+00] [-2.74590745e-02 -5.05047055e-03 9.99610170e-01 1.45135620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.943741732 meters 0.09107121840707573 Centerline is valid? [True, True] Translation: X:-35.50, Y:2.84, Z:1.46 [[ 9.99460463e-01 -8.93839406e-03 3.16051931e-02 -3.54956936e+01] [ 8.74536087e-03 9.99942285e-01 6.24061233e-03 2.84489692e+00] [-3.16591500e-02 -5.96084647e-03 9.99480949e-01 1.45692225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.97374173199999 meters 0.09306277317256881 Centerline is valid? [True, True] Translation: X:-35.53, Y:2.85, Z:1.45 [[ 9.99483620e-01 8.97334972e-04 3.21199005e-02 -3.55273398e+01] [-1.10159738e-03 9.99979281e-01 6.34224133e-03 2.84976592e+00] [-3.21135439e-02 -6.37434952e-03 9.99463900e-01 1.45365341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.003741731999995 meters 0.10621031863274612 Centerline is valid? [True, False] Translation: X:-35.56, Y:2.85, Z:1.45 [[ 9.99546979e-01 -1.02999926e-03 3.00794834e-02 -3.55601707e+01] [ 3.25693496e-04 9.99725887e-01 2.34103415e-02 2.85139117e+00] [-3.00953509e-02 -2.33899394e-02 9.99273326e-01 1.45379984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.033741731999996 meters 0.0887159696386676 Centerline is valid? [False, True] Translation: X:-35.58, Y:2.86, Z:1.45 [[ 9.99504913e-01 -8.17631944e-03 3.03821683e-02 -3.55821756e+01] [ 7.26505552e-03 9.99523986e-01 2.99836635e-02 2.85573805e+00] [-3.06128620e-02 -2.97480909e-02 9.99088537e-01 1.44996166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.063741732 meters 0.09248344923104516 Centerline is valid? [True, True] Translation: X:-35.61, Y:2.86, Z:1.46 [[ 9.99193642e-01 -1.93422232e-02 3.51844418e-02 -3.56135590e+01] [ 1.91114144e-02 9.99793657e-01 6.88452840e-03 2.85820109e+00] [-3.53103438e-02 -6.20655255e-03 9.99357123e-01 1.45830161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.093741732 meters 0.09769876040402765 Centerline is valid? [True, True] Translation: X:-35.65, Y:2.87, Z:1.47 [[ 9.99035679e-01 -2.39693232e-02 3.67856532e-02 -3.56462087e+01] [ 2.37200414e-02 9.99692726e-01 7.19819696e-03 2.87104216e+00] [-3.69468858e-02 -6.31869837e-03 9.99297254e-01 1.46980088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.123741732 meters 0.0947460576028294 Centerline is valid? [True, True] Translation: X:-35.68, Y:2.87, Z:1.47 [[ 9.99279838e-01 -2.01853625e-02 3.21303017e-02 -3.56765907e+01] [ 1.99933168e-02 9.99780345e-01 6.28722060e-03 2.87140642e+00] [-3.22501539e-02 -5.64030148e-03 9.99463914e-01 1.47054747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.15374173199999 meters 0.1051159247657993 Centerline is valid? [True, False] Translation: X:-35.72, Y:2.88, Z:1.46 [[ 9.99354218e-01 -1.48135761e-02 3.27369196e-02 -3.57154053e+01] [ 1.41856429e-02 9.99712500e-01 1.93309298e-02 2.88231093e+00] [-3.30138679e-02 -1.88540520e-02 9.99277043e-01 1.45655315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.183741731999994 meters 0.09654258020207727 Centerline is valid? [False, True] Translation: X:-35.75, Y:2.89, Z:1.45 [[ 9.99298091e-01 -1.27928750e-02 3.52089063e-02 -3.57548399e+01] [ 1.11899563e-02 9.98908377e-01 4.53523888e-02 2.89056750e+00] [-3.57506589e-02 -4.49265695e-02 9.98350386e-01 1.44723805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.213741731999995 meters 0.09731454885414509 Centerline is valid? [True, True] Translation: X:-35.78, Y:2.89, Z:1.48 [[ 9.99087721e-01 -1.63808967e-02 3.94384616e-02 -3.57837832e+01] [ 1.60930932e-02 9.99841583e-01 7.60399674e-03 2.88598625e+00] [-3.95567742e-02 -6.96237294e-03 9.99193068e-01 1.48060803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.243741732 meters 0.10040909728163963 Centerline is valid? [True, False] Translation: X:-35.82, Y:2.89, Z:1.47 [[ 9.98920158e-01 -2.82829268e-02 3.68590979e-02 -3.58163732e+01] [ 2.75501482e-02 9.99415512e-01 2.02391642e-02 2.89212213e+00] [-3.74099770e-02 -1.92018355e-02 9.99115500e-01 1.46574264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.273741732 meters 0.10040909728163963 Centerline is valid? [False, False] Translation: X:-35.82, Y:2.89, Z:1.47 [[ 9.98920158e-01 -2.82829268e-02 3.68590979e-02 -3.58163732e+01] [ 2.75501482e-02 9.99415512e-01 2.02391642e-02 2.89212213e+00] [-3.74099770e-02 -1.92018355e-02 9.99115500e-01 1.46574264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.303741732 meters 0.08952119925754051 Centerline is valid? [False, True] Translation: X:-35.84, Y:2.89, Z:1.46 [[ 9.99125399e-01 -2.28955543e-02 3.49890030e-02 -3.58392474e+01] [ 2.20994306e-02 9.99491790e-01 2.29733933e-02 2.89347519e+00] [-3.54972098e-02 -2.21800637e-02 9.99123612e-01 1.46145259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.33374173199999 meters 0.08686641655155398 Centerline is valid? [True, True] Translation: X:-35.87, Y:2.89, Z:1.48 [[ 9.99109309e-01 -1.03328567e-02 4.09123470e-02 -3.58673386e+01] [ 1.00323764e-02 9.99921224e-01 7.54300677e-03 2.88721146e+00] [-4.09870649e-02 -7.12584022e-03 9.99134267e-01 1.48157553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.363741731999994 meters 0.10263577529483711 Centerline is valid? [True, False] Translation: X:-35.89, Y:2.89, Z:1.49 [[ 9.99226030e-01 5.20746079e-05 3.93362298e-02 -3.58900191e+01] [-4.41485718e-04 9.99950986e-01 9.89093177e-03 2.89113776e+00] [-3.93337867e-02 -9.90064287e-03 9.99177077e-01 1.48579383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.393741731999995 meters 0.10831146741296813 Centerline is valid? [False, False] Translation: X:-35.91, Y:2.89, Z:1.49 [[ 9.99322560e-01 8.35206554e-03 3.58422021e-02 -3.59140564e+01] [-8.78142680e-03 9.99891362e-01 1.18385510e-02 2.89304041e+00] [-3.57394319e-02 -1.21452767e-02 9.99287339e-01 1.49119517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.423741731999996 meters 0.10062379143483825 Centerline is valid? [False, False] Translation: X:-35.94, Y:2.90, Z:1.48 [[ 9.99553479e-01 2.41575284e-03 2.97826754e-02 -3.59439771e+01] [-3.21349523e-03 9.99636541e-01 2.67667532e-02 2.89775372e+00] [-2.97071888e-02 -2.68505077e-02 9.99197945e-01 1.48132388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.453741732 meters 0.09697353370827494 Centerline is valid? [False, True] Translation: X:-35.99, Y:2.90, Z:1.48 [[ 9.99500552e-01 -1.57421223e-02 2.74013006e-02 -3.59863856e+01] [ 1.49130087e-02 9.99432500e-01 3.02039759e-02 2.89853834e+00] [-2.78612251e-02 -2.97802548e-02 9.99168098e-01 1.48111973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.483741732 meters 0.09976709027494911 Centerline is valid? [True, True] Translation: X:-36.02, Y:2.89, Z:1.51 [[ 9.99204644e-01 -1.92327288e-02 3.49310836e-02 -3.60156165e+01] [ 1.90190531e-02 9.99798386e-01 6.43910863e-03 2.89460721e+00] [-3.50478826e-02 -5.76963112e-03 9.99368980e-01 1.51190247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.513741732 meters 0.08878890111935453 Centerline is valid? [True, True] Translation: X:-36.04, Y:2.88, Z:1.52 [[ 9.99310759e-01 -1.74944613e-02 3.27406729e-02 -3.60414961e+01] [ 1.73058516e-02 9.99832027e-01 6.03527499e-03 2.87590663e+00] [-3.28407572e-02 -5.46451000e-03 9.99445658e-01 1.51587810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.543741731999994 meters 0.10354852628192923 Centerline is valid? [True, False] Translation: X:-36.09, Y:2.88, Z:1.50 [[ 9.99555977e-01 -8.47700493e-03 2.85655101e-02 -3.60912629e+01] [ 7.63266256e-03 9.99534498e-01 2.95386071e-02 2.88478482e+00] [-2.88026117e-02 -2.93074604e-02 9.99155384e-01 1.49986659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.573741731999995 meters 0.10573020965666992 Centerline is valid? [False, False] Translation: X:-36.10, Y:2.88, Z:1.51 [[ 9.99668196e-01 -1.25719789e-03 2.57277533e-02 -3.61012555e+01] [ 6.82685233e-04 9.99750487e-01 2.23270753e-02 2.88260131e+00] [-2.57494035e-02 -2.23021032e-02 9.99419624e-01 1.50563667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.603741731999996 meters 0.09333242319198165 Centerline is valid? [False, True] Translation: X:-36.12, Y:2.88, Z:1.52 [[ 9.99715803e-01 3.07648815e-03 2.36399596e-02 -3.61171495e+01] [-3.39034974e-03 9.99906492e-01 1.32481503e-02 2.88139125e+00] [-2.35969913e-02 -1.33245330e-02 9.99632752e-01 1.51555941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.633741732 meters 0.09742487508080994 Centerline is valid? [True, True] Translation: X:-36.15, Y:2.89, Z:1.53 [[ 9.99586686e-01 4.96986117e-04 2.87438615e-02 -3.61495070e+01] [-6.39614276e-04 9.99987529e-01 4.95305736e-03 2.88774261e+00] [-2.87410414e-02 -4.96939518e-03 9.99574538e-01 1.52981646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.663741732 meters 0.13649193794448888 Centerline is valid? [True, False] Translation: X:-36.19, Y:2.89, Z:1.52 [[ 9.99636379e-01 -5.74153752e-03 2.63466110e-02 -3.61875665e+01] [ 5.09275579e-03 9.99683756e-01 2.46262351e-02 2.89287131e+00] [-2.64796715e-02 -2.44831036e-02 9.99349491e-01 1.51513554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.693741732 meters 0.09324704729703465 Centerline is valid? [False, True] Translation: X:-36.19, Y:2.89, Z:1.52 [[ 9.99784892e-01 -3.38077082e-03 2.04631223e-02 -3.61887670e+01] [ 3.18952962e-03 9.99951004e-01 9.37108429e-03 2.88679437e+00] [-2.04938012e-02 -9.30380077e-03 9.99746690e-01 1.52134887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.72374173199999 meters 0.09129323372406989 Centerline is valid? [True, True] Translation: X:-36.22, Y:2.88, Z:1.52 [[ 9.99761156e-01 -5.46001851e-03 2.11617375e-02 -3.62177577e+01] [ 5.38646130e-03 9.99979257e-01 3.53139588e-03 2.87522670e+00] [-2.11805801e-02 -3.41656555e-03 9.99769829e-01 1.52480502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.753741731999995 meters 0.10030393001726122 Centerline is valid? [True, False] Translation: X:-36.22, Y:2.88, Z:1.52 [[ 9.99762840e-01 -1.33643119e-03 2.17365372e-02 -3.62186049e+01] [ 1.16955665e-03 9.99969763e-01 7.68804610e-03 2.87713758e+00] [-2.17461545e-02 -7.66080069e-03 9.99734173e-01 1.52451874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.783741731999996 meters 0.09230036068581055 Centerline is valid? [False, True] Translation: X:-36.22, Y:2.88, Z:1.53 [[ 9.99781992e-01 -9.12746355e-04 2.08599053e-02 -3.62176364e+01] [ 7.52234925e-04 9.99970062e-01 7.70128606e-03 2.87819531e+00] [-2.08663101e-02 -7.68391557e-03 9.99752747e-01 1.52515400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.813741732 meters 0.20014318270435574 Centerline is valid? [True, False] Translation: X:-36.27, Y:2.25, Z:1.62 [[ 9.83436266e-01 -1.73198227e-01 5.34367297e-02 -3.62711384e+01] [ 1.80961269e-01 9.54963683e-01 -2.35153958e-01 2.24966126e+00] [-1.03018877e-02 2.40928909e-01 9.70488090e-01 1.62285962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.843741732 meters 0.1844133414533512 Centerline is valid? [False, False] Translation: X:-36.24, Y:2.23, Z:1.64 [[ 9.92317210e-01 -1.19457170e-01 -3.21953158e-02 -3.62424394e+01] [ 1.12508870e-01 9.79551694e-01 -1.66793982e-01 2.22889089e+00] [ 5.14617131e-02 1.61890280e-01 9.85465996e-01 1.64158936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.873741732 meters 0.1414997813738324 Centerline is valid? [False, False] Translation: X:-36.18, Y:2.20, Z:1.65 [[ 0.99394949 -0.07835626 -0.07697218 -36.17540925] [ 0.06879426 0.99040374 -0.11986565 2.20293568] [ 0.08562576 0.11384516 0.98980175 1.64690263] [ 0. 0. 0. 1. ]] SLAMing on 35.90374173199999 meters 0.1222682956575124 Centerline is valid? [False, False] Translation: X:-36.21, Y:2.19, Z:1.64 [[ 0.99552218 -0.05051928 -0.07989617 -36.20501729] [ 0.04181164 0.99336494 -0.10713491 2.19202602] [ 0.08477844 0.10331459 0.99102912 1.64219978] [ 0. 0. 0. 1. ]] SLAMing on 35.933741731999994 meters 0.0920205471931218 Centerline is valid? [False, True] Translation: X:-36.24, Y:2.17, Z:1.63 [[ 9.97614664e-01 -1.58100458e-03 -6.90107422e-02 -3.62395924e+01] [-5.05472187e-03 9.95380602e-01 -9.58744354e-02 2.17066823e+00] [ 6.88435320e-02 9.59945728e-02 9.92998293e-01 1.62844843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.963741731999995 meters 0.10436093276732578 Centerline is valid? [True, False] Translation: X:-36.26, Y:2.15, Z:1.62 [[ 0.99678389 0.05485276 -0.05842127 -36.25768169] [ -0.0593353 0.99518765 -0.07797987 2.15082248] [ 0.05386272 0.08119553 0.99524173 1.61874974] [ 0. 0. 0. 1. ]] SLAMing on 35.993741732 meters 0.11604264151176466 Centerline is valid? [False, False] Translation: X:-36.27, Y:2.15, Z:1.61 [[ 9.96308816e-01 7.68025014e-02 -3.83421398e-02 -3.62724634e+01] [-7.93421427e-02 9.94399582e-01 -6.98161608e-02 2.14830285e+00] [ 3.27653520e-02 7.26006041e-02 9.96822745e-01 1.60677318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.023741732 meters 0.13224953212509608 Centerline is valid? [False, False] Translation: X:-36.30, Y:2.14, Z:1.60 [[ 9.95393697e-01 9.52137704e-02 -1.12127917e-02 -3.63030805e+01] [-9.57327324e-02 9.93424777e-01 -6.27889793e-02 2.14154815e+00] [ 5.16068961e-03 6.35731854e-02 9.97963836e-01 1.59565884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.053741732 meters 0.11703957303936618 Centerline is valid? [False, False] Translation: X:-36.35, Y:2.13, Z:1.58 [[ 9.97579092e-01 6.92879330e-02 5.92765617e-03 -3.63490831e+01] [-6.88707304e-02 9.96174319e-01 -5.37917141e-02 2.12841660e+00] [-9.63209553e-03 5.32532474e-02 9.98534583e-01 1.58211101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08374173199999 meters 0.11162235633413145 Centerline is valid? [False, False] Translation: X:-36.39, Y:2.12, Z:1.58 [[ 9.98958608e-01 4.55732049e-02 2.18670882e-03 -3.63866568e+01] [-4.54484304e-02 9.98155200e-01 -4.02571252e-02 2.12076439e+00] [-4.01732099e-03 4.01158192e-02 9.99186961e-01 1.57754417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.113741731999994 meters 0.1282773147981977 Centerline is valid? [False, False] Translation: X:-36.44, Y:2.14, Z:1.56 [[ 9.99010356e-01 2.97348883e-02 3.30778501e-02 -3.64352749e+01] [-2.98329962e-02 9.99551830e-01 2.47628351e-03 2.13861219e+00] [-3.29893936e-02 -3.46064425e-03 9.99449711e-01 1.56124304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.143741731999995 meters 0.15839564795820327 Centerline is valid? [False, False] Translation: X:-36.47, Y:2.17, Z:1.55 [[ 9.97424104e-01 6.76227816e-02 2.39231302e-02 -3.64686879e+01] [-6.94128480e-02 9.94024724e-01 8.42419400e-02 2.17034929e+00] [-1.80835086e-02 -8.56855141e-02 9.96158110e-01 1.54833856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.173741731999996 meters 0.20806219605952733 Centerline is valid? [False, False] Translation: X:-36.48, Y:2.18, Z:1.54 [[ 9.94866834e-01 9.77063613e-02 2.63334459e-02 -3.64780882e+01] [-9.97376649e-02 9.90749814e-01 9.20174162e-02 2.17534546e+00] [-1.70991697e-02 -9.41715119e-02 9.95409134e-01 1.53644196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.203741732 meters 0.20878222176808856 Centerline is valid? [False, False] Translation: X:-36.58, Y:2.17, Z:1.50 [[ 0.98910598 0.11008535 0.09772703 -36.57701763] [ -0.11609249 0.99154018 0.05805688 2.17388331] [ -0.09050906 -0.06876978 0.99351841 1.49672215] [ 0. 0. 0. 1. ]] SLAMing on 36.233741732 meters 0.223861087530253 Centerline is valid? [False, False] Translation: X:-36.70, Y:2.17, Z:1.47 [[ 9.77224344e-01 1.22077445e-01 1.73579029e-01 -3.67010275e+01] [-1.28832186e-01 9.91266724e-01 2.81522499e-02 2.17314791e+00] [-1.68626361e-01 -4.98736298e-02 9.84417478e-01 1.46914819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.263741732 meters 0.21339622243478198 Centerline is valid? [False, False] Translation: X:-36.82, Y:2.16, Z:1.46 [[ 9.65071826e-01 8.91771351e-02 2.46340838e-01 -3.68243045e+01] [-9.82600266e-02 9.94851639e-01 2.48028882e-02 2.16245484e+00] [-2.42860736e-01 -4.81420259e-02 9.68865836e-01 1.46336814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.293741731999994 meters 0.21682798872062733 Centerline is valid? [False, False] Translation: X:-36.87, Y:2.14, Z:1.49 [[ 0.96860328 0.06058003 0.24111769 -36.87007934] [ -0.07168758 0.99671983 0.03755635 2.13947611] [ -0.23805162 -0.05366235 0.96976893 1.48687815] [ 0. 0. 0. 1. ]] SLAMing on 36.323741731999995 meters 0.2152838394790216 Centerline is valid? [False, False] Translation: X:-36.87, Y:2.11, Z:1.51 [[ 0.9768707 0.04636862 0.20874288 -36.87467725] [ -0.05824302 0.99699377 0.05109958 2.11215396] [ -0.20574594 -0.0620755 0.97663465 1.5088539 ] [ 0. 0. 0. 1. ]] SLAMing on 36.353741731999996 meters 0.23403649578535515 Centerline is valid? [False, False] Translation: X:-36.84, Y:2.11, Z:1.50 [[ 9.81414001e-01 -2.92188498e-02 1.89665011e-01 -3.68377752e+01] [ 1.77043841e-02 9.97911484e-01 6.21226615e-02 2.11102163e+00] [-1.91084046e-01 -5.76101476e-02 9.79881604e-01 1.50449025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.383741732 meters 0.2262453073605378 Centerline is valid? [False, False] Translation: X:-36.80, Y:2.08, Z:1.53 [[ 9.89099785e-01 1.12580897e-02 1.46815772e-01 -3.68008524e+01] [-1.99823115e-02 9.98111687e-01 5.80841480e-02 2.08331732e+00] [-1.45884621e-01 -6.03847368e-02 9.87457017e-01 1.52838901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.413741732 meters 0.22562615367737646 Centerline is valid? [False, False] Translation: X:-36.84, Y:2.04, Z:1.54 [[ 9.87910161e-01 3.17283003e-02 1.51745937e-01 -3.68449039e+01] [-3.93595494e-02 9.98092972e-01 4.75525433e-02 2.04415457e+00] [-1.49947792e-01 -5.29502924e-02 9.87275000e-01 1.54356116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.443741732 meters 0.22462966043836502 Centerline is valid? [False, False] Translation: X:-36.87, Y:2.01, Z:1.55 [[ 0.98460336 0.06696408 0.16146836 -36.87449615] [ -0.07404637 0.99652122 0.03824388 2.0142772 ] [ -0.15834568 -0.0496112 0.98613659 1.54886526] [ 0. 0. 0. 1. ]] SLAMing on 36.47374173199999 meters 0.2532450020118042 Centerline is valid? [False, False] Translation: X:-36.90, Y:2.00, Z:1.55 [[ 9.80361748e-01 1.03170020e-01 1.68067815e-01 -3.68986010e+01] [-1.07395616e-01 9.94083967e-01 1.62249433e-02 2.00294677e+00] [-1.65399592e-01 -3.39560603e-02 9.85641903e-01 1.55183785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.503741731999995 meters 0.2155956295827732 Centerline is valid? [False, False] Translation: X:-36.95, Y:2.00, Z:1.55 [[ 9.77221622e-01 1.05985459e-01 1.83861316e-01 -3.69460538e+01] [-1.06968359e-01 9.94251817e-01 -4.59282145e-03 2.00418931e+00] [-1.83291220e-01 -1.51791388e-02 9.82941464e-01 1.55378578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.533741731999996 meters 0.2025365079383157 Centerline is valid? [False, False] Translation: X:-36.99, Y:2.00, Z:1.56 [[ 9.75442477e-01 1.11662604e-01 1.89851091e-01 -3.69923091e+01] [-1.13423492e-01 9.93545445e-01 -1.60009388e-03 1.99755363e+00] [-1.88804357e-01 -1.99727741e-02 9.81811592e-01 1.55829762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.563741732 meters 0.21088066087654733 Centerline is valid? [False, False] Translation: X:-37.03, Y:1.99, Z:1.56 [[ 9.78100834e-01 9.05211361e-02 1.87415803e-01 -3.70277218e+01] [-9.41044784e-02 9.95509118e-01 1.02929020e-02 1.98781012e+00] [-1.85642416e-01 -2.77041624e-02 9.82226742e-01 1.55744533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.593741732 meters 0.21603772464412938 Centerline is valid? [False, False] Translation: X:-37.08, Y:1.97, Z:1.57 [[ 9.80911303e-01 6.16255842e-02 1.84432380e-01 -3.70761969e+01] [-6.52269171e-02 9.97778893e-01 1.35177620e-02 1.97170806e+00] [-1.83189696e-01 -2.52896811e-02 9.82752241e-01 1.56751400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.623741732 meters 0.2377484345428207 Centerline is valid? [False, False] Translation: X:-37.11, Y:1.96, Z:1.59 [[ 9.80056251e-01 4.99370199e-02 1.92343542e-01 -3.71139388e+01] [-5.03048698e-02 9.98729481e-01 -2.97369967e-03 1.95738166e+00] [-1.92247664e-01 -6.76142388e-03 9.81323147e-01 1.58531742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.65374173199999 meters 0.24127891468099286 Centerline is valid? [False, False] Translation: X:-37.15, Y:1.95, Z:1.60 [[ 9.81965094e-01 4.44501635e-02 1.83762721e-01 -3.71458927e+01] [-4.31630354e-02 9.99007480e-01 -1.10003362e-02 1.95434414e+00] [-1.84069300e-01 2.87018934e-03 9.82909078e-01 1.59804721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.683741731999994 meters 0.22466701738504838 Centerline is valid? [False, False] Translation: X:-37.18, Y:1.95, Z:1.61 [[ 9.85216966e-01 4.05174359e-02 1.66450795e-01 -3.71782302e+01] [-3.92967576e-02 9.99171127e-01 -1.06218764e-02 1.95439973e+00] [-1.66743200e-01 3.92387630e-03 9.85992550e-01 1.60772409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.713741731999995 meters 0.1978822645189217 Centerline is valid? [False, False] Translation: X:-37.23, Y:1.94, Z:1.62 [[ 9.85573474e-01 3.60744328e-02 1.65358893e-01 -3.72307325e+01] [-3.70932924e-02 9.99307071e-01 3.07651537e-03 1.94177827e+00] [-1.65133328e-01 -9.16583770e-03 9.86228661e-01 1.62210440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.743741732 meters 0.17886366135575837 Centerline is valid? [False, False] Translation: X:-37.26, Y:1.93, Z:1.63 [[ 9.87144310e-01 2.58580371e-02 1.57725943e-01 -3.72635335e+01] [-2.85389542e-02 9.99483763e-01 1.47558351e-02 1.92877200e+00] [-1.57262962e-01 -1.90674721e-02 9.87372671e-01 1.62624964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.773741732 meters 0.1678154242927415 Centerline is valid? [False, False] Translation: X:-37.30, Y:1.92, Z:1.63 [[ 9.86352072e-01 5.77577255e-02 1.54187016e-01 -3.73002624e+01] [-6.14280330e-02 9.97927922e-01 1.91431199e-02 1.92152876e+00] [-1.52761866e-01 -2.83532611e-02 9.87856217e-01 1.63459918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.803741732 meters 0.15800541617160707 Centerline is valid? [False, False] Translation: X:-37.40, Y:1.91, Z:1.63 [[ 9.76771568e-01 7.79411672e-02 1.99605809e-01 -3.73983514e+01] [-8.05389128e-02 9.96739346e-01 4.91514768e-03 1.91084125e+00] [-1.98571871e-01 -2.08770114e-02 9.79863951e-01 1.62536304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.83374173199999 meters 0.1519881336202033 Centerline is valid? [False, False] Translation: X:-37.48, Y:1.90, Z:1.62 [[ 9.70399893e-01 7.37630357e-02 2.29963176e-01 -3.74830092e+01] [-7.54168885e-02 9.97150805e-01 -1.60169074e-03 1.89706156e+00] [-2.29426111e-01 -1.57888267e-02 9.73198013e-01 1.62152449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.863741731999994 meters 0.16180599356399955 Centerline is valid? [False, False] Translation: X:-37.56, Y:1.89, Z:1.62 [[ 9.66585744e-01 6.88189160e-02 2.46933102e-01 -3.75578236e+01] [-6.88858683e-02 9.97589364e-01 -8.37846522e-03 1.88567992e+00] [-2.46914433e-01 -8.91169609e-03 9.68996308e-01 1.62055938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.893741731999995 meters 0.1692505052016954 Centerline is valid? [False, False] Translation: X:-37.60, Y:1.89, Z:1.63 [[ 9.66030093e-01 7.31264525e-02 2.47867667e-01 -3.76029921e+01] [-7.36317645e-02 9.97259189e-01 -7.24389103e-03 1.89042870e+00] [-2.47718029e-01 -1.12531170e-02 9.68766817e-01 1.62574583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.923741731999996 meters 0.166950537524447 Centerline is valid? [False, False] Translation: X:-37.64, Y:1.89, Z:1.63 [[ 9.67629584e-01 4.74739179e-02 2.47869350e-01 -3.76371064e+01] [-5.08238390e-02 9.98682182e-01 7.12994243e-03 1.89068103e+00] [-2.47204217e-01 -1.94968151e-02 9.68767232e-01 1.63238318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.953741732 meters 0.1622818676257972 Centerline is valid? [False, False] Translation: X:-37.68, Y:1.88, Z:1.65 [[ 9.72229057e-01 9.56067241e-04 2.34029372e-01 -3.76770392e+01] [-4.88591233e-03 9.99856625e-01 1.62129041e-02 1.87925368e+00] [-2.33980317e-01 -1.69061035e-02 9.72094334e-01 1.65034781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.983741732 meters 0.16707835937139554 Centerline is valid? [False, False] Translation: X:-37.71, Y:1.87, Z:1.66 [[ 9.74972452e-01 -1.83453693e-02 2.21567517e-01 -3.77105951e+01] [ 1.32803517e-02 9.99615811e-01 2.43282242e-02 1.87384374e+00] [-2.21928703e-01 -2.07768539e-02 9.74841512e-01 1.65593269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.013741732 meters 0.1475689813313249 Centerline is valid? [False, False] Translation: X:-37.75, Y:1.87, Z:1.67 [[ 9.77307349e-01 -1.90513487e-02 2.10967750e-01 -3.77519204e+01] [ 1.31481418e-02 9.99482744e-01 2.93491241e-02 1.86693379e+00] [-2.11417766e-01 -2.59092807e-02 9.77052321e-01 1.67214498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.043741731999994 meters 0.1459725963131425 Centerline is valid? [False, False] Translation: X:-37.79, Y:1.86, Z:1.69 [[ 9.78905917e-01 1.30314797e-02 2.03895526e-01 -3.77850569e+01] [-1.87726897e-02 9.99479159e-01 2.62487597e-02 1.85691911e+00] [-2.03447269e-01 -2.95227336e-02 9.78640699e-01 1.68670585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.073741731999995 meters 0.14482526857465855 Centerline is valid? [False, False] Translation: X:-37.80, Y:1.84, Z:1.70 [[ 9.70620915e-01 9.84294997e-02 2.19560182e-01 -3.78032854e+01] [-1.04082844e-01 9.94465789e-01 1.43022957e-02 1.84401863e+00] [-2.16937322e-01 -3.67345554e-02 9.75494116e-01 1.69554631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.103741731999996 meters 0.15528483233963863 Centerline is valid? [False, False] Translation: X:-37.83, Y:1.85, Z:1.69 [[ 9.59625889e-01 1.17409937e-01 2.55603326e-01 -3.78264408e+01] [-1.22699531e-01 9.92432307e-01 4.78957911e-03 1.85320060e+00] [-2.53106654e-01 -3.59586124e-02 9.66769879e-01 1.68759992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.133741732 meters 0.13899176589985873 Centerline is valid? [False, False] Translation: X:-37.93, Y:1.82, Z:1.69 [[ 9.51389939e-01 9.62211724e-02 2.92572504e-01 -3.79288615e+01] [-1.01525167e-01 9.94828563e-01 2.96149259e-03 1.82215424e+00] [-2.90774525e-01 -3.25210064e-02 9.56238757e-01 1.69435139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.163741732 meters 0.14637913593714177 Centerline is valid? [False, False] Translation: X:-37.95, Y:1.83, Z:1.70 [[ 9.53920659e-01 6.93508045e-02 2.91934654e-01 -3.79536127e+01] [-7.47429764e-02 9.97175790e-01 7.34385611e-03 1.82953661e+00] [-2.90600867e-01 -2.88255210e-02 9.56410072e-01 1.69910866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.193741732 meters 0.14637913593714177 Centerline is valid? [False, False] Translation: X:-37.95, Y:1.83, Z:1.70 [[ 9.53920659e-01 6.93508045e-02 2.91934654e-01 -3.79536127e+01] [-7.47429764e-02 9.97175790e-01 7.34385611e-03 1.82953661e+00] [-2.90600867e-01 -2.88255210e-02 9.56410072e-01 1.69910866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.22374173199999 meters 0.1402033358200063 Centerline is valid? [False, False] Translation: X:-37.99, Y:1.84, Z:1.71 [[ 9.56615754e-01 3.38632729e-02 2.89377914e-01 -3.79907399e+01] [-3.78216128e-02 9.99251710e-01 8.09604755e-03 1.83862491e+00] [-2.88887217e-01 -1.86895460e-02 9.57180692e-01 1.71373651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.253741731999995 meters 0.1449039275698517 Centerline is valid? [False, False] Translation: X:-38.02, Y:1.86, Z:1.73 [[ 9.58676230e-01 4.55082197e-02 2.80836052e-01 -3.80197718e+01] [-4.69165877e-02 9.98897347e-01 -1.70997457e-03 1.85611383e+00] [-2.80604205e-01 -1.15365573e-02 9.59754233e-01 1.73237627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.283741731999996 meters 0.1523716129877726 Centerline is valid? [False, False] Translation: X:-38.03, Y:1.87, Z:1.74 [[ 9.55964027e-01 7.64111186e-02 2.83362170e-01 -3.80347295e+01] [-7.88510968e-02 9.96882466e-01 -2.80239346e-03 1.87458463e+00] [-2.82692913e-01 -1.96644305e-02 9.59008878e-01 1.74025013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.313741732 meters 0.14277359670487244 Centerline is valid? [False, False] Translation: X:-38.06, Y:1.90, Z:1.76 [[ 9.47290134e-01 1.33063663e-01 2.91436894e-01 -3.80555505e+01] [-1.33976238e-01 9.90840127e-01 -1.69177213e-02 1.89528286e+00] [-2.91018503e-01 -2.30196283e-02 9.56440446e-01 1.75744582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.343741732 meters 0.11809413687629708 Centerline is valid? [False, False] Translation: X:-38.08, Y:1.91, Z:1.77 [[ 9.40091293e-01 1.50677761e-01 3.05817875e-01 -3.80823331e+01] [-1.51567811e-01 9.88224200e-01 -2.09792525e-02 1.91171254e+00] [-3.05377732e-01 -2.66297335e-02 9.51858865e-01 1.76659326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.373741732 meters 0.11510252936969734 Centerline is valid? [False, False] Translation: X:-38.11, Y:1.92, Z:1.77 [[ 9.31600949e-01 1.46451911e-01 3.32673277e-01 -3.81087175e+01] [-1.49622650e-01 9.88610158e-01 -1.62178467e-02 1.92165711e+00] [-3.31259315e-01 -3.46668958e-02 9.42902685e-01 1.76674554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.40374173199999 meters 0.11211831469544163 Centerline is valid? [False, False] Translation: X:-38.14, Y:1.92, Z:1.77 [[ 9.15485915e-01 1.62284041e-01 3.68170382e-01 -3.81397142e+01] [-1.70171232e-01 9.85351046e-01 -1.11833642e-02 1.92225756e+00] [-3.64591953e-01 -5.24137950e-02 9.29691079e-01 1.76765019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.433741731999994 meters 0.11478688198127496 Centerline is valid? [False, False] Translation: X:-38.17, Y:1.90, Z:1.76 [[ 9.11930925e-01 1.37520905e-01 3.86613487e-01 -3.81723008e+01] [-1.50811543e-01 9.88554053e-01 4.09416972e-03 1.90366112e+00] [-3.81625295e-01 -6.20393763e-02 9.22232753e-01 1.75577963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.463741731999995 meters 0.11556130870457286 Centerline is valid? [False, False] Translation: X:-38.21, Y:1.85, Z:1.75 [[ 9.21096599e-01 8.19312070e-02 3.80615729e-01 -3.82053450e+01] [-1.02659314e-01 9.94120073e-01 3.44433686e-02 1.84554428e+00] [-3.75555750e-01 -7.07994195e-02 9.24091619e-01 1.74596239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.493741732 meters 0.12581151911417196 Centerline is valid? [False, False] Translation: X:-38.22, Y:1.80, Z:1.74 [[ 9.29296830e-01 2.60417263e-02 3.68414482e-01 -3.82168678e+01] [-5.10390933e-02 9.96995378e-01 5.82685750e-02 1.80234067e+00] [-3.65790122e-01 -7.29523432e-02 9.27833790e-01 1.74215152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.523741732 meters 0.13244228501051242 Centerline is valid? [False, False] Translation: X:-38.23, Y:1.74, Z:1.75 [[ 9.37103425e-01 -4.05691352e-02 3.46686194e-01 -3.82300583e+01] [ 1.30392898e-02 9.96598169e-01 8.13760780e-02 1.74128538e+00] [-3.48808183e-01 -7.17372596e-02 9.34444550e-01 1.74666183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.553741732 meters 0.13339458635338328 Centerline is valid? [False, False] Translation: X:-38.26, Y:1.70, Z:1.77 [[ 9.45992906e-01 -4.72780712e-02 3.20721382e-01 -3.82575324e+01] [ 1.83558572e-02 9.95533142e-01 9.26111501e-02 1.69720176e+00] [-3.23667242e-01 -8.17223752e-02 9.42635120e-01 1.76715738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58374173199999 meters 0.1276439692187196 Centerline is valid? [False, False] Translation: X:-38.29, Y:1.66, Z:1.79 [[ 9.47480590e-01 -3.79932393e-02 3.17548494e-01 -3.82937428e+01] [ 7.85286424e-03 9.95382880e-01 9.56621874e-02 1.66028113e+00] [-3.19716851e-01 -8.81444004e-02 9.43404314e-01 1.79211111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.613741731999994 meters 0.1248922173841432 Centerline is valid? [False, False] Translation: X:-38.33, Y:1.63, Z:1.82 [[ 9.49777114e-01 1.01831568e-02 3.12761470e-01 -3.83295589e+01] [-4.07299493e-02 9.94990991e-01 9.12907347e-02 1.63028638e+00] [-3.10265217e-01 -9.94446093e-02 9.45434432e-01 1.81702901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.643741731999995 meters 0.13043615284185373 Centerline is valid? [False, False] Translation: X:-38.34, Y:1.60, Z:1.83 [[ 0.95347423 0.04885021 0.29749043 -38.34009364] [ -0.07659591 0.99365745 0.0823282 1.59740387] [ -0.29158183 -0.10128437 0.9511685 1.82872333] [ 0. 0. 0. 1. ]] SLAMing on 37.673741731999996 meters 0.14589234768795376 Centerline is valid? [False, False] Translation: X:-38.33, Y:1.57, Z:1.83 [[ 9.56298326e-01 3.48866303e-02 2.90304039e-01 -3.83323800e+01] [-6.02075194e-02 9.95074587e-01 7.87503709e-02 1.56698405e+00] [-2.86126837e-01 -9.27873340e-02 9.53688599e-01 1.83137721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.703741732 meters 0.130385924360493 Centerline is valid? [False, False] Translation: X:-38.35, Y:1.52, Z:1.85 [[ 9.54529352e-01 2.17381531e-03 2.98109026e-01 -3.83509803e+01] [-2.79073776e-02 9.96233834e-01 8.20933973e-02 1.52334229e+00] [-2.96807842e-01 -8.66799984e-02 9.50995101e-01 1.85028477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.733741732 meters 0.1295588441881793 Centerline is valid? [False, False] Translation: X:-38.41, Y:1.50, Z:1.88 [[ 9.54507158e-01 -1.67249752e-02 2.97718594e-01 -3.84082306e+01] [-6.80283187e-03 9.96944540e-01 7.78158467e-02 1.49926906e+00] [-2.98110394e-01 -7.63011122e-02 9.51476922e-01 1.87942942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.763741732 meters 0.12363510758032226 Centerline is valid? [False, False] Translation: X:-38.45, Y:1.49, Z:1.90 [[ 9.56756232e-01 -9.35098248e-03 2.90740556e-01 -3.84469855e+01] [-9.91503532e-03 9.97854102e-01 6.47215796e-02 1.49008136e+00] [-2.90721867e-01 -6.48054776e-02 9.54610416e-01 1.90380537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.793741731999994 meters 0.12368792264761437 Centerline is valid? [False, False] Translation: X:-38.51, Y:1.49, Z:1.94 [[ 9.57011703e-01 1.72798870e-02 2.89534119e-01 -3.85122119e+01] [-3.37658448e-02 9.98073936e-01 5.20412030e-02 1.48556401e+00] [-2.88077192e-01 -5.95804044e-02 9.55751907e-01 1.94243851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.823741731999995 meters 0.12371186716478633 Centerline is valid? [False, False] Translation: X:-38.59, Y:1.49, Z:1.98 [[ 9.57423068e-01 3.83989048e-02 2.86123389e-01 -3.85863890e+01] [-5.07476159e-02 9.98067269e-01 3.58665121e-02 1.48814849e+00] [-2.84193154e-01 -4.88595059e-02 9.57521279e-01 1.97980079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.853741731999996 meters 0.1088008527084957 Centerline is valid? [False, False] Translation: X:-38.62, Y:1.49, Z:1.99 [[ 9.64665388e-01 -1.75403110e-04 2.63478004e-01 -3.86187350e+01] [-7.82054446e-03 9.99540110e-01 2.92985786e-02 1.49214607e+00] [-2.63361972e-01 -3.03238661e-02 9.64220377e-01 1.99182311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.883741732 meters 0.08949665322925503 Centerline is valid? [False, True] Translation: X:-38.61, Y:1.48, Z:2.01 [[ 9.68841447e-01 -1.21911114e-02 2.47381542e-01 -3.86134295e+01] [ 4.40428633e-03 9.99477973e-01 3.20059942e-02 1.48413375e+00] [-2.47642591e-01 -2.99191946e-02 9.68389379e-01 2.00587368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.913741732 meters 0.08384055374553279 Centerline is valid? [True, True] Translation: X:-38.64, Y:1.49, Z:2.03 [[ 9.64144565e-01 -3.24551183e-02 2.63385504e-01 -3.86384274e+01] [ 2.21150519e-02 9.98867381e-01 4.21293193e-02 1.48886553e+00] [-2.64454501e-01 -3.47939701e-02 9.63770303e-01 2.03498162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.943741732 meters 0.09008127290650482 Centerline is valid? [True, True] Translation: X:-38.67, Y:1.51, Z:2.05 [[ 9.64444335e-01 -1.21574903e-02 2.64006290e-01 -3.86721839e+01] [ 1.03102756e-03 9.99106859e-01 4.22424150e-02 1.51194646e+00] [-2.64284057e-01 -4.04682601e-02 9.63595484e-01 2.04590065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.97374173199999 meters 0.1083631240053253 Centerline is valid? [True, False] Translation: X:-38.68, Y:1.53, Z:2.06 [[ 9.63937363e-01 4.95226771e-02 2.61480905e-01 -3.86830564e+01] [-5.48530888e-02 9.98408212e-01 1.31217776e-02 1.53460691e+00] [-2.60414858e-01 -2.69916070e-02 9.65119451e-01 2.06256070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.003741731999995 meters 0.10870428829598527 Centerline is valid? [False, False] Translation: X:-38.70, Y:1.55, Z:2.08 [[ 9.61041951e-01 8.91439612e-02 2.61632801e-01 -3.87030129e+01] [-9.21221893e-02 9.95747317e-01 -8.85101943e-04 1.55395227e+00] [-2.60599061e-01 -2.32515663e-02 9.65167081e-01 2.08059527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.033741731999996 meters 0.11264718537784464 Centerline is valid? [False, False] Translation: X:-38.75, Y:1.59, Z:2.09 [[ 9.52452559e-01 1.04507432e-01 2.86203283e-01 -3.87531475e+01] [-1.04767142e-01 9.94391798e-01 -1.44498709e-02 1.59417877e+00] [-2.86108316e-01 -1.62218834e-02 9.58059958e-01 2.09444753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.063741732 meters 0.11592865949993565 Centerline is valid? [False, False] Translation: X:-38.79, Y:1.61, Z:2.11 [[ 9.52108081e-01 1.06367556e-01 2.86663818e-01 -3.87930444e+01] [-1.07530545e-01 9.94132574e-01 -1.17306443e-02 1.61044867e+00] [-2.86229599e-01 -1.96562754e-02 9.57959418e-01 2.11216396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.093741732 meters 0.10727381289747535 Centerline is valid? [False, False] Translation: X:-38.78, Y:1.66, Z:2.10 [[ 9.57357179e-01 5.98456218e-02 2.82640643e-01 -3.87782689e+01] [-5.97502257e-02 9.98173097e-01 -8.96538497e-03 1.66406006e+00] [-2.82660825e-01 -8.30476654e-03 9.59183970e-01 2.10323521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.123741732 meters 0.10681989033623272 Centerline is valid? [False, False] Translation: X:-38.81, Y:1.68, Z:2.10 [[ 9.59831072e-01 3.53960040e-02 2.78336913e-01 -3.88103192e+01] [-3.96570019e-02 9.99166350e-01 9.69158735e-03 1.67590644e+00] [-2.77761834e-01 -2.03402942e-02 9.60434608e-01 2.10465989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.15374173199999 meters 0.08741634328509611 Centerline is valid? [False, True] Translation: X:-38.80, Y:1.68, Z:2.09 [[ 9.64362216e-01 3.39903651e-02 2.62393161e-01 -3.87976841e+01] [-4.49585623e-02 9.98343262e-01 3.59090412e-02 1.67673093e+00] [-2.60737882e-01 -4.64261419e-02 9.64292679e-01 2.09203871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.183741731999994 meters 0.08327665000602162 Centerline is valid? [True, True] Translation: X:-38.83, Y:1.67, Z:2.09 [[ 9.67306724e-01 1.93954265e-03 2.53601930e-01 -3.88310910e+01] [-1.10844218e-02 9.99338520e-01 3.46360775e-02 1.67048377e+00] [-2.53367000e-01 -3.63147414e-02 9.66688369e-01 2.08880066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.213741731999995 meters 0.0702836459414074 Centerline is valid? [True, True] Translation: X:-38.86, Y:1.66, Z:2.10 [[ 9.67205491e-01 -2.68313831e-02 2.52573978e-01 -3.88587385e+01] [ 1.87074676e-02 9.99229192e-01 3.45116149e-02 1.65632772e+00] [-2.53305287e-01 -2.86548040e-02 9.66961909e-01 2.09773114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.243741732 meters 0.0665010624617501 Centerline is valid? [True, True] Translation: X:-38.89, Y:1.66, Z:2.12 [[ 9.65800920e-01 -3.05650306e-02 2.57476917e-01 -3.88870721e+01] [ 2.22369078e-02 9.99133012e-01 3.51957961e-02 1.66379415e+00] [-2.58329448e-01 -2.82666418e-02 9.65643254e-01 2.11525405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.273741732 meters 0.07713894693716404 Centerline is valid? [True, True] Translation: X:-38.92, Y:1.71, Z:2.14 [[ 9.63196920e-01 -2.16106899e-02 2.67926617e-01 -3.89199950e+01] [ 1.22277976e-02 9.99253724e-01 3.66398285e-02 1.71094920e+00] [-2.68518482e-01 -3.20152175e-02 9.62742359e-01 2.13624458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.303741732 meters 0.08576081152802421 Centerline is valid? [True, True] Translation: X:-38.96, Y:1.75, Z:2.15 [[ 9.63524481e-01 -4.88561880e-03 2.67575608e-01 -3.89558829e+01] [-5.09742768e-03 9.99316925e-01 3.66019085e-02 1.75030461e+00] [-2.67571656e-01 -3.66307822e-02 9.62841417e-01 2.14515591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.33374173199999 meters 0.10003602336604785 Centerline is valid? [True, False] Translation: X:-39.00, Y:1.77, Z:2.14 [[ 9.66598538e-01 1.79878387e-03 2.56288959e-01 -3.89989178e+01] [-1.73147207e-02 9.98149105e-01 5.82972019e-02 1.76957268e+00] [-2.55709731e-01 -6.07875619e-02 9.64840611e-01 2.14366760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.363741731999994 meters 0.095281935417686 Centerline is valid? [False, True] Translation: X:-39.03, Y:1.78, Z:2.13 [[ 9.66513443e-01 -3.58740022e-03 2.56590910e-01 -3.90271752e+01] [-1.70916122e-02 9.96782077e-01 7.83158266e-02 1.77711129e+00] [-2.56046170e-01 -8.00788515e-02 9.63341962e-01 2.13496899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.393741731999995 meters 0.0969693807414124 Centerline is valid? [True, True] Translation: X:-39.05, Y:1.76, Z:2.18 [[ 9.64274042e-01 1.25538055e-02 2.64609096e-01 -3.90452630e+01] [-2.35224670e-02 9.98988454e-01 3.83244480e-02 1.76116744e+00] [-2.63860314e-01 -4.31795291e-02 9.63593930e-01 2.17756988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.423741731999996 meters 0.10222825175810582 Centerline is valid? [True, False] Translation: X:-39.06, Y:1.76, Z:2.18 [[ 9.66046304e-01 1.14233781e-02 2.58116340e-01 -3.90618362e+01] [-2.58327938e-02 9.98286586e-01 5.25029519e-02 1.76228315e+00] [-2.57074319e-01 -5.73881488e-02 9.64686164e-01 2.17883444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.453741732 meters 0.10117826175420049 Centerline is valid? [False, False] Translation: X:-39.08, Y:1.76, Z:2.18 [[ 9.67986454e-01 6.18130189e-03 2.50926317e-01 -3.90803824e+01] [-2.22405197e-02 9.97876815e-01 6.12145593e-02 1.76108911e+00] [-2.50015169e-01 -6.48355959e-02 9.66068714e-01 2.18100946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.483741732 meters 0.10310282148292464 Centerline is valid? [False, False] Translation: X:-39.10, Y:1.76, Z:2.18 [[ 9.67702523e-01 -1.22425815e-04 2.52094847e-01 -3.91002395e+01] [-1.75558103e-02 9.97539365e-01 6.78749556e-02 1.76160755e+00] [-2.51482843e-01 -7.01084951e-02 9.65319211e-01 2.18407231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.513741732 meters 0.09883313455578147 Centerline is valid? [False, True] Translation: X:-39.14, Y:1.76, Z:2.20 [[ 9.68695091e-01 1.83251280e-03 2.48246779e-01 -3.91354419e+01] [-1.96335453e-02 9.97406097e-01 6.92502820e-02 1.75614585e+00] [-2.47475949e-01 -7.19563726e-02 9.66218368e-01 2.20237062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.543741731999994 meters 0.09903727287685489 Centerline is valid? [True, True] Translation: X:-39.16, Y:1.74, Z:2.24 [[ 9.67284453e-01 1.21962565e-02 2.53400946e-01 -3.91558521e+01] [-2.31511134e-02 9.98919611e-01 4.02943728e-02 1.74297498e+00] [-2.52635734e-01 -4.48426344e-02 9.66521766e-01 2.23862833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.573741731999995 meters 0.10233656636246095 Centerline is valid? [True, False] Translation: X:-39.20, Y:1.75, Z:2.24 [[ 9.69866439e-01 8.69041950e-03 2.43482168e-01 -3.91964361e+01] [-2.39538093e-02 9.97923080e-01 5.97975025e-02 1.74652546e+00] [-2.42456810e-01 -6.38279163e-02 9.68060273e-01 2.24112125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.603741731999996 meters 0.10262049245611055 Centerline is valid? [False, False] Translation: X:-39.23, Y:1.75, Z:2.25 [[ 9.70891727e-01 8.74685358e-03 2.39359035e-01 -3.92316269e+01] [-2.43500519e-02 9.97759879e-01 6.23080901e-02 1.74550898e+00] [-2.38277843e-01 -6.63228141e-02 9.68929798e-01 2.25086818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.633741732 meters 0.10829549797053746 Centerline is valid? [False, False] Translation: X:-39.25, Y:1.74, Z:2.26 [[ 9.72114729e-01 1.42601929e-02 2.34071785e-01 -3.92487927e+01] [-2.91939067e-02 9.97743651e-01 6.04592722e-02 1.74327309e+00] [-2.32681476e-01 -6.56068189e-02 9.70337609e-01 2.25900860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.663741732 meters 0.09892180592041558 Centerline is valid? [False, True] Translation: X:-39.27, Y:1.74, Z:2.27 [[ 9.73345426e-01 1.85466563e-02 2.28592878e-01 -3.92710234e+01] [-3.25722065e-02 9.97800356e-01 5.77364792e-02 1.74138606e+00] [-2.27019237e-01 -6.36433124e-02 9.71808518e-01 2.27121690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.693741732 meters 0.11745314552611023 Centerline is valid? [True, False] Translation: X:-39.28, Y:1.74, Z:2.28 [[ 9.73743111e-01 3.04436402e-02 2.25604827e-01 -3.92837468e+01] [-4.45931396e-02 9.97326591e-01 5.78888792e-02 1.73941920e+00] [-2.23239345e-01 -6.64293248e-02 9.72497475e-01 2.28039260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.72374173199999 meters 0.11590681679194666 Centerline is valid? [False, False] Translation: X:-39.30, Y:1.73, Z:2.29 [[ 0.97514882 0.05070634 0.21567023 -39.2961071 ] [ -0.06245608 0.99689211 0.04801415 1.72964285] [ -0.21256532 -0.06029085 0.97528508 2.29237308] [ 0. 0. 0. 1. ]] SLAMing on 38.753741731999995 meters 0.12135365295506627 Centerline is valid? [False, False] Translation: X:-39.30, Y:1.72, Z:2.30 [[ 0.97540002 0.05225569 0.21415917 -39.30225772] [ -0.06483994 0.99653157 0.05215946 1.72440587] [ -0.21069075 -0.0647624 0.97540517 2.30190551] [ 0. 0. 0. 1. ]] SLAMing on 38.783741731999996 meters 0.11813993105899802 Centerline is valid? [False, False] Translation: X:-39.33, Y:1.71, Z:2.32 [[ 0.97441006 0.05648166 0.21756574 -39.32857363] [ -0.07016239 0.99598087 0.05567182 1.71241878] [ -0.21354688 -0.06951211 0.97445667 2.3176446 ] [ 0. 0. 0. 1. ]] SLAMing on 38.813741732 meters 0.12396767879060722 Centerline is valid? [False, False] Translation: X:-39.37, Y:1.70, Z:2.34 [[ 0.9740039 0.05675356 0.21930672 -39.37137624] [ -0.06729952 0.99689358 0.04091411 1.69683749] [ -0.21630344 -0.05460974 0.97479772 2.33961477] [ 0. 0. 0. 1. ]] SLAMing on 38.843741732 meters 0.12230333566503993 Centerline is valid? [False, False] Translation: X:-39.40, Y:1.69, Z:2.35 [[ 0.97591676 0.04649984 0.21312966 -39.40309393] [ -0.05716679 0.99738754 0.04415935 1.68956623] [ -0.21051946 -0.05527979 0.97602546 2.34742519] [ 0. 0. 0. 1. ]] SLAMing on 38.873741732 meters 0.11742883734757247 Centerline is valid? [False, False] Translation: X:-39.44, Y:1.67, Z:2.36 [[ 0.97725383 0.0444329 0.20736601 -39.439727 ] [ -0.05378428 0.99776405 0.03967548 1.67401837] [ -0.20513946 -0.04992605 0.97745854 2.363767 ] [ 0. 0. 0. 1. ]] SLAMing on 38.90374173199999 meters 0.13251768462571878 Centerline is valid? [False, False] Translation: X:-39.46, Y:1.66, Z:2.38 [[ 9.78125835e-01 4.89439454e-02 2.02174037e-01 -3.94612026e+01] [-5.68633316e-02 9.97818200e-01 3.35470089e-02 1.65978701e+00] [-2.00091010e-01 -4.43094853e-02 9.78774876e-01 2.38156969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.933741731999994 meters 0.12831630184725867 Centerline is valid? [False, False] Translation: X:-39.48, Y:1.65, Z:2.40 [[ 9.79097098e-01 5.15676547e-02 1.96747680e-01 -3.94789782e+01] [-5.72622476e-02 9.98085801e-01 2.33616808e-02 1.64744469e+00] [-1.95166358e-01 -3.41395682e-02 9.80175792e-01 2.39715188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.963741731999995 meters 0.11738719876777587 Centerline is valid? [False, False] Translation: X:-39.49, Y:1.64, Z:2.41 [[ 9.79368094e-01 4.87513453e-02 1.96115889e-01 -3.94869404e+01] [-5.43990957e-02 9.98242417e-01 2.35120056e-02 1.64101304e+00] [-1.94624957e-01 -3.36954351e-02 9.80298803e-01 2.40620527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.993741732 meters 0.11800216770174626 Centerline is valid? [False, False] Translation: X:-39.51, Y:1.62, Z:2.42 [[ 9.79247504e-01 5.02714142e-02 1.96334182e-01 -3.95076493e+01] [-5.39841065e-02 9.98449161e-01 1.36010455e-02 1.62137513e+00] [-1.95345955e-01 -2.39177152e-02 9.80442706e-01 2.42435516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.023741732 meters 0.11167421938627371 Centerline is valid? [False, False] Translation: X:-39.52, Y:1.61, Z:2.44 [[ 9.80293403e-01 5.20171835e-02 1.90575594e-01 -3.95234723e+01] [-5.31286911e-02 9.98587411e-01 7.24126095e-04 1.60538492e+00] [-1.90268722e-01 -1.08348879e-02 9.81672256e-01 2.43969299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.053741732 meters 0.10908025138369676 Centerline is valid? [False, False] Translation: X:-39.56, Y:1.58, Z:2.45 [[ 9.81487221e-01 4.96171224e-02 1.84989127e-01 -3.95566298e+01] [-4.99638574e-02 9.98747130e-01 -2.78973734e-03 1.58230515e+00] [-1.84895778e-01 -6.50467881e-03 9.82736608e-01 2.45221114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08374173199999 meters 0.10908025138369676 Centerline is valid? [False, False] Translation: X:-39.56, Y:1.58, Z:2.45 [[ 9.81487221e-01 4.96171224e-02 1.84989127e-01 -3.95566298e+01] [-4.99638574e-02 9.98747130e-01 -2.78973734e-03 1.58230515e+00] [-1.84895778e-01 -6.50467881e-03 9.82736608e-01 2.45221114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.113741731999994 meters 0.11418115951186279 Centerline is valid? [False, False] Translation: X:-39.58, Y:1.57, Z:2.46 [[ 9.83304427e-01 4.21784008e-02 1.77012392e-01 -3.95820074e+01] [-4.35358289e-02 9.99044678e-01 3.78994079e-03 1.56829032e+00] [-1.76683435e-01 -1.14330468e-02 9.84201326e-01 2.45965044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.143741731999995 meters 0.1111871821820193 Centerline is valid? [False, False] Translation: X:-39.62, Y:1.55, Z:2.47 [[ 9.85717268e-01 3.10902972e-02 1.65513929e-01 -3.96185448e+01] [-3.30774637e-02 9.99409869e-01 9.26252768e-03 1.54626316e+00] [-1.65128280e-01 -1.46050145e-02 9.86163954e-01 2.46992539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.173741731999996 meters 0.10941363815355788 Centerline is valid? [False, False] Translation: X:-39.66, Y:1.53, Z:2.48 [[ 9.88369252e-01 2.05380402e-02 1.50679827e-01 -3.96561488e+01] [-2.36556898e-02 9.99540980e-01 1.89271759e-02 1.52768482e+00] [-1.50221935e-01 -2.22714739e-02 9.88401412e-01 2.47995403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.203741732 meters 0.12028406038552655 Centerline is valid? [False, False] Translation: X:-39.70, Y:1.51, Z:2.49 [[ 9.89097746e-01 1.43970475e-02 1.46555017e-01 -3.97017777e+01] [-1.81180064e-02 9.99545690e-01 2.40863297e-02 1.50980020e+00] [-1.46141664e-01 -2.64790192e-02 9.88909235e-01 2.48678434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.233741732 meters 0.10165311972424539 Centerline is valid? [False, False] Translation: X:-39.72, Y:1.50, Z:2.50 [[ 9.90300995e-01 1.71434529e-02 1.37876903e-01 -3.97214888e+01] [-2.00555448e-02 9.99603591e-01 1.97594292e-02 1.49811521e+00] [-1.37483503e-01 -2.23329788e-02 9.90252253e-01 2.49803776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.263741732 meters 0.11672957924174343 Centerline is valid? [False, False] Translation: X:-39.76, Y:1.48, Z:2.50 [[ 9.91267593e-01 1.63127626e-02 1.30852789e-01 -3.97592016e+01] [-2.00983384e-02 9.99415273e-01 2.76616757e-02 1.48350521e+00] [-1.30325037e-01 -3.00500464e-02 9.91015832e-01 2.49966645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.293741731999994 meters 0.1063435046989524 Centerline is valid? [False, False] Translation: X:-39.78, Y:1.47, Z:2.51 [[ 9.92005749e-01 2.08999922e-02 1.24449931e-01 -3.97846979e+01] [-2.43134618e-02 9.99366930e-01 2.59729577e-02 1.46955540e+00] [-1.23828310e-01 -2.87911320e-02 9.91885891e-01 2.51344186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.323741731999995 meters 0.1025126709053433 Centerline is valid? [False, False] Translation: X:-39.82, Y:1.46, Z:2.53 [[ 9.92202003e-01 2.51739104e-02 1.22071536e-01 -3.98168755e+01] [-2.80990188e-02 9.99356370e-01 2.22999977e-02 1.45721933e+00] [-1.21431589e-01 -2.55561928e-02 9.92270754e-01 2.53125437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.353741731999996 meters 0.09719322701246033 Centerline is valid? [False, True] Translation: X:-39.84, Y:1.45, Z:2.55 [[ 9.92603382e-01 2.86948315e-02 1.17962423e-01 -3.98406457e+01] [-3.07357609e-02 9.99407068e-01 1.55185247e-02 1.44864069e+00] [-1.17447178e-01 -1.90294050e-02 9.92896793e-01 2.54713430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.383741732 meters 0.10840511795000772 Centerline is valid? [True, False] Translation: X:-39.89, Y:1.44, Z:2.55 [[ 9.93239626e-01 2.75097802e-02 1.12775250e-01 -3.98894100e+01] [-2.98052336e-02 9.99380438e-01 1.87186711e-02 1.43648914e+00] [-1.12190432e-01 -2.19534186e-02 9.93444188e-01 2.55464521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.413741732 meters 0.11748244942526828 Centerline is valid? [False, False] Translation: X:-39.93, Y:1.42, Z:2.56 [[ 9.93875360e-01 3.11514277e-02 1.06025264e-01 -3.99345746e+01] [-3.38158087e-02 9.99153522e-01 2.34249856e-02 1.42275026e+00] [-1.05205795e-01 -2.68668461e-02 9.94087478e-01 2.56269301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.443741732 meters 0.1126421006224197 Centerline is valid? [False, False] Translation: X:-39.95, Y:1.41, Z:2.58 [[ 9.94139959e-01 3.58410515e-02 1.01986080e-01 -3.99526501e+01] [-3.77339088e-02 9.99148418e-01 1.66910680e-02 1.41366433e+00] [-1.01301005e-01 -2.04415911e-02 9.94645790e-01 2.57532406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.47374173199999 meters 0.11365552133449554 Centerline is valid? [False, False] Translation: X:-39.98, Y:1.40, Z:2.59 [[ 9.94089962e-01 4.22441893e-02 1.00002876e-01 -3.99794479e+01] [-4.37948504e-02 9.98951197e-01 1.33609928e-02 1.40221700e+00] [-9.93335685e-02 -1.76616398e-02 9.94897436e-01 2.58782811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.503741731999995 meters 0.11262583652916608 Centerline is valid? [False, False] Translation: X:-40.01, Y:1.39, Z:2.60 [[ 9.94724639e-01 4.47809326e-02 9.22906308e-02 -4.00089884e+01] [-4.61792802e-02 9.98847646e-01 1.30710846e-02 1.39191278e+00] [-9.15989440e-02 -1.72640448e-02 9.95646316e-01 2.59845989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.533741731999996 meters 0.11036901906768162 Centerline is valid? [False, False] Translation: X:-40.02, Y:1.38, Z:2.61 [[ 9.95079046e-01 4.08910589e-02 9.02530540e-02 -4.00207366e+01] [-4.20115507e-02 9.99061427e-01 1.05496056e-02 1.38185454e+00] [-8.97369604e-02 -1.42893622e-02 9.95862989e-01 2.61121404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.563741732 meters 0.11692105781659975 Centerline is valid? [False, False] Translation: X:-40.05, Y:1.37, Z:2.62 [[ 9.95653855e-01 4.39020232e-02 8.21341221e-02 -4.00462657e+01] [-4.48004556e-02 9.98954262e-01 9.12693908e-03 1.37093631e+00] [-8.16475403e-02 -1.27669182e-02 9.96579493e-01 2.61950607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.593741732 meters 0.11894736538819921 Centerline is valid? [False, False] Translation: X:-40.06, Y:1.36, Z:2.63 [[ 9.95751967e-01 4.24912226e-02 8.16854689e-02 -4.00641503e+01] [-4.35272744e-02 9.98992295e-01 1.09439922e-02 1.36105689e+00] [-8.11381304e-02 -1.44530476e-02 9.96598070e-01 2.63294670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.623741732 meters 0.13973024899507527 Centerline is valid? [False, False] Translation: X:-40.08, Y:1.35, Z:2.65 [[ 9.95801563e-01 4.18816476e-02 8.13951748e-02 -4.00818281e+01] [-4.29736751e-02 9.99007572e-01 1.17103967e-02 1.34935215e+00] [-8.08239452e-02 -1.51590812e-02 9.96613111e-01 2.64582996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.65374173199999 meters 0.14151836337908913 Centerline is valid? [False, False] Translation: X:-40.09, Y:1.34, Z:2.65 [[ 9.96001835e-01 3.99591360e-02 7.98975065e-02 -4.00888929e+01] [-4.10468130e-02 9.99084957e-01 1.20170132e-02 1.34276812e+00] [-7.93442073e-02 -1.52485052e-02 9.96730646e-01 2.65439040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.683741731999994 meters 0.11680818199264863 Centerline is valid? [False, False] Translation: X:-40.10, Y:1.33, Z:2.66 [[ 9.96048734e-01 3.99122312e-02 7.93343197e-02 -4.00954162e+01] [-4.11272714e-02 9.99059434e-01 1.37402761e-02 1.33155928e+00] [-7.87112954e-02 -1.69487887e-02 9.96753365e-01 2.66193729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.713741731999995 meters 0.1295823633557085 Centerline is valid? [False, False] Translation: X:-40.10, Y:1.32, Z:2.67 [[ 9.96134364e-01 3.83123784e-02 7.90473920e-02 -4.01019335e+01] [-3.95300776e-02 9.99121734e-01 1.38972175e-02 1.32215080e+00] [-7.84455320e-02 -1.69682455e-02 9.96773985e-01 2.66901269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.743741732 meters 0.13896029242977748 Centerline is valid? [False, False] Translation: X:-40.11, Y:1.31, Z:2.68 [[ 9.96330555e-01 3.50497086e-02 7.80829192e-02 -4.01085210e+01] [-3.61460081e-02 9.99266187e-01 1.26709363e-02 1.31408287e+00] [-7.75815084e-02 -1.54468268e-02 9.96866343e-01 2.67723578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.773741732 meters 0.11933892180429367 Centerline is valid? [False, False] Translation: X:-40.14, Y:1.30, Z:2.68 [[ 9.96854456e-01 2.37740791e-02 7.56041469e-02 -4.01381043e+01] [-2.53369748e-02 9.99483253e-01 1.97804269e-02 1.29884546e+00] [-7.50948172e-02 -2.16337871e-02 9.96941697e-01 2.67980088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.803741732 meters 0.12823220261289756 Centerline is valid? [False, False] Translation: X:-40.18, Y:1.29, Z:2.68 [[ 9.97117000e-01 1.37274637e-02 7.46273801e-02 -4.01842463e+01] [-1.54947156e-02 9.99611832e-01 2.31538236e-02 1.28642503e+00] [-7.42805689e-02 -2.42434011e-02 9.96942654e-01 2.68285568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.83374173199999 meters 0.12448814034286719 Centerline is valid? [False, False] Translation: X:-40.21, Y:1.28, Z:2.70 [[ 9.97689859e-01 1.32510862e-02 6.66284824e-02 -4.02110662e+01] [-1.43752514e-02 9.99761822e-01 1.64210916e-02 1.27916851e+00] [-6.63950156e-02 -1.73409577e-02 9.97642718e-01 2.69514261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.863741731999994 meters 0.12879355087137154 Centerline is valid? [False, False] Translation: X:-40.25, Y:1.27, Z:2.70 [[ 9.98342994e-01 1.17012371e-02 5.63413400e-02 -4.02492861e+01] [-1.26622718e-02 9.99779851e-01 1.67306859e-02 1.26917803e+00] [-5.61331668e-02 -1.74163725e-02 9.98271375e-01 2.70172731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.893741731999995 meters 0.11299854468013579 Centerline is valid? [False, False] Translation: X:-40.26, Y:1.26, Z:2.70 [[ 9.97984964e-01 2.24075882e-02 5.93625387e-02 -4.02616770e+01] [-2.33960470e-02 9.99598092e-01 1.60087606e-02 1.26198166e+00] [-5.89799627e-02 -1.73653511e-02 9.98108115e-01 2.70426670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.923741731999996 meters 0.1165257957541976 Centerline is valid? [False, False] Translation: X:-40.27, Y:1.26, Z:2.71 [[ 9.97878920e-01 2.59418109e-02 5.97049750e-02 -4.02674716e+01] [-2.72139735e-02 9.99417478e-01 2.05937823e-02 1.25895309e+00] [-5.91359555e-02 -2.21749109e-02 9.98003613e-01 2.71045422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.953741732 meters 0.1212683083760774 Centerline is valid? [False, False] Translation: X:-40.30, Y:1.25, Z:2.72 [[ 9.96526308e-01 4.51270012e-02 6.99919366e-02 -4.02950579e+01] [-4.64141783e-02 9.98779759e-01 1.68735789e-02 1.24853704e+00] [-6.91450756e-02 -2.00635835e-02 9.97404838e-01 2.71758263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.983741732 meters 0.12108988476121114 Centerline is valid? [False, False] Translation: X:-40.32, Y:1.23, Z:2.73 [[ 9.96401214e-01 5.05026415e-02 6.80742521e-02 -4.03151168e+01] [-5.12960686e-02 9.98633852e-01 9.95703473e-03 1.23284578e+00] [-6.74783961e-02 -1.34131430e-02 9.97630570e-01 2.72846045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.013741732 meters 0.12714012398812366 Centerline is valid? [False, False] Translation: X:-40.34, Y:1.22, Z:2.73 [[ 9.97929906e-01 3.18178346e-02 5.58885289e-02 -4.03435969e+01] [-3.30692508e-02 9.99219394e-01 2.16108212e-02 1.21932860e+00] [-5.51572925e-02 -2.34142765e-02 9.98203108e-01 2.72649732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.043741731999994 meters 0.1307405341999422 Centerline is valid? [False, False] Translation: X:-40.35, Y:1.21, Z:2.74 [[ 9.98213781e-01 2.39580269e-02 5.47289750e-02 -4.03522506e+01] [-2.49025227e-02 9.99551365e-01 1.66413277e-02 1.21052544e+00] [-5.43057283e-02 -1.79744922e-02 9.98362562e-01 2.73587401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.073741731999995 meters 0.12060945061707372 Centerline is valid? [False, False] Translation: X:-40.39, Y:1.20, Z:2.74 [[ 9.97955608e-01 1.69480386e-02 6.16227876e-02 -4.03926083e+01] [-1.78486348e-02 9.99741364e-01 1.40936491e-02 1.19945574e+00] [-6.13679900e-02 -1.51647188e-02 9.98000001e-01 2.74448757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.103741731999996 meters 0.12415665269594854 Centerline is valid? [False, False] Translation: X:-40.45, Y:1.19, Z:2.76 [[ 9.97498549e-01 2.20255700e-02 6.71678435e-02 -4.04513783e+01] [-2.28098212e-02 9.99680057e-01 1.09314293e-02 1.19315045e+00] [-6.69055826e-02 -1.24361714e-02 9.97681805e-01 2.75595459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.133741732 meters 0.1346368705267847 Centerline is valid? [False, False] Translation: X:-40.52, Y:1.19, Z:2.77 [[ 9.95803949e-01 3.22046849e-02 8.56583499e-02 -4.05241432e+01] [-3.27179671e-02 9.99454062e-01 4.59473900e-03 1.18844585e+00] [-8.54636136e-02 -7.37802632e-03 9.96313974e-01 2.76813300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.163741732 meters 0.13326840430886908 Centerline is valid? [False, False] Translation: X:-40.56, Y:1.19, Z:2.78 [[ 9.95947684e-01 3.48521295e-02 8.29068176e-02 -4.05637543e+01] [-3.53995669e-02 9.99360011e-01 5.14182202e-03 1.18663423e+00] [-8.26745547e-02 -8.05585117e-03 9.96544039e-01 2.77957208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.193741732 meters 0.15145119931153406 Centerline is valid? [False, False] Translation: X:-40.61, Y:1.18, Z:2.78 [[ 9.96325580e-01 3.66453876e-02 7.74109438e-02 -4.06119844e+01] [-3.75524221e-02 9.99241641e-01 1.02936547e-02 1.17817715e+00] [-7.69750236e-02 -1.31627999e-02 9.96946130e-01 2.78309774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.22374173199999 meters 0.15851090946907287 Centerline is valid? [False, False] Translation: X:-40.62, Y:1.17, Z:2.79 [[ 9.96162041e-01 4.55984113e-02 7.47125975e-02 -4.06219875e+01] [-4.62518588e-02 9.98905013e-01 7.03849791e-03 1.17167148e+00] [-7.43098438e-02 -1.04670810e-02 9.97180268e-01 2.78746707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.253741731999995 meters 0.15191084533500834 Centerline is valid? [False, False] Translation: X:-40.62, Y:1.17, Z:2.78 [[ 9.95943945e-01 4.82149370e-02 7.59669505e-02 -4.06210017e+01] [-4.91361583e-02 9.98738943e-01 1.03034828e-02 1.16564088e+00] [-7.53743701e-02 -1.39944154e-02 9.97057100e-01 2.78468286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.283741731999996 meters 0.13602351499749935 Centerline is valid? [False, False] Translation: X:-40.62, Y:1.16, Z:2.78 [[ 9.95848358e-01 5.02501196e-02 7.59010713e-02 -4.06203498e+01] [-5.14477765e-02 9.98578866e-01 1.39059471e-02 1.15565321e+00] [-7.50944302e-02 -1.77531559e-02 9.97018381e-01 2.78459148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.313741732 meters 0.14184895646713885 Centerline is valid? [False, False] Translation: X:-40.62, Y:1.14, Z:2.79 [[ 9.95854408e-01 5.09225847e-02 7.53716705e-02 -4.06246308e+01] [-5.25436182e-02 9.98424662e-01 1.96815246e-02 1.13879687e+00] [-7.42507006e-02 -2.35602333e-02 9.96961257e-01 2.79018751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.343741732 meters 0.1470915243393933 Centerline is valid? [False, False] Translation: X:-40.63, Y:1.13, Z:2.80 [[ 9.96318876e-01 4.36689946e-02 7.37679896e-02 -4.06320246e+01] [-4.49140796e-02 9.98873624e-01 1.53039070e-02 1.12723693e+00] [-7.30165928e-02 -1.85607928e-02 9.97157999e-01 2.79878478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.373741732 meters 0.140952730517927 Centerline is valid? [False, False] Translation: X:-40.67, Y:1.11, Z:2.80 [[ 9.97466650e-01 2.74130069e-02 6.56415172e-02 -4.06686578e+01] [-2.88227587e-02 9.99371700e-01 2.06265383e-02 1.11359037e+00] [-6.50348392e-02 -2.24662537e-02 9.97630060e-01 2.79853562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.40374173199999 meters 0.1328392534480381 Centerline is valid? [False, False] Translation: X:-40.69, Y:1.11, Z:2.81 [[ 9.97597134e-01 2.89134327e-02 6.29600785e-02 -4.06904424e+01] [-2.97564450e-02 9.99479101e-01 1.24931950e-02 1.10774221e+00] [-6.25660615e-02 -1.43366437e-02 9.97937848e-01 2.80981794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.433741731999994 meters 0.1483306311432302 Centerline is valid? [False, False] Translation: X:-40.73, Y:1.10, Z:2.83 [[ 9.97756677e-01 3.13351067e-02 5.91584658e-02 -4.07251667e+01] [-3.18267355e-02 9.99466108e-01 7.38627433e-03 1.10236390e+00] [-5.88954319e-02 -9.25252537e-03 9.98221278e-01 2.82577946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.463741731999995 meters 0.14501651226082307 Centerline is valid? [False, False] Translation: X:-40.75, Y:1.10, Z:2.84 [[ 9.97954613e-01 2.75737092e-02 5.76739184e-02 -4.07502532e+01] [-2.81450706e-02 9.99562264e-01 9.11788022e-03 1.09961463e+00] [-5.73972587e-02 -1.07224671e-02 9.98293836e-01 2.83997117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.493741732 meters 0.14944550988429756 Centerline is valid? [False, False] Translation: X:-40.77, Y:1.10, Z:2.85 [[ 9.98134099e-01 2.20370174e-02 5.69446332e-02 -4.07711947e+01] [-2.25883682e-02 9.99703827e-01 9.05668948e-03 1.09854516e+00] [-5.67281853e-02 -1.03260769e-02 9.98336259e-01 2.85365192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.523741732 meters 0.1482256291433822 Centerline is valid? [False, False] Translation: X:-40.78, Y:1.10, Z:2.86 [[ 9.98904088e-01 2.00498211e-02 4.22921716e-02 -4.07755655e+01] [-2.03461076e-02 9.99771298e-01 6.58690193e-03 1.09932426e+00] [-4.21504330e-02 -7.44016434e-03 9.99083573e-01 2.86142464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.553741732 meters 0.151043335484493 Centerline is valid? [False, False] Translation: X:-40.78, Y:1.10, Z:2.86 [[ 9.98942559e-01 1.88458741e-02 4.19356182e-02 -4.07779539e+01] [-1.90897266e-02 9.99803072e-01 5.42206223e-03 1.10003608e+00] [-4.18251764e-02 -6.21686821e-03 9.99105603e-01 2.86454647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58374173199999 meters 0.17026433158326768 Centerline is valid? [False, False] Translation: X:-40.79, Y:1.11, Z:2.87 [[ 9.98965977e-01 1.68644344e-02 4.22204615e-02 -4.07863391e+01] [-1.70222174e-02 9.99849397e-01 3.38038650e-03 1.10634695e+00] [-4.21570947e-02 -4.09557698e-03 9.99102600e-01 2.87236872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.613741731999994 meters 0.1461930545396776 Centerline is valid? [False, False] Translation: X:-40.83, Y:1.11, Z:2.88 [[ 9.98802638e-01 4.95598619e-03 4.86695932e-02 -4.08322354e+01] [-5.39371389e-03 9.99946144e-01 8.86665289e-03 1.11149588e+00] [-4.86230290e-02 -9.11854615e-03 9.98775577e-01 2.88234634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.643741731999995 meters 0.16202543511096756 Centerline is valid? [False, False] Translation: X:-40.87, Y:1.12, Z:2.89 [[ 9.98982370e-01 -4.03406161e-03 4.49216050e-02 -4.08707316e+01] [ 3.17946550e-03 9.99812916e-01 1.90793923e-02 1.11933743e+00] [-4.49901683e-02 -1.89171499e-02 9.98808303e-01 2.88507444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.673741731999996 meters 0.17832210141390195 Centerline is valid? [False, False] Translation: X:-40.80, Y:1.20, Z:2.86 [[ 9.99581715e-01 -1.22747606e-02 2.61863434e-02 -4.08029638e+01] [ 1.10465565e-02 9.98855238e-01 4.65423142e-02 1.20146682e+00] [-2.67276621e-02 -4.62335773e-02 9.98573026e-01 2.86294021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.703741732 meters 0.19210388977542445 Centerline is valid? [False, False] Translation: X:-40.83, Y:1.21, Z:2.86 [[ 9.99353153e-01 -2.73398267e-02 2.33625704e-02 -4.08323777e+01] [ 2.61407862e-02 9.98398400e-01 5.01726513e-02 1.20681030e+00] [-2.46968644e-02 -4.95294814e-02 9.98467273e-01 2.85714222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.733741732 meters 0.18810370771867552 Centerline is valid? [False, False] Translation: X:-40.83, Y:1.21, Z:2.85 [[ 9.99175694e-01 -3.16185321e-02 2.54597926e-02 -4.08333091e+01] [ 3.04195735e-02 9.98469996e-01 4.61770131e-02 1.20807515e+00] [-2.68808884e-02 -4.53644730e-02 9.98608773e-01 2.85443730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.763741732 meters 0.14646999454643567 Centerline is valid? [False, False] Translation: X:-40.90, Y:1.12, Z:2.90 [[ 9.99106383e-01 4.72765055e-04 4.22635950e-02 -4.09009392e+01] [-4.99673704e-04 9.99999679e-01 6.26124769e-04 1.11555694e+00] [-4.22632855e-02 -6.46683260e-04 9.99106299e-01 2.89931385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.793741731999994 meters 0.1558485361700256 Centerline is valid? [False, False] Translation: X:-40.90, Y:1.10, Z:2.91 [[ 9.99298750e-01 1.34659425e-02 3.49381760e-02 -4.08995242e+01] [-1.33115493e-02 9.99900595e-01 -4.64790505e-03 1.09712116e+00] [-3.49972914e-02 4.17956446e-03 9.99378667e-01 2.90538279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.823741731999995 meters 0.15354041568856341 Centerline is valid? [False, False] Translation: X:-40.95, Y:1.09, Z:2.90 [[ 9.99239663e-01 1.56453023e-02 3.57116362e-02 -4.09527293e+01] [-1.59733073e-02 9.99832647e-01 8.91805097e-03 1.09291861e+00] [-3.55661342e-02 -9.48170318e-03 9.99322344e-01 2.90326848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.853741731999996 meters 0.18559078311695842 Centerline is valid? [False, False] Translation: X:-40.93, Y:1.17, Z:2.86 [[ 9.99770128e-01 1.39448387e-02 1.62859499e-02 -4.09348553e+01] [-1.50726065e-02 9.97340122e-01 7.13126721e-02 1.17097085e+00] [-1.52481875e-02 -7.15417511e-02 9.97321047e-01 2.86391442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.883741732 meters 0.21539543803819616 Centerline is valid? [False, False] Translation: X:-40.92, Y:1.25, Z:2.83 [[ 9.99955389e-01 -5.49402321e-03 -7.68349100e-03 -4.09215870e+01] [ 6.28176124e-03 9.94284988e-01 1.06573458e-01 1.24559604e+00] [ 7.05406271e-03 -1.06616970e-01 9.94275144e-01 2.82632184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.913741732 meters 0.1935913345907906 Centerline is valid? [False, False] Translation: X:-40.88, Y:1.32, Z:2.80 [[ 9.98519228e-01 -5.16287785e-02 -1.71411982e-02 -4.08819403e+01] [ 5.33214995e-02 9.91297717e-01 1.20356362e-01 1.31611020e+00] [ 1.07781787e-02 -1.21092136e-01 9.92582755e-01 2.80068951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.943741732 meters 0.14529444491412466 Centerline is valid? [False, False] Translation: X:-40.84, Y:1.32, Z:2.78 [[ 9.98701524e-01 -5.06403061e-02 -5.55202817e-03 -4.08432063e+01] [ 5.09080848e-02 9.87980496e-01 1.45955151e-01 1.31573580e+00] [-1.90591795e-03 -1.46048274e-01 9.89275628e-01 2.77597767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.97374173199999 meters 0.09282905862403973 Centerline is valid? [False, True] Translation: X:-40.80, Y:1.28, Z:2.79 [[ 9.99088048e-01 -4.16668584e-02 9.32439857e-03 -4.08031367e+01] [ 4.01748538e-02 9.91322398e-01 1.25163434e-01 1.27591080e+00] [-1.44586522e-02 -1.24674684e-01 9.92092320e-01 2.79048038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.003741731999995 meters 0.09282905862403973 Centerline is valid? [True, True] Translation: X:-40.82, Y:1.23, Z:2.91 [[ 9.98970527e-01 -3.84810090e-02 2.40228807e-02 -4.08212445e+01] [ 3.84237319e-02 9.99257496e-01 2.84149845e-03 1.22934503e+00] [-2.41143873e-02 -1.91552448e-03 9.99707371e-01 2.91462430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.033741731999996 meters 0.07474020927339849 Centerline is valid? [True, True] Translation: X:-40.84, Y:1.15, Z:2.89 [[ 9.94079757e-01 -1.06545855e-01 2.12936213e-02 -4.08435747e+01] [ 1.06516498e-01 9.94307764e-01 2.51135201e-03 1.15129671e+00] [-2.14399871e-02 -2.28362213e-04 9.99770111e-01 2.89430304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.063741732 meters 0.0759489560042258 Centerline is valid? [True, True] Translation: X:-40.87, Y:1.10, Z:2.88 [[ 9.90374405e-01 -1.37083720e-01 1.91465782e-02 -4.08669087e+01] [ 1.37065667e-01 9.90559389e-01 2.25822613e-03 1.10036413e+00] [-1.92753888e-02 3.87849145e-04 9.99814137e-01 2.88230722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.093741732 meters 0.094905237137411 Centerline is valid? [True, True] Translation: X:-40.89, Y:1.04, Z:2.89 [[ 9.83406472e-01 -1.79996637e-01 2.26477489e-02 -4.08885956e+01] [ 1.79982660e-01 9.83666157e-01 2.67079141e-03 1.04150283e+00] [-2.27585576e-02 1.44972853e-03 9.99739939e-01 2.88967921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.123741732 meters 0.07977144985018557 Centerline is valid? [True, True] Translation: X:-40.92, Y:1.05, Z:2.90 [[ 9.86747792e-01 -1.61048338e-01 1.98047614e-02 -4.09194373e+01] [ 1.61033839e-01 9.86946123e-01 2.33521689e-03 1.05221895e+00] [-1.99223153e-02 8.84966646e-04 9.99801139e-01 2.90282115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.15374173199999 meters 0.07869182434753794 Centerline is valid? [True, True] Translation: X:-40.95, Y:1.08, Z:2.92 [[ 9.87694394e-01 -1.54382660e-01 2.50155556e-02 -4.09521019e+01] [ 1.54357417e-01 9.88010675e-01 2.94861446e-03 1.07537486e+00] [-2.51708509e-02 9.49006561e-04 9.99682713e-01 2.91708611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.183741731999994 meters 0.06628086095217436 Centerline is valid? [True, True] Translation: X:-40.99, Y:1.13, Z:2.93 [[ 9.92948594e-01 -1.15819798e-01 2.52757578e-02 -4.09889027e+01] [ 1.15781500e-01 9.93270242e-01 2.97840060e-03 1.13145548e+00] [-2.54506159e-02 -3.09335355e-05 9.99676080e-01 2.92589502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.213741731999995 meters 0.06829626723459553 Centerline is valid? [True, True] Translation: X:-41.02, Y:1.18, Z:2.94 [[ 9.94873974e-01 -9.69329203e-02 2.88059772e-02 -4.10233101e+01] [ 9.68752742e-02 9.95290745e-01 3.39337111e-03 1.17773807e+00] [-2.89992519e-02 -5.85389655e-04 9.99579262e-01 2.94321242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.243741732 meters 0.07483865639654412 Centerline is valid? [True, True] Translation: X:-41.05, Y:1.19, Z:2.95 [[ 9.92391377e-01 -1.19022555e-01 3.15116742e-02 -4.10542765e+01] [ 1.18964707e-01 9.92891549e-01 3.71096786e-03 1.18713546e+00] [-3.17293639e-02 6.60446023e-05 9.99496495e-01 2.95251217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.273741732 meters 0.07229026408143348 Centerline is valid? [True, True] Translation: X:-41.09, Y:1.23, Z:2.96 [[ 9.95125365e-01 -9.32912827e-02 3.19725573e-02 -4.10874585e+01] [ 9.32184212e-02 9.95638564e-01 3.76520582e-03 1.22536603e+00] [-3.21843719e-02 -7.66420507e-04 9.99481655e-01 2.96254662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.303741732 meters 0.07448578175484871 Centerline is valid? [True, True] Translation: X:-41.12, Y:1.22, Z:2.96 [[ 9.93542796e-01 -1.08181103e-01 3.41988569e-02 -4.11171157e+01] [ 1.08106584e-01 9.94131157e-01 4.02606339e-03 1.21783202e+00] [-3.44336931e-02 -3.02944664e-04 9.99406939e-01 2.96039446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.33374173199999 meters 0.07780062320425213 Centerline is valid? [True, True] Translation: X:-41.14, Y:1.22, Z:2.96 [[ 9.92171234e-01 -1.17146168e-01 4.32783866e-02 -4.11447570e+01] [ 1.17035389e-01 9.93114684e-01 5.09337975e-03 1.21622166e+00] [-4.35770712e-02 1.15979472e-05 9.99050068e-01 2.95702228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.363741731999994 meters 0.08099084314507488 Centerline is valid? [True, True] Translation: X:-41.17, Y:1.20, Z:2.94 [[ 9.90366429e-01 -1.31340973e-01 4.38621103e-02 -4.11739882e+01] [ 1.31241195e-01 9.91337042e-01 5.15930305e-03 1.20369282e+00] [-4.41597625e-02 6.46915219e-04 9.99024272e-01 2.94006707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.393741731999995 meters 0.07860234674741844 Centerline is valid? [True, True] Translation: X:-41.20, Y:1.21, Z:2.94 [[ 9.91519852e-01 -1.22563980e-01 4.32024814e-02 -4.12038800e+01] [ 1.22458892e-01 9.92460582e-01 5.08064496e-03 1.20827895e+00] [-4.34994639e-02 2.52967651e-04 9.99053418e-01 2.94184119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.423741731999996 meters 0.07456796617693806 Centerline is valid? [True, True] Translation: X:-41.24, Y:1.24, Z:2.96 [[ 9.95080185e-01 -8.93456515e-02 4.28109805e-02 -4.12359581e+01] [ 8.92117098e-02 9.95999970e-01 5.03285719e-03 1.23729589e+00] [-4.30893993e-02 -1.18885569e-03 9.99070513e-01 2.95756372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.453741732 meters 0.07608561912678295 Centerline is valid? [True, True] Translation: X:-41.26, Y:1.23, Z:2.94 [[ 9.93966154e-01 -1.00805568e-01 4.32379757e-02 -4.12642109e+01] [ 1.00679811e-01 9.94905900e-01 5.08187586e-03 1.22680918e+00] [-4.35299986e-02 -6.98021398e-04 9.99051877e-01 2.94468810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.483741732 meters 0.07889318551667242 Centerline is valid? [True, True] Translation: X:-41.29, Y:1.21, Z:2.95 [[ 9.91961623e-01 -1.19454690e-01 4.17458342e-02 -4.12913700e+01] [ 1.19354007e-01 9.92839646e-01 4.90485882e-03 1.20694972e+00] [-4.20328276e-02 1.17100862e-04 9.99116223e-01 2.94724677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.513741732 meters 0.07682233908971961 Centerline is valid? [True, True] Translation: X:-41.32, Y:1.21, Z:2.95 [[ 9.93338577e-01 -1.06537215e-01 4.39123449e-02 -4.13204508e+01] [ 1.06413315e-01 9.94308614e-01 5.15616873e-03 1.21425594e+00] [-4.42117467e-02 -4.48963126e-04 9.99022082e-01 2.95120934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.543741731999994 meters 0.07544427885983371 Centerline is valid? [True, True] Translation: X:-41.35, Y:1.23, Z:2.95 [[ 9.95516521e-01 -8.69967161e-02 3.71271817e-02 -4.13523892e+01] [ 8.68946305e-02 9.96207978e-01 4.35751883e-03 1.22956497e+00] [-3.73654844e-02 -1.11182926e-03 9.99301048e-01 2.95073400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.573741731999995 meters 0.23998152420572266 Centerline is valid? [True, False] Translation: X:-41.51, Y:0.55, Z:3.10 [[ 9.76734813e-01 -2.14450689e-01 8.74394961e-05 -4.15112041e+01] [ 2.10033887e-01 9.56535604e-01 -2.02300282e-01 5.47760522e-01] [ 4.32997960e-02 1.97612094e-01 9.79323536e-01 3.10358570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.603741731999996 meters 0.28081201100894165 Centerline is valid? [False, False] Translation: X:-41.53, Y:0.55, Z:3.08 [[ 9.90090089e-01 -1.38424794e-01 -2.36683927e-02 -4.15291807e+01] [ 1.33361570e-01 9.79589967e-01 -1.50393444e-01 5.46106561e-01] [ 4.40035016e-02 1.45746604e-01 9.88342865e-01 3.08292183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.633741732 meters 0.2550661717002518 Centerline is valid? [False, False] Translation: X:-41.57, Y:0.55, Z:3.05 [[ 9.94289033e-01 -1.04551939e-01 -2.14058567e-02 -4.15703186e+01] [ 1.01948688e-01 9.89834829e-01 -9.91638884e-02 5.48465950e-01] [ 3.15560392e-02 9.64152678e-02 9.94840848e-01 3.05169899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.663741732 meters 0.2465154964987329 Centerline is valid? [False, False] Translation: X:-41.61, Y:0.54, Z:3.02 [[ 9.95617482e-01 -9.30783330e-02 -9.06935845e-03 -4.16108128e+01] [ 9.25495483e-02 9.94579431e-01 -4.73955433e-02 5.36447694e-01] [ 1.34316955e-02 4.63484665e-02 9.98835026e-01 3.02392490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.693741732 meters 0.2385904516867437 Centerline is valid? [False, False] Translation: X:-41.64, Y:0.52, Z:3.00 [[ 9.96256358e-01 -8.62739904e-02 -5.48349090e-03 -4.16447389e+01] [ 8.61461022e-02 9.96074251e-01 -2.03699563e-02 5.21373874e-01] [ 7.21936151e-03 1.98213171e-02 9.99777473e-01 3.00095173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.72374173199999 meters 0.21228713298724067 Centerline is valid? [False, False] Translation: X:-41.67, Y:0.53, Z:2.99 [[ 9.98481208e-01 -5.50837912e-02 -1.02670913e-03 -4.16675338e+01] [ 5.50719171e-02 9.98439157e-01 -9.29163120e-03 5.25250219e-01] [ 1.53692488e-03 9.22097630e-03 9.99956305e-01 2.99169442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.753741731999995 meters 0.2034888196556992 Centerline is valid? [False, False] Translation: X:-41.68, Y:0.53, Z:2.99 [[ 9.99741196e-01 -2.27231487e-02 1.09493323e-03 -4.16830468e+01] [ 2.27287184e-02 9.99727217e-01 -5.37563395e-03 5.32829103e-01] [-9.72483222e-04 5.39912914e-03 9.99984952e-01 2.99300928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.783741731999996 meters 0.17010031813763105 Centerline is valid? [False, False] Translation: X:-41.70, Y:0.55, Z:3.01 [[ 9.99952012e-01 7.98395026e-03 -5.67711546e-03 -4.16967905e+01] [-7.93201278e-03 9.99927016e-01 9.11297505e-03 5.53172571e-01] [ 5.74945866e-03 -9.06750679e-03 9.99942360e-01 3.00541396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.813741732 meters 0.1629822926905424 Centerline is valid? [False, False] Translation: X:-41.71, Y:0.57, Z:3.01 [[ 9.99752117e-01 2.08670887e-02 -7.76336242e-03 -4.17072929e+01] [-2.08213526e-02 9.99765648e-01 5.92619178e-03 5.73340547e-01] [ 7.88520543e-03 -5.76307907e-03 9.99952304e-01 3.00899199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.843741732 meters 0.1530342842589823 Centerline is valid? [False, False] Translation: X:-41.71, Y:0.59, Z:3.01 [[ 9.99736399e-01 2.22404142e-02 -5.70052476e-03 -4.17113812e+01] [-2.21955949e-02 9.99723153e-01 7.80857137e-03 5.86088724e-01] [ 5.87261245e-03 -7.67998649e-03 9.99953264e-01 3.00835881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.873741732 meters 0.15172441910730633 Centerline is valid? [False, False] Translation: X:-41.72, Y:0.59, Z:3.02 [[ 9.99626226e-01 2.65921280e-02 -6.34566069e-03 -4.17208142e+01] [-2.65145775e-02 9.99576311e-01 1.20072933e-02 5.94199237e-01] [ 6.66227159e-03 -1.18345527e-02 9.99907774e-01 3.01720848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.90374173199999 meters 0.14586127825787187 Centerline is valid? [False, False] Translation: X:-41.74, Y:0.60, Z:3.02 [[ 9.99148492e-01 4.12270157e-02 -1.61984298e-03 -4.17387125e+01] [-4.12069760e-02 9.99091157e-01 1.09015878e-02 6.00092350e-01] [ 2.06781073e-03 -1.08255561e-02 9.99939264e-01 3.02418790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.933741731999994 meters 0.11976914616629697 Centerline is valid? [False, False] Translation: X:-41.74, Y:0.61, Z:3.02 [[ 9.99290622e-01 3.52720523e-02 1.31960542e-02 -4.17411934e+01] [-3.52846186e-02 9.99377044e-01 7.20602964e-04 6.13625247e-01] [-1.31624165e-02 -1.18570952e-03 9.99912669e-01 3.01972265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.963741731999995 meters 0.10417549767831859 Centerline is valid? [False, False] Translation: X:-41.76, Y:0.61, Z:3.03 [[ 9.98472145e-01 5.43087300e-02 1.01949545e-02 -4.17592311e+01] [-5.43674485e-02 9.98505442e-01 5.57339332e-03 6.05755519e-01] [-9.87703362e-03 -6.11915164e-03 9.99932498e-01 3.02723150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.993741732 meters 0.10393937516616188 Centerline is valid? [False, False] Translation: X:-41.79, Y:0.59, Z:3.02 [[ 9.99030925e-01 4.01317711e-02 1.80735323e-02 -4.17868048e+01] [-4.04281808e-02 9.99048754e-01 1.63447275e-02 5.86765250e-01] [-1.74003971e-02 -1.70595683e-02 9.99703055e-01 3.02170770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.023741732 meters 0.14423664121095112 Centerline is valid? [False, False] Translation: X:-41.82, Y:0.56, Z:3.02 [[ 9.99807452e-01 2.74203742e-03 1.94303805e-02 -4.18160395e+01] [-3.35895347e-03 9.99488961e-01 3.17889079e-02 5.63800357e-01] [-1.93332844e-02 -3.18480528e-02 9.99305722e-01 3.01863890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.053741732 meters 0.1639838523221214 Centerline is valid? [False, False] Translation: X:-41.86, Y:0.54, Z:3.02 [[ 9.99181071e-01 -3.35990212e-02 2.25453453e-02 -4.18567360e+01] [ 3.27479285e-02 9.98774341e-01 3.71132041e-02 5.43279662e-01] [-2.37646798e-02 -3.63444977e-02 9.99056714e-01 3.01625463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08374173199999 meters 0.1574953337092542 Centerline is valid? [False, False] Translation: X:-41.90, Y:0.53, Z:3.02 [[ 9.98803130e-01 -3.70739080e-02 3.19034924e-02 -4.18968859e+01] [ 3.63214292e-02 9.99055493e-01 2.38511255e-02 5.33863768e-01] [-3.27576138e-02 -2.26637984e-02 9.99206331e-01 3.01604362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.113741731999994 meters 0.1609930650750306 Centerline is valid? [False, False] Translation: X:-41.83, Y:0.52, Z:3.02 [[ 9.99945636e-01 -9.42831635e-03 4.45340937e-03 -4.18347738e+01] [ 9.38346793e-03 9.99906107e-01 9.98634722e-03 5.21021713e-01] [-4.54714566e-03 -9.94401590e-03 9.99940218e-01 3.02023804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.143741731999995 meters 0.11931976533505602 Centerline is valid? [False, False] Translation: X:-41.85, Y:0.54, Z:3.04 [[ 9.98345393e-01 5.56116357e-02 -1.46226348e-02 -4.18524454e+01] [-5.57481019e-02 9.98403428e-01 -9.09637927e-03 5.35153138e-01] [ 1.40934242e-02 9.89651248e-03 9.99851706e-01 3.03738770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.173741731999996 meters 0.06376535636576615 Centerline is valid? [False, True] Translation: X:-41.84, Y:0.57, Z:3.05 [[ 9.94103367e-01 1.06898852e-01 -1.81970117e-02 -4.18362609e+01] [-1.07416304e-01 9.93751165e-01 -3.03374335e-02 5.68063275e-01] [ 1.48402648e-02 3.21132005e-02 9.99374059e-01 3.05480620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.203741732 meters 0.04970584167275816 Centerline is valid? [True, True] Translation: X:-41.86, Y:0.63, Z:3.03 [[ 9.89485403e-01 1.44122804e-01 -1.21348228e-02 -4.18560429e+01] [-1.44105081e-01 9.89559655e-01 2.32700021e-03 6.30234699e-01] [ 1.23435048e-02 -5.53843128e-04 9.99923663e-01 3.03467304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.233741732 meters 0.046979258392402495 Centerline is valid? [True, True] Translation: X:-41.89, Y:0.63, Z:3.05 [[ 9.89789531e-01 1.42464430e-01 -4.53542808e-03 -4.18852002e+01] [-1.42461946e-01 9.89799899e-01 8.67806567e-04 6.32857374e-01] [ 4.61279782e-03 -2.12819946e-04 9.99989338e-01 3.05057622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26374173199999 meters 0.056057723080454 Centerline is valid? [True, True] Translation: X:-41.92, Y:0.61, Z:3.03 [[ 9.92855146e-01 1.18811780e-01 -1.10643947e-02 -4.19215944e+01] [-1.18795481e-01 9.92916479e-01 2.12118565e-03 6.14237438e-01] [ 1.12380417e-02 -7.91629989e-04 9.99936538e-01 3.02539149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.293741731999994 meters 0.06396760525209051 Centerline is valid? [True, True] Translation: X:-41.96, Y:0.59, Z:3.00 [[ 9.94372997e-01 1.02434839e-01 -2.70082866e-02 -4.19588926e+01] [-1.02331662e-01 9.94736856e-01 5.17871642e-03 5.88330503e-01] [ 2.73966190e-02 -2.38577292e-03 9.99621795e-01 2.99948664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.323741731999995 meters 0.05324402799137033 Centerline is valid? [True, True] Translation: X:-41.99, Y:0.61, Z:3.00 [[ 9.91955498e-01 1.21490471e-01 -3.55577870e-02 -4.19853703e+01] [-1.21323715e-01 9.92589575e-01 6.81844416e-03 6.10164777e-01] [ 3.61226647e-02 -2.44959034e-03 9.99344361e-01 3.00186987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.353741731999996 meters 0.03515273155244773 Centerline is valid? [True, True] Translation: X:-42.00, Y:0.67, Z:3.01 [[ 9.85680475e-01 1.65100221e-01 -3.42916753e-02 -4.20043287e+01] [-1.64971359e-01 9.86276453e-01 6.57340238e-03 6.65363835e-01] [ 3.49063421e-02 -8.22130103e-04 9.99390250e-01 3.00935086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.383741732 meters 0.03449461576827216 Centerline is valid? [True, True] Translation: X:-42.03, Y:0.69, Z:3.02 [[ 9.85935907e-01 1.65678901e-01 -2.19291740e-02 -4.20302704e+01] [-1.65626386e-01 9.86179619e-01 4.20236561e-03 6.88328195e-01] [ 2.23223477e-02 -5.11213321e-04 9.99750695e-01 3.02216997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.413741732 meters 0.033827092970749505 Centerline is valid? [True, True] Translation: X:-42.06, Y:0.70, Z:3.04 [[ 9.88102394e-01 1.53349604e-01 -1.17285541e-02 -4.20567195e+01] [-1.53333729e-01 9.88171909e-01 2.24627692e-03 7.04219115e-01] [ 1.19342934e-02 -4.21168665e-04 9.99928695e-01 3.03798310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.443741732 meters 0.03811925155195531 Centerline is valid? [True, True] Translation: X:-42.09, Y:0.71, Z:3.04 [[ 9.89929869e-01 1.41439950e-01 -5.79608862e-03 -4.20875562e+01] [-1.41435878e-01 9.89946798e-01 1.10869015e-03 7.10333819e-01] [ 5.89463245e-03 -2.77750612e-04 9.99982588e-01 3.03546763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.47374173199999 meters 0.04576761602294439 Centerline is valid? [True, True] Translation: X:-42.12, Y:0.72, Z:3.02 [[ 9.92035833e-01 1.25409664e-01 -1.17184452e-02 -4.21177454e+01] [-1.25391870e-01 9.92104754e-01 2.24395205e-03 7.18474865e-01] [ 1.19073385e-02 -7.56683086e-04 9.99928819e-01 3.02482853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.503741731999995 meters 0.04000524257125164 Centerline is valid? [True, True] Translation: X:-42.14, Y:0.75, Z:3.02 [[ 9.89763330e-01 1.41275202e-01 -2.02451974e-02 -4.21443048e+01] [-1.41225391e-01 9.89969879e-01 3.87651381e-03 7.47213158e-01] [ 2.05897909e-02 -9.77695299e-04 9.99787530e-01 3.01572189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.533741731999996 meters 0.028729838191864972 Centerline is valid? [True, True] Translation: X:-42.16, Y:0.81, Z:3.02 [[ 9.83312485e-01 1.80301988e-01 -2.42435436e-02 -4.21628130e+01] [-1.80242306e-01 9.83611282e-01 4.64287931e-03 8.12332678e-01] [ 2.46833433e-02 -1.95688991e-04 9.99695301e-01 3.01683099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.563741732 meters 0.03299754231341528 Centerline is valid? [True, True] Translation: X:-42.18, Y:0.86, Z:3.03 [[ 9.77963978e-01 2.07785752e-01 -2.02864408e-02 -4.21848064e+01] [-2.07750035e-01 9.78174269e-01 3.87578361e-03 8.58791598e-01] [ 2.06490070e-02 4.24132031e-04 9.99786697e-01 3.02565567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.593741732 meters 0.05017017662472 Centerline is valid? [True, True] Translation: X:-42.21, Y:0.91, Z:3.02 [[ 9.69313368e-01 2.44986917e-01 -2.03225534e-02 -4.22073651e+01] [-2.44959058e-01 9.69525630e-01 3.88757551e-03 9.06145404e-01] [ 2.06556415e-02 1.20991462e-03 9.99785917e-01 3.02273603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.623741732 meters 0.05178914369740263 Centerline is valid? [True, True] Translation: X:-42.24, Y:0.91, Z:3.02 [[ 9.68658801e-01 2.47658970e-01 -1.91092272e-02 -4.22401536e+01] [-2.47635205e-01 9.68846517e-01 3.63746412e-03 9.07686100e-01] [ 1.94147589e-02 1.20865578e-03 9.99810785e-01 3.01832627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.65374173199999 meters 0.03431568691673208 Centerline is valid? [True, True] Translation: X:-42.28, Y:0.85, Z:3.02 [[ 9.76764756e-01 2.13612373e-01 -1.73310615e-02 -4.22830542e+01] [-2.13587290e-01 9.76918386e-01 3.30718942e-03 8.46025845e-01] [ 1.76374892e-02 4.71348386e-04 9.99844336e-01 3.02058986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.683741731999994 meters 0.030519481298292732 Centerline is valid? [True, True] Translation: X:-42.32, Y:0.81, Z:3.01 [[ 9.80912654e-01 1.93567503e-01 -1.84929193e-02 -4.23210038e+01] [-1.93535364e-01 9.81086952e-01 3.52911451e-03 8.12983485e-01] [ 1.88262837e-02 1.17280794e-04 9.99822763e-01 3.01221153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.713741731999995 meters 0.02825020361119594 Centerline is valid? [True, True] Translation: X:-42.36, Y:0.78, Z:3.02 [[ 9.81120905e-01 1.92172092e-01 -2.17176451e-02 -4.23575269e+01] [-1.92127405e-01 9.81361236e-01 4.14539480e-03 7.81976190e-01] [ 2.21094842e-02 1.05421294e-04 9.99755550e-01 3.02483161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.743741732 meters 0.028646103397745228 Centerline is valid? [True, True] Translation: X:-42.39, Y:0.76, Z:3.04 [[ 9.80663166e-01 1.94697975e-01 -1.98104550e-02 -4.23940188e+01] [-1.94661662e-01 9.80863228e-01 3.76379079e-03 7.56367270e-01] [ 2.01641493e-02 1.65325107e-04 9.99796669e-01 3.03599605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.773741732 meters 0.02920721585803972 Centerline is valid? [True, True] Translation: X:-42.43, Y:0.73, Z:3.03 [[ 9.83105081e-01 1.81880329e-01 -2.05899200e-02 -4.24320711e+01] [-1.81838430e-01 9.83320668e-01 3.90492386e-03 7.28682901e-01] [ 2.09567227e-02 -9.49117596e-05 9.99780379e-01 3.03057797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.803741732 meters 0.031403401728305684 Centerline is valid? [True, True] Translation: X:-42.47, Y:0.68, Z:3.03 [[ 9.86084761e-01 1.63907113e-01 -2.77723152e-02 -4.24710976e+01] [-1.63823181e-01 9.86475554e-01 5.28648530e-03 6.82385765e-01] [ 2.82632025e-02 -6.63173586e-04 9.99600296e-01 3.02673365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.83374173199999 meters 0.03372348561981563 Centerline is valid? [True, True] Translation: X:-42.51, Y:0.65, Z:3.03 [[ 9.87026954e-01 1.58958853e-01 -2.25804255e-02 -4.25090518e+01] [-1.58902156e-01 9.87284994e-01 4.29483767e-03 6.49919470e-01] [ 2.29760177e-02 -6.51042258e-04 9.99735804e-01 3.03284536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.863741731999994 meters 0.046004398477293734 Centerline is valid? [True, True] Translation: X:-42.55, Y:0.61, Z:3.04 [[ 9.92017210e-01 1.25286596e-01 -1.43221134e-02 -4.25482552e+01] [-1.25260268e-01 9.92120176e-01 2.72435296e-03 6.07162725e-01] [ 1.45505826e-02 -9.08613270e-04 9.99893722e-01 3.04083053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.893741731999995 meters 0.046004398477293734 Centerline is valid? [True, True] Translation: X:-42.58, Y:0.61, Z:3.04 [[ 9.92057735e-01 1.24964905e-01 -1.43255752e-02 -4.25803652e+01] [-1.24938805e-01 9.92160759e-01 2.70614199e-03 6.13489678e-01] [ 1.45514464e-02 -8.94828838e-04 9.99893722e-01 3.04229629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.923741731999996 meters 0.08076084987869568 Centerline is valid? [True, True] Translation: X:-42.63, Y:0.53, Z:3.05 [[ 9.98067546e-01 6.04262802e-02 -1.44857818e-02 -4.26265747e+01] [-6.03926126e-02 9.98170910e-01 2.75085945e-03 5.34813050e-01] [ 1.46255102e-02 -1.87070933e-03 9.99891292e-01 3.04805950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.953741732 meters 0.07501523500244274 Centerline is valid? [True, True] Translation: X:-42.65, Y:0.56, Z:3.04 [[ 9.96234298e-01 8.35340660e-02 -2.32224623e-02 -4.26534989e+01] [-8.34537023e-02 9.96501897e-01 4.41015673e-03 5.56458907e-01] [ 2.35096260e-02 -2.45554894e-03 9.99720595e-01 3.04431222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.983741732 meters 0.038714181497785424 Centerline is valid? [True, True] Translation: X:-42.66, Y:0.66, Z:3.05 [[ 9.88869745e-01 1.47054436e-01 -2.26190087e-02 -4.26636744e+01] [-1.46994608e-01 9.89127971e-01 4.29438544e-03 6.58548341e-01] [ 2.30046026e-02 -9.21715512e-04 9.99734934e-01 3.04759541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.01374173199999 meters 0.03243547707506613 Centerline is valid? [True, True] Translation: X:-42.68, Y:0.75, Z:3.05 [[ 9.78344844e-01 2.06641598e-01 -1.18582048e-02 -4.26763185e+01] [-2.06629498e-01 9.78416674e-01 2.25001331e-03 7.53159737e-01] [ 1.20672117e-02 2.48965992e-04 9.99927158e-01 3.05278204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.043741731999994 meters 0.028816698211986527 Centerline is valid? [True, True] Translation: X:-42.71, Y:0.72, Z:3.06 [[ 9.85864079e-01 1.67163240e-01 -1.13344246e-02 -4.27138719e+01] [-1.67149741e-01 9.85929210e-01 2.13467992e-03 7.24207787e-01] [ 1.15317803e-02 -2.09958118e-04 9.99933485e-01 3.05713817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.073741731999995 meters 0.04490086074589984 Centerline is valid? [True, True] Translation: X:-42.75, Y:0.69, Z:3.05 [[ 9.91822117e-01 1.25839786e-01 -2.12893534e-02 -4.27523075e+01] [-1.25782073e-01 9.92049695e-01 4.03394778e-03 6.87762362e-01] [ 2.16277276e-02 -1.32313963e-03 9.99765218e-01 3.04635439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.103741731999996 meters 0.03854811465676799 Centerline is valid? [True, True] Translation: X:-42.78, Y:0.72, Z:3.05 [[ 9.89589904e-01 1.42379022e-01 -2.09770132e-02 -4.27782884e+01] [-1.42326698e-01 9.89811758e-01 3.97417507e-03 7.15916588e-01] [ 2.13291334e-02 -9.47214509e-04 9.99772059e-01 3.05080729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.133741732 meters 0.03314940072509501 Centerline is valid? [True, True] Translation: X:-42.80, Y:0.79, Z:3.06 [[ 9.79262253e-01 2.02225653e-01 -1.22566531e-02 -4.27958350e+01] [-2.02212439e-01 9.79338932e-01 2.32081873e-03 7.89452982e-01] [ 1.24727466e-02 2.05757551e-04 9.99922191e-01 3.05939407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.163741732 meters 0.03141255224020135 Centerline is valid? [True, True] Translation: X:-42.83, Y:0.79, Z:3.05 [[ 9.78163942e-01 2.07214051e-01 -1.60511599e-02 -4.28267137e+01] [-2.07192057e-01 9.78295565e-01 3.03958413e-03 7.93549820e-01] [ 1.63326231e-02 3.52461243e-04 9.99866552e-01 3.05355581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.193741732 meters 0.029400098220768556 Centerline is valid? [True, True] Translation: X:-42.87, Y:0.75, Z:3.05 [[ 9.84250490e-01 1.75906663e-01 -1.75447744e-02 -4.28670297e+01] [-1.75875479e-01 9.84406834e-01 3.31688007e-03 7.53503301e-01] [ 1.78546572e-02 -1.78945215e-04 9.99840577e-01 3.04976740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.22374173199999 meters 0.037163179711990714 Centerline is valid? [True, True] Translation: X:-42.91, Y:0.71, Z:3.07 [[ 9.89598481e-01 1.43243139e-01 -1.32759061e-02 -4.29070700e+01] [-1.43222299e-01 9.89687355e-01 2.51233546e-03 7.05530605e-01] [ 1.34988712e-02 -5.84797567e-04 9.99908715e-01 3.06625475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.253741731999995 meters 0.03974628349523931 Centerline is valid? [True, True] Translation: X:-42.94, Y:0.69, Z:3.07 [[ 9.91312371e-01 1.31405327e-01 -5.69411589e-03 -4.29398145e+01] [-1.31401302e-01 9.91328673e-01 1.07686479e-03 6.93093206e-01] [ 5.78624612e-03 -3.19295144e-04 9.99983209e-01 3.07347727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.283741731999996 meters 0.04679866081605538 Centerline is valid? [True, True] Translation: X:-42.97, Y:0.68, Z:3.07 [[ 9.93178760e-01 1.16416993e-01 -6.56011822e-03 -4.29733263e+01] [-1.16411321e-01 9.93200314e-01 1.24124499e-03 6.79956428e-01] [ 6.66001348e-03 -4.69106129e-04 9.99977712e-01 3.06943690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.313741732 meters 0.05752224771544168 Centerline is valid? [True, True] Translation: X:-43.01, Y:0.67, Z:3.06 [[ 9.94683401e-01 1.02168671e-01 -1.29032471e-02 -4.30076054e+01] [-1.02145533e-01 9.94766470e-01 2.44143045e-03 6.66761251e-01] [ 1.30851552e-02 -1.11044130e-03 9.99913769e-01 3.06312618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.343741732 meters 0.0402398564535315 Centerline is valid? [True, True] Translation: X:-43.03, Y:0.72, Z:3.08 [[ 9.91360799e-01 1.30525790e-01 -1.29145227e-02 -4.30272537e+01] [-1.30505007e-01 9.91444641e-01 2.44275957e-03 7.19563121e-01] [ 1.31228774e-02 -7.36246210e-04 9.99913620e-01 3.07588481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.373741732 meters 0.030772076188717492 Centerline is valid? [True, True] Translation: X:-43.05, Y:0.77, Z:3.07 [[ 9.86605303e-01 1.62645433e-01 -1.25075697e-02 -4.30498872e+01] [-1.62628506e-01 9.86684536e-01 2.36550200e-03 7.66313402e-01] [ 1.27257637e-02 -2.99729440e-04 9.99918979e-01 3.07463394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.40374173199999 meters 0.030909999417866464 Centerline is valid? [True, True] Translation: X:-43.08, Y:0.79, Z:3.07 [[ 9.84547599e-01 1.75060176e-01 -4.46775803e-03 -4.30771917e+01] [-1.75058146e-01 9.84557734e-01 8.44428692e-04 7.89046717e-01] [ 4.54659156e-03 -4.92628018e-05 9.99989663e-01 3.07428951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.433741731999994 meters 0.030762368702349895 Centerline is valid? [True, True] Translation: X:-43.11, Y:0.78, Z:3.08 [[ 9.87713756e-01 1.56250755e-01 -2.69035653e-03 -4.31106201e+01] [-1.56249950e-01 9.87717417e-01 5.08128570e-04 7.75750731e-01] [ 2.73670748e-03 -8.15175048e-05 9.99996252e-01 3.07776861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.463741731999995 meters 0.043592218081621045 Centerline is valid? [True, True] Translation: X:-43.14, Y:0.76, Z:3.07 [[ 9.91971791e-01 1.26235504e-01 -7.52081453e-03 -4.31448029e+01] [-1.26228340e-01 9.92000194e-01 1.42162788e-03 7.56070172e-01] [ 7.64010938e-03 -4.60874819e-04 9.99970708e-01 3.07303320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.493741732 meters 0.04344059866556277 Centerline is valid? [True, True] Translation: X:-43.17, Y:0.77, Z:3.07 [[ 9.90948971e-01 1.33815985e-01 -1.06498762e-02 -4.31728178e+01] [-1.33802059e-01 9.91006033e-01 2.01273639e-03 7.73413706e-01] [ 1.08234278e-02 -5.69543687e-04 9.99941263e-01 3.06675260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.523741732 meters 0.03036045249319487 Centerline is valid? [True, True] Translation: X:-43.19, Y:0.82, Z:3.08 [[ 9.85440000e-01 1.69892948e-01 -6.66281273e-03 -4.31937505e+01] [-1.69888321e-01 9.85462518e-01 1.25849952e-03 8.22025329e-01] [ 6.77976240e-03 -1.08241699e-04 9.99977011e-01 3.08159156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.553741732 meters 0.029040563745716598 Centerline is valid? [True, True] Translation: X:-43.22, Y:0.85, Z:3.09 [[ 9.82320010e-01 1.87196757e-01 -2.18442022e-03 -4.32196348e+01] [-1.87196302e-01 9.82322439e-01 4.12797346e-04 8.45637369e-01] [ 2.22307932e-03 3.41629530e-06 9.99997529e-01 3.08969050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58374173199999 meters 0.028005836081328415 Centerline is valid? [True, True] Translation: X:-43.25, Y:0.85, Z:3.08 [[ 9.83296484e-01 1.81983692e-01 -3.15598614e-03 -4.32529663e+01] [-1.81982761e-01 9.83301549e-01 5.82288773e-04 8.46460200e-01] [ 3.20925312e-03 1.77256648e-06 9.99994850e-01 3.07974315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.613741731999994 meters 0.03613345977552019 Centerline is valid? [True, True] Translation: X:-43.29, Y:0.81, Z:3.08 [[ 9.89317176e-01 1.45711039e-01 -4.45184375e-03 -4.32914836e+01] [-1.45708735e-01 9.89327175e-01 8.39311214e-04 8.08766785e-01] [ 4.52662691e-03 -1.81672477e-04 9.99989738e-01 3.08113236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.643741731999995 meters 0.045753363807955694 Centerline is valid? [True, True] Translation: X:-43.33, Y:0.79, Z:3.09 [[ 9.93103832e-01 1.17192138e-01 -3.28363792e-03 -4.33255001e+01] [-1.17190730e-01 9.93109234e-01 6.18714872e-04 7.86810966e-01] [ 3.33351965e-03 -2.29636187e-04 9.99994417e-01 3.08778006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.673741731999996 meters 0.05996530216212359 Centerline is valid? [True, True] Translation: X:-43.36, Y:0.77, Z:3.09 [[ 9.95935561e-01 9.00484840e-02 -1.90481105e-03 -4.33590271e+01] [-9.00479608e-02 9.95937365e-01 3.58841948e-04 7.72997252e-01] [ 1.92938568e-03 -1.85859105e-04 9.99998121e-01 3.08690529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.703741732 meters 0.0551029936544175 Centerline is valid? [True, True] Translation: X:-43.39, Y:0.79, Z:3.09 [[ 9.94630121e-01 1.03279666e-01 -6.65072204e-03 -4.33867364e+01] [-1.03273571e-01 9.94652198e-01 1.25442164e-03 7.91299159e-01] [ 6.74471155e-03 -5.60841729e-04 9.99977097e-01 3.08881217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.733741732 meters 0.039400943673884664 Centerline is valid? [True, True] Translation: X:-43.41, Y:0.84, Z:3.10 [[ 9.90746832e-01 1.35571826e-01 -6.40266116e-03 -4.34076829e+01] [-1.35566856e-01 9.90767467e-01 1.20602169e-03 8.38603189e-01] [ 6.50705094e-03 -3.26873525e-04 9.99978775e-01 3.09580838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76374173199999 meters 0.025657669278321322 Centerline is valid? [True, True] Translation: X:-43.43, Y:0.90, Z:3.10 [[ 9.83029851e-01 1.83425468e-01 -2.72203626e-03 -4.34263040e+01] [-1.83424762e-01 9.83033620e-01 5.09118056e-04 8.99265235e-01] [ 2.76923838e-03 -1.18939411e-06 9.99996166e-01 3.10164304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.793741731999994 meters 0.03070475215224553 Centerline is valid? [True, True] Translation: X:-43.45, Y:0.92, Z:3.09 [[ 9.80210452e-01 1.97951990e-01 -1.57470908e-03 -4.34547860e+01] [-1.97951792e-01 9.80211716e-01 2.82422999e-04 9.23659751e-01] [ 1.59945449e-03 3.48825082e-05 9.99998720e-01 3.09357629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.823741731999995 meters 0.028505294906105098 Centerline is valid? [True, True] Translation: X:-43.49, Y:0.91, Z:3.09 [[ 9.82841161e-01 1.84449168e-01 -1.32505631e-03 -4.34886065e+01] [-1.84449002e-01 9.82842055e-01 2.47552175e-04 9.10088427e-01] [ 1.34798186e-03 1.10084797e-06 9.99999091e-01 3.09173420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.853741731999996 meters 0.032029466086892285 Centerline is valid? [True, True] Translation: X:-43.53, Y:0.87, Z:3.09 [[ 9.88377728e-01 1.52017727e-01 -2.79927444e-04 -4.35273060e+01] [-1.52017719e-01 9.88377767e-01 5.07204215e-05 8.73530232e-01] [ 2.84384466e-04 -7.57700343e-06 9.99999960e-01 3.09352818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.883741732 meters 0.03925799884130728 Centerline is valid? [True, True] Translation: X:-43.56, Y:0.86, Z:3.09 [[ 9.90589690e-01 1.36865088e-01 -1.14465253e-04 -4.35611824e+01] [-1.36865086e-01 9.90589697e-01 1.99911278e-05 8.58741224e-01] [ 1.16124187e-04 -4.13670841e-06 9.99999993e-01 3.09382232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.913741732 meters 0.04089643380855973 Centerline is valid? [True, True] Translation: X:-43.59, Y:0.85, Z:3.10 [[ 9.91126285e-01 1.32899479e-01 -2.53289303e-03 -4.35939831e+01] [-1.32898695e-01 9.91129512e-01 4.75894799e-04 8.50406060e-01] [ 2.57367121e-03 -1.35053665e-04 9.99996679e-01 3.09865636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.943741732 meters 0.03580736334334515 Centerline is valid? [True, True] Translation: X:-43.62, Y:0.87, Z:3.10 [[ 9.89018668e-01 1.47789452e-01 -5.94404803e-04 -4.36206659e+01] [-1.47789412e-01 9.89018846e-01 1.10187789e-04 8.70362902e-01] [ 6.04162145e-04 -2.11310437e-05 9.99999817e-01 3.10499860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.97374173199999 meters 0.03278199089438075 Centerline is valid? [True, True] Translation: X:-43.65, Y:0.89, Z:3.10 [[ 9.87487770e-01 1.57693815e-01 -7.51178692e-04 -4.36498405e+01] [-1.57693754e-01 9.87488056e-01 1.40016246e-04 8.85042680e-01] [ 7.63859682e-04 -1.98081425e-05 9.99999708e-01 3.10454626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.003741731999995 meters 0.027632540630775016 Centerline is valid? [True, True] Translation: X:-43.68, Y:0.90, Z:3.11 [[ 9.85909126e-01 1.67271880e-01 1.82031760e-03 -4.36780991e+01] [-1.67271530e-01 9.85910806e-01 -3.43786924e-04 9.02997432e-01] [-1.85217667e-03 3.44553551e-05 9.99998284e-01 3.10770783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.033741731999996 meters 0.02737143359643973 Centerline is valid? [True, True] Translation: X:-43.71, Y:0.91, Z:3.11 [[ 9.85909101e-01 1.67249813e-01 3.27790190e-03 -4.37081412e+01] [-1.67248650e-01 9.85914548e-01 -6.27509355e-04 9.10988790e-01] [-3.33668199e-03 7.04425152e-05 9.99994431e-01 3.11342274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.063741732 meters 0.0333704444707445 Centerline is valid? [True, True] Translation: X:-43.74, Y:0.90, Z:3.10 [[ 9.87998580e-01 1.54462660e-01 -3.03589658e-04 -4.37416472e+01] [-1.54462650e-01 9.87998627e-01 5.67125364e-05 9.01724911e-01] [ 3.08706134e-04 -9.13864241e-06 9.99999952e-01 3.10394085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.093741732 meters 0.03702689161227191 Centerline is valid? [True, True] Translation: X:-43.77, Y:0.89, Z:3.11 [[ 9.90470445e-01 1.37705763e-01 -2.32830681e-03 -4.37732743e+01] [-1.37705116e-01 9.90473175e-01 4.36757523e-04 8.93182154e-01] [ 2.36626947e-03 -1.11975659e-04 9.99997194e-01 3.10776345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.123741732 meters 0.042266925397690135 Centerline is valid? [True, True] Translation: X:-43.81, Y:0.89, Z:3.10 [[ 9.91185041e-01 1.32479368e-01 -1.19670114e-03 -4.38059377e+01] [-1.32479193e-01 9.91185761e-01 2.24648153e-04 8.85094032e-01] [ 1.21591438e-03 -6.41298875e-05 9.99999259e-01 3.10494259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.15374173199999 meters 0.03731921733945158 Centerline is valid? [True, True] Translation: X:-43.83, Y:0.89, Z:3.12 [[ 9.90851486e-01 1.34883257e-01 4.45428553e-03 -4.38344787e+01] [-1.34880856e-01 9.90861471e-01 -8.36382246e-04 8.92304399e-01] [-4.52639388e-03 2.27932745e-04 9.99989730e-01 3.12137638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.183741731999994 meters 0.035801417537613026 Centerline is valid? [True, True] Translation: X:-43.86, Y:0.91, Z:3.12 [[ 9.89335104e-01 1.45457615e-01 7.62458842e-03 -4.38636720e+01] [-1.45450889e-01 9.89364436e-01 -1.43230353e-03 9.05910911e-01] [-7.75183608e-03 3.08024997e-04 9.99969907e-01 3.12341858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.213741731999995 meters 0.03135912150533785 Centerline is valid? [True, True] Translation: X:-43.89, Y:0.92, Z:3.12 [[ 9.88303227e-01 1.52494553e-01 1.46391454e-03 -4.38925701e+01] [-1.52494296e-01 9.88304309e-01 -2.86427835e-04 9.20118362e-01] [-1.49047173e-03 5.98389363e-05 9.99998887e-01 3.11996427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.243741732 meters 0.031434243153576145 Centerline is valid? [True, True] Translation: X:-43.92, Y:0.93, Z:3.12 [[ 9.87177660e-01 1.59624327e-01 5.84670798e-04 -4.39221400e+01] [-1.59624290e-01 9.87177833e-01 -1.10505159e-04 9.29987151e-01] [-5.94813363e-04 1.57605636e-05 9.99999823e-01 3.11551860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.273741732 meters 0.03170935276459367 Centerline is valid? [True, True] Translation: X:-43.95, Y:0.94, Z:3.12 [[ 9.87090675e-01 1.60135357e-01 2.94384755e-03 -4.39530106e+01] [-1.60134390e-01 9.87095061e-01 -5.62681949e-04 9.36842307e-01] [-2.99596266e-03 8.40068715e-05 9.99995509e-01 3.11972212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.303741732 meters 0.03211051407268693 Centerline is valid? [True, True] Translation: X:-43.98, Y:0.94, Z:3.13 [[ 9.87907320e-01 1.54852215e-01 7.74074453e-03 -4.39847591e+01] [-1.54845571e-01 9.87937617e-01 -1.45403238e-03 9.37768653e-01] [-7.87253284e-03 2.37829226e-04 9.99968983e-01 3.12641966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.33374173199999 meters 0.033257908022054396 Centerline is valid? [True, True] Translation: X:-44.02, Y:0.94, Z:3.13 [[ 9.88260816e-01 1.52462628e-01 9.78301252e-03 -4.40169655e+01] [-1.52451912e-01 9.88309184e-01 -1.83630245e-03 9.38848499e-01] [-9.94860861e-03 3.23306798e-04 9.99950459e-01 3.13149261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.363741731999994 meters 0.03144693475985763 Centerline is valid? [True, True] Translation: X:-44.05, Y:0.94, Z:3.13 [[ 9.88762895e-01 1.49220094e-01 9.01669835e-03 -4.40481240e+01] [-1.49210928e-01 9.88803955e-01 -1.68471589e-03 9.37696548e-01] [-9.16714045e-03 3.20394636e-04 9.99957930e-01 3.13410686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.393741731999995 meters 0.0347329415458089 Centerline is valid? [True, True] Translation: X:-44.08, Y:0.93, Z:3.13 [[ 9.89149290e-01 1.46790281e-01 6.02459683e-03 -4.40807679e+01] [-1.46786142e-01 9.89167610e-01 -1.12584957e-03 9.34182947e-01] [-6.12459982e-03 2.29305976e-04 9.99981218e-01 3.12794362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.423741731999996 meters 0.03835805924993277 Centerline is valid? [True, True] Translation: X:-44.11, Y:0.93, Z:3.13 [[ 9.90165301e-01 1.39859559e-01 3.46118539e-03 -4.41118096e+01] [-1.39858155e-01 9.90171338e-01 -6.45783034e-04 9.31337835e-01] [-3.51748550e-03 1.55356950e-04 9.99993802e-01 3.12676725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.453741732 meters 0.03831148791084582 Centerline is valid? [True, True] Translation: X:-44.14, Y:0.94, Z:3.13 [[ 9.90654646e-01 1.36366181e-01 2.76354012e-03 -4.41417188e+01] [-1.36365268e-01 9.90658491e-01 -5.16939644e-04 9.35263123e-01] [-2.80821757e-03 1.35257771e-04 9.99996048e-01 3.12992789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.483741732 meters 0.03906801346862963 Centerline is valid? [True, True] Translation: X:-44.17, Y:0.94, Z:3.13 [[ 9.91333631e-01 1.31292031e-01 4.47591664e-03 -4.41733601e+01] [-1.31289580e-01 9.91343706e-01 -8.38345272e-04 9.37854879e-01] [-4.54723984e-03 2.43438646e-04 9.99989632e-01 3.13412969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.51374173199999 meters 0.04006159165964923 Centerline is valid? [True, True] Translation: X:-44.21, Y:0.94, Z:3.14 [[ 9.91603327e-01 1.29197791e-01 5.54723243e-03 -4.42052151e+01] [-1.29193949e-01 9.91618791e-01 -1.04702608e-03 9.40948791e-01] [-5.63601337e-03 3.21565688e-04 9.99984066e-01 3.13523911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.543741731999994 meters 0.04048745354064073 Centerline is valid? [True, True] Translation: X:-44.23, Y:0.95, Z:3.15 [[ 9.91503383e-01 1.29611026e-01 1.10464636e-02 -4.42331814e+01] [-1.29596113e-01 9.91564728e-01 -2.05835982e-03 9.53270829e-01] [-1.12200698e-02 6.09291970e-04 9.99936867e-01 3.14573426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.573741731999995 meters 0.03920897433650059 Centerline is valid? [True, True] Translation: X:-44.26, Y:0.96, Z:3.15 [[ 9.91435950e-01 1.30039673e-01 1.20183699e-02 -4.42629695e+01] [-1.30021937e-01 9.91508567e-01 -2.24878515e-03 9.63142525e-01] [-1.22087480e-02 6.66874711e-04 9.99925248e-01 3.14877660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.603741731999996 meters 0.04053701186439482 Centerline is valid? [True, True] Translation: X:-44.30, Y:0.96, Z:3.14 [[ 9.91207270e-01 1.31879666e-01 1.07657333e-02 -4.42954136e+01] [-1.31865562e-01 9.91265566e-01 -2.01271252e-03 9.64168330e-01] [-1.09371366e-02 5.75385816e-04 9.99940022e-01 3.14436261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.633741732 meters 0.04030559561617416 Centerline is valid? [True, True] Translation: X:-44.33, Y:0.97, Z:3.14 [[ 9.90614927e-01 1.36327460e-01 9.84328517e-03 -4.43269353e+01] [-1.36315993e-01 9.90663718e-01 -1.82983025e-03 9.68033897e-01] [-1.00008416e-02 4.70859966e-04 9.99949879e-01 3.14213475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.663741732 meters 0.037835136193975674 Centerline is valid? [True, True] Translation: X:-44.36, Y:0.98, Z:3.14 [[ 9.90110809e-01 1.40077764e-01 7.66845851e-03 -4.43588537e+01] [-1.40070904e-01 9.90140447e-01 -1.42708720e-03 9.75057829e-01] [-7.79275412e-03 3.38846546e-04 9.99969579e-01 3.14067404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.693741732 meters 0.03661041401595372 Centerline is valid? [True, True] Translation: X:-44.39, Y:0.98, Z:3.15 [[ 9.89130380e-01 1.46607607e-01 1.12827730e-02 -4.43891426e+01] [-1.46593231e-01 9.89194639e-01 -2.09533889e-03 9.80233165e-01] [-1.14680512e-02 4.18585199e-04 9.99934152e-01 3.14504267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.72374173199999 meters 0.029036010458966654 Centerline is valid? [True, True] Translation: X:-44.42, Y:1.00, Z:3.16 [[ 9.87888585e-01 1.54622351e-01 1.29642601e-02 -4.44160328e+01] [-1.54604080e-01 9.87973578e-01 -2.40593662e-03 9.95823119e-01] [-1.31803580e-02 3.72469817e-04 9.99913066e-01 3.15512085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.753741731999995 meters 0.032374988655311146 Centerline is valid? [True, True] Translation: X:-44.45, Y:1.00, Z:3.15 [[ 9.87084434e-01 1.59556888e-01 1.43498995e-02 -4.44460945e+01] [-1.59535010e-01 9.87188677e-01 -2.66400073e-03 1.00426606e+00] [-1.45911179e-02 3.40282300e-04 9.99893486e-01 3.15288596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.783741731999996 meters 0.03081759138853784 Centerline is valid? [True, True] Translation: X:-44.48, Y:1.01, Z:3.15 [[ 9.87556183e-01 1.56731924e-01 1.29571908e-02 -4.44779219e+01] [-1.56713838e-01 9.87641121e-01 -2.40594126e-03 1.00568079e+00] [-1.31741422e-02 3.45431075e-04 9.99913158e-01 3.15039227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.813741732 meters 0.03081759138853784 Centerline is valid? [True, True] Translation: X:-44.51, Y:1.01, Z:3.15 [[ 9.87607300e-01 1.56409630e-01 1.29556625e-02 -4.45099775e+01] [-1.56391407e-01 9.87692209e-01 -2.41418788e-03 1.01185533e+00] [-1.31738091e-02 3.58115291e-04 9.99913157e-01 3.15185381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.843741732 meters 0.03240871306562354 Centerline is valid? [True, True] Translation: X:-44.54, Y:1.01, Z:3.15 [[ 9.88516369e-01 1.50614520e-01 1.22741794e-02 -4.45403090e+01] [-1.50597898e-01 9.88592488e-01 -2.27278265e-03 1.01194212e+00] [-1.24764756e-02 3.98217236e-04 9.99922086e-01 3.15222281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.873741732 meters 0.03468807560721873 Centerline is valid? [True, True] Translation: X:-44.57, Y:1.01, Z:3.15 [[ 9.88981570e-01 1.47512328e-01 1.24726572e-02 -4.45727644e+01] [-1.47494792e-01 9.89060113e-01 -2.31940488e-03 1.01274798e+00] [-1.26783485e-02 4.54196710e-04 9.99919523e-01 3.15136873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.90374173199999 meters 0.033446175693598465 Centerline is valid? [True, True] Translation: X:-44.60, Y:1.02, Z:3.16 [[ 9.89599145e-01 1.43296204e-01 1.26384785e-02 -4.46023345e+01] [-1.43278017e-01 9.89679719e-01 -2.33761848e-03 1.01858850e+00] [-1.28430177e-02 5.02489109e-04 9.99917399e-01 3.15789196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.933741731999994 meters 0.03552066789921536 Centerline is valid? [True, True] Translation: X:-44.63, Y:1.02, Z:3.16 [[ 9.89705941e-01 1.42130274e-01 1.67671052e-02 -4.46343679e+01] [-1.42098045e-01 9.89847720e-01 -3.10420454e-03 1.01975882e+00] [-1.70380823e-02 6.89676807e-04 9.99854603e-01 3.15761284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.963741731999995 meters 0.03579922285455078 Centerline is valid? [True, True] Translation: X:-44.67, Y:1.02, Z:3.16 [[ 9.89876658e-01 1.40791025e-01 1.79468224e-02 -4.46661880e+01] [-1.40753874e-01 9.90039042e-01 -3.32299699e-03 1.02481665e+00] [-1.82359030e-02 7.63272374e-04 9.99833421e-01 3.16217979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.993741732 meters 0.03427510031602656 Centerline is valid? [True, True] Translation: X:-44.70, Y:1.03, Z:3.16 [[ 9.89889544e-01 1.41035076e-01 1.50929942e-02 -4.46985045e+01] [-1.41008866e-01 9.90004396e-01 -2.79222770e-03 1.02737512e+00] [-1.53359327e-02 6.35751010e-04 9.99882196e-01 3.16023739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.023741732 meters 0.032364582654414616 Centerline is valid? [True, True] Translation: X:-44.73, Y:1.04, Z:3.16 [[ 9.89506824e-01 1.43915938e-01 1.28237104e-02 -4.47289600e+01] [-1.43897340e-01 9.89589792e-01 -2.36621896e-03 1.03605456e+00] [-1.30307496e-02 4.96091994e-04 9.99914973e-01 3.16161219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.053741732 meters 0.03379409663172396 Centerline is valid? [True, True] Translation: X:-44.76, Y:1.05, Z:3.17 [[ 9.88464632e-01 1.50566823e-01 1.63493852e-02 -4.47570754e+01] [-1.50537646e-01 9.88599701e-01 -3.00788381e-03 1.04538315e+00] [-1.66158848e-02 5.11988796e-04 9.99861816e-01 3.16613281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08374173199999 meters 0.032924857184388825 Centerline is valid? [True, True] Translation: X:-44.79, Y:1.05, Z:3.17 [[ 9.88035931e-01 1.53008244e-01 1.93255481e-02 -4.47866666e+01] [-1.52967930e-01 9.88224755e-01 -3.55611587e-03 1.05248305e+00] [-1.96421000e-02 5.57381177e-04 9.99806920e-01 3.16979199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.113741731999994 meters 0.0322119487234129 Centerline is valid? [True, True] Translation: X:-44.82, Y:1.05, Z:3.17 [[ 9.88254315e-01 1.51635857e-01 1.89730118e-02 -4.48189235e+01] [-1.51596615e-01 9.88436255e-01 -3.49808785e-03 1.05490169e+00] [-1.92840483e-02 5.80756047e-04 9.99813877e-01 3.17044474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.143741731999995 meters 0.03484299451290609 Centerline is valid? [True, True] Translation: X:-44.85, Y:1.06, Z:3.17 [[ 9.88312370e-01 1.50960053e-01 2.12066433e-02 -4.48502975e+01] [-1.50911056e-01 9.88539646e-01 -3.90133424e-03 1.06030361e+00] [-2.15525533e-02 6.55419945e-04 9.99767502e-01 3.17325304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.173741731999996 meters 0.03191195327264587 Centerline is valid? [True, True] Translation: X:-44.88, Y:1.06, Z:3.17 [[ 9.89146333e-01 1.45795107e-01 1.82570455e-02 -4.48822985e+01] [-1.45758112e-01 9.89314593e-01 -3.34803578e-03 1.05977674e+00] [-1.85500887e-02 6.50584845e-04 9.99827721e-01 3.17144128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.203741732 meters 0.03584917821973662 Centerline is valid? [True, True] Translation: X:-44.91, Y:1.06, Z:3.17 [[ 9.89865763e-01 1.40692424e-01 1.92720561e-02 -4.49132299e+01] [-1.40650244e-01 9.90053040e-01 -3.53369558e-03 1.06001478e+00] [-1.95775219e-02 7.87264887e-04 9.99808032e-01 3.17122512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.233741732 meters 0.035626217078641144 Centerline is valid? [True, True] Translation: X:-44.94, Y:1.07, Z:3.17 [[ 9.90253748e-01 1.38208448e-01 1.72028693e-02 -4.49431104e+01] [-1.38174459e-01 9.90402881e-01 -3.15466025e-03 1.06647613e+00] [-1.74737720e-02 7.46916982e-04 9.99847043e-01 3.17419674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26374173199999 meters 0.03864500485728669 Centerline is valid? [True, True] Translation: X:-44.98, Y:1.06, Z:3.17 [[ 9.90554938e-01 1.35965682e-01 1.77270212e-02 -4.49762167e+01] [-1.35929120e-01 9.90713211e-01 -3.25694349e-03 1.06441609e+00] [-1.80052267e-02 8.16563055e-04 9.99837559e-01 3.17205691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.293741731999994 meters 0.035908560743915234 Centerline is valid? [True, True] Translation: X:-45.01, Y:1.07, Z:3.18 [[ 9.90600822e-01 1.35488870e-01 1.87823603e-02 -4.50054359e+01] [-1.35447877e-01 9.90778489e-01 -3.44362692e-03 1.07467118e+00] [-1.90757317e-02 8.67228825e-04 9.99817666e-01 3.17923304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.323741731999995 meters 0.03727107931606575 Centerline is valid? [True, True] Translation: X:-45.04, Y:1.07, Z:3.18 [[ 9.90429389e-01 1.36197304e-01 2.23588700e-02 -4.50380284e+01] [-1.36139589e-01 9.90681220e-01 -4.09057520e-03 1.07354021e+00] [-2.27076380e-02 1.00749852e-03 9.99741641e-01 3.18063641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.353741731999996 meters 0.038726923568105226 Centerline is valid? [True, True] Translation: X:-45.07, Y:1.08, Z:3.18 [[ 9.89770799e-01 1.40222399e-01 2.62953409e-02 -4.50680521e+01] [-1.40144376e-01 9.90119463e-01 -4.79610348e-03 1.07928795e+00] [-2.67080500e-02 1.06189903e-03 9.99642712e-01 3.18343076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.383741732 meters 0.03377370330655453 Centerline is valid? [True, True] Translation: X:-45.10, Y:1.09, Z:3.19 [[ 9.89524147e-01 1.42254544e-01 2.46090811e-02 -4.50977017e+01] [-1.42186720e-01 9.89829656e-01 -4.49320957e-03 1.09064828e+00] [-2.49979777e-02 9.47054848e-04 9.99687053e-01 3.18709344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.413741732 meters 0.033539417809772626 Centerline is valid? [True, True] Translation: X:-45.13, Y:1.10, Z:3.18 [[ 9.89258305e-01 1.44488847e-01 2.21580672e-02 -4.51299824e+01] [-1.44434523e-01 9.89506108e-01 -4.04119170e-03 1.09661676e+00] [-2.25094500e-02 7.97392585e-04 9.99746312e-01 3.18463391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.443741732 meters 0.03415336392283062 Centerline is valid? [True, True] Translation: X:-45.16, Y:1.10, Z:3.18 [[ 9.89522760e-01 1.42957033e-01 2.01988566e-02 -4.51615555e+01] [-1.42911797e-01 9.89728613e-01 -3.67298579e-03 1.10023253e+00] [-2.05164655e-02 7.47848146e-04 9.99789235e-01 3.18462802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.47374173199999 meters 0.0342481759490447 Centerline is valid? [True, True] Translation: X:-45.19, Y:1.11, Z:3.18 [[ 9.89703748e-01 1.41781583e-01 1.96080015e-02 -4.51924176e+01] [-1.41738646e-01 9.89897679e-01 -3.56950529e-03 1.10584287e+00] [-1.99160053e-02 7.53541173e-04 9.99801373e-01 3.18358825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.503741731999995 meters 0.033107486483907766 Centerline is valid? [True, True] Translation: X:-45.22, Y:1.11, Z:3.19 [[ 9.90173799e-01 1.38304279e-01 2.06827283e-02 -4.52227896e+01] [-1.38255994e-01 9.90389414e-01 -3.75340713e-03 1.10974697e+00] [-2.10030674e-02 8.57014238e-04 9.99779044e-01 3.18850087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.533741731999996 meters 0.03627072857477924 Centerline is valid? [True, True] Translation: X:-45.26, Y:1.11, Z:3.19 [[ 9.90246983e-01 1.37304106e-01 2.36324846e-02 -4.52551578e+01] [-1.37240682e-01 9.90528428e-01 -4.29277228e-03 1.11068127e+00] [-2.39980631e-02 1.00756649e-03 9.99711497e-01 3.19157313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.563741732 meters 0.034466965948886666 Centerline is valid? [True, True] Translation: X:-45.29, Y:1.12, Z:3.19 [[ 9.89937921e-01 1.39464786e-01 2.39266629e-02 -4.52852966e+01] [-1.39400597e-01 9.90226567e-01 -4.33822511e-03 1.11991480e+00] [-2.42978469e-02 9.59182444e-04 9.99704304e-01 3.19427814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.593741732 meters 0.03243243081102109 Centerline is valid? [True, True] Translation: X:-45.32, Y:1.13, Z:3.19 [[ 9.89528270e-01 1.42720118e-01 2.15585609e-02 -4.53166733e+01] [-1.42668872e-01 9.89762773e-01 -3.90460529e-03 1.12745072e+00] [-2.18951268e-02 7.87981737e-04 9.99759962e-01 3.19235042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.623741732 meters 0.03184077488607365 Centerline is valid? [True, True] Translation: X:-45.35, Y:1.14, Z:3.19 [[ 9.89219327e-01 1.44749169e-01 2.21991146e-02 -4.53467282e+01] [-1.44695578e-01 9.89468094e-01 -4.01016932e-03 1.13585065e+00] [-2.25457842e-02 7.54823300e-04 9.99745527e-01 3.19404920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.65374173199999 meters 0.0326070116334229 Centerline is valid? [True, True] Translation: X:-45.38, Y:1.13, Z:3.19 [[ 9.89212235e-01 1.44889272e-01 2.15928981e-02 -4.53812869e+01] [-1.44838572e-01 9.89447605e-01 -3.90203558e-03 1.13191095e+00] [-2.19304044e-02 7.32456828e-04 9.99759231e-01 3.19005857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.683741731999994 meters 0.03200382887567058 Centerline is valid? [True, True] Translation: X:-45.41, Y:1.15, Z:3.20 [[ 9.88860573e-01 1.46709918e-01 2.51190757e-02 -4.54096157e+01] [-1.46642280e-01 9.89179244e-01 -4.52389753e-03 1.14501381e+00] [-2.55109689e-02 7.89985367e-04 9.99674230e-01 3.19922707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.713741731999995 meters 0.03245015416512978 Centerline is valid? [True, True] Translation: X:-45.44, Y:1.15, Z:3.20 [[ 9.89378978e-01 1.43281071e-01 2.44902470e-02 -4.54408620e+01] [-1.43215870e-01 9.89681671e-01 -4.40497207e-03 1.14690808e+00] [-2.48686977e-02 8.50794745e-04 9.99690364e-01 3.20221437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.743741732 meters 0.031134789417443645 Centerline is valid? [True, True] Translation: X:-45.47, Y:1.15, Z:3.20 [[ 9.89879944e-01 1.39925487e-01 2.36337604e-02 -4.54723099e+01] [-1.39863836e-01 9.90161626e-01 -4.24994570e-03 1.14770870e+00] [-2.39959184e-02 9.01427623e-04 9.99711650e-01 3.20205739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.773741732 meters 0.03421198962090987 Centerline is valid? [True, True] Translation: X:-45.50, Y:1.15, Z:3.20 [[ 9.90139744e-01 1.38045599e-01 2.38054601e-02 -4.55044219e+01] [-1.37982406e-01 9.90425411e-01 -4.28492737e-03 1.15017662e+00] [-2.41690479e-02 9.57942232e-04 9.99707427e-01 3.20363850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.803741732 meters 0.03539247728908503 Centerline is valid? [True, True] Translation: X:-45.53, Y:1.16, Z:3.20 [[ 9.89943312e-01 1.39254326e-01 2.49092608e-02 -4.55348694e+01] [-1.39185733e-01 9.90256182e-01 -4.47511372e-03 1.15593923e+00] [-2.52897284e-02 9.63095191e-04 9.99679700e-01 3.20401068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.83374173199999 meters 0.032771242287337576 Centerline is valid? [True, True] Translation: X:-45.57, Y:1.16, Z:3.21 [[ 9.89664814e-01 1.41644217e-01 2.23712431e-02 -4.55660455e+01] [-1.41589601e-01 9.89917303e-01 -4.01473687e-03 1.16329280e+00] [-2.27143449e-02 8.05708415e-04 9.99741671e-01 3.20585389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.863741731999994 meters 0.031171756481916633 Centerline is valid? [True, True] Translation: X:-45.60, Y:1.17, Z:3.21 [[ 9.89495937e-01 1.42916293e-01 2.17422177e-02 -4.55973280e+01] [-1.42865158e-01 9.89734496e-01 -3.89526280e-03 1.16915555e+00] [-2.20757194e-02 7.48141343e-04 9.99756022e-01 3.20596564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.893741731999995 meters 0.031811492617131405 Centerline is valid? [True, True] Translation: X:-45.63, Y:1.18, Z:3.21 [[ 9.89285601e-01 1.44454934e-01 2.11369577e-02 -4.56279745e+01] [-1.44407136e-01 9.89511143e-01 -3.77851559e-03 1.17571708e+00] [-2.14610804e-02 6.85703531e-04 9.99769449e-01 3.21094110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.923741731999996 meters 0.03142464205935771 Centerline is valid? [True, True] Translation: X:-45.66, Y:1.18, Z:3.21 [[ 9.89453515e-01 1.43272170e-01 2.13266643e-02 -4.56596045e+01] [-1.43223241e-01 9.89683066e-01 -3.81216002e-03 1.17917131e+00] [-2.16528149e-02 7.17481144e-04 9.99765293e-01 3.21424135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.953741732 meters 0.030985382202336237 Centerline is valid? [True, True] Translation: X:-45.69, Y:1.19, Z:3.22 [[ 9.89771029e-01 1.40876479e-01 2.25194947e-02 -4.56906337e+01] [-1.40821483e-01 9.90026853e-01 -4.01752693e-03 1.18507313e+00] [-2.28608795e-02 8.05203122e-04 9.99738332e-01 3.21800465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.983741732 meters 0.03377214982058286 Centerline is valid? [True, True] Translation: X:-45.72, Y:1.18, Z:3.22 [[ 9.90272012e-01 1.37077826e-01 2.38958446e-02 -4.57230919e+01] [-1.37015124e-01 9.90559840e-01 -4.24953572e-03 1.18182797e+00] [-2.42527811e-02 9.34104167e-04 9.99705422e-01 3.21787291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.01374173199999 meters 0.032259855065769304 Centerline is valid? [True, True] Translation: X:-45.75, Y:1.19, Z:3.22 [[ 9.90718910e-01 1.34257463e-01 2.12361490e-02 -4.57538434e+01] [-1.34207314e-01 9.90946083e-01 -3.77578695e-03 1.18559000e+00] [-2.15508063e-02 8.90697008e-04 9.99767358e-01 3.22073091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.043741731999994 meters 0.035203249442924876 Centerline is valid? [True, True] Translation: X:-45.79, Y:1.19, Z:3.22 [[ 9.91051417e-01 1.31817381e-01 2.10063522e-02 -4.57864224e+01] [-1.31767655e-01 9.91273573e-01 -3.74007515e-03 1.18696164e+00] [-2.13160487e-02 9.38648999e-04 9.99772347e-01 3.21827486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.073741731999995 meters 0.03779395123394754 Centerline is valid? [True, True] Translation: X:-45.82, Y:1.19, Z:3.22 [[ 9.91412655e-01 1.29140873e-01 2.05811203e-02 -4.58184978e+01] [-1.29092807e-01 9.91625789e-01 -3.65270596e-03 1.18846666e+00] [-2.08804833e-02 9.64464315e-04 9.99781514e-01 3.22048291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.103741731999996 meters 0.037151161691707714 Centerline is valid? [True, True] Translation: X:-45.85, Y:1.19, Z:3.22 [[ 9.91501210e-01 1.28270557e-01 2.17259190e-02 -4.58499375e+01] [-1.28216696e-01 9.91738665e-01 -3.85998417e-03 1.19320798e+00] [-2.20415563e-02 1.04155342e-03 9.99756513e-01 3.22376425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.133741732 meters 0.035956101426677066 Centerline is valid? [True, True] Translation: X:-45.88, Y:1.20, Z:3.23 [[ 9.91553673e-01 1.27986153e-01 2.09966390e-02 -4.58822683e+01] [-1.27935925e-01 9.91775445e-01 -3.72381499e-03 1.19533134e+00] [-2.13005478e-02 1.00613800e-03 9.99772611e-01 3.22535597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.163741732 meters 0.03264533569915648 Centerline is valid? [True, True] Translation: X:-45.91, Y:1.20, Z:3.23 [[ 9.91115197e-01 1.31550381e-01 1.96255895e-02 -4.59116749e+01] [-1.31507419e-01 9.91309115e-01 -3.46945166e-03 1.20478743e+00] [-1.99114334e-02 8.57715641e-04 9.99801380e-01 3.22928571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.193741732 meters 0.03673433741037897 Centerline is valid? [True, True] Translation: X:-45.94, Y:1.21, Z:3.23 [[ 9.90605402e-01 1.34916529e-01 2.23263849e-02 -4.59417388e+01] [-1.34861803e-01 9.90856561e-01 -3.94589562e-03 1.21143966e+00] [-2.26546115e-02 8.97849004e-04 9.99742948e-01 3.23061528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.22374173199999 meters 0.034439221255514296 Centerline is valid? [True, True] Translation: X:-45.97, Y:1.22, Z:3.23 [[ 9.90324226e-01 1.37034387e-01 2.18975898e-02 -4.59734658e+01] [-1.36982161e-01 9.90565937e-01 -3.87451164e-03 1.21811550e+00] [-2.22219478e-02 8.37443563e-04 9.99752711e-01 3.23239396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.253741731999995 meters 0.032592162218979544 Centerline is valid? [True, True] Translation: X:-46.01, Y:1.23, Z:3.23 [[ 9.90100478e-01 1.38883104e-01 2.03107599e-02 -4.60052955e+01] [-1.38838672e-01 9.90308511e-01 -3.58845874e-03 1.22516788e+00] [-2.06122947e-02 7.33015786e-04 9.99787275e-01 3.23459962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.283741731999996 meters 0.031995341848555056 Centerline is valid? [True, True] Translation: X:-46.04, Y:1.23, Z:3.24 [[ 9.89668573e-01 1.41916861e-01 2.03891956e-02 -4.60352175e+01] [-1.41872979e-01 9.89878360e-01 -3.59019527e-03 1.23211078e+00] [-2.06923328e-02 6.60427508e-04 9.99785673e-01 3.23582000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.313741732 meters 0.03175191170988196 Centerline is valid? [True, True] Translation: X:-46.07, Y:1.24, Z:3.24 [[ 9.89436342e-01 1.43587471e-01 1.99590472e-02 -4.60669964e+01] [-1.43545649e-01 9.89637437e-01 -3.51994259e-03 1.23753335e+00] [-2.02576400e-02 6.17724732e-04 9.99794602e-01 3.23510838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.343741732 meters 0.03293598772457016 Centerline is valid? [True, True] Translation: X:-46.10, Y:1.24, Z:3.24 [[ 9.89544642e-01 1.42693782e-01 2.09734443e-02 -4.60984265e+01] [-1.42647539e-01 9.89766663e-01 -3.69234218e-03 1.24333882e+00] [-2.12856902e-02 6.61927219e-04 9.99773215e-01 3.23964833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.373741732 meters 0.031217887638307712 Centerline is valid? [True, True] Translation: X:-46.13, Y:1.24, Z:3.24 [[ 9.90109576e-01 1.38659659e-01 2.13664686e-02 -4.61302445e+01] [-1.38611026e-01 9.90339809e-01 -3.74775224e-03 1.24270822e+00] [-2.16797265e-02 7.49057257e-04 9.99764687e-01 3.23959157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.40374173199999 meters 0.03226516495810405 Centerline is valid? [True, True] Translation: X:-46.16, Y:1.24, Z:3.24 [[ 9.90609350e-01 1.35230823e-01 2.01429741e-02 -4.61626201e+01] [-1.35186899e-01 9.90813818e-01 -3.53283278e-03 1.24325820e+00] [-2.04356849e-02 7.76590985e-04 9.99790868e-01 3.23943281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.433741731999994 meters 0.03565897721599757 Centerline is valid? [True, True] Translation: X:-46.20, Y:1.25, Z:3.24 [[ 9.90792751e-01 1.33695150e-01 2.13384999e-02 -4.61953580e+01] [-1.33645515e-01 9.91022136e-01 -3.74189486e-03 1.24600670e+00] [-2.16471989e-02 8.55647507e-04 9.99765306e-01 3.24004784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.463741731999995 meters 0.03667457566090591 Centerline is valid? [True, True] Translation: X:-46.23, Y:1.25, Z:3.24 [[ 9.90537492e-01 1.35446205e-01 2.21314972e-02 -4.62268653e+01] [-1.35393312e-01 9.90784342e-01 -3.87805694e-03 1.25142191e+00] [-2.24528090e-02 8.44904080e-04 9.99747547e-01 3.24158323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.493741732 meters 0.03666409719696012 Centerline is valid? [True, True] Translation: X:-46.26, Y:1.25, Z:3.24 [[ 9.90788628e-01 1.33858567e-01 2.04884971e-02 -4.62599649e+01] [-1.33812826e-01 9.91000108e-01 -3.59364777e-03 1.25091400e+00] [-2.07851434e-02 8.18921658e-04 9.99783630e-01 3.23989140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.523741732 meters 0.03414662717125138 Centerline is valid? [True, True] Translation: X:-46.29, Y:1.26, Z:3.25 [[ 9.90706213e-01 1.34275845e-01 2.17070714e-02 -4.62897761e+01] [-1.34224822e-01 9.90943630e-01 -3.79725676e-03 1.26130495e+00] [-2.20203640e-02 8.48338069e-04 9.99757162e-01 3.24860027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.553741732 meters 0.031705313067838026 Centerline is valid? [True, True] Translation: X:-46.32, Y:1.27, Z:3.25 [[ 9.90646607e-01 1.34887129e-01 2.06097629e-02 -4.63226528e+01] [-1.34841237e-01 9.90860652e-01 -3.60679176e-03 1.26581087e+00] [-2.09079129e-02 7.94010104e-04 9.99781090e-01 3.25089919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58374173199999 meters 0.033018584261797886 Centerline is valid? [True, True] Translation: X:-46.35, Y:1.27, Z:3.25 [[ 9.90418619e-01 1.36304191e-01 2.21839037e-02 -4.63544165e+01] [-1.36251698e-01 9.90666702e-01 -3.86791349e-03 1.27149760e+00] [-2.25040675e-02 8.08258996e-04 9.99746425e-01 3.25106816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.613741731999994 meters 0.03112931853757955 Centerline is valid? [True, True] Translation: X:-46.39, Y:1.28, Z:3.25 [[ 9.90367934e-01 1.36794193e-01 2.14173642e-02 -4.63855465e+01] [-1.36745294e-01 9.90599188e-01 -3.73817099e-03 1.28022903e+00] [-2.17273836e-02 7.73440930e-04 9.99763633e-01 3.25279056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.643741731999995 meters 0.035366446500225156 Centerline is valid? [True, True] Translation: X:-46.42, Y:1.28, Z:3.25 [[ 9.90462485e-01 1.36303536e-01 2.01348603e-02 -4.64183122e+01] [-1.36260345e-01 9.90666852e-01 -3.50809506e-03 1.28183312e+00] [-2.04251045e-02 7.31053523e-04 9.99791119e-01 3.25016762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.673741731999996 meters 0.03494104220259166 Centerline is valid? [True, True] Translation: X:-46.45, Y:1.28, Z:3.25 [[ 9.90563457e-01 1.35598740e-01 1.99253242e-02 -4.64511181e+01] [-1.35556428e-01 9.90763567e-01 -3.46527972e-03 1.28174947e+00] [-2.02111728e-02 7.31573681e-04 9.99795466e-01 3.24948378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.703741732 meters 0.03494104220259166 Centerline is valid? [True, True] Translation: X:-46.48, Y:1.29, Z:3.25 [[ 9.90604744e-01 1.35296654e-01 1.99262570e-02 -4.64832111e+01] [-1.35254389e-01 9.90804864e-01 -3.45990219e-03 1.28755293e+00] [-2.02111456e-02 7.32281809e-04 9.99795466e-01 3.25094052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.733741732 meters 0.0319064157626768 Centerline is valid? [True, True] Translation: X:-46.51, Y:1.29, Z:3.26 [[ 9.90833577e-01 1.33576133e-01 2.01553585e-02 -4.65133871e+01] [-1.33532691e-01 9.91038256e-01 -3.49209057e-03 1.29388622e+00] [-2.04411913e-02 7.68681336e-04 9.99790762e-01 3.25648696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76374173199999 meters 0.033424910256435465 Centerline is valid? [True, True] Translation: X:-46.54, Y:1.30, Z:3.26 [[ 9.90834825e-01 1.33235689e-01 2.22396291e-02 -4.65436463e+01] [-1.33182866e-01 9.91084018e-01 -3.84627715e-03 1.30153997e+00] [-2.25538023e-02 8.49087794e-04 9.99745270e-01 3.25919426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.793741731999994 meters 0.0329207858628729 Centerline is valid? [True, True] Translation: X:-46.58, Y:1.30, Z:3.26 [[ 9.91335230e-01 1.30017041e-01 1.87090974e-02 -4.65753287e+01] [-1.29979273e-01 9.91511463e-01 -3.22587127e-03 1.30173063e+00] [-1.89697028e-02 7.66124952e-04 9.99819765e-01 3.25798002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.823741731999995 meters 0.036352362015443354 Centerline is valid? [True, True] Translation: X:-46.61, Y:1.31, Z:3.26 [[ 9.91725177e-01 1.26810647e-01 2.00058425e-02 -4.66062225e+01] [-1.26766698e-01 9.91926543e-01 -3.45503132e-03 1.30521038e+00] [-2.02824609e-02 8.90366965e-04 9.99793893e-01 3.25943506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.853741731999996 meters 0.03684430295992351 Centerline is valid? [True, True] Translation: X:-46.64, Y:1.30, Z:3.26 [[ 9.92186611e-01 1.23189033e-01 1.97532746e-02 -4.66389386e+01] [-1.23145664e-01 9.92382776e-01 -3.40173104e-03 1.30453391e+00] [-2.00218655e-02 9.42621872e-04 9.99799098e-01 3.25894377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.883741732 meters 0.038240280802333264 Centerline is valid? [True, True] Translation: X:-46.67, Y:1.31, Z:3.26 [[ 9.92277097e-01 1.22221874e-01 2.11654692e-02 -4.66706520e+01] [-1.22171800e-01 9.92502264e-01 -3.64784071e-03 1.31000768e+00] [-2.14526220e-02 1.03384532e-03 9.99769331e-01 3.26248381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.913741732 meters 0.03794149766638399 Centerline is valid? [True, True] Translation: X:-46.70, Y:1.31, Z:3.27 [[ 9.92044856e-01 1.24023554e-01 2.15676030e-02 -4.67027481e+01] [-1.23972252e-01 9.92278769e-01 -3.70485520e-03 1.31338472e+00] [-2.18605638e-02 1.00159824e-03 9.99760528e-01 3.26615381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.943741732 meters 0.036215970049698454 Centerline is valid? [True, True] Translation: X:-46.73, Y:1.32, Z:3.27 [[ 9.91834523e-01 1.25830559e-01 2.07592954e-02 -4.67330971e+01] [-1.25783369e-01 9.92051313e-01 -3.56871775e-03 1.32091289e+00] [-2.10433400e-02 9.28403353e-04 9.99778133e-01 3.26642888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.97374173199999 meters 0.03481752148602515 Centerline is valid? [True, True] Translation: X:-46.76, Y:1.33, Z:3.27 [[ 9.91255081e-01 1.30278124e-01 2.09993846e-02 -4.67626235e+01] [-1.30231078e-01 9.91477139e-01 -3.59840620e-03 1.32990529e+00] [-2.12892034e-02 8.32165937e-04 9.99773013e-01 3.26650758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.003741731999995 meters 0.03428946964207291 Centerline is valid? [True, True] Translation: X:-46.79, Y:1.34, Z:3.27 [[ 9.90862854e-01 1.33168437e-01 2.13768981e-02 -4.67922147e+01] [-1.33120354e-01 9.91093110e-01 -3.66313076e-03 1.33812273e+00] [-2.16743098e-02 7.83959954e-04 9.99764777e-01 3.26845774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.033741731999996 meters 0.03336054238676766 Centerline is valid? [True, True] Translation: X:-46.82, Y:1.34, Z:3.27 [[ 9.90424626e-01 1.36393370e-01 2.13520127e-02 -4.68237188e+01] [-1.36346145e-01 9.90654501e-01 -3.65895890e-03 1.34417447e+00] [-2.16515253e-02 7.12658368e-04 9.99765324e-01 3.26692470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.063741732 meters 0.030599450169133374 Centerline is valid? [True, True] Translation: X:-46.85, Y:1.35, Z:3.27 [[ 9.90322970e-01 1.37290489e-01 2.02912905e-02 -4.68542622e+01] [-1.37247966e-01 9.90530607e-01 -3.48024023e-03 1.35194564e+00] [-2.05769482e-02 6.61623495e-04 9.99788053e-01 3.26978647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.093741732 meters 0.03080259161545552 Centerline is valid? [True, True] Translation: X:-46.88, Y:1.36, Z:3.27 [[ 9.90308517e-01 1.37244103e-01 2.12860983e-02 -4.68843329e+01] [-1.37197556e-01 9.90537021e-01 -3.63882503e-03 1.35782865e+00] [-2.15840757e-02 6.83158741e-04 9.99766803e-01 3.27152206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.123741732 meters 0.033517583357715035 Centerline is valid? [True, True] Translation: X:-46.92, Y:1.36, Z:3.27 [[ 9.90356175e-01 1.36950686e-01 2.09560528e-02 -4.69173101e+01] [-1.36905372e-01 9.90577630e-01 -3.58872457e-03 1.36048878e+00] [-2.12500754e-02 6.85119346e-04 9.99773957e-01 3.26772238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.15374173199999 meters 0.03181000390270638 Centerline is valid? [True, True] Translation: X:-46.95, Y:1.37, Z:3.27 [[ 9.90372866e-01 1.36675985e-01 2.19376926e-02 -4.69479486e+01] [-1.36626484e-01 9.90615549e-01 -3.74666351e-03 1.36795742e+00] [-2.22438983e-02 7.13324069e-04 9.99752319e-01 3.27086711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.183741731999994 meters 0.03291028798545693 Centerline is valid? [True, True] Translation: X:-46.98, Y:1.37, Z:3.27 [[ 9.90539041e-01 1.35312808e-01 2.28659703e-02 -4.69803692e+01] [-1.35258815e-01 9.90802630e-01 -3.89877474e-03 1.37176617e+00] [-2.31832176e-02 7.69064545e-04 9.99730937e-01 3.27451559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.213741731999995 meters 0.029803361188290314 Centerline is valid? [True, True] Translation: X:-47.01, Y:1.38, Z:3.28 [[ 9.90785151e-01 1.33679078e-01 2.17873413e-02 -4.70109879e+01] [-1.33629810e-01 9.91024380e-01 -3.70833177e-03 1.37536707e+00] [-2.20875128e-02 7.62721788e-04 9.99755750e-01 3.27707016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.243741732 meters 0.0336433517395708 Centerline is valid? [True, True] Translation: X:-47.04, Y:1.38, Z:3.28 [[ 9.90720514e-01 1.33842620e-01 2.36435123e-02 -4.70431921e+01] [-1.33784829e-01 9.91002264e-01 -4.01652161e-03 1.37648798e+00] [-2.39683560e-02 8.16107115e-04 9.99712385e-01 3.27520850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.273741732 meters 0.03400590874675778 Centerline is valid? [True, True] Translation: X:-47.08, Y:1.38, Z:3.27 [[ 9.90741549e-01 1.33892463e-01 2.24497450e-02 -4.70759425e+01] [-1.33840501e-01 9.90995569e-01 -3.80817652e-03 1.37903193e+00] [-2.27574839e-02 7.68233595e-04 9.99740720e-01 3.27422734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.303741732 meters 0.03304200123281259 Centerline is valid? [True, True] Translation: X:-47.11, Y:1.38, Z:3.27 [[ 9.90698726e-01 1.34201914e-01 2.24918123e-02 -4.71083394e+01] [-1.34149995e-01 9.90953720e-01 -3.80833923e-03 1.38369199e+00] [-2.27994315e-02 7.55640305e-04 9.99739774e-01 3.27412372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.33374173199999 meters 0.03169427140659624 Centerline is valid? [True, True] Translation: X:-47.14, Y:1.39, Z:3.28 [[ 9.90442194e-01 1.35861593e-01 2.37884000e-02 -4.71376568e+01] [-1.35804297e-01 9.90727546e-01 -4.01524258e-03 1.39270625e+00] [-2.41133404e-02 7.46298727e-04 9.99708953e-01 3.27960252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.363741731999994 meters 0.03400177387975539 Centerline is valid? [True, True] Translation: X:-47.17, Y:1.40, Z:3.28 [[ 9.90455684e-01 1.35592040e-01 2.47454403e-02 -4.71689898e+01] [-1.35529861e-01 9.90764442e-01 -4.18060395e-03 1.39873653e+00] [-2.50837589e-02 7.86956858e-04 9.99685043e-01 3.28101221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.393741731999995 meters 0.02988388880416542 Centerline is valid? [True, True] Translation: X:-47.20, Y:1.41, Z:3.28 [[ 9.90606867e-01 1.35085662e-01 2.12108420e-02 -4.72000134e+01] [-1.35039957e-01 9.90833689e-01 -3.57914595e-03 1.40534630e+00] [-2.14999081e-02 6.81215377e-04 9.99768618e-01 3.28263414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.423741731999996 meters 0.032550725300209866 Centerline is valid? [True, True] Translation: X:-47.23, Y:1.41, Z:3.28 [[ 9.90740365e-01 1.33714835e-01 2.35344814e-02 -4.72321492e+01] [-1.33658381e-01 9.91019543e-01 -3.96274808e-03 1.40972551e+00] [-2.38530092e-02 7.80473794e-04 9.99715172e-01 3.28199182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.453741732 meters 0.03404094123367716 Centerline is valid? [True, True] Translation: X:-47.26, Y:1.41, Z:3.28 [[ 9.91230708e-01 1.29813817e-01 2.46993228e-02 -4.72631003e+01] [-1.29750642e-01 9.91537970e-01 -4.15024286e-03 1.41243843e+00] [-2.50290753e-02 9.09095184e-04 9.99686310e-01 3.28272353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.483741732 meters 0.03446148421117453 Centerline is valid? [True, True] Translation: X:-47.29, Y:1.42, Z:3.29 [[ 9.91441225e-01 1.28214798e-01 2.46020988e-02 -4.72947105e+01] [-1.28151788e-01 9.91745977e-01 -4.12747745e-03 1.41646305e+00] [-2.49282362e-02 9.39348341e-04 9.99688802e-01 3.28544752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.51374173199999 meters 0.035299574275542374 Centerline is valid? [True, True] Translation: X:-47.33, Y:1.42, Z:3.29 [[ 9.91664813e-01 1.26385781e-01 2.50505935e-02 -4.73262028e+01] [-1.26320070e-01 9.91980667e-01 -4.19480901e-03 1.41968847e+00] [-2.53798687e-02 9.95451757e-04 9.99677384e-01 3.28826200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.543741731999994 meters 0.035891016900172 Centerline is valid? [True, True] Translation: X:-47.36, Y:1.42, Z:3.29 [[ 9.91894696e-01 1.24779267e-01 2.39801090e-02 -4.73589392e+01] [-1.24718749e-01 9.92184037e-01 -4.00877698e-03 1.42186116e+00] [-2.42928936e-02 9.85515419e-04 9.99704398e-01 3.28593012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.573741731999995 meters 0.03335687362077954 Centerline is valid? [True, True] Translation: X:-47.39, Y:1.43, Z:3.29 [[ 9.91974387e-01 1.24324273e-01 2.30280321e-02 -4.73889512e+01] [-1.24268510e-01 9.92241187e-01 -3.84250804e-03 1.42928999e+00] [-2.33270790e-02 9.50010322e-04 9.99727435e-01 3.28915384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.603741731999996 meters 0.035094974494673296 Centerline is valid? [True, True] Translation: X:-47.42, Y:1.43, Z:3.29 [[ 9.91964901e-01 1.23966216e-01 2.52588977e-02 -4.74217888e+01] [-1.23899212e-01 9.92285891e-01 -4.20673776e-03 1.43044626e+00] [-2.55855411e-02 1.04337870e-03 9.99672092e-01 3.28929389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.633741732 meters 0.035395617699347355 Centerline is valid? [True, True] Translation: X:-47.45, Y:1.43, Z:3.29 [[ 9.91999180e-01 1.23570046e-01 2.58470458e-02 -4.74545185e+01] [-1.23499956e-01 9.92335275e-01 -4.29684707e-03 1.43329391e+00] [-2.61798969e-02 1.07035975e-03 9.99656675e-01 3.28907572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.663741732 meters 0.03208911797681129 Centerline is valid? [True, True] Translation: X:-47.48, Y:1.44, Z:3.29 [[ 9.91935877e-01 1.24250480e-01 2.50006770e-02 -4.74848974e+01] [-1.24185413e-01 9.92250374e-01 -4.14462784e-03 1.44240288e+00] [-2.53219031e-02 1.00648567e-03 9.99678843e-01 3.29450834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.693741732 meters 0.0349640474987292 Centerline is valid? [True, True] Translation: X:-47.52, Y:1.45, Z:3.29 [[ 9.91779860e-01 1.25308524e-01 2.58936797e-02 -4.75171551e+01] [-1.25239140e-01 9.92117306e-01 -4.29054463e-03 1.44750040e+00] [-2.62272095e-02 1.01237357e-03 9.99655495e-01 3.29411099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.72374173199999 meters 0.03402481353580141 Centerline is valid? [True, True] Translation: X:-47.55, Y:1.45, Z:3.30 [[ 9.91849794e-01 1.25183313e-01 2.37302575e-02 -4.75477299e+01] [-1.25125175e-01 9.92133199e-01 -3.92500634e-03 1.45337322e+00] [-2.40349216e-02 9.23764099e-04 9.99710693e-01 3.29610938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.753741731999995 meters 0.03473557364816685 Centerline is valid? [True, True] Translation: X:-47.58, Y:1.46, Z:3.30 [[ 9.91949393e-01 1.24129501e-01 2.50652692e-02 -4.75804802e+01] [-1.24064470e-01 9.92265526e-01 -4.13915870e-03 1.45620209e+00] [-2.53851943e-02 9.96126620e-04 9.99677248e-01 3.29503335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.783741731999996 meters 0.033034013165667 Centerline is valid? [True, True] Translation: X:-47.61, Y:1.46, Z:3.30 [[ 9.92375373e-01 1.21015698e-01 2.33734764e-02 -4.76124806e+01] [-1.20958608e-01 9.92650100e-01 -3.84626668e-03 1.45718298e+00] [-2.36671423e-02 9.89717158e-04 9.99719404e-01 3.29616673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.813741732 meters 0.03606208153584756 Centerline is valid? [True, True] Translation: X:-47.64, Y:1.46, Z:3.30 [[ 9.92517435e-01 1.19256359e-01 2.62118670e-02 -4.76430480e+01] [-1.19183952e-01 9.92862822e-01 -4.31310381e-03 1.46154080e+00] [-2.65391533e-02 1.15679682e-03 9.99647105e-01 3.29682225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.843741732 meters 0.03826512860383669 Centerline is valid? [True, True] Translation: X:-47.68, Y:1.46, Z:3.30 [[ 9.92720487e-01 1.17629126e-01 2.58732044e-02 -4.76756790e+01] [-1.17558167e-01 9.93056895e-01 -4.25203567e-03 1.46399477e+00] [-2.61937272e-02 1.17947645e-03 9.99656190e-01 3.29783767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.873741732 meters 0.03653368990946755 Centerline is valid? [True, True] Translation: X:-47.71, Y:1.47, Z:3.30 [[ 9.92993675e-01 1.15486725e-01 2.50275228e-02 -4.77071282e+01] [-1.15419616e-01 9.93308302e-01 -4.11441696e-03 1.46900117e+00] [-2.53352067e-02 1.19692295e-03 9.99678296e-01 3.29789832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.90374173199999 meters 0.03708546372707222 Centerline is valid? [True, True] Translation: X:-47.74, Y:1.47, Z:3.30 [[ 9.93132223e-01 1.14457793e-01 2.42445917e-02 -4.77399279e+01] [-1.14394784e-01 9.93427418e-01 -3.97465934e-03 1.47088550e+00] [-2.45401729e-02 1.17390743e-03 9.99698155e-01 3.29867453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.933741731999994 meters 0.037322568546755086 Centerline is valid? [True, True] Translation: X:-47.77, Y:1.48, Z:3.30 [[ 9.93247460e-01 1.13202103e-01 2.53922795e-02 -4.77721600e+01] [-1.13132562e-01 9.93571180e-01 -4.16336785e-03 1.47521925e+00] [-2.57003391e-02 1.26256091e-03 9.99668894e-01 3.30036872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.963741731999995 meters 0.03807364798654588 Centerline is valid? [True, True] Translation: X:-47.80, Y:1.48, Z:3.30 [[ 9.93500252e-01 1.10955881e-01 2.54173441e-02 -4.78027118e+01] [-1.10885805e-01 9.93824471e-01 -4.15440357e-03 1.47774899e+00] [-2.57213340e-02 1.30897833e-03 9.99668295e-01 3.30202365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.993741732 meters 0.039108073016750906 Centerline is valid? [True, True] Translation: X:-47.84, Y:1.48, Z:3.30 [[ 9.93537050e-01 1.10938920e-01 2.40142877e-02 -4.78351602e+01] [-1.10876234e-01 9.93826450e-01 -3.93040051e-03 1.47804720e+00] [-2.43020687e-02 1.24238474e-03 9.99703889e-01 3.30149728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.023741732 meters 0.038459542638999804 Centerline is valid? [True, True] Translation: X:-47.87, Y:1.48, Z:3.30 [[ 9.93349941e-01 1.12439943e-01 2.47619374e-02 -4.78673489e+01] [-1.12374069e-01 9.93657760e-01 -4.04033274e-03 1.48131349e+00] [-2.50591860e-02 1.23086462e-03 9.99685212e-01 3.30180181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.053741732 meters 0.03841020324487756 Centerline is valid? [True, True] Translation: X:-47.90, Y:1.49, Z:3.30 [[ 9.93213298e-01 1.13465867e-01 2.55507547e-02 -4.78980111e+01] [-1.13396033e-01 9.93541115e-01 -4.17036955e-03 1.48877794e+00] [-2.58589199e-02 1.24471227e-03 9.99664827e-01 3.30493331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08374173199999 meters 0.03633591132278554 Centerline is valid? [True, True] Translation: X:-47.93, Y:1.49, Z:3.31 [[ 9.93147710e-01 1.14491498e-01 2.34376246e-02 -4.79300179e+01] [-1.14433144e-01 9.93423605e-01 -3.82040873e-03 1.49321549e+00] [-2.37208938e-02 1.11218911e-03 9.99718001e-01 3.30549258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.113741731999994 meters 0.0366052827309213 Centerline is valid? [True, True] Translation: X:-47.96, Y:1.50, Z:3.31 [[ 9.93381867e-01 1.12624201e-01 2.25445099e-02 -4.79624058e+01] [-1.12569878e-01 9.93637039e-01 -3.66838496e-03 1.49636969e+00] [-2.28142090e-02 1.10627436e-03 9.99739110e-01 3.30581408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.143741731999995 meters 0.03743084267046303 Centerline is valid? [True, True] Translation: X:-47.99, Y:1.50, Z:3.31 [[ 9.93499520e-01 1.11285241e-01 2.39645394e-02 -4.79935665e+01] [-1.11223676e-01 9.93787781e-01 -3.89093702e-03 1.50101871e+00] [-2.42486703e-02 1.20021989e-03 9.99705237e-01 3.30641167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.173741731999996 meters 0.03579751993202385 Centerline is valid? [True, True] Translation: X:-48.03, Y:1.51, Z:3.31 [[ 9.93525634e-01 1.10956013e-01 2.44044700e-02 -4.80251335e+01] [-1.10892213e-01 9.93824564e-01 -3.95647311e-03 1.50815060e+00] [-2.46927563e-02 1.22459176e-03 9.99694337e-01 3.31064486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.203741732 meters 0.035366840257838005 Centerline is valid? [True, True] Translation: X:-48.06, Y:1.51, Z:3.31 [[ 9.93599021e-01 1.10569791e-01 2.31367013e-02 -4.80579424e+01] [-1.10512516e-01 9.93867682e-01 -3.74360413e-03 1.51003061e+00] [-2.34087492e-02 1.16274632e-03 9.99725302e-01 3.31188630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.233741732 meters 0.03453609804838588 Centerline is valid? [True, True] Translation: X:-48.09, Y:1.52, Z:3.31 [[ 9.93555276e-01 1.11049368e-01 2.27145616e-02 -4.80897644e+01] [-1.10994453e-01 9.93814256e-01 -3.66816731e-03 1.51572901e+00] [-2.29814028e-02 1.12333666e-03 9.99735262e-01 3.31450272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26374173199999 meters 0.03586458786890448 Centerline is valid? [True, True] Translation: X:-48.12, Y:1.52, Z:3.31 [[ 9.93567420e-01 1.10751301e-01 2.36205581e-02 -4.81209450e+01] [-1.10692026e-01 9.93847467e-01 -3.80639421e-03 1.52182688e+00] [-2.38967950e-02 1.16730185e-03 9.99713749e-01 3.31354104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.293741731999994 meters 0.03562628905377157 Centerline is valid? [True, True] Translation: X:-48.15, Y:1.52, Z:3.31 [[ 9.93749680e-01 1.09478731e-01 2.18170102e-02 -4.81533436e+01] [-1.09427962e-01 9.93988528e-01 -3.51102612e-03 1.52312342e+00] [-2.20702405e-02 1.10169012e-03 9.99755816e-01 3.31282676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.323741731999995 meters 0.03722363477428216 Centerline is valid? [True, True] Translation: X:-48.18, Y:1.52, Z:3.31 [[ 9.93945580e-01 1.07325373e-01 2.35255040e-02 -4.81849321e+01] [-1.07265952e-01 9.94223189e-01 -3.77697571e-03 1.52471687e+00] [-2.37949669e-02 1.23062272e-03 9.99716102e-01 3.31436014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.353741731999996 meters 0.035431392958935215 Centerline is valid? [True, True] Translation: X:-48.21, Y:1.53, Z:3.32 [[ 9.93708099e-01 1.09468846e-01 2.36809217e-02 -4.82149216e+01] [-1.09409397e-01 9.93989526e-01 -3.79557725e-03 1.53327359e+00] [-2.39540856e-02 1.18078050e-03 9.99712362e-01 3.31799517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.383741732 meters 0.03750364238799651 Centerline is valid? [True, True] Translation: X:-48.25, Y:1.53, Z:3.32 [[ 9.93400201e-01 1.12167434e-01 2.39688673e-02 -4.82476109e+01] [-1.12107587e-01 9.93688692e-01 -3.83042558e-03 1.53213870e+00] [-2.42472414e-02 1.11805367e-03 9.99705367e-01 3.31627333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.413741732 meters 0.03558871677427422 Centerline is valid? [True, True] Translation: X:-48.28, Y:1.54, Z:3.32 [[ 9.92887407e-01 1.16645447e-01 2.38419229e-02 -4.82764844e+01] [-1.16587607e-01 9.93173117e-01 -3.80657372e-03 1.54391489e+00] [-2.41231764e-02 9.99826381e-04 9.99708494e-01 3.32077455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.443741732 meters 0.031341284001439255 Centerline is valid? [True, True] Translation: X:-48.31, Y:1.55, Z:3.32 [[ 9.92631078e-01 1.19494316e-01 2.01159701e-02 -4.83086430e+01] [-1.19453592e-01 9.92834569e-01 -3.21836626e-03 1.54907584e+00] [-2.03564069e-02 7.91725499e-04 9.99792473e-01 3.32061519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.47374173199999 meters 0.03511043028389723 Centerline is valid? [True, True] Translation: X:-48.34, Y:1.55, Z:3.32 [[ 9.92464639e-01 1.20447074e-01 2.25042755e-02 -4.83406046e+01] [-1.20396656e-01 9.92719386e-01 -3.58695064e-03 1.55395949e+00] [-2.27724683e-02 8.50482154e-04 9.99740312e-01 3.31993075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.503741731999995 meters 0.03463280626289702 Centerline is valid? [True, True] Translation: X:-48.37, Y:1.56, Z:3.32 [[ 9.92505095e-01 1.19642369e-01 2.48865549e-02 -4.83716538e+01] [-1.19580425e-01 9.92816588e-01 -3.96791821e-03 1.55995330e+00] [-2.51825157e-02 9.62234233e-04 9.99682407e-01 3.32311060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.533741731999996 meters 0.03705523462937932 Centerline is valid? [True, True] Translation: X:-48.40, Y:1.56, Z:3.33 [[ 9.92756953e-01 1.17215373e-01 2.63474638e-02 -4.84035777e+01] [-1.17145293e-01 9.93105935e-01 -4.19310737e-03 1.56295783e+00] [-2.66573193e-02 1.07625512e-03 9.99644051e-01 3.32509944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.563741732 meters 0.034526045288565135 Centerline is valid? [True, True] Translation: X:-48.44, Y:1.57, Z:3.33 [[ 9.92979469e-01 1.15671486e-01 2.47362460e-02 -4.84359770e+01] [-1.15609407e-01 9.93286978e-01 -3.92998123e-03 1.56596294e+00] [-2.50247778e-02 1.04264793e-03 9.99686287e-01 3.32677316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.593741732 meters 0.03249650906316014 Centerline is valid? [True, True] Translation: X:-48.47, Y:1.57, Z:3.33 [[ 9.93215821e-01 1.14207486e-01 2.18856724e-02 -4.84673732e+01] [-1.14158784e-01 9.93456471e-01 -3.46600712e-03 1.56863875e+00] [-2.21383068e-02 9.44051364e-04 9.99754472e-01 3.32958656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.623741732 meters 0.03249650906316014 Centerline is valid? [True, True] Translation: X:-48.50, Y:1.57, Z:3.33 [[ 9.93254733e-01 1.13868747e-01 2.18847687e-02 -4.84995518e+01] [-1.13819837e-01 9.93495341e-01 -3.47172513e-03 1.57394062e+00] [-2.21377367e-02 9.57386614e-04 9.99754472e-01 3.33104693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.65374173199999 meters 0.03896522644128475 Centerline is valid? [True, True] Translation: X:-48.53, Y:1.57, Z:3.33 [[ 9.93198868e-01 1.13468413e-01 2.60945982e-02 -4.85321114e+01] [-1.13399084e-01 9.93540951e-01 -4.12626545e-03 1.57262666e+00] [-2.63942527e-02 1.13909863e-03 9.99650962e-01 3.32645413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.683741731999994 meters 0.03848653356502306 Centerline is valid? [True, True] Translation: X:-48.56, Y:1.58, Z:3.33 [[ 9.93635010e-01 1.10321503e-01 2.27735317e-02 -4.85616573e+01] [-1.10268129e-01 9.93895392e-01 -3.59013227e-03 1.57516321e+00] [-2.30305770e-02 1.05608638e-03 9.99734203e-01 3.32787317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.713741731999995 meters 0.037237630222309095 Centerline is valid? [True, True] Translation: X:-48.59, Y:1.58, Z:3.33 [[ 9.94129228e-01 1.05833665e-01 2.25013925e-02 -4.85915275e+01] [-1.05780412e-01 9.94383186e-01 -3.54723090e-03 1.57915430e+00] [-2.27504229e-02 1.14619934e-03 9.99740519e-01 3.33059154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.743741732 meters 0.04050964411170258 Centerline is valid? [True, True] Translation: X:-48.62, Y:1.58, Z:3.33 [[ 9.94467642e-01 1.02413708e-01 2.33568295e-02 -4.86243272e+01] [-1.02355355e-01 9.94741079e-01 -3.68345539e-03 1.57652809e+00] [-2.36112341e-02 1.27238062e-03 9.99720406e-01 3.33145546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.773741732 meters 0.040003870372130906 Centerline is valid? [True, True] Translation: X:-48.65, Y:1.58, Z:3.34 [[ 9.94694357e-01 9.99399428e-02 2.43955657e-02 -4.86544983e+01] [-9.98754763e-02 9.94992496e-01 -3.84990134e-03 1.58285613e+00] [-2.46581637e-02 1.39295640e-03 9.99694971e-01 3.33525017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.803741732 meters 0.04079652226369852 Centerline is valid? [True, True] Translation: X:-48.69, Y:1.58, Z:3.34 [[ 9.94769638e-01 9.94507952e-02 2.33003722e-02 -4.86872449e+01] [-9.93919851e-02 9.95041584e-01 -3.67152230e-03 1.58109925e+00] [-2.35499750e-02 1.33644867e-03 9.99721768e-01 3.33536256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.83374173199999 meters 0.04168307892164276 Centerline is valid? [True, True] Translation: X:-48.72, Y:1.58, Z:3.34 [[ 9.94789716e-01 9.92619121e-02 2.32485329e-02 -4.87206877e+01] [-9.92034660e-02 9.95060450e-01 -3.65680050e-03 1.58206572e+00] [-2.34966767e-02 1.33141249e-03 9.99723028e-01 3.33649129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.863741731999994 meters 0.04097069077475446 Centerline is valid? [True, True] Translation: X:-48.75, Y:1.59, Z:3.34 [[ 9.94743248e-01 9.94058502e-02 2.45834930e-02 -4.87511029e+01] [-9.93408052e-02 9.95045996e-01 -3.85616419e-03 1.59026132e+00] [-2.48450315e-02 1.39374930e-03 9.99690343e-01 3.34051963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.893741731999995 meters 0.04342519588800851 Centerline is valid? [True, True] Translation: X:-48.78, Y:1.59, Z:3.34 [[ 9.94895555e-01 9.78597866e-02 2.46230777e-02 -4.87837157e+01] [-9.77942216e-02 9.95199187e-01 -3.85588370e-03 1.59189072e+00] [-2.48822029e-02 1.42820684e-03 9.99689370e-01 3.34152043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.923741731999996 meters 0.04058104050916729 Centerline is valid? [True, True] Translation: X:-48.82, Y:1.60, Z:3.34 [[ 9.94949261e-01 9.75134415e-02 2.38137942e-02 -4.88152318e+01] [-9.74521860e-02 9.95233248e-01 -3.72215301e-03 1.59656876e+00] [-2.40632397e-02 1.38264708e-03 9.99709482e-01 3.34287889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.953741732 meters 0.04182989992889908 Centerline is valid? [True, True] Translation: X:-48.85, Y:1.60, Z:3.34 [[ 9.94828115e-01 9.87478655e-02 2.37882350e-02 -4.88481031e+01] [-9.86872622e-02 9.95111578e-01 -3.71112664e-03 1.59706204e+00] [-2.40384139e-02 1.34433733e-03 9.99710132e-01 3.34287322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.983741732 meters 0.04053209864484494 Centerline is valid? [True, True] Translation: X:-48.88, Y:1.60, Z:3.35 [[ 9.94888235e-01 9.83187820e-02 2.30394571e-02 -4.88794137e+01] [-9.82619768e-02 9.95154115e-01 -3.58757720e-03 1.60207723e+00] [-2.32805367e-02 1.30533576e-03 9.99728119e-01 3.34682034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.01374173199999 meters 0.03848167935786101 Centerline is valid? [True, True] Translation: X:-48.91, Y:1.61, Z:3.35 [[ 9.94739137e-01 9.98305405e-02 2.29763527e-02 -4.89097889e+01] [-9.97746085e-02 9.95003657e-01 -3.57083879e-03 1.61186578e+00] [-2.32180337e-02 1.25959650e-03 9.99729632e-01 3.34734192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.043741731999994 meters 0.039864954396734584 Centerline is valid? [True, True] Translation: X:-48.94, Y:1.62, Z:3.35 [[ 9.94773516e-01 9.93569594e-02 2.35339575e-02 -4.89429306e+01] [-9.92982760e-02 9.95051011e-01 -3.65207522e-03 1.61551280e+00] [-2.37803472e-02 1.29610630e-03 9.99716367e-01 3.34734922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.073741731999995 meters 0.039506141140495055 Centerline is valid? [True, True] Translation: X:-48.97, Y:1.62, Z:3.35 [[ 9.94846464e-01 9.87291473e-02 2.30882936e-02 -4.89742702e+01] [-9.86727080e-02 9.95113523e-01 -3.57388632e-03 1.61940526e+00] [-2.33283200e-02 1.27728371e-03 9.99727042e-01 3.34831657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.103741731999996 meters 0.03973213321800696 Centerline is valid? [True, True] Translation: X:-49.01, Y:1.62, Z:3.35 [[ 9.94910705e-01 9.82404414e-02 2.23943110e-02 -4.90073259e+01] [-9.81874118e-02 9.95161934e-01 -3.45804653e-03 1.62027381e+00] [-2.26256859e-02 1.24160807e-03 9.99743235e-01 3.34739304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.133741732 meters 0.04034673473523486 Centerline is valid? [True, True] Translation: X:-49.04, Y:1.63, Z:3.35 [[ 9.94849132e-01 9.84663717e-02 2.40744320e-02 -4.90375872e+01] [-9.84051995e-02 9.95139494e-01 -3.71547589e-03 1.62590012e+00] [-2.43232675e-02 1.32728868e-03 9.99703264e-01 3.35169975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.163741732 meters 0.039220494749615836 Centerline is valid? [True, True] Translation: X:-49.07, Y:1.63, Z:3.35 [[ 9.94558365e-01 1.01282506e-01 2.44031183e-02 -4.90689859e+01] [-1.01220788e-01 9.94856903e-01 -3.75439828e-03 1.62903757e+00] [-2.46578656e-02 1.26386535e-03 9.99695150e-01 3.35457369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.193741732 meters 0.03636740409089938 Centerline is valid? [True, True] Translation: X:-49.10, Y:1.63, Z:3.35 [[ 9.94477061e-01 1.02631442e-01 2.19581788e-02 -4.91009199e+01] [-1.02581691e-01 9.94718830e-01 -3.38319448e-03 1.63262476e+00] [-2.21894360e-02 1.11200219e-03 9.99753166e-01 3.35436716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.22374173199999 meters 0.03591498263867205 Centerline is valid? [True, True] Translation: X:-49.13, Y:1.64, Z:3.36 [[ 9.94197702e-01 1.04863950e-01 2.39683204e-02 -4.91300931e+01] [-1.04805671e-01 9.94485918e-01 -3.67839100e-03 1.63903612e+00] [-2.42218877e-02 1.14503199e-03 9.99705951e-01 3.35656624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.253741731999995 meters 0.03857639162194269 Centerline is valid? [True, True] Translation: X:-49.16, Y:1.64, Z:3.36 [[ 9.94109810e-01 1.05195233e-01 2.60700554e-02 -4.91621948e+01] [-1.05126249e-01 9.94450813e-01 -4.00650655e-03 1.63980780e+00] [-2.63468532e-02 1.24226034e-03 9.99652090e-01 3.35848970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.283741731999996 meters 0.03602620176019482 Centerline is valid? [True, True] Translation: X:-49.19, Y:1.65, Z:3.36 [[ 9.94241902e-01 1.04207935e-01 2.49749153e-02 -4.91931948e+01] [-1.04144559e-01 9.94554801e-01 -3.82854894e-03 1.64586088e+00] [-2.52378871e-02 1.20550223e-03 9.99680747e-01 3.35985722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.313741732 meters 0.037398540685470404 Centerline is valid? [True, True] Translation: X:-49.23, Y:1.65, Z:3.36 [[ 9.94275359e-01 1.03850952e-01 2.51294732e-02 -4.92267725e+01] [-1.03786701e-01 9.94592122e-01 -3.85124923e-03 1.64663858e+00] [-2.53935320e-02 1.22109709e-03 9.99676786e-01 3.36105160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.343741732 meters 0.03623039226455791 Centerline is valid? [True, True] Translation: X:-49.26, Y:1.65, Z:3.36 [[ 9.94474900e-01 1.02092353e-01 2.44300007e-02 -4.92588422e+01] [-1.02031325e-01 9.94774175e-01 -3.73492553e-03 1.64931515e+00] [-2.46836411e-02 1.22166435e-03 9.99694566e-01 3.36180885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.373741732 meters 0.03921066334533228 Centerline is valid? [True, True] Translation: X:-49.29, Y:1.65, Z:3.36 [[ 9.94672950e-01 1.00085333e-01 2.46708200e-02 -4.92918947e+01] [-1.00022670e-01 9.94978038e-01 -3.76411892e-03 1.64890658e+00] [-2.49236572e-02 1.27642597e-03 9.99688543e-01 3.36151521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.40374173199999 meters 0.04261788088416342 Centerline is valid? [True, True] Translation: X:-49.32, Y:1.65, Z:3.36 [[ 9.94685324e-01 9.95582762e-02 2.62536969e-02 -4.93242438e+01] [-9.94873651e-02 9.95030799e-01 -3.99673618e-03 1.65028796e+00] [-2.65211452e-02 1.36358369e-03 9.99647323e-01 3.36221995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.433741731999994 meters 0.039622150211265396 Centerline is valid? [True, True] Translation: X:-49.35, Y:1.66, Z:3.37 [[ 9.94844643e-01 9.79330253e-02 2.63297936e-02 -4.93549696e+01] [-9.78613482e-02 9.95192019e-01 -4.00029934e-03 1.65649708e+00] [-2.65949619e-02 1.40300728e-03 9.99645307e-01 3.36676244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.463741731999995 meters 0.03956143701025724 Centerline is valid? [True, True] Translation: X:-49.39, Y:1.66, Z:3.37 [[ 9.95034606e-01 9.60449692e-02 2.61055059e-02 -4.93862423e+01] [-9.59740301e-02 9.95375962e-01 -3.95979433e-03 1.66095424e+00] [-2.63651114e-02 1.43468178e-03 9.99651351e-01 3.36790722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.493741732 meters 0.037637860037012714 Centerline is valid? [True, True] Translation: X:-49.42, Y:1.66, Z:3.37 [[ 9.95013882e-01 9.66244418e-02 2.47202647e-02 -4.94171474e+01] [-9.65611873e-02 9.95320014e-01 -3.74263188e-03 1.66432213e+00] [-2.49662039e-02 1.33695257e-03 9.99687402e-01 3.36949326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.523741732 meters 0.039033919832126465 Centerline is valid? [True, True] Translation: X:-49.45, Y:1.66, Z:3.37 [[ 9.94803001e-01 9.85215375e-02 2.57001157e-02 -4.94496115e+01] [-9.84540946e-02 9.95134031e-01 -3.87959618e-03 1.66488240e+00] [-2.59572835e-02 1.32915230e-03 9.99662169e-01 3.37021265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.553741732 meters 0.03581147687871996 Centerline is valid? [True, True] Translation: X:-49.48, Y:1.67, Z:3.37 [[ 9.94746092e-01 9.94823262e-02 2.41553171e-02 -4.94804522e+01] [-9.94229871e-02 9.95038572e-01 -3.64821964e-03 1.66948360e+00] [-2.43984056e-02 1.22745845e-03 9.99701561e-01 3.37348025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58374173199999 meters 0.038347560909301796 Centerline is valid? [True, True] Translation: X:-49.51, Y:1.67, Z:3.38 [[ 9.94518038e-01 1.00934264e-01 2.73156829e-02 -4.95124768e+01] [-1.00859260e-01 9.94892200e-01 -4.11332624e-03 1.67237378e+00] [-2.75913354e-02 1.33573758e-03 9.99618394e-01 3.37640830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.613741731999994 meters 0.03509310453038549 Centerline is valid? [True, True] Translation: X:-49.54, Y:1.68, Z:3.38 [[ 9.94552873e-01 1.01065826e-01 2.55006385e-02 -4.95448701e+01] [-1.01000449e-01 9.94878961e-01 -3.84212570e-03 1.67619194e+00] [-2.57583564e-02 1.24562119e-03 9.99667422e-01 3.37778228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.643741731999995 meters 0.03387328955547869 Centerline is valid? [True, True] Translation: X:-49.57, Y:1.68, Z:3.38 [[ 9.94478287e-01 1.02095214e-01 2.42797185e-02 -4.95749482e+01] [-1.02036541e-01 9.94773968e-01 -3.64651311e-03 1.68100992e+00] [-2.45251234e-02 1.14895962e-03 9.99698554e-01 3.38269793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.673741731999996 meters 0.034189454726722406 Centerline is valid? [True, True] Translation: X:-49.61, Y:1.68, Z:3.38 [[ 9.94601422e-01 1.01047591e-01 2.36092171e-02 -4.96073751e+01] [-1.00991714e-01 9.94880932e-01 -3.55025265e-03 1.68407249e+00] [-2.38471044e-02 1.14675102e-03 9.99714960e-01 3.38208795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.703741732 meters 0.036188670468990734 Centerline is valid? [True, True] Translation: X:-49.64, Y:1.69, Z:3.39 [[ 9.94642292e-01 1.00297469e-01 2.50425456e-02 -4.96395512e+01] [-1.00234566e-01 9.94956738e-01 -3.75777937e-03 1.68799119e+00] [-2.52931452e-02 1.22751760e-03 9.99679324e-01 3.38572014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.733741732 meters 0.03517632528174831 Centerline is valid? [True, True] Translation: X:-49.67, Y:1.69, Z:3.39 [[ 9.94701356e-01 1.00144248e-01 2.32452707e-02 -4.96721474e+01] [-1.00090174e-01 9.94972281e-01 -3.48108491e-03 1.68980538e+00] [-2.34770106e-02 1.13601669e-03 9.99723732e-01 3.38676996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76374173199999 meters 0.036987495106602944 Centerline is valid? [True, True] Translation: X:-49.71, Y:1.69, Z:3.39 [[ 9.94731079e-01 9.95986895e-02 2.42936370e-02 -4.97056611e+01] [-9.95396499e-02 9.95026973e-01 -3.63054511e-03 1.69252447e+00] [-2.45344216e-02 1.19323593e-03 9.99698274e-01 3.38802349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.793741731999994 meters 0.034347372544852345 Centerline is valid? [True, True] Translation: X:-49.74, Y:1.70, Z:3.39 [[ 9.94780292e-01 9.92353252e-02 2.37596318e-02 -4.97359533e+01] [-9.91789665e-02 9.95063309e-01 -3.54171189e-03 1.69827174e+00] [-2.39938008e-02 1.16676946e-03 9.99711426e-01 3.39176442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.823741731999995 meters 0.036768606098801025 Centerline is valid? [True, True] Translation: X:-49.77, Y:1.70, Z:3.39 [[ 9.94791386e-01 9.90080258e-02 2.42385888e-02 -4.97678446e+01] [-9.89494629e-02 9.95085924e-01 -3.60662203e-03 1.70069563e+00] [-2.44765630e-02 1.18944118e-03 9.99699696e-01 3.39212031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.853741731999996 meters 0.03772256132306143 Centerline is valid? [True, True] Translation: X:-49.80, Y:1.70, Z:3.39 [[ 9.94869914e-01 9.81759650e-02 2.43994848e-02 -4.97999576e+01] [-9.81165584e-02 9.95168335e-01 -3.62301226e-03 1.70447299e+00] [-2.46372874e-02 1.21043242e-03 9.99695723e-01 3.39364537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.883741732 meters 0.03523199108782258 Centerline is valid? [True, True] Translation: X:-49.83, Y:1.71, Z:3.40 [[ 9.95015565e-01 9.71846553e-02 2.23420934e-02 -4.98310178e+01] [-9.71347264e-02 9.95265732e-01 -3.31179352e-03 1.70957579e+00] [-2.25581754e-02 1.12509297e-03 9.99744899e-01 3.39699843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.913741732 meters 0.034951754647663924 Centerline is valid? [True, True] Translation: X:-49.86, Y:1.71, Z:3.40 [[ 9.95017763e-01 9.74123014e-02 2.12248696e-02 -4.98643971e+01] [-9.73673751e-02 9.95243548e-01 -3.14238503e-03 1.70998181e+00] [-2.14300214e-02 1.06011909e-03 9.99769789e-01 3.39704189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.943741732 meters 0.03755278372579278 Centerline is valid? [True, True] Translation: X:-49.90, Y:1.71, Z:3.40 [[ 9.95121735e-01 9.59933644e-02 2.27597411e-02 -4.98972882e+01] [-9.59415730e-02 9.95381299e-01 -3.35922684e-03 1.71012403e+00] [-2.29770842e-02 1.15923428e-03 9.99735320e-01 3.39932325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.97374173199999 meters 0.04022092204618886 Centerline is valid? [True, True] Translation: X:-49.93, Y:1.71, Z:3.40 [[ 9.95059457e-01 9.66827130e-02 2.25639196e-02 -4.99306335e+01] [-9.66321395e-02 9.95314615e-01 -3.32358516e-03 1.70549359e+00] [-2.27795322e-02 1.12676501e-03 9.99739878e-01 3.39920898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.003741731999995 meters 0.03471988575461744 Centerline is valid? [True, True] Translation: X:-49.96, Y:1.72, Z:3.40 [[ 9.95052799e-01 9.71516099e-02 2.07723875e-02 -4.99610576e+01] [-9.71089487e-02 9.95269068e-01 -3.05506696e-03 1.71763872e+00] [-2.09709195e-02 1.02276821e-03 9.99779563e-01 3.40481866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.033741731999996 meters 0.0385061698857526 Centerline is valid? [True, True] Translation: X:-49.99, Y:1.72, Z:3.40 [[ 9.95058717e-01 9.68166639e-02 2.20155151e-02 -4.99929702e+01] [-9.67688448e-02 9.95301643e-01 -3.22963234e-03 1.72144505e+00] [-2.22247606e-02 1.08325785e-03 9.99752413e-01 3.40470600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.063741732 meters 0.036823782154187974 Centerline is valid? [True, True] Translation: X:-50.03, Y:1.72, Z:3.41 [[ 9.95128945e-01 9.61733332e-02 2.16580708e-02 -5.00251507e+01] [-9.61270402e-02 9.95364023e-01 -3.17090410e-03 1.72393227e+00] [-2.18626209e-02 1.07353221e-03 9.99760408e-01 3.40777851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.093741732 meters 0.03700325606421551 Centerline is valid? [True, True] Translation: X:-50.06, Y:1.73, Z:3.41 [[ 9.95203170e-01 9.55050011e-02 2.12001198e-02 -5.00559610e+01] [-9.54606312e-02 9.95428387e-01 -3.09745575e-03 1.72846047e+00] [-2.13990236e-02 1.05882096e-03 9.99770454e-01 3.40996690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.123741732 meters 0.03954169241162297 Centerline is valid? [True, True] Translation: X:-50.09, Y:1.73, Z:3.41 [[ 9.95318808e-01 9.41757209e-02 2.17118618e-02 -5.00881712e+01] [-9.41289961e-02 9.95554974e-01 -3.16634579e-03 1.72806568e+00] [-2.19135449e-02 1.10780776e-03 9.99759256e-01 3.41150177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.15374173199999 meters 0.039945736132332745 Centerline is valid? [True, True] Translation: X:-50.12, Y:1.73, Z:3.41 [[ 9.95559808e-01 9.18785170e-02 2.04696507e-02 -5.01199472e+01] [-9.18367457e-02 9.95769638e-01 -2.97340546e-03 1.72578621e+00] [-2.06562487e-02 1.08033687e-03 9.99786053e-01 3.41245157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.183741731999994 meters 0.03392257188215832 Centerline is valid? [True, True] Translation: X:-50.15, Y:1.74, Z:3.42 [[ 9.95730616e-01 9.01205123e-02 1.99708354e-02 -5.01485091e+01] [-9.00803464e-02 9.95930269e-01 -2.90359609e-03 1.74245022e+00] [-2.01512330e-02 1.09221975e-03 9.99796347e-01 3.42054845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.213741731999995 meters 0.04161949117384013 Centerline is valid? [True, True] Translation: X:-50.18, Y:1.74, Z:3.42 [[ 9.95701201e-01 8.98352730e-02 2.25553161e-02 -5.01813201e+01] [-8.97840110e-02 9.95955868e-01 -3.27726446e-03 1.73917631e+00] [-2.27585134e-02 1.23806940e-03 9.99740225e-01 3.41774511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.243741732 meters 0.04108255101743901 Centerline is valid? [True, True] Translation: X:-50.21, Y:1.74, Z:3.42 [[ 9.95845816e-01 8.87308143e-02 2.04439149e-02 -5.02138426e+01] [-8.86885907e-02 9.96054991e-01 -2.96462054e-03 1.73812888e+00] [-2.06263166e-02 1.13916296e-03 9.99786606e-01 3.41915467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.273741732 meters 0.03903600366730673 Centerline is valid? [True, True] Translation: X:-50.25, Y:1.75, Z:3.42 [[ 9.95889943e-01 8.80938950e-02 2.10401300e-02 -5.02454160e+01] [-8.80491614e-02 9.96111477e-01 -3.04491955e-03 1.74646449e+00] [-2.12265538e-02 1.17983895e-03 9.99773995e-01 3.42233531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.303741732 meters 0.03852491481203766 Centerline is valid? [True, True] Translation: X:-50.28, Y:1.75, Z:3.43 [[ 9.95790821e-01 8.92792546e-02 2.07329704e-02 -5.02777439e+01] [-8.92362201e-02 9.96005992e-01 -2.99347861e-03 1.74826732e+00] [-2.09174183e-02 1.13074662e-03 9.99780567e-01 3.42508562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.33374173199999 meters 0.03864643995168381 Centerline is valid? [True, True] Translation: X:-50.31, Y:1.75, Z:3.43 [[ 9.95732288e-01 9.01048545e-02 1.99580886e-02 -5.03096573e+01] [-9.00652592e-02 9.95931714e-01 -2.87580351e-03 1.75351887e+00] [-2.01360172e-02 1.06599998e-03 9.99796682e-01 3.42503399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.363741731999994 meters 0.0378699105457713 Centerline is valid? [True, True] Translation: X:-50.34, Y:1.76, Z:3.43 [[ 9.95462305e-01 9.28798282e-02 2.06914560e-02 -5.03399188e+01] [-9.28381421e-02 9.95676789e-01 -2.96828489e-03 1.75836854e+00] [-2.08776963e-02 1.03385939e-03 9.99781503e-01 3.42705814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.393741731999995 meters 0.036022173155974224 Centerline is valid? [True, True] Translation: X:-50.37, Y:1.77, Z:3.43 [[ 9.95135761e-01 9.60060991e-02 2.20827201e-02 -5.03685398e+01] [-9.59594077e-02 9.95380210e-01 -3.16686386e-03 1.76685445e+00] [-2.22847408e-02 1.03241473e-03 9.99751131e-01 3.43107836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.423741731999996 meters 0.03282594161622117 Centerline is valid? [True, True] Translation: X:-50.40, Y:1.77, Z:3.43 [[ 9.94767943e-01 1.00438376e-01 1.86781047e-02 -5.04003550e+01] [-1.00405711e-01 9.94942966e-01 -2.68082893e-03 1.77401978e+00] [-1.88529070e-02 7.91414299e-04 9.99821955e-01 3.43113255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.453741732 meters 0.0318169051155539 Centerline is valid? [True, True] Translation: X:-50.43, Y:1.78, Z:3.43 [[ 9.94574461e-01 1.02466878e-01 1.79493795e-02 -5.04314391e+01] [-1.02437036e-01 9.94736153e-01 -2.57654118e-03 1.78067105e+00] [-1.81189069e-02 7.23880815e-04 9.99835577e-01 3.43311002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.483741732 meters 0.03270995367632466 Centerline is valid? [True, True] Translation: X:-50.46, Y:1.79, Z:3.43 [[ 9.94292155e-01 1.04783037e-01 2.00904218e-02 -5.04623226e+01] [-1.04746255e-01 9.94494818e-01 -2.87739325e-03 1.78810604e+00] [-2.02813223e-02 7.56573094e-04 9.99794027e-01 3.43275807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.51374173199999 meters 0.03270995367632466 Centerline is valid? [True, True] Translation: X:-50.49, Y:1.79, Z:3.43 [[ 9.94327269e-01 1.04449481e-01 2.00895236e-02 -5.04945383e+01] [-1.04412504e-01 9.94529896e-01 -2.88367827e-03 1.79293639e+00] [-2.02808305e-02 7.69722483e-04 9.99794027e-01 3.43421697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.543741731999994 meters 0.03308768849825411 Centerline is valid? [True, True] Translation: X:-50.53, Y:1.80, Z:3.43 [[ 9.94209045e-01 1.05679969e-01 1.94966558e-02 -5.05268549e+01] [-1.05645522e-01 9.94399936e-01 -2.79127905e-03 1.79669990e+00] [-1.96824555e-02 7.15380496e-04 9.99806026e-01 3.43434570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.573741731999995 meters 0.033315387439003065 Centerline is valid? [True, True] Translation: X:-50.56, Y:1.80, Z:3.44 [[ 9.94387922e-01 1.03823284e-01 2.03319250e-02 -5.05586930e+01] [-1.03785575e-01 9.94595456e-01 -2.90404681e-03 1.79943240e+00] [-2.05235479e-02 7.77588544e-04 9.99789067e-01 3.43795461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.603741731999996 meters 0.030855969128013534 Centerline is valid? [True, True] Translation: X:-50.59, Y:1.80, Z:3.44 [[ 9.94517719e-01 1.02610472e-01 2.01394718e-02 -5.05896783e+01] [-1.02573403e-01 9.94721304e-01 -2.86778670e-03 1.80368298e+00] [-2.03274266e-02 7.86290532e-04 9.99793067e-01 3.44145046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.633741732 meters 0.03162122041471273 Centerline is valid? [True, True] Translation: X:-50.62, Y:1.81, Z:3.44 [[ 9.94624367e-01 1.01635903e-01 1.98119281e-02 -5.06216850e+01] [-1.01599838e-01 9.94821348e-01 -2.82110509e-03 1.80728582e+00] [-1.99960545e-02 7.93051180e-04 9.99799744e-01 3.44241939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.663741732 meters 0.035769868689511916 Centerline is valid? [True, True] Translation: X:-50.65, Y:1.81, Z:3.44 [[ 9.94688652e-01 1.01014933e-01 1.97602838e-02 -5.06545550e+01] [-1.00979054e-01 9.94884590e-01 -2.80770170e-03 1.80625292e+00] [-1.99428216e-02 7.97414253e-04 9.99800804e-01 3.43916471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.69374173199999 meters 0.03551746777931204 Centerline is valid? [True, True] Translation: X:-50.68, Y:1.81, Z:3.44 [[ 9.94685775e-01 1.00875861e-01 2.05977997e-02 -5.06849329e+01] [-1.00837000e-01 9.94898677e-01 -2.91927952e-03 1.81091992e+00] [-2.07872085e-02 8.26745482e-04 9.99783581e-01 3.44210186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.72374173199999 meters 0.03533225414908831 Centerline is valid? [True, True] Translation: X:-50.72, Y:1.81, Z:3.44 [[ 9.94694625e-01 1.00983681e-01 1.96188372e-02 -5.07171146e+01] [-1.00948529e-01 9.94887776e-01 -2.77645458e-03 1.81379279e+00] [-1.97989179e-02 7.81231701e-04 9.99803677e-01 3.44378926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.753741731999995 meters 0.03567267630855232 Centerline is valid? [True, True] Translation: X:-50.75, Y:1.82, Z:3.45 [[ 9.94635798e-01 1.01570356e-01 1.95727456e-02 -5.07493986e+01] [-1.01535596e-01 9.94828067e-01 -2.76418948e-03 1.81795011e+00] [-1.97522764e-02 7.62031425e-04 9.99804614e-01 3.44583373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.783741731999996 meters 0.03111702908883681 Centerline is valid? [True, True] Translation: X:-50.78, Y:1.82, Z:3.45 [[ 9.94623169e-01 1.01956314e-01 1.81565632e-02 -5.07804076e+01] [-1.01926550e-01 9.94788634e-01 -2.55963214e-03 1.82415722e+00] [-1.83229134e-02 6.95233584e-04 9.99831880e-01 3.44894023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.813741732 meters 0.033603610142052674 Centerline is valid? [True, True] Translation: X:-50.81, Y:1.83, Z:3.45 [[ 9.94400737e-01 1.03698973e-01 2.03395282e-02 -5.08117909e+01] [-1.03662127e-01 9.94608456e-01 -2.86046612e-03 1.82800389e+00] [-2.05264941e-02 7.36010872e-04 9.99789038e-01 3.45068519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.843741732 meters 0.03275371649656011 Centerline is valid? [True, True] Translation: X:-50.84, Y:1.83, Z:3.45 [[ 9.94132214e-01 1.06360386e-01 1.97131988e-02 -5.08431176e+01] [-1.06326399e-01 9.94327431e-01 -2.76722010e-03 1.83407441e+00] [-1.98956969e-02 6.54949213e-04 9.99801847e-01 3.45164873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.873741732 meters 0.03108127093799299 Centerline is valid? [True, True] Translation: X:-50.87, Y:1.84, Z:3.45 [[ 9.93687632e-01 1.10443896e-01 1.96732360e-02 -5.08742076e+01] [-1.10411043e-01 9.93882201e-01 -2.75165162e-03 1.84384743e+00] [-1.98567822e-02 5.62139670e-04 9.99802677e-01 3.45274277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.90374173199999 meters 0.02948753602397207 Centerline is valid? [True, True] Translation: X:-50.90, Y:1.85, Z:3.45 [[ 9.93219811e-01 1.14762827e-01 1.85445767e-02 -5.09037276e+01] [-1.14734433e-01 9.93392820e-01 -2.59140478e-03 1.85413853e+00] [-1.87194463e-02 4.46133075e-04 9.99824676e-01 3.45406732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.933741731999994 meters 0.0269755188023786 Centerline is valid? [True, True] Translation: X:-50.94, Y:1.86, Z:3.45 [[ 9.92975071e-01 1.17115322e-01 1.68674298e-02 -5.09353063e+01] [-1.17092060e-01 9.93118252e-01 -2.36354928e-03 1.86111865e+00] [-1.70281603e-02 3.71903402e-04 9.99854941e-01 3.45460220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.963741731999995 meters 0.02978809242762133 Centerline is valid? [True, True] Translation: X:-50.97, Y:1.87, Z:3.46 [[ 9.92603659e-01 1.19754470e-01 1.99209353e-02 -5.09669309e+01] [-1.19722827e-01 9.92803469e-01 -2.77784845e-03 1.86845130e+00] [-2.01102335e-02 3.72311834e-04 9.99797699e-01 3.45838909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.993741732 meters 0.0253413164202579 Centerline is valid? [True, True] Translation: X:-51.00, Y:1.87, Z:3.46 [[ 9.92850546e-01 1.18019041e-01 1.78689660e-02 -5.09990909e+01] [-1.17993221e-01 9.93011263e-01 -2.49616225e-03 1.87343273e+00] [-1.80386792e-02 3.69899200e-04 9.99837221e-01 3.45946632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.023741732 meters 0.027467001824176242 Centerline is valid? [True, True] Translation: X:-51.03, Y:1.88, Z:3.46 [[ 9.93002950e-01 1.16514653e-01 1.92217712e-02 -5.10308851e+01] [-1.16484613e-01 9.93188883e-01 -2.67894409e-03 1.87591954e+00] [-1.94029857e-02 4.21158802e-04 9.99811656e-01 3.46174603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.053741732 meters 0.031709665391434445 Centerline is valid? [True, True] Translation: X:-51.06, Y:1.88, Z:3.46 [[ 9.93230724e-01 1.14371439e-01 2.02953680e-02 -5.10628135e+01] [-1.14337657e-01 9.93437941e-01 -2.82095848e-03 1.87776294e+00] [-2.04848256e-02 4.81337809e-04 9.99790048e-01 3.46271241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08374173199999 meters 0.02973976154108605 Centerline is valid? [True, True] Translation: X:-51.09, Y:1.88, Z:3.46 [[ 9.93801098e-01 1.09773284e-01 1.75841828e-02 -5.10935519e+01] [-1.09747399e-01 9.93956532e-01 -2.43326810e-03 1.87739307e+00] [-1.77450212e-02 4.88366181e-04 9.99842425e-01 3.46411802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.113741731999994 meters 0.03427391699053794 Centerline is valid? [True, True] Translation: X:-51.13, Y:1.87, Z:3.46 [[ 9.94050257e-01 1.07249429e-01 1.90170245e-02 -5.11271564e+01] [-1.07218564e-01 9.94231975e-01 -2.63820217e-03 1.87117648e+00] [-1.91902795e-02 5.83527491e-04 9.99815679e-01 3.46114367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.143741731999995 meters 0.029686296891503653 Centerline is valid? [True, True] Translation: X:-51.16, Y:1.88, Z:3.47 [[ 9.94322620e-01 1.04909237e-01 1.77926727e-02 -5.11581582e+01] [-1.04881929e-01 9.94481630e-01 -2.46359222e-03 1.87696023e+00] [-1.79529397e-02 5.83475622e-04 9.99838663e-01 3.46917123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.173741731999996 meters 0.0325417559316618 Centerline is valid? [True, True] Translation: X:-51.19, Y:1.88, Z:3.47 [[ 9.94378740e-01 1.04269052e-01 1.84088768e-02 -5.11909923e+01] [-1.04239798e-01 9.94548939e-01 -2.54420618e-03 1.87898519e+00] [-1.85738108e-02 6.10966949e-04 9.99827305e-01 3.47109370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.203741732 meters 0.02927919827314143 Centerline is valid? [True, True] Translation: X:-51.22, Y:1.88, Z:3.47 [[ 9.94577827e-01 1.02558632e-01 1.72242157e-02 -5.12219651e+01] [-1.02532882e-01 9.94726783e-01 -2.37381818e-03 1.88009708e+00] [-1.73768442e-02 5.94898455e-04 9.99848834e-01 3.47427954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.233741732 meters 0.03350860563704586 Centerline is valid? [True, True] Translation: X:-51.25, Y:1.88, Z:3.48 [[ 9.94420345e-01 1.03583450e-01 1.99661421e-02 -5.12538655e+01] [-1.03549297e-01 9.94620549e-01 -2.73964087e-03 1.88339588e+00] [-2.01425166e-02 6.56874649e-04 9.99796903e-01 3.47522644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26374173199999 meters 0.034209662877457754 Centerline is valid? [True, True] Translation: X:-51.29, Y:1.89, Z:3.48 [[ 9.94496357e-01 1.02919377e-01 1.96111393e-02 -5.12854027e+01] [-1.02886230e-01 9.94689481e-01 -2.69441616e-03 1.88716342e+00] [-1.97843016e-02 6.61870862e-04 9.99804052e-01 3.47655966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.293741731999994 meters 0.032021137328384595 Centerline is valid? [True, True] Translation: X:-51.32, Y:1.89, Z:3.48 [[ 9.94803230e-01 1.00360725e-01 1.71539670e-02 -5.13172402e+01] [-1.00335161e-01 9.94950928e-01 -2.34664091e-03 1.88580419e+00] [-1.73028659e-02 6.13299921e-04 9.99850106e-01 3.47798159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.323741731999995 meters 0.03428650234561931 Centerline is valid? [True, True] Translation: X:-51.35, Y:1.89, Z:3.48 [[ 9.94871919e-01 9.95392772e-02 1.79387026e-02 -5.13483343e+01] [-9.95110713e-02 9.95033413e-01 -2.46039308e-03 1.89240974e+00] [-1.80945142e-02 6.62676477e-04 9.99836061e-01 3.48192867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.353741731999996 meters 0.032692335402832846 Centerline is valid? [True, True] Translation: X:-51.38, Y:1.90, Z:3.48 [[ 9.94985856e-01 9.86663202e-02 1.63738877e-02 -5.13796656e+01] [-9.86427848e-02 9.95120385e-01 -2.24081647e-03 1.89662051e+00] [-1.65150826e-02 6.14414807e-04 9.99863428e-01 3.48202062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.383741732 meters 0.03497794326479148 Centerline is valid? [True, True] Translation: X:-51.41, Y:1.89, Z:3.48 [[ 9.95130517e-01 9.72039849e-02 1.63290881e-02 -5.14125651e+01] [-9.71804447e-02 9.95264279e-01 -2.23084743e-03 1.89160613e+00] [-1.64686054e-02 6.33116306e-04 9.99864183e-01 3.47984081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.413741732 meters 0.031580728236076994 Centerline is valid? [True, True] Translation: X:-51.44, Y:1.90, Z:3.49 [[ 9.95255181e-01 9.61166992e-02 1.51229704e-02 -5.14427819e+01] [-9.60964520e-02 9.95369892e-01 -2.06155028e-03 1.90083151e+00] [-1.52510988e-02 5.98504796e-04 9.99883516e-01 3.48510344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44374173199999 meters 0.03477974998644073 Centerline is valid? [True, True] Translation: X:-51.48, Y:1.90, Z:3.49 [[ 9.95383489e-01 9.46595133e-02 1.58520089e-02 -5.14752092e+01] [-9.46371503e-02 9.95509497e-01 -2.15667047e-03 1.90367683e+00] [-1.59849748e-02 6.46525231e-04 9.99872023e-01 3.48773432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.47374173199999 meters 0.035263443078782965 Centerline is valid? [True, True] Translation: X:-51.51, Y:1.91, Z:3.49 [[ 9.95459728e-01 9.37923553e-02 1.62149032e-02 -5.15078499e+01] [-9.37690129e-02 9.95591559e-01 -2.19557943e-03 1.90598285e+00] [-1.63493493e-02 6.65155435e-04 9.99866119e-01 3.48945845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.503741731999995 meters 0.03668193123801767 Centerline is valid? [True, True] Translation: X:-51.54, Y:1.91, Z:3.49 [[ 9.95646719e-01 9.18413461e-02 1.58990207e-02 -5.15399430e+01] [-9.18185935e-02 9.95773415e-01 -2.15670574e-03 1.90642341e+00] [-1.60298969e-02 6.87491268e-04 9.99871277e-01 3.49010402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.533741731999996 meters 0.03629889458883267 Centerline is valid? [True, True] Translation: X:-51.57, Y:1.91, Z:3.49 [[ 9.95869395e-01 8.96232935e-02 1.45537995e-02 -5.15716713e+01] [-8.96041435e-02 9.95975522e-01 -1.96391208e-03 1.90761182e+00] [-1.46712403e-02 6.51719195e-04 9.99892159e-01 3.49261965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.563741732 meters 0.036369725212305394 Centerline is valid? [True, True] Translation: X:-51.60, Y:1.91, Z:3.50 [[ 9.96016979e-01 8.77358720e-02 1.58931968e-02 -5.16026878e+01] [-8.77127195e-02 9.96143493e-01 -2.14935361e-03 1.91013214e+00] [-1.60204799e-02 7.46757178e-04 9.99871385e-01 3.49805065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.593741732 meters 0.03475073745544958 Centerline is valid? [True, True] Translation: X:-51.63, Y:1.92, Z:3.50 [[ 9.96154221e-01 8.62787608e-02 1.52559423e-02 -5.16330979e+01] [-8.62573067e-02 9.96270763e-01 -2.05996688e-03 1.91632035e+00] [-1.53767807e-02 7.36108209e-04 9.99881499e-01 3.50243791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.623741732 meters 0.03638723810087123 Centerline is valid? [True, True] Translation: X:-51.67, Y:1.92, Z:3.50 [[ 9.96156293e-01 8.63198258e-02 1.48838116e-02 -5.16662087e+01] [-8.62995571e-02 9.96267227e-01 -1.99992714e-03 1.91591846e+00] [-1.50008870e-02 7.07773663e-04 9.99887230e-01 3.50108955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.65374173199999 meters 0.03722177531671062 Centerline is valid? [True, True] Translation: X:-51.70, Y:1.92, Z:3.50 [[ 9.96297966e-01 8.46745385e-02 1.48521029e-02 -5.16984962e+01] [-8.46541949e-02 9.96408395e-01 -1.99424541e-03 1.91763503e+00] [-1.49676218e-02 7.29569830e-04 9.99887713e-01 3.50170706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.683741731999994 meters 0.03706098772832749 Centerline is valid? [True, True] Translation: X:-51.73, Y:1.92, Z:3.50 [[ 9.96356087e-01 8.39849552e-02 1.48685703e-02 -5.17302114e+01] [-8.39645089e-02 9.96466748e-01 -1.99519164e-03 1.92005543e+00] [-1.49836020e-02 7.39489132e-04 9.99887466e-01 3.50425714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.713741731999995 meters 0.037864953207873975 Centerline is valid? [True, True] Translation: X:-51.76, Y:1.92, Z:3.51 [[ 9.96381505e-01 8.40316834e-02 1.27504241e-02 -5.17630128e+01] [-8.40166588e-02 9.96462882e-01 -1.71041597e-03 1.91985824e+00] [-1.28490535e-02 6.32978807e-04 9.99917247e-01 3.50539548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.743741732 meters 0.03813245441480761 Centerline is valid? [True, True] Translation: X:-51.79, Y:1.93, Z:3.51 [[ 9.96476900e-01 8.28194993e-02 1.32180839e-02 -5.17931823e+01] [-8.28031813e-02 9.96564334e-01 -1.77799937e-03 1.92688308e+00] [-1.33199240e-02 6.77235904e-04 9.99911057e-01 3.50756735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.773741732 meters 0.04258790339011693 Centerline is valid? [True, True] Translation: X:-51.83, Y:1.93, Z:3.51 [[ 9.96455236e-01 8.31104293e-02 1.30238252e-02 -5.18259850e+01] [-8.30947383e-02 9.96540129e-01 -1.74226018e-03 1.92507663e+00] [-1.31235644e-02 6.53872932e-04 9.99913669e-01 3.50787123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.803741732 meters 0.03738779936428236 Centerline is valid? [True, True] Translation: X:-51.86, Y:1.93, Z:3.51 [[ 9.96481241e-01 8.28626071e-02 1.26065243e-02 -5.18558647e+01] [-8.28478230e-02 9.96560775e-01 -1.69137946e-03 1.93299497e+00] [-1.27033197e-02 6.41004808e-04 9.99919104e-01 3.51146797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.83374173199999 meters 0.03771403999781361 Centerline is valid? [True, True] Translation: X:-51.89, Y:1.94, Z:3.51 [[ 9.96430759e-01 8.34217447e-02 1.29056102e-02 -5.18882807e+01] [-8.34064247e-02 9.96514126e-01 -1.72172791e-03 1.93620322e+00] [-1.30042524e-02 6.39171842e-04 9.99915237e-01 3.51318949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.863741731999994 meters 0.038085407258184455 Centerline is valid? [True, True] Translation: X:-51.92, Y:1.94, Z:3.51 [[ 9.96406457e-01 8.39063858e-02 1.15711064e-02 -5.19206369e+01] [-8.38941102e-02 9.96473480e-01 -1.54307562e-03 1.93906953e+00] [-1.16597746e-02 5.66782837e-04 9.99931862e-01 3.51318945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.893741731999995 meters 0.03796879471916645 Centerline is valid? [True, True] Translation: X:-51.95, Y:1.94, Z:3.52 [[ 9.96367132e-01 8.45302796e-02 1.03522889e-02 -5.19525337e+01] [-8.45204932e-02 9.96420786e-01 -1.38000201e-03 1.94347872e+00] [-1.04318878e-02 5.00008085e-04 9.99945461e-01 3.51621834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.923741731999996 meters 0.03691005828572205 Centerline is valid? [True, True] Translation: X:-51.98, Y:1.95, Z:3.52 [[ 9.96349503e-01 8.46035669e-02 1.13975780e-02 -5.19831191e+01] [-8.45917316e-02 9.96414540e-01 -1.51738453e-03 1.95009710e+00] [-1.14850886e-02 5.47704458e-04 9.99933894e-01 3.51966760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.953741732 meters 0.03748475898931858 Centerline is valid? [True, True] Translation: X:-52.01, Y:1.95, Z:3.52 [[ 9.96305096e-01 8.50825577e-02 1.17095580e-02 -5.20146344e+01] [-8.50701080e-02 9.96373750e-01 -1.55811414e-03 1.95273052e+00] [-1.17996645e-02 5.56223691e-04 9.99930227e-01 3.52269892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.983741732 meters 0.03670469619542088 Centerline is valid? [True, True] Translation: X:-52.05, Y:1.96, Z:3.53 [[ 9.96428014e-01 8.37443658e-02 1.08670776e-02 -5.20456471e+01] [-8.37334918e-02 9.96487126e-01 -1.45259579e-03 1.95508382e+00] [-1.09505496e-02 5.37468781e-04 9.99939896e-01 3.52521207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.01374173199999 meters 0.03569303930608502 Centerline is valid? [True, True] Translation: X:-52.08, Y:1.96, Z:3.53 [[ 9.96366351e-01 8.44999935e-02 1.06698056e-02 -5.20771038e+01] [-8.44896594e-02 9.96423349e-01 -1.41640965e-03 1.95871861e+00] [-1.07513300e-02 5.09774678e-04 9.99942073e-01 3.52694322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.043741731999994 meters 0.03641236599129986 Centerline is valid? [True, True] Translation: X:-52.11, Y:1.96, Z:3.53 [[ 9.96351729e-01 8.48046372e-02 9.56058711e-03 -5.21098134e+01] [-8.47963426e-02 9.96397494e-01 -1.27036634e-03 1.96117803e+00] [-9.63387800e-03 4.55028881e-04 9.99953490e-01 3.52625475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.073741731999995 meters 0.03735112603429659 Centerline is valid? [True, True] Translation: X:-52.14, Y:1.97, Z:3.53 [[ 9.96203316e-01 8.65526820e-02 9.35872171e-03 -5.21415123e+01] [-8.65448272e-02 9.96247184e-01 -1.24181196e-03 1.96591562e+00] [-9.43108230e-03 4.27148240e-04 9.99955435e-01 3.52938201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.103741731999996 meters 0.03578273722653945 Centerline is valid? [True, True] Translation: X:-52.17, Y:1.97, Z:3.53 [[ 9.96292304e-01 8.56254684e-02 8.36209269e-03 -5.21720451e+01] [-8.56191061e-02 9.96327317e-01 -1.11655632e-03 1.97206022e+00] [-8.42698703e-03 3.96461571e-04 9.99964414e-01 3.53372018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.133741732 meters 0.036939122744434 Centerline is valid? [True, True] Translation: X:-52.21, Y:1.97, Z:3.53 [[ 9.96320722e-01 8.53449933e-02 7.82630664e-03 -5.22050168e+01] [-8.53394735e-02 9.96351393e-01 -1.03715993e-03 1.97245650e+00] [-7.88626793e-03 3.65451037e-04 9.99968836e-01 3.53263969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.163741732 meters 0.03673317020511259 Centerline is valid? [True, True] Translation: X:-52.24, Y:1.98, Z:3.53 [[ 9.96361074e-01 8.48305527e-02 8.26966311e-03 -5.22376906e+01] [-8.48243770e-02 9.96395316e-01 -1.09533272e-03 1.97700122e+00] [-8.33277126e-03 3.89877860e-04 9.99965206e-01 3.53480483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.19374173199999 meters 0.03862913321049112 Centerline is valid? [True, True] Translation: X:-52.27, Y:1.98, Z:3.54 [[ 9.96218268e-01 8.63587849e-02 9.55629085e-03 -5.22689813e+01] [-8.63506498e-02 9.96264008e-01 -1.26141232e-03 1.98159390e+00] [-9.62952266e-03 4.31450071e-04 9.99953542e-01 3.53526630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22374173199999 meters 0.03704943183848282 Centerline is valid? [True, True] Translation: X:-52.30, Y:1.99, Z:3.54 [[ 9.96056392e-01 8.84038077e-02 7.51200727e-03 -5.22990030e+01] [-8.83988382e-02 9.96084666e-01 -9.91670936e-04 1.99014630e+00] [-7.57026274e-03 3.23707460e-04 9.99971293e-01 3.53886011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.253741731999995 meters 0.035924831116393455 Centerline is valid? [True, True] Translation: X:-52.33, Y:2.00, Z:3.54 [[ 9.96008006e-01 8.90696063e-02 5.88696062e-03 -5.23303666e+01] [-8.90665595e-02 9.96025372e-01 -7.78233926e-04 1.99613839e+00] [-5.93287913e-03 2.50795892e-04 9.99982369e-01 3.54336208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.283741731999996 meters 0.036242019320853525 Centerline is valid? [True, True] Translation: X:-52.36, Y:2.00, Z:3.54 [[ 9.96006189e-01 8.90889580e-02 5.90162968e-03 -5.23620154e+01] [-8.90858995e-02 9.96023642e-01 -7.79647115e-04 2.00108938e+00] [-5.94762064e-03 2.50781363e-04 9.99982281e-01 3.54415265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.313741732 meters 0.03623071575458548 Centerline is valid? [True, True] Translation: X:-52.39, Y:2.00, Z:3.54 [[ 9.96007349e-01 8.91111263e-02 5.34494569e-03 -5.23946698e+01] [-8.91086184e-02 9.96021664e-01 -7.06013194e-04 2.00361873e+00] [-5.38659533e-03 2.26913604e-04 9.99985466e-01 3.54295308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.343741732 meters 0.03692619761641422 Centerline is valid? [True, True] Translation: X:-52.43, Y:2.01, Z:3.55 [[ 9.96042485e-01 8.87012022e-02 5.60933196e-03 -5.24255527e+01] [-8.86984424e-02 9.96058251e-01 -7.39370921e-04 2.00791143e+00] [-5.65280448e-03 2.38905842e-04 9.99983994e-01 3.54907049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.373741732 meters 0.03705832722587045 Centerline is valid? [True, True] Translation: X:-52.46, Y:2.01, Z:3.55 [[ 9.96154136e-01 8.75099673e-02 4.35235243e-03 -5.24561174e+01] [-8.75082965e-02 9.96163626e-01 -5.73225206e-04 2.01181798e+00] [-4.38581809e-03 1.90153714e-04 9.99990364e-01 3.54987267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.40374173199999 meters 0.038177092574153915 Centerline is valid? [True, True] Translation: X:-52.49, Y:2.01, Z:3.55 [[ 9.96214353e-01 8.68126971e-02 4.52974695e-03 -5.24892099e+01] [-8.68108695e-02 9.96224630e-01 -5.98886663e-04 2.01197347e+00] [-4.56463644e-03 2.03388218e-04 9.99989561e-01 3.54774503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.433741731999994 meters 0.038177092574153915 Centerline is valid? [True, True] Translation: X:-52.52, Y:2.02, Z:3.55 [[ 9.96224956e-01 8.66909375e-02 4.52971811e-03 -5.25214582e+01] [-8.66891078e-02 9.96235233e-01 -5.99108785e-04 2.01635418e+00] [-4.56460208e-03 2.04169901e-04 9.99989561e-01 3.54920232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.463741731999995 meters 0.03906327912507107 Centerline is valid? [True, True] Translation: X:-52.55, Y:2.02, Z:3.55 [[ 9.96281299e-01 8.60492390e-02 4.37047173e-03 -5.25536417e+01] [-8.60475382e-02 9.96290866e-01 -5.76060413e-04 2.01789633e+00] [-4.40383062e-03 1.97849884e-04 9.99990284e-01 3.55093264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.493741732 meters 0.038722747473455534 Centerline is valid? [True, True] Translation: X:-52.58, Y:2.02, Z:3.55 [[ 9.96239013e-01 8.65068296e-02 4.93930198e-03 -5.25849565e+01] [-8.65046716e-02 9.96251233e-01 -6.49297282e-04 2.02158470e+00] [-4.97695434e-03 2.19582588e-04 9.99987591e-01 3.55443028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.523741732 meters 0.03721521189464366 Centerline is valid? [True, True] Translation: X:-52.62, Y:2.03, Z:3.56 [[ 9.96245362e-01 8.64250962e-02 5.08734054e-03 -5.26153913e+01] [-8.64228076e-02 9.96258326e-01 -6.68400088e-04 2.02506344e+00] [-5.12607191e-03 2.26228236e-04 9.99986836e-01 3.55978994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.553741732 meters 0.03863185725295425 Centerline is valid? [True, True] Translation: X:-52.65, Y:2.03, Z:3.56 [[ 9.96243247e-01 8.64690196e-02 4.74360763e-03 -5.26483564e+01] [-8.64670227e-02 9.96254517e-01 -6.24843619e-04 2.02625493e+00] [-4.77987015e-03 2.12330607e-04 9.99988554e-01 3.55708916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58374173199999 meters 0.03616390011959034 Centerline is valid? [True, True] Translation: X:-52.68, Y:2.03, Z:3.56 [[ 9.96189857e-01 8.71284751e-02 3.79429927e-03 -5.26800794e+01] [-8.71272037e-02 9.96197069e-01 -4.99393426e-04 2.02980632e+00] [-3.82338120e-03 1.66903980e-04 9.99992677e-01 3.55950788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.613741731999994 meters 0.03611287421261058 Centerline is valid? [True, True] Translation: X:-52.71, Y:2.04, Z:3.56 [[ 9.96118317e-01 8.79332331e-02 4.00556566e-03 -5.27103427e+01] [-8.79318132e-02 9.96126355e-01 -5.29558074e-04 2.03554460e+00] [-4.03661527e-03 1.75285846e-04 9.99991837e-01 3.56289227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.643741731999995 meters 0.03689190046324596 Centerline is valid? [True, True] Translation: X:-52.74, Y:2.04, Z:3.57 [[ 9.95960518e-01 8.95559570e-02 6.50977487e-03 -5.27399812e+01] [-8.95523094e-02 9.95981757e-01 -8.50268269e-04 2.04153750e+00] [-6.55976361e-03 2.63868253e-04 9.99978450e-01 3.56576668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.673741731999996 meters 0.03708686627058834 Centerline is valid? [True, True] Translation: X:-52.77, Y:2.04, Z:3.56 [[ 9.96039414e-01 8.86584425e-02 6.72060052e-03 -5.27726927e+01] [-8.86545191e-02 9.96062047e-01 -8.80052552e-04 2.04306653e+00] [-6.77215921e-03 2.80755420e-04 9.99977029e-01 3.56479526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.703741732 meters 0.03781960421256657 Centerline is valid? [True, True] Translation: X:-52.81, Y:2.05, Z:3.57 [[ 9.96027922e-01 8.88270146e-02 6.17572328e-03 -5.28050120e+01] [-8.88237069e-02 9.96047035e-01 -8.08368152e-04 2.04644194e+00] [-6.22311579e-03 2.56606616e-04 9.99980603e-01 3.56666227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.733741732 meters 0.039361120348792446 Centerline is valid? [True, True] Translation: X:-52.84, Y:2.05, Z:3.57 [[ 9.96109947e-01 8.77324231e-02 8.24589845e-03 -5.28350946e+01] [-8.77265102e-02 9.96144016e-01 -1.07675493e-03 2.05312037e+00] [-8.30856872e-03 3.49182397e-04 9.99965422e-01 3.57036828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76374173199999 meters 0.03857593914149976 Centerline is valid? [True, True] Translation: X:-52.87, Y:2.05, Z:3.57 [[ 9.96189647e-01 8.68870314e-02 7.53857802e-03 -5.28673851e+01] [-8.68820610e-02 9.96218117e-01 -9.84950161e-04 2.05290600e+00] [-7.59564740e-03 3.26229958e-04 9.99971099e-01 3.57068866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.793741731999994 meters 0.036478382116398755 Centerline is valid? [True, True] Translation: X:-52.90, Y:2.06, Z:3.57 [[ 9.96324483e-01 8.54117326e-02 6.50855306e-03 -5.28980097e+01] [-8.54080070e-02 9.96345699e-01 -8.48728153e-04 2.05641695e+00] [-6.55726019e-03 2.89726093e-04 9.99978459e-01 3.57369910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.823741731999995 meters 0.03956563933841218 Centerline is valid? [True, True] Translation: X:-52.93, Y:2.05, Z:3.57 [[ 9.96428081e-01 8.40522328e-02 8.14254941e-03 -5.29308488e+01] [-8.40463503e-02 9.96461280e-01 -1.06255054e-03 2.05428517e+00] [-8.20304495e-03 3.74403636e-04 9.99966284e-01 3.57418862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.853741731999996 meters 0.03823173777563607 Centerline is valid? [True, True] Translation: X:-52.96, Y:2.06, Z:3.58 [[ 9.96528023e-01 8.27691720e-02 9.00904701e-03 -5.29612492e+01] [-8.27619356e-02 9.96568655e-01 -1.17375204e-03 2.05749291e+00] [-9.07528435e-03 4.24070632e-04 9.99958729e-01 3.58135449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.883741732 meters 0.040098934430752825 Centerline is valid? [True, True] Translation: X:-52.99, Y:2.05, Z:3.58 [[ 9.96719108e-01 8.05494682e-02 7.92482018e-03 -5.29938828e+01] [-8.05437922e-02 9.96750535e-01 -1.03331359e-03 2.05468555e+00] [-7.98230162e-03 3.91628326e-04 9.99968064e-01 3.58126124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.913741732 meters 0.03906211887704247 Centerline is valid? [True, True] Translation: X:-53.03, Y:2.05, Z:3.58 [[ 9.96807551e-01 7.95892871e-02 6.34444526e-03 -5.30256810e+01] [-7.95856407e-02 9.96827690e-01 -8.25554560e-04 2.05278167e+00] [-6.39002402e-03 3.17992278e-04 9.99979533e-01 3.58070228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94374173199999 meters 0.042170931667193906 Centerline is valid? [True, True] Translation: X:-53.06, Y:2.06, Z:3.58 [[ 9.96742716e-01 8.01059897e-02 9.32677765e-03 -5.30564683e+01] [-8.00981509e-02 9.96786245e-01 -1.21158703e-03 2.05582443e+00] [-9.39385905e-03 4.60582907e-04 9.99955771e-01 3.58308394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.97374173199999 meters 0.03944167006331964 Centerline is valid? [True, True] Translation: X:-53.09, Y:2.06, Z:3.59 [[ 9.96823858e-01 7.92702013e-02 7.64399912e-03 -5.30862373e+01] [-7.92649114e-02 9.96853092e-01 -9.92997854e-04 2.05958207e+00] [-7.69865930e-03 3.83943039e-04 9.99970291e-01 3.58714772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.003741731999995 meters 0.04059627933858834 Centerline is valid? [True, True] Translation: X:-53.12, Y:2.06, Z:3.59 [[ 9.96823928e-01 7.91843414e-02 8.47913878e-03 -5.31181226e+01] [-7.91778125e-02 9.96859898e-01 -1.10345962e-03 2.06203368e+00] [-8.53989014e-03 4.28595289e-04 9.99963443e-01 3.58983132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.033741731999996 meters 0.04039996756894407 Centerline is valid? [True, True] Translation: X:-53.15, Y:2.07, Z:3.59 [[ 9.96854805e-01 7.87932101e-02 8.49275517e-03 -5.31487592e+01] [-7.87866586e-02 9.96890889e-01 -1.10376961e-03 2.06538589e+00] [-8.55331980e-03 4.31182238e-04 9.99963327e-01 3.59282390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.063741732 meters 0.04143321900127472 Centerline is valid? [True, True] Translation: X:-53.18, Y:2.07, Z:3.60 [[ 9.96987525e-01 7.69044763e-02 1.00785671e-02 -5.31809231e+01] [-7.68951575e-02 9.97038324e-01 -1.30945650e-03 2.07013353e+00] [-1.01494207e-02 5.30518793e-04 9.99948353e-01 3.59556598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.093741732 meters 0.03797329140023734 Centerline is valid? [True, True] Translation: X:-53.21, Y:2.08, Z:3.60 [[ 9.97011541e-01 7.69021185e-02 7.35192002e-03 -5.32120910e+01] [-7.68971567e-02 9.97038572e-01 -9.55631135e-04 2.07589320e+00] [-7.40363789e-03 3.87433525e-04 9.99972518e-01 3.59891190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.123741732 meters 0.03824720462998706 Centerline is valid? [True, True] Translation: X:-53.24, Y:2.08, Z:3.60 [[ 9.96925576e-01 7.80035540e-02 7.40556336e-03 -5.32442731e+01] [-7.79985543e-02 9.96953008e-01 -9.61995742e-04 2.07890152e+00] [-7.45803775e-03 3.81414923e-04 9.99972116e-01 3.60077410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.15374173199999 meters 0.03613928810486031 Centerline is valid? [True, True] Translation: X:-53.27, Y:2.09, Z:3.60 [[ 9.96541140e-01 8.28191054e-02 6.83760499e-03 -5.32749929e+01] [-8.28149696e-02 9.96564546e-01 -8.86283881e-04 2.08663878e+00] [-6.88751595e-03 3.16962300e-04 9.99976231e-01 3.60242935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.183741731999994 meters 0.03976371786374416 Centerline is valid? [True, True] Translation: X:-53.30, Y:2.09, Z:3.60 [[ 9.96136156e-01 8.71736001e-02 1.06546520e-02 -5.33044796e+01] [-8.71638360e-02 9.96193037e-01 -1.37825939e-03 2.09435068e+00] [-1.07342380e-02 4.44233666e-04 9.99942288e-01 3.60461020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.213741731999995 meters 0.03464628032346989 Centerline is valid? [True, True] Translation: X:-53.34, Y:2.10, Z:3.61 [[ 9.95841844e-01 9.06671649e-02 8.85930336e-03 -5.33364467e+01] [-9.06605261e-02 9.95881192e-01 -1.14894251e-03 2.10062337e+00] [-8.92698495e-03 3.40975928e-04 9.99960096e-01 3.60657964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.243741732 meters 0.03423133729208774 Centerline is valid? [True, True] Translation: X:-53.37, Y:2.10, Z:3.61 [[ 9.95425128e-01 9.50872140e-02 9.34004921e-03 -5.33673855e+01] [-9.50800603e-02 9.95468896e-01 -1.20800466e-03 2.10414454e+00] [-9.41259428e-03 3.14425756e-04 9.99955651e-01 3.60733752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.273741732 meters 0.03325675014656071 Centerline is valid? [True, True] Translation: X:-53.40, Y:2.11, Z:3.61 [[ 9.95113135e-01 9.83516098e-02 8.76407948e-03 -5.33970668e+01] [-9.83453972e-02 9.95151691e-01 -1.13808692e-03 2.11213195e+00] [-8.83352119e-03 2.70618366e-04 9.99960947e-01 3.61126823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.303741732 meters 0.03113885397516581 Centerline is valid? [True, True] Translation: X:-53.43, Y:2.11, Z:3.61 [[ 9.94833622e-01 1.01246280e-01 7.43346159e-03 -5.34292686e+01] [-1.01241910e-01 9.94861372e-01 -9.62766060e-04 2.11328469e+00] [-7.49274027e-03 2.05214198e-04 9.99971908e-01 3.61161499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.33374173199999 meters 0.03209337022603824 Centerline is valid? [True, True] Translation: X:-53.46, Y:2.12, Z:3.61 [[ 9.94601389e-01 1.03427227e-01 8.41940362e-03 -5.34594781e+01] [-1.03421693e-01 9.94637000e-01 -1.09128431e-03 2.11888117e+00] [-8.48711887e-03 2.14643912e-04 9.99963961e-01 3.61333579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.363741731999994 meters 0.029805430718340638 Centerline is valid? [True, True] Translation: X:-53.49, Y:2.12, Z:3.62 [[ 9.94588224e-01 1.03648707e-01 7.15611556e-03 -5.34897864e+01] [-1.03644676e-01 9.94613951e-01 -9.32845484e-04 2.12458673e+00] [-7.21426060e-03 1.86103852e-04 9.99973960e-01 3.61674626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.393741731999995 meters 0.03013715511727038 Centerline is valid? [True, True] Translation: X:-53.52, Y:2.13, Z:3.62 [[ 9.94268570e-01 1.06532907e-01 8.98613205e-03 -5.35219747e+01] [-1.06526786e-01 9.94309158e-01 -1.15839991e-03 2.12826651e+00] [-9.05840111e-03 1.94496859e-04 9.99958953e-01 3.61804451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.423741731999996 meters 0.03121026849123928 Centerline is valid? [True, True] Translation: X:-53.55, Y:2.13, Z:3.62 [[ 9.94083987e-01 1.08096113e-01 1.05951132e-02 -5.35527310e+01] [-1.08087720e-01 9.94140426e-01 -1.36327184e-03 2.13433562e+00] [-1.06803948e-02 2.10005082e-04 9.99942941e-01 3.62109863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.453741732 meters 0.03134044256333286 Centerline is valid? [True, True] Translation: X:-53.58, Y:2.14, Z:3.62 [[ 9.94143093e-01 1.07652157e-01 9.51438769e-03 -5.35844509e+01] [-1.07645364e-01 9.94188602e-01 -1.22469959e-03 2.13741179e+00] [-9.59093734e-03 1.93346915e-04 9.99953987e-01 3.62070989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.483741732 meters 0.03071503794832699 Centerline is valid? [True, True] Translation: X:-53.62, Y:2.14, Z:3.62 [[ 9.94153535e-01 1.07587011e-01 9.15333204e-03 -5.36165536e+01] [-1.07580729e-01 9.94195655e-01 -1.17740190e-03 2.14159033e+00] [-9.22687610e-03 1.85796132e-04 9.99957414e-01 3.62422599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.51374173199999 meters 0.03000964518203009 Centerline is valid? [True, True] Translation: X:-53.65, Y:2.14, Z:3.62 [[ 9.94350286e-01 1.05766424e-01 8.99845211e-03 -5.36490530e+01] [-1.05760284e-01 9.94390982e-01 -1.15681693e-03 2.14397013e+00] [-9.07033202e-03 1.98602400e-04 9.99958844e-01 3.62410298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.543741731999994 meters 0.02812268028030548 Centerline is valid? [True, True] Translation: X:-53.68, Y:2.15, Z:3.63 [[ 9.94548494e-01 1.03959819e-01 8.10238521e-03 -5.36798024e+01] [-1.03954758e-01 9.94581479e-01 -1.04445365e-03 2.14655390e+00] [-8.16706347e-03 1.96478319e-04 9.99966630e-01 3.62798947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.573741731999995 meters 0.031054849667645056 Centerline is valid? [True, True] Translation: X:-53.71, Y:2.15, Z:3.63 [[ 9.94901712e-01 1.00325462e-01 1.02656939e-02 -5.37124334e+01] [-1.00317213e-01 9.94954634e-01 -1.31662685e-03 2.14699467e+00] [-1.03459909e-02 2.80088512e-04 9.99946440e-01 3.62996098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.603741731999996 meters 0.03317487369218926 Centerline is valid? [True, True] Translation: X:-53.74, Y:2.15, Z:3.63 [[ 9.95195617e-01 9.74249359e-02 9.69875726e-03 -5.37440533e+01] [-9.74174491e-02 9.95242833e-01 -1.24251852e-03 2.14657086e+00] [-9.77367094e-03 2.91720797e-04 9.99952194e-01 3.63160215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.633741732 meters 0.03402769730361771 Centerline is valid? [True, True] Translation: X:-53.77, Y:2.15, Z:3.63 [[ 9.95500930e-01 9.42917209e-02 9.32570722e-03 -5.37749212e+01] [-9.42846737e-02 9.95544563e-01 -1.19343701e-03 2.14841441e+00] [-9.39668834e-03 3.08796392e-04 9.99955802e-01 3.63379636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.663741732 meters 0.03392402389023878 Centerline is valid? [True, True] Translation: X:-53.81, Y:2.15, Z:3.63 [[ 9.95639500e-01 9.29164388e-02 8.27774561e-03 -5.38080918e+01] [-9.29108054e-02 9.95673868e-01 -1.06335124e-03 2.14758378e+00] [-8.34073780e-03 2.89622481e-04 9.99965173e-01 3.63123983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.69374173199999 meters 0.034248632695237806 Centerline is valid? [True, True] Translation: X:-53.84, Y:2.15, Z:3.64 [[ 9.95750239e-01 9.16236966e-02 9.30379413e-03 -5.38387768e+01] [-9.16165762e-02 9.95793647e-01 -1.18955118e-03 2.15281412e+00] [-9.37365016e-03 3.32114110e-04 9.99956011e-01 3.63535245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72374173199999 meters 0.03524652600103051 Centerline is valid? [True, True] Translation: X:-53.87, Y:2.16, Z:3.64 [[ 9.95771455e-01 9.12765028e-02 1.03831476e-02 -5.38696901e+01] [-9.12676256e-02 9.95825517e-01 -1.32660266e-03 2.15779700e+00] [-1.04608910e-02 3.73347831e-04 9.99945214e-01 3.63761372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.753741731999995 meters 0.03338953793487876 Centerline is valid? [True, True] Translation: X:-53.90, Y:2.16, Z:3.64 [[ 9.95721904e-01 9.20371410e-02 8.18874566e-03 -5.39015189e+01] [-9.20316380e-02 9.95755533e-01 -1.04711787e-03 2.16024498e+00] [-8.25036253e-03 2.89014526e-04 9.99965923e-01 3.63874594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.783741731999996 meters 0.037000258014981184 Centerline is valid? [True, True] Translation: X:-53.93, Y:2.16, Z:3.64 [[ 9.95742570e-01 9.17321795e-02 9.05218657e-03 -5.39337606e+01] [-9.17254611e-02 9.95783664e-01 -1.15546357e-03 2.15935565e+00] [-9.12001269e-03 3.20228281e-04 9.99958361e-01 3.63602922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.813741732 meters 0.03422752728001237 Centerline is valid? [True, True] Translation: X:-53.96, Y:2.17, Z:3.64 [[ 9.95874455e-01 9.03407451e-02 8.52173294e-03 -5.39635270e+01] [-9.03347429e-02 9.95910865e-01 -1.08742741e-03 2.16988844e+00] [-8.58512543e-03 3.13132624e-04 9.99963098e-01 3.64206811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.843741732 meters 0.035704143456377783 Centerline is valid? [True, True] Translation: X:-54.00, Y:2.17, Z:3.64 [[ 9.95888836e-01 9.02406555e-02 7.87722804e-03 -5.39954884e+01] [-9.02355194e-02 9.95919946e-01 -1.00573213e-03 2.17341925e+00] [-7.93584645e-03 2.90791635e-04 9.99968468e-01 3.64353170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.873741732 meters 0.03762559705046892 Centerline is valid? [True, True] Translation: X:-54.03, Y:2.17, Z:3.64 [[ 9.96105521e-01 8.79166406e-02 6.66743469e-03 -5.40275352e+01] [-8.79129201e-02 9.96127801e-01 -8.49614257e-04 2.17115315e+00] [-6.71631229e-03 2.60151799e-04 9.99977411e-01 3.64118813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90374173199999 meters 0.03623010580481051 Centerline is valid? [True, True] Translation: X:-54.06, Y:2.17, Z:3.64 [[ 9.96302756e-01 8.56467982e-02 6.74123242e-03 -5.40583756e+01] [-8.56429410e-02 9.96325523e-01 -8.59328391e-04 2.17477601e+00] [-6.79006065e-03 2.78812274e-04 9.99976908e-01 3.64110616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.933741731999994 meters 0.03901488719280826 Centerline is valid? [True, True] Translation: X:-54.09, Y:2.18, Z:3.64 [[ 9.96372546e-01 8.46831869e-02 8.39682837e-03 -5.40893062e+01] [-8.46771778e-02 9.96407864e-01 -1.06923158e-03 2.17835824e+00] [-8.45721176e-03 3.54333260e-04 9.99964174e-01 3.64317728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.963741731999995 meters 0.03613156349407541 Centerline is valid? [True, True] Translation: X:-54.12, Y:2.18, Z:3.64 [[ 9.96391955e-01 8.45739933e-02 7.09313940e-03 -5.41217546e+01] [-8.45696969e-02 9.96417156e-01 -9.04014314e-04 2.17924236e+00] [-7.14418189e-03 3.00887940e-04 9.99974435e-01 3.64362712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.993741732 meters 0.03751657652438443 Centerline is valid? [True, True] Translation: X:-54.15, Y:2.18, Z:3.65 [[ 9.96597822e-01 8.22761897e-02 4.83842548e-03 -5.41521845e+01] [-8.22741679e-02 9.96609543e-01 -6.15754133e-04 2.18149062e+00] [-4.87268291e-03 2.15581797e-04 9.99988105e-01 3.64636904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.023741732 meters 0.03530102674929707 Centerline is valid? [True, True] Translation: X:-54.18, Y:2.18, Z:3.65 [[ 9.96507264e-01 8.33629410e-02 4.88800045e-03 -5.41832311e+01] [-8.33608873e-02 9.96519229e-01 -6.22748137e-04 2.18478140e+00] [-4.92290056e-03 2.13104988e-04 9.99987860e-01 3.64793225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.053741732 meters 0.03714542704685413 Centerline is valid? [True, True] Translation: X:-54.21, Y:2.19, Z:3.65 [[ 9.96477692e-01 8.34086371e-02 8.67233016e-03 -5.42141980e+01] [-8.34021980e-02 9.96515358e-01 -1.10213870e-03 2.18673572e+00] [-8.73403808e-03 3.74965228e-04 9.99961787e-01 3.65086307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08374173199999 meters 0.03823898350765637 Centerline is valid? [True, True] Translation: X:-54.25, Y:2.19, Z:3.65 [[ 9.96536169e-01 8.27419554e-02 8.33260864e-03 -5.42460570e+01] [-8.27359842e-02 9.96570938e-01 -1.05937729e-03 2.18734844e+00] [-8.39169056e-03 3.66301213e-04 9.99964722e-01 3.65305674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.113741731999994 meters 0.036565709433551565 Centerline is valid? [True, True] Translation: X:-54.28, Y:2.19, Z:3.66 [[ 9.96465772e-01 8.36172579e-02 8.00740840e-03 -5.42783486e+01] [-8.36117629e-02 9.96497885e-01 -1.01915717e-03 2.19118861e+00] [-8.06458466e-03 3.46041708e-04 9.99967421e-01 3.65553453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.143741731999995 meters 0.03424941149981407 Centerline is valid? [True, True] Translation: X:-54.31, Y:2.20, Z:3.66 [[ 9.96416038e-01 8.42709570e-02 7.31338238e-03 -5.43093156e+01] [-8.42663850e-02 9.96442827e-01 -9.31603617e-04 2.19553925e+00] [-7.36587455e-03 3.11992489e-04 9.99972823e-01 3.65809865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.173741731999996 meters 0.036296818645869804 Centerline is valid? [True, True] Translation: X:-54.34, Y:2.20, Z:3.66 [[ 9.96462768e-01 8.35629692e-02 8.89839819e-03 -5.43418565e+01] [-8.35562251e-02 9.96502426e-01 -1.12764249e-03 2.19745133e+00] [-8.96150454e-03 3.80137194e-04 9.99959773e-01 3.65846894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.203741732 meters 0.0364542943266981 Centerline is valid? [True, True] Translation: X:-54.37, Y:2.20, Z:3.66 [[ 9.96491613e-01 8.32154614e-02 8.92484704e-03 -5.43723413e+01] [-8.32086773e-02 9.96531505e-01 -1.12942439e-03 2.20116796e+00] [-8.98787683e-03 3.82837211e-04 9.99959535e-01 3.66202465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.233741732 meters 0.03522342224772697 Centerline is valid? [True, True] Translation: X:-54.40, Y:2.20, Z:3.66 [[ 9.96587183e-01 8.22280308e-02 7.24835024e-03 -5.44042249e+01] [-8.22235295e-02 9.96613491e-01 -9.17346837e-04 2.20333264e+00] [-7.29923526e-03 3.18231160e-04 9.99973310e-01 3.66198612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26374173199999 meters 0.036504780921423126 Centerline is valid? [True, True] Translation: X:-54.44, Y:2.21, Z:3.66 [[ 9.96771022e-01 7.99831148e-02 7.08735488e-03 -5.44360812e+01] [-7.99787576e-02 9.96796165e-01 -8.96543061e-04 2.20511708e+00] [-7.13635647e-03 3.26810305e-04 9.99974482e-01 3.66350660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.293741731999994 meters 0.0435599590633638 Centerline is valid? [True, True] Translation: X:-54.47, Y:2.20, Z:3.65 [[ 9.96839784e-01 7.90188300e-02 8.15294216e-03 -5.44695404e+01] [-7.90130333e-02 9.96873050e-01 -1.03117026e-03 2.19692396e+00] [-8.20893019e-03 3.83722844e-04 9.99966233e-01 3.65478934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.323741731999995 meters 0.0435599590633638 Centerline is valid? [True, True] Translation: X:-54.50, Y:2.20, Z:3.66 [[ 9.96845680e-01 7.89443990e-02 8.15307958e-03 -5.45009751e+01] [-7.89386087e-02 9.96878947e-01 -1.03008047e-03 2.20099275e+00] [-8.20895248e-03 3.83238508e-04 9.99966233e-01 3.65620906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.353741731999996 meters 0.03981590249179172 Centerline is valid? [True, True] Translation: X:-54.53, Y:2.21, Z:3.67 [[ 9.96955485e-01 7.75628851e-02 7.98497687e-03 -5.45304478e+01] [-7.75572942e-02 9.96987387e-01 -1.00792651e-03 2.21340463e+00] [-8.03909891e-03 3.85564658e-04 9.99967612e-01 3.66554094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.383741732 meters 0.036528838055177947 Centerline is valid? [True, True] Translation: X:-54.56, Y:2.22, Z:3.67 [[ 9.96996584e-01 7.72499750e-02 5.50025403e-03 -5.45608781e+01] [-7.72473192e-02 9.97011720e-01 -6.93993190e-04 2.21725628e+00] [-5.53742869e-03 2.67028961e-04 9.99984633e-01 3.66787082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.413741732 meters 0.04342850360193731 Centerline is valid? [True, True] Translation: X:-54.59, Y:2.21, Z:3.66 [[ 9.97043899e-01 7.62795633e-02 9.21364162e-03 -5.45937783e+01] [-7.62720591e-02 9.97086365e-01 -1.16363184e-03 2.21124106e+00] [-9.27555776e-03 4.57448613e-04 9.99956876e-01 3.66163504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44374173199999 meters 0.04156439385578992 Centerline is valid? [True, True] Translation: X:-54.62, Y:2.22, Z:3.66 [[ 9.96929182e-01 7.78152463e-02 8.77465060e-03 -5.46245808e+01] [-7.78085272e-02 9.96967709e-01 -1.10506109e-03 2.21726026e+00] [-8.83403391e-03 4.18925010e-04 9.99960891e-01 3.66437222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.47374173199999 meters 0.04118799067190612 Centerline is valid? [True, True] Translation: X:-54.66, Y:2.22, Z:3.67 [[ 9.96828055e-01 7.90790856e-02 8.96258174e-03 -5.46552096e+01] [-7.90721318e-02 9.96868259e-01 -1.12814698e-03 2.22242134e+00] [-9.02372608e-03 4.15878113e-04 9.99959199e-01 3.66815598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.503741731999995 meters 0.041684452528361456 Centerline is valid? [True, True] Translation: X:-54.69, Y:2.22, Z:3.67 [[ 9.96787880e-01 7.95573174e-02 9.19543720e-03 -5.46872061e+01] [-7.95500166e-02 9.96830204e-01 -1.15758426e-03 2.22345031e+00] [-9.25838383e-03 4.22368782e-04 9.99957051e-01 3.66706306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.533741731999996 meters 0.04105010837807998 Centerline is valid? [True, True] Translation: X:-54.72, Y:2.23, Z:3.67 [[ 9.96566513e-01 8.21446875e-02 1.03651490e-02 -5.47179608e+01] [-8.21355793e-02 9.96620314e-01 -1.30210573e-03 2.22980214e+00] [-1.04370791e-02 4.46287455e-04 9.99945433e-01 3.66813453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.563741732 meters 0.036378822922983785 Centerline is valid? [True, True] Translation: X:-54.75, Y:2.24, Z:3.67 [[ 9.96351916e-01 8.48765076e-02 8.87908213e-03 -5.47480752e+01] [-8.48699258e-02 9.96391414e-01 -1.11613004e-03 2.23957660e+00] [-8.94177442e-03 3.58491260e-04 9.99959957e-01 3.67112740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.593741732 meters 0.034659013443442514 Centerline is valid? [True, True] Translation: X:-54.78, Y:2.24, Z:3.67 [[ 9.96249443e-01 8.61768544e-02 7.78436075e-03 -5.47795137e+01] [-8.61718301e-02 9.96279809e-01 -9.79170644e-04 2.24478852e+00] [-7.83978328e-03 3.04705597e-04 9.99969222e-01 3.67233226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.623741732 meters 0.036107824434977974 Centerline is valid? [True, True] Translation: X:-54.81, Y:2.25, Z:3.67 [[ 9.96092654e-01 8.78086110e-02 9.43778692e-03 -5.48115092e+01] [-8.78013135e-02 9.96137302e-01 -1.18559680e-03 2.25028828e+00] [-9.50543721e-03 3.52314173e-04 9.99954760e-01 3.67461884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.65374173199999 meters 0.03664059211556991 Centerline is valid? [True, True] Translation: X:-54.84, Y:2.25, Z:3.67 [[ 9.96123208e-01 8.74568554e-02 9.47907648e-03 -5.48436020e+01] [-8.74494857e-02 9.96168245e-01 -1.18997976e-03 2.25305742e+00] [-9.54682687e-03 3.56426091e-04 9.99954364e-01 3.67415248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.683741731999994 meters 0.035182836258596056 Centerline is valid? [True, True] Translation: X:-54.88, Y:2.26, Z:3.68 [[ 9.96191935e-01 8.68338091e-02 7.84330719e-03 -5.48756449e+01] [-8.68287448e-02 9.96222766e-01 -9.84561645e-04 2.25551828e+00] [-7.89917442e-03 2.99787853e-04 9.99968756e-01 3.67619538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.713741731999995 meters 0.03648445021891162 Centerline is valid? [True, True] Translation: X:-54.91, Y:2.26, Z:3.68 [[ 9.96301759e-01 8.53839055e-02 9.61215767e-03 -5.49068653e+01] [-8.53762538e-02 9.96348054e-01 -1.20433329e-03 2.25999625e+00] [-9.67988527e-03 3.79229359e-04 9.99953077e-01 3.67931844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.743741732 meters 0.037697203262697876 Centerline is valid? [True, True] Translation: X:-54.94, Y:2.26, Z:3.68 [[ 9.96491664e-01 8.30143115e-02 1.06295695e-02 -5.49396035e+01] [-8.30048219e-02 9.96548256e-01 -1.33159339e-03 2.25963642e+00] [-1.07034203e-02 4.44616185e-04 9.99942618e-01 3.67918266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.773741732 meters 0.038729082116300745 Centerline is valid? [True, True] Translation: X:-54.97, Y:2.26, Z:3.68 [[ 9.96621219e-01 8.12919529e-02 1.17373162e-02 -5.49722993e+01] [-8.12802607e-02 9.96690201e-01 -1.47055289e-03 2.26124158e+00] [-1.18180122e-02 5.11572086e-04 9.99930034e-01 3.68041030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.803741732 meters 0.038422576807664754 Centerline is valid? [True, True] Translation: X:-55.00, Y:2.27, Z:3.68 [[ 9.96629545e-01 8.14652085e-02 9.64208955e-03 -5.50033703e+01] [-8.14573530e-02 9.96676099e-01 -1.20529413e-03 2.26510453e+00] [-9.70822974e-03 4.15812648e-04 9.99952788e-01 3.68075306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.83374173199999 meters 0.03762262338698014 Centerline is valid? [True, True] Translation: X:-55.03, Y:2.27, Z:3.68 [[ 9.96638968e-01 8.14076121e-02 9.14161474e-03 -5.50347626e+01] [-8.14005450e-02 9.96680814e-01 -1.14311540e-03 2.26933745e+00] [-9.20433032e-03 3.95140933e-04 9.99957561e-01 3.68156161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.863741731999994 meters 0.03677488028842495 Centerline is valid? [True, True] Translation: X:-55.07, Y:2.27, Z:3.68 [[ 9.96619296e-01 8.15449801e-02 1.00197699e-02 -5.50670323e+01] [-8.15365092e-02 9.96669570e-01 -1.25171312e-03 2.27225918e+00] [-1.00884707e-02 4.30504390e-04 9.99949017e-01 3.68237652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.893741731999995 meters 0.03726040562909884 Centerline is valid? [True, True] Translation: X:-55.10, Y:2.28, Z:3.68 [[ 9.96538145e-01 8.23772106e-02 1.12125689e-02 -5.50983020e+01] [-8.23666792e-02 9.96601111e-01 -1.39860218e-03 2.27516134e+00] [-1.12896715e-02 4.70218356e-04 9.99936159e-01 3.68372717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.923741731999996 meters 0.037643561646117006 Centerline is valid? [True, True] Translation: X:-55.13, Y:2.28, Z:3.69 [[ 9.96508331e-01 8.27954866e-02 1.07727929e-02 -5.51297571e+01] [-8.27857877e-02 9.96566459e-01 -1.34391142e-03 2.27990009e+00] [-1.08470739e-02 4.47384779e-04 9.99941069e-01 3.68588740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.953741732 meters 0.035764126603513254 Centerline is valid? [True, True] Translation: X:-55.16, Y:2.28, Z:3.69 [[ 9.96317831e-01 8.50745236e-02 1.06351047e-02 -5.51614395e+01] [-8.50652102e-02 9.96374504e-01 -1.32585498e-03 2.28459035e+00] [-1.07093437e-02 4.16295538e-04 9.99942567e-01 3.68624384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.983741732 meters 0.036377296174830535 Centerline is valid? [True, True] Translation: X:-55.19, Y:2.28, Z:3.68 [[ 9.96135581e-01 8.72124200e-02 1.03874439e-02 -5.51940487e+01] [-8.72036598e-02 9.96189664e-01 -1.29416548e-03 2.28427434e+00] [-1.04607315e-02 3.83341159e-04 9.99945212e-01 3.67799545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.01374173199999 meters 0.0337556225513545 Centerline is valid? [True, True] Translation: X:-55.22, Y:2.29, Z:3.69 [[ 9.96203968e-01 8.64068995e-02 1.05594127e-02 -5.52240529e+01] [-8.63978199e-02 9.96259851e-01 -1.31387610e-03 2.29418452e+00] [-1.06334469e-02 3.96578345e-04 9.99943385e-01 3.68503553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.043741731999994 meters 0.03518040825422256 Centerline is valid? [True, True] Translation: X:-55.26, Y:2.29, Z:3.68 [[ 9.96276492e-01 8.57136125e-02 9.29130540e-03 -5.52566507e+01] [-8.57065476e-02 9.96319753e-01 -1.15664306e-03 2.29343727e+00] [-9.35625115e-03 3.56010587e-04 9.99956166e-01 3.68269703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.073741731999995 meters 0.04177226907774106 Centerline is valid? [True, True] Translation: X:-55.29, Y:2.29, Z:3.68 [[ 9.96433382e-01 8.36327058e-02 1.12287645e-02 -5.52898170e+01] [-8.36222780e-02 9.96496546e-01 -1.39580116e-03 2.28738960e+00] [-1.13061597e-02 4.51848002e-04 9.99935981e-01 3.67938926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.103741731999996 meters 0.03868735935797537 Centerline is valid? [True, True] Translation: X:-55.32, Y:2.30, Z:3.69 [[ 9.96666347e-01 8.06684623e-02 1.21980664e-02 -5.53200243e+01] [-8.06559601e-02 9.96740851e-01 -1.51422820e-03 2.29663690e+00] [-1.22804616e-02 5.25333533e-04 9.99924454e-01 3.68712998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.133741732 meters 0.04075964944412817 Centerline is valid? [True, True] Translation: X:-55.35, Y:2.29, Z:3.68 [[ 9.96820560e-01 7.87346867e-02 1.22319134e-02 -5.53537130e+01] [-7.87219549e-02 9.96895453e-01 -1.51963243e-03 2.29156747e+00] [-1.23135867e-02 5.51880717e-04 9.99924033e-01 3.68473947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.163741732 meters 0.03632464853634265 Centerline is valid? [True, True] Translation: X:-55.38, Y:2.30, Z:3.69 [[ 9.96886375e-01 7.81393094e-02 1.05737097e-02 -5.53838495e+01] [-7.81297900e-02 9.96942334e-01 -1.31102073e-03 2.30163019e+00] [-1.06438211e-02 4.80816990e-04 9.99943237e-01 3.68897773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.19374173199999 meters 0.0423034104365354 Centerline is valid? [True, True] Translation: X:-55.42, Y:2.30, Z:3.68 [[ 9.97055860e-01 7.60397841e-02 9.87739045e-03 -5.54167148e+01] [-7.60313861e-02 9.97104674e-01 -1.22350556e-03 2.29549692e+00] [-9.94182728e-03 4.68911699e-04 9.99950469e-01 3.68182912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22374173199999 meters 0.04019174338909041 Centerline is valid? [True, True] Translation: X:-55.45, Y:2.31, Z:3.69 [[ 9.96943747e-01 7.75139776e-02 9.73389743e-03 -5.54464028e+01] [-7.75058890e-02 9.96991165e-01 -1.20603030e-03 2.30570395e+00] [-9.79809394e-03 4.47909994e-04 9.99951897e-01 3.68778275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.253741731999995 meters 0.041157195298285654 Centerline is valid? [True, True] Translation: X:-55.48, Y:2.30, Z:3.68 [[ 9.96855330e-01 7.87200092e-02 9.08903747e-03 -5.54794042e+01] [-7.87130035e-02 9.96896682e-01 -1.12651340e-03 2.30254820e+00] [-9.14951044e-03 4.07545452e-04 9.99958059e-01 3.68035690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.283741731999996 meters 0.04106046780190099 Centerline is valid? [True, True] Translation: X:-55.51, Y:2.31, Z:3.68 [[ 9.96777263e-01 7.95733907e-02 1.01569584e-02 -5.55095421e+01] [-7.95647157e-02 9.96828911e-01 -1.25597235e-03 2.30883067e+00] [-1.02246918e-02 4.43789169e-04 9.99947628e-01 3.68343314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.313741732 meters 0.038064672431247934 Centerline is valid? [True, True] Translation: X:-55.54, Y:2.31, Z:3.68 [[ 9.96687826e-01 8.08903414e-02 8.37443423e-03 -5.55419199e+01] [-8.08844782e-02 9.96722943e-01 -1.03702652e-03 2.31293358e+00] [-8.43087617e-03 3.56229960e-04 9.99964396e-01 3.68364701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.343741732 meters 0.038381640965881966 Centerline is valid? [True, True] Translation: X:-55.57, Y:2.32, Z:3.69 [[ 9.96766654e-01 7.98765288e-02 8.71651463e-03 -5.55724480e+01] [-7.98701286e-02 9.96804693e-01 -1.08046705e-03 2.31899271e+00] [-8.77496664e-03 3.80784380e-04 9.99961427e-01 3.68818813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.373741732 meters 0.03933889326089013 Centerline is valid? [True, True] Translation: X:-55.60, Y:2.32, Z:3.69 [[ 9.96725422e-01 8.02605126e-02 9.83273613e-03 -5.56041610e+01] [-8.02524256e-02 9.96773832e-01 -1.21490769e-03 2.32196521e+00] [-9.89852318e-03 4.21828455e-04 9.99950919e-01 3.68836315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40374173199999 meters 0.04152603515352748 Centerline is valid? [True, True] Translation: X:-55.63, Y:2.33, Z:3.69 [[ 9.96673727e-01 8.07301602e-02 1.11410245e-02 -5.56343994e+01] [-8.07198391e-02 9.96735883e-01 -1.37371776e-03 2.32588883e+00] [-1.12155594e-02 4.69846692e-04 9.99936993e-01 3.69302275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.433741731999994 meters 0.04212553134838423 Centerline is valid? [True, True] Translation: X:-55.67, Y:2.33, Z:3.69 [[ 9.96655200e-01 8.05671859e-02 1.36872225e-02 -5.56661016e+01] [-8.05515882e-02 9.96749012e-01 -1.68797473e-03 2.32882430e+00] [-1.37787209e-02 5.79801286e-04 9.99904901e-01 3.69486861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.463741731999995 meters 0.03993486642321929 Centerline is valid? [True, True] Translation: X:-55.70, Y:2.33, Z:3.69 [[ 9.96644460e-01 8.09462183e-02 1.21462169e-02 -5.56988148e+01] [-8.09339707e-02 9.96718341e-01 -1.49732635e-03 2.33003250e+00] [-1.22275601e-02 5.09260449e-04 9.99925111e-01 3.69277978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.493741732 meters 0.0402610125649096 Centerline is valid? [True, True] Translation: X:-55.73, Y:2.33, Z:3.69 [[ 9.96647997e-01 8.08504509e-02 1.24889799e-02 -5.57297980e+01] [-8.08375182e-02 9.96726106e-01 -1.53771921e-03 2.33281936e+00] [-1.25724176e-02 5.22986634e-04 9.99920827e-01 3.69100922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.523741732 meters 0.03790606224535399 Centerline is valid? [True, True] Translation: X:-55.76, Y:2.34, Z:3.69 [[ 9.96537324e-01 8.23518012e-02 1.14691686e-02 -5.57604651e+01] [-8.23409675e-02 9.96603213e-01 -1.41441603e-03 2.33794785e+00] [-1.15466900e-02 4.65135930e-04 9.99933227e-01 3.69338307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.553741732 meters 0.03706757169406615 Centerline is valid? [True, True] Translation: X:-55.79, Y:2.34, Z:3.69 [[ 9.96453953e-01 8.36359758e-02 9.19475819e-03 -5.57929629e+01] [-8.36290878e-02 9.96496309e-01 -1.13174657e-03 2.33780190e+00] [-9.25719733e-03 3.58784100e-04 9.99957087e-01 3.68583116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58374173199999 meters 0.03917986642841705 Centerline is valid? [True, True] Translation: X:-55.82, Y:2.34, Z:3.68 [[ 9.96571564e-01 8.22879941e-02 8.59093495e-03 -5.58245111e+01] [-8.22819426e-02 9.96608532e-01 -1.05609594e-03 2.34017758e+00] [-8.64870308e-03 3.45596364e-04 9.99962540e-01 3.68361274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.613741731999994 meters 0.03886550796924634 Centerline is valid? [True, True] Translation: X:-55.86, Y:2.34, Z:3.68 [[ 9.96571160e-01 8.23082202e-02 8.44272646e-03 -5.58558260e+01] [-8.23023800e-02 9.96606864e-01 -1.03744262e-03 2.34173947e+00] [-8.49946920e-03 3.39028912e-04 9.99963821e-01 3.68274714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.643741731999995 meters 0.038960487175077996 Centerline is valid? [True, True] Translation: X:-55.89, Y:2.35, Z:3.68 [[ 9.96566951e-01 8.21879402e-02 9.97265414e-03 -5.58877426e+01] [-8.21797894e-02 9.96616768e-01 -1.22506116e-03 2.34504138e+00] [-1.00395996e-02 4.01304844e-04 9.99949521e-01 3.68296401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.673741731999996 meters 0.036009625402052256 Centerline is valid? [True, True] Translation: X:-55.92, Y:2.35, Z:3.68 [[ 9.96534335e-01 8.26694455e-02 9.22399427e-03 -5.59184762e+01] [-8.26624975e-02 9.96576956e-01 -1.13262108e-03 2.34872989e+00] [-9.28605329e-03 3.66217394e-04 9.99956817e-01 3.68233371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.703741732 meters 0.03819690116296839 Centerline is valid? [True, True] Translation: X:-55.95, Y:2.35, Z:3.68 [[ 9.96503208e-01 8.28723055e-02 1.06554387e-02 -5.59510463e+01] [-8.28630609e-02 9.96560086e-01 -1.30692491e-03 2.35013738e+00] [-1.07270928e-02 4.19412600e-04 9.99942375e-01 3.68208543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.733741732 meters 0.034994756168129616 Centerline is valid? [True, True] Translation: X:-55.98, Y:2.36, Z:3.68 [[ 9.96253806e-01 8.59666559e-02 9.38554790e-03 -5.59811951e+01] [-8.59596031e-02 9.96297956e-01 -1.15303732e-03 2.35621706e+00] [-9.44992495e-03 3.41939851e-04 9.99955290e-01 3.68166305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76374173199999 meters 0.0374666796095797 Centerline is valid? [True, True] Translation: X:-56.01, Y:2.36, Z:3.68 [[ 9.96236733e-01 8.59637239e-02 1.10729517e-02 -5.60128619e+01] [-8.59539622e-02 9.96298188e-01 -1.35535973e-03 2.35942345e+00] [-1.11484735e-02 3.98495078e-04 9.99937774e-01 3.68264545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.793741731999994 meters 0.03558421344428448 Centerline is valid? [True, True] Translation: X:-56.04, Y:2.36, Z:3.68 [[ 9.96028131e-01 8.82696419e-02 1.16804137e-02 -5.60430030e+01] [-8.82589276e-02 9.96096539e-01 -1.43059992e-03 2.36456798e+00] [-1.17610982e-02 3.94016985e-04 9.99930758e-01 3.68449839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.823741731999995 meters 0.03453017855181563 Centerline is valid? [True, True] Translation: X:-56.07, Y:2.37, Z:3.69 [[ 9.95899196e-01 8.96874421e-02 1.18724288e-02 -5.60735387e+01] [-8.96765051e-02 9.95969888e-01 -1.45145975e-03 2.36949449e+00] [-1.19547593e-02 3.80829682e-04 9.99928467e-01 3.68565705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.853741731999996 meters 0.03516928442521176 Centerline is valid? [True, True] Translation: X:-56.11, Y:2.37, Z:3.68 [[ 9.95876235e-01 8.99279375e-02 1.19787236e-02 -5.61056449e+01] [-8.99168557e-02 9.95948203e-01 -1.46159441e-03 2.37147882e+00] [-1.20616264e-02 3.78477979e-04 9.99927184e-01 3.68456673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.883741732 meters 0.03479065278520325 Centerline is valid? [True, True] Translation: X:-56.14, Y:2.38, Z:3.69 [[ 9.95939938e-01 8.89816862e-02 1.36345066e-02 -5.61367625e+01] [-8.89672740e-02 9.96033164e-01 -1.66116675e-03 2.37611244e+00] [-1.37282341e-02 4.41397429e-04 9.99905666e-01 3.68602875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.913741732 meters 0.034098878239791804 Centerline is valid? [True, True] Translation: X:-56.17, Y:2.38, Z:3.69 [[ 9.95919596e-01 8.91947245e-02 1.37280408e-02 -5.61688297e+01] [-8.91801370e-02 9.96014110e-01 -1.67234608e-03 2.37795536e+00] [-1.38224868e-02 4.41253666e-04 9.99904368e-01 3.68768658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94374173199999 meters 0.035247431600172054 Centerline is valid? [True, True] Translation: X:-56.20, Y:2.38, Z:3.69 [[ 9.96027733e-01 8.78428882e-02 1.45733547e-02 -5.61997279e+01] [-8.78263368e-02 9.96134223e-01 -1.77310592e-03 2.38071030e+00] [-1.46727721e-02 4.86138307e-04 9.99892231e-01 3.68764048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.97374173199999 meters 0.03413296023527466 Centerline is valid? [True, True] Translation: X:-56.23, Y:2.38, Z:3.69 [[ 9.95936606e-01 8.89998725e-02 1.37586008e-02 -5.62328520e+01] [-8.89852306e-02 9.96031539e-01 -1.67396698e-03 2.37952784e+00] [-1.38529831e-02 4.42852727e-04 9.99903945e-01 3.68631501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.003741731999995 meters 0.03447198721700831 Centerline is valid? [True, True] Translation: X:-56.26, Y:2.39, Z:3.69 [[ 9.96089978e-01 8.71109356e-02 1.47118891e-02 -5.62636463e+01] [-8.70939881e-02 9.96198491e-01 -1.78997165e-03 2.38513406e+00] [-1.48118878e-02 5.01655725e-04 9.99890172e-01 3.69012664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.033741731999996 meters 0.035694251176928087 Centerline is valid? [True, True] Translation: X:-56.30, Y:2.39, Z:3.69 [[ 9.96079004e-01 8.71834604e-02 1.50220684e-02 -5.62955771e+01] [-8.71658592e-02 9.96192144e-01 -1.82372689e-03 2.38722678e+00] [-1.51238654e-02 5.07164559e-04 9.99885499e-01 3.69132142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.063741732 meters 0.035105869278329635 Centerline is valid? [True, True] Translation: X:-56.33, Y:2.39, Z:3.69 [[ 9.96116265e-01 8.66583528e-02 1.55793420e-02 -5.63273430e+01] [-8.66393719e-02 9.96237946e-01 -1.89043924e-03 2.39165157e+00] [-1.56845541e-02 5.33312864e-04 9.99876848e-01 3.69353871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.093741732 meters 0.04232816921162332 Centerline is valid? [True, True] Translation: X:-56.36, Y:2.38, Z:3.68 [[ 9.96181800e-01 8.56611014e-02 1.68522156e-02 -5.63616947e+01] [-8.56387982e-02 9.96324157e-01 -2.04201649e-03 2.38008259e+00] [-1.69651909e-02 5.91016171e-04 9.99855906e-01 3.68397401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.123741732 meters 0.043403552730305967 Centerline is valid? [True, True] Translation: X:-56.39, Y:2.38, Z:3.69 [[ 9.96232573e-01 8.50684516e-02 1.68528892e-02 -5.63924501e+01] [-8.50460706e-02 9.96374928e-01 -2.04158673e-03 2.38457841e+00] [-1.69654709e-02 6.00623200e-04 9.99855896e-01 3.68624313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.15374173199999 meters 0.040625241762613486 Centerline is valid? [True, True] Translation: X:-56.42, Y:2.39, Z:3.69 [[ 9.96471659e-01 8.23704434e-02 1.61040955e-02 -5.64245496e+01] [-8.23497182e-02 9.96601592e-01 -1.94700163e-03 2.38526966e+00] [-1.62097426e-02 6.13964221e-04 9.99868425e-01 3.68700113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.183741731999994 meters 0.04236105465898659 Centerline is valid? [True, True] Translation: X:-56.46, Y:2.39, Z:3.69 [[ 9.96589954e-01 8.07244898e-02 1.70886131e-02 -5.64555326e+01] [-8.07009281e-02 9.96736222e-01 -2.06504426e-03 2.39063592e+00] [-1.71995393e-02 6.78935423e-04 9.99851846e-01 3.69140489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.213741731999995 meters 0.043429230128664044 Centerline is valid? [True, True] Translation: X:-56.49, Y:2.39, Z:3.69 [[ 9.96676679e-01 7.96285279e-02 1.71725077e-02 -5.64884355e+01] [-7.96045796e-02 9.96824361e-01 -2.07473486e-03 2.38832589e+00] [-1.72831821e-02 7.00829595e-04 9.99850389e-01 3.69067171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.243741732 meters 0.043429230128664044 Centerline is valid? [True, True] Translation: X:-56.52, Y:2.39, Z:3.69 [[ 9.96682375e-01 7.95571639e-02 1.71726753e-02 -5.65198691e+01] [-7.95332289e-02 9.96830059e-01 -2.07334595e-03 2.39222857e+00] [-1.72831884e-02 7.00669051e-04 9.99850389e-01 3.69209068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.273741732 meters 0.04400830086227994 Centerline is valid? [True, True] Translation: X:-56.55, Y:2.39, Z:3.69 [[ 9.96657937e-01 7.97088914e-02 1.78731488e-02 -5.65514797e+01] [-7.96830225e-02 9.96817921e-01 -2.15600432e-03 2.39478067e+00] [-1.79881277e-02 7.24612304e-04 9.99837938e-01 3.69311231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.303741732 meters 0.0457645669006573 Centerline is valid? [True, True] Translation: X:-56.58, Y:2.40, Z:3.70 [[ 9.96591577e-01 8.00805656e-02 1.98073492e-02 -5.65824595e+01] [-8.00488855e-02 9.96788078e-01 -2.38840445e-03 2.39963944e+00] [-1.99349943e-02 7.94707531e-04 9.99800962e-01 3.69630432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.33374173199999 meters 0.044897801781361164 Centerline is valid? [True, True] Translation: X:-56.61, Y:2.41, Z:3.70 [[ 9.96548053e-01 8.06768606e-02 1.95760388e-02 -5.66130884e+01] [-8.06460662e-02 9.96740010e-01 -2.35873029e-03 2.40510324e+00] [-1.97025160e-02 7.71857564e-04 9.99805589e-01 3.69821855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.363741731999994 meters 0.044090077269570475 Centerline is valid? [True, True] Translation: X:-56.64, Y:2.41, Z:3.70 [[ 9.96318414e-01 8.33137082e-02 2.02100056e-02 -5.66429623e+01] [-8.32814164e-02 9.96523092e-01 -2.43569307e-03 2.41129623e+00] [-2.03426639e-02 7.43607957e-04 9.99792790e-01 3.70084281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.393741731999995 meters 0.04274113038899919 Centerline is valid? [True, True] Translation: X:-56.67, Y:2.42, Z:3.70 [[ 9.96114016e-01 8.54023323e-02 2.15246253e-02 -5.66748895e+01] [-8.53662828e-02 9.96346270e-01 -2.58980530e-03 2.41712035e+00] [-2.16671555e-02 7.42264114e-04 9.99764964e-01 3.70236809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.423741731999996 meters 0.04330303993737236 Centerline is valid? [True, True] Translation: X:-56.71, Y:2.42, Z:3.70 [[ 9.96122965e-01 8.52807459e-02 2.15924175e-02 -5.67076904e+01] [-8.52444561e-02 9.96356682e-01 -2.59723662e-03 2.42089335e+00] [-2.17352438e-02 7.46533159e-04 9.99763483e-01 3.70165283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.453741732 meters 0.04458877794063448 Centerline is valid? [True, True] Translation: X:-56.74, Y:2.42, Z:3.70 [[ 9.96302941e-01 8.31789366e-02 2.14875196e-02 -5.67402284e+01] [-8.31425712e-02 9.96534318e-01 -2.58180523e-03 2.42316503e+00] [-2.16278025e-02 7.85732516e-04 9.99765783e-01 3.70455583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.483741732 meters 0.050459906967221975 Centerline is valid? [True, True] Translation: X:-56.77, Y:2.43, Z:3.71 [[ 9.96207631e-01 8.41963211e-02 2.19393407e-02 -5.67708445e+01] [-8.41587217e-02 9.96448883e-01 -2.63313722e-03 2.42931720e+00] [-2.20831320e-02 7.76764520e-04 9.99755836e-01 3.70957039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.51374173199999 meters 0.05176042033687891 Centerline is valid? [True, True] Translation: X:-56.80, Y:2.43, Z:3.71 [[ 9.96081387e-01 8.58595849e-02 2.12132567e-02 -5.68009609e+01] [-8.58247952e-02 9.96306990e-01 -2.54669088e-03 2.43468741e+00] [-2.13535737e-02 7.16087969e-04 9.99771730e-01 3.71269482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.543741731999994 meters 0.049893095931248486 Centerline is valid? [True, True] Translation: X:-56.83, Y:2.44, Z:3.71 [[ 9.96379014e-01 8.25220363e-02 2.04688332e-02 -5.68326893e+01] [-8.24890322e-02 9.96588954e-01 -2.45295996e-03 2.43512541e+00] [-2.06014363e-02 7.55623590e-04 9.99787482e-01 3.71409032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.573741731999995 meters 0.05964393649134521 Centerline is valid? [True, True] Translation: X:-56.86, Y:2.44, Z:3.72 [[ 9.96210653e-01 8.48539048e-02 1.90827187e-02 -5.68647726e+01] [-8.48256556e-02 9.96393186e-01 -2.28640439e-03 2.43865538e+00] [-1.92079012e-02 6.59036281e-04 9.99815294e-01 3.71829416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.603741731999996 meters 0.06522038569170771 Centerline is valid? [True, True] Translation: X:-56.89, Y:2.45, Z:3.73 [[ 9.96003495e-01 8.79478381e-02 1.55632872e-02 -5.68946653e+01] [-8.79294428e-02 9.96124962e-01 -1.86364804e-03 2.44623329e+00] [-1.56668827e-02 4.87728791e-04 9.99877148e-01 3.72723183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.633741732 meters 0.06988052441144135 Centerline is valid? [True, True] Translation: X:-56.93, Y:2.45, Z:3.73 [[ 9.96107721e-01 8.66998036e-02 1.58919108e-02 -5.69271098e+01] [-8.66804711e-02 9.96234348e-01 -1.90259356e-03 2.44538002e+00] [-1.59970219e-02 5.17669818e-04 9.99871905e-01 3.72738741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.663741732 meters 0.07802393704039322 Centerline is valid? [True, True] Translation: X:-56.96, Y:2.45, Z:3.74 [[ 9.96160061e-01 8.66090638e-02 1.28063731e-02 -5.69575128e+01] [-8.65965162e-02 9.96242288e-01 -1.53213041e-03 2.44857794e+00] [-1.28909468e-02 4.17259828e-04 9.99916821e-01 3.73627743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.69374173199999 meters 0.0854973263475068 Centerline is valid? [True, True] Translation: X:-56.99, Y:2.45, Z:3.75 [[ 9.96250778e-01 8.58962316e-02 1.03065537e-02 -5.69876990e+01] [-8.58880742e-02 9.96304030e-01 -1.23231163e-03 2.45077999e+00] [-1.03743119e-02 3.42481377e-04 9.99946127e-01 3.74684008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72374173199999 meters 0.09573138183600233 Centerline is valid? [True, True] Translation: X:-57.02, Y:2.45, Z:3.76 [[ 9.96696185e-01 8.08527338e-02 7.71687349e-03 -5.70175936e+01] [-8.08480220e-02 9.96726015e-01 -9.21101734e-04 2.44939324e+00] [-7.76608215e-03 2.94164626e-04 9.99969800e-01 3.75969171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.753741731999995 meters 0.10410799954210531 Centerline is valid? [True, False] Translation: X:-57.04, Y:2.46, Z:3.76 [[ 9.98739973e-01 4.68182395e-02 1.80698165e-02 -5.70432368e+01] [-4.69861944e-02 9.98855131e-01 8.98469782e-03 2.46282419e+00] [-1.76284812e-02 -9.82240877e-03 9.99796358e-01 3.76118239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.783741731999996 meters 0.10913234976199593 Centerline is valid? [False, False] Translation: X:-57.07, Y:2.46, Z:3.77 [[ 9.98813788e-01 4.40512319e-02 2.07486492e-02 -5.70699305e+01] [-4.41920221e-02 9.99002706e-01 6.37637176e-03 2.46355048e+00] [-2.04470696e-02 -7.28573280e-03 9.99764390e-01 3.76559385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.813741732 meters 0.11688011204583171 Centerline is valid? [False, False] Translation: X:-57.11, Y:2.47, Z:3.77 [[ 9.99180427e-01 3.63989442e-02 1.77084965e-02 -5.71079822e+01] [-3.65423003e-02 9.99301352e-01 7.84013364e-03 2.46637908e+00] [-1.74107519e-02 -8.48081728e-03 9.99812453e-01 3.77087351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.843741732 meters 0.12172593903204688 Centerline is valid? [False, False] Translation: X:-57.15, Y:2.47, Z:3.77 [[ 9.99395762e-01 3.11158444e-02 1.54892198e-02 -5.71465673e+01] [-3.12958073e-02 9.99443834e-01 1.15149992e-02 2.46910806e+00] [-1.51223063e-02 -1.19927890e-02 9.99813727e-01 3.77384050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.873741732 meters 0.12359101550418387 Centerline is valid? [False, False] Translation: X:-57.16, Y:2.47, Z:3.78 [[ 9.99464241e-01 2.79145689e-02 1.70882220e-02 -5.71636079e+01] [-2.81505176e-02 9.99509446e-01 1.37264371e-02 2.47244750e+00] [-1.66966717e-02 -1.42001253e-02 9.99759760e-01 3.77998544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90374173199999 meters 0.12375481143314984 Centerline is valid? [False, False] Translation: X:-57.19, Y:2.47, Z:3.78 [[ 9.99447944e-01 2.61512334e-02 2.04919785e-02 -5.71895259e+01] [-2.63825522e-02 9.99590287e-01 1.11003714e-02 2.47340248e+00] [-2.01932942e-02 -1.16348741e-02 9.99728393e-01 3.78301828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.933741731999994 meters 0.12188062431134936 Centerline is valid? [False, False] Translation: X:-57.20, Y:2.48, Z:3.78 [[ 9.99456996e-01 2.27956746e-02 2.37922487e-02 -5.72016476e+01] [-2.31252469e-02 9.99639111e-01 1.36700817e-02 2.47762785e+00] [-2.34720436e-02 -1.42128604e-02 9.99623458e-01 3.78493937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.963741731999995 meters 0.12488574498813591 Centerline is valid? [False, False] Translation: X:-57.21, Y:2.48, Z:3.79 [[ 9.99530219e-01 1.98750804e-02 2.33306986e-02 -5.72063447e+01] [-2.01285200e-02 9.99740369e-01 1.06787952e-02 2.47602618e+00] [-2.31123993e-02 -1.11433909e-02 9.99670767e-01 3.78998824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.993741732 meters 0.12298667121518632 Centerline is valid? [False, False] Translation: X:-57.21, Y:2.48, Z:3.79 [[ 9.99538953e-01 1.98671432e-02 2.29603614e-02 -5.72075787e+01] [-2.01167634e-02 9.99740460e-01 1.06924157e-02 2.47575435e+00] [-2.27419745e-02 -1.11493742e-02 9.99679196e-01 3.79190611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.023741732 meters 0.12321277487797037 Centerline is valid? [False, False] Translation: X:-57.21, Y:2.48, Z:3.79 [[ 9.99594381e-01 1.68037128e-02 2.29936589e-02 -5.72081573e+01] [-1.69811361e-02 9.99827359e-01 7.54279610e-03 2.47582265e+00] [-2.28629422e-02 -7.93019505e-03 9.99707156e-01 3.79237324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.053741732 meters 0.12251299895585589 Centerline is valid? [False, False] Translation: X:-57.21, Y:2.48, Z:3.79 [[ 9.99596578e-01 1.69455486e-02 2.27931854e-02 -5.72086974e+01] [-1.71250410e-02 9.99823684e-01 7.70280949e-03 2.47565228e+00] [-2.26586383e-02 -8.09003625e-03 9.99710527e-01 3.79329828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08374173199999 meters 0.12303875939050683 Centerline is valid? [False, False] Translation: X:-57.21, Y:2.47, Z:3.80 [[ 9.99622672e-01 1.50674052e-02 2.29670732e-02 -5.72118182e+01] [-1.52078043e-02 9.99866647e-01 5.95069801e-03 2.47423469e+00] [-2.28743489e-02 -6.29773140e-03 9.99718512e-01 3.79653718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.113741731999994 meters 0.12040146877697379 Centerline is valid? [False, False] Translation: X:-57.22, Y:2.47, Z:3.81 [[ 9.99687169e-01 1.24286073e-02 2.17047025e-02 -5.72232598e+01] [-1.25031807e-02 9.99916375e-01 3.30349419e-03 2.47253614e+00] [-2.16618296e-02 -3.57383857e-03 9.99758967e-01 3.80858835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.143741731999995 meters 0.12277649286337923 Centerline is valid? [False, False] Translation: X:-57.27, Y:2.47, Z:3.81 [[ 9.99602387e-01 1.51352847e-02 2.37905870e-02 -5.72671754e+01] [-1.50706508e-02 9.99882244e-01 -2.89374817e-03 2.47122377e+00] [-2.38315832e-02 2.53405795e-03 9.99712776e-01 3.81285266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.173741731999996 meters 0.12903020390020334 Centerline is valid? [False, False] Translation: X:-57.30, Y:2.47, Z:3.81 [[ 9.99683316e-01 1.13156494e-02 2.24771638e-02 -5.73038324e+01] [-1.13915191e-02 9.99929832e-01 3.25023962e-03 2.47295939e+00] [-2.24388080e-02 -3.50525936e-03 9.99742073e-01 3.81494021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.203741732 meters 0.13282902906686858 Centerline is valid? [False, False] Translation: X:-57.36, Y:2.47, Z:3.81 [[ 9.99691027e-01 7.29773390e-03 2.37611871e-02 -5.73611133e+01] [-7.46379889e-03 9.99948286e-01 6.90774716e-03 2.47407377e+00] [-2.37095474e-02 -7.08296157e-03 9.99693798e-01 3.81459619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.233741732 meters 0.13627865259340013 Centerline is valid? [False, False] Translation: X:-57.40, Y:2.47, Z:3.82 [[ 9.99685241e-01 1.02202223e-02 2.29121296e-02 -5.74036231e+01] [-1.01840919e-02 9.99946708e-01 -1.69304379e-03 2.46914505e+00] [-2.29282119e-02 1.45917166e-03 9.99736049e-01 3.81811686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26374173199999 meters 0.1390856078579458 Centerline is valid? [False, False] Translation: X:-57.43, Y:2.47, Z:3.83 [[ 9.99607444e-01 9.59937092e-03 2.63212830e-02 -5.74322411e+01] [-9.50847314e-03 9.99948398e-01 -3.57638480e-03 2.46767835e+00] [-2.63542558e-02 3.32470566e-03 9.99647138e-01 3.82566477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.293741731999994 meters 0.13940269343107287 Centerline is valid? [False, False] Translation: X:-57.45, Y:2.47, Z:3.84 [[ 9.99792986e-01 5.67339545e-03 1.95396203e-02 -5.74547005e+01] [-5.72209243e-03 9.99980659e-01 2.43721012e-03 2.46879285e+00] [-1.95254151e-02 -2.54851310e-03 9.99806113e-01 3.83615717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.323741731999995 meters 0.13627794006479105 Centerline is valid? [False, False] Translation: X:-57.47, Y:2.47, Z:3.84 [[ 9.99902059e-01 1.64705469e-03 1.38981856e-02 -5.74707708e+01] [-1.76198198e-03 9.99964325e-01 8.26104130e-03 2.47053017e+00] [-1.38840834e-02 -8.28472056e-03 9.99869289e-01 3.84315557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.353741731999996 meters 0.13907855007148387 Centerline is valid? [False, False] Translation: X:-57.49, Y:2.47, Z:3.86 [[ 9.99902841e-01 4.07085896e-03 1.33317830e-02 -5.74902506e+01] [-4.20288410e-03 9.99942260e-01 9.89003775e-03 2.46960805e+00] [-1.32907523e-02 -9.94510878e-03 9.99862216e-01 3.85678699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.383741732 meters 0.14037929599920335 Centerline is valid? [False, False] Translation: X:-57.53, Y:2.47, Z:3.86 [[ 9.99862491e-01 1.00120251e-02 1.32196299e-02 -5.75289564e+01] [-1.00653728e-02 9.99941442e-01 3.97514230e-03 2.46833183e+00] [-1.31790565e-02 -4.10765619e-03 9.99904715e-01 3.86153933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.413741732 meters 0.14194332895351863 Centerline is valid? [False, False] Translation: X:-57.58, Y:2.47, Z:3.86 [[ 9.99878597e-01 1.05741054e-02 1.14446714e-02 -5.75760363e+01] [-1.06200046e-02 9.99935776e-01 3.95721252e-03 2.46846979e+00] [-1.14020924e-02 -4.07827457e-03 9.99926677e-01 3.86297575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44374173199999 meters 0.14382033073726905 Centerline is valid? [False, False] Translation: X:-57.59, Y:2.47, Z:3.87 [[ 9.99894503e-01 9.26114462e-03 1.11899366e-02 -5.75915893e+01] [-9.28471864e-03 9.99954781e-01 2.05660562e-03 2.46813753e+00] [-1.11703841e-02 -2.16028407e-03 9.99935276e-01 3.87383508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.47374173199999 meters 0.14596625635686467 Centerline is valid? [False, False] Translation: X:-57.63, Y:2.47, Z:3.87 [[ 9.99890402e-01 6.97340819e-03 1.30596555e-02 -5.76318599e+01] [-7.05064473e-03 9.99957871e-01 5.87745966e-03 2.46826329e+00] [-1.30181194e-02 -5.96889449e-03 9.99897445e-01 3.87468937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.503741731999995 meters 0.14856093572892912 Centerline is valid? [False, False] Translation: X:-57.66, Y:2.47, Z:3.88 [[ 9.99830477e-01 6.39460503e-03 1.72663448e-02 -5.76576005e+01] [-6.47611303e-03 9.99968130e-01 4.66884825e-03 2.46824477e+00] [-1.72359391e-02 -4.77987557e-03 9.99840025e-01 3.88285113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.533741731999996 meters 0.14886889249739135 Centerline is valid? [False, False] Translation: X:-57.68, Y:2.47, Z:3.89 [[ 9.99933344e-01 -6.98745137e-04 1.15247423e-02 -5.76769375e+01] [ 6.14237300e-04 9.99972913e-01 7.33464145e-03 2.46989754e+00] [-1.15295552e-02 -7.32707363e-03 9.99906687e-01 3.89107522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.563741732 meters 0.15032809931996477 Centerline is valid? [False, False] Translation: X:-57.70, Y:2.47, Z:3.90 [[ 9.99890047e-01 -3.75070574e-03 1.43466266e-02 -5.77045187e+01] [ 3.70665521e-03 9.99988338e-01 3.09580367e-03 2.46775517e+00] [-1.43580707e-02 -3.04228528e-03 9.99892289e-01 3.90273809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.593741732 meters 0.1534692832023038 Centerline is valid? [False, False] Translation: X:-57.75, Y:2.46, Z:3.91 [[ 9.99834469e-01 -2.23617224e-04 1.81929936e-02 -5.77476426e+01] [ 3.55298751e-04 9.99973763e-01 -7.23512487e-03 2.46368743e+00] [-1.81908984e-02 7.24039118e-03 9.99808316e-01 3.90644125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62374173199999 meters 0.15480737134446132 Centerline is valid? [False, False] Translation: X:-57.79, Y:2.47, Z:3.91 [[ 9.99821867e-01 -9.35874399e-03 1.63905185e-02 -5.77946825e+01] [ 9.33979042e-03 9.99955624e-01 1.23254129e-03 2.46558455e+00] [-1.64013262e-02 -1.07923773e-03 9.99864907e-01 3.91033298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.65374173199999 meters 0.15669701797020386 Centerline is valid? [False, False] Translation: X:-57.82, Y:2.46, Z:3.92 [[ 9.99947592e-01 -5.04473607e-03 8.90868780e-03 -5.78178728e+01] [ 5.08008756e-03 9.99979295e-01 -3.95004306e-03 2.46401700e+00] [-8.88857642e-03 3.99509296e-03 9.99952515e-01 3.92008805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.683741731999994 meters 0.15890881729915102 Centerline is valid? [False, False] Translation: X:-57.86, Y:2.46, Z:3.92 [[ 9.99940444e-01 4.32819545e-03 1.00187792e-02 -5.78648915e+01] [-4.20263389e-03 9.99912791e-01 -1.25199279e-02 2.46060007e+00] [-1.00720942e-02 1.24770770e-02 9.99871429e-01 3.92293724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.713741731999995 meters 0.16038006218365095 Centerline is valid? [False, False] Translation: X:-57.89, Y:2.46, Z:3.93 [[ 9.99950321e-01 7.45575513e-04 9.93978266e-03 -5.78911720e+01] [-6.78902956e-04 9.99977262e-01 -6.70933497e-03 2.46385775e+00] [-9.94455897e-03 6.70225351e-03 9.99928090e-01 3.92867972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.743741732 meters 0.16127021743466752 Centerline is valid? [False, False] Translation: X:-57.95, Y:2.47, Z:3.93 [[ 9.99889512e-01 2.64252677e-03 1.46280558e-02 -5.79536293e+01] [-2.54574380e-03 9.99974775e-01 -6.63092840e-03 2.46650746e+00] [-1.46452092e-02 6.59295648e-03 9.99871017e-01 3.92539337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.773741732 meters 0.16355798873749666 Centerline is valid? [False, False] Translation: X:-58.01, Y:2.47, Z:3.93 [[ 9.99829030e-01 9.46092439e-03 1.58871514e-02 -5.80120567e+01] [-9.33261285e-03 9.99923390e-01 -8.13124547e-03 2.46624677e+00] [-1.59628633e-02 7.98158664e-03 9.99840728e-01 3.92736897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.803741732 meters 0.1675052332127755 Centerline is valid? [False, False] Translation: X:-58.08, Y:2.47, Z:3.93 [[ 9.99737404e-01 1.00853843e-02 2.05768729e-02 -5.80795491e+01] [-9.93789914e-03 9.99924282e-01 -7.25723298e-03 2.46807419e+00] [-2.06485069e-02 7.05083637e-03 9.99761934e-01 3.92739682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.83374173199999 meters 0.17002289081464622 Centerline is valid? [False, False] Translation: X:-58.15, Y:2.47, Z:3.93 [[ 9.99711689e-01 4.13594607e-03 2.36523229e-02 -5.81450957e+01] [-3.98654206e-03 9.99971826e-01 -6.36034148e-03 2.46745374e+00] [-2.36779625e-02 6.26421674e-03 9.99700012e-01 3.93379633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.863741731999994 meters 0.1734846773653473 Centerline is valid? [False, False] Translation: X:-58.19, Y:2.47, Z:3.94 [[ 9.99762015e-01 2.65968322e-03 2.16526994e-02 -5.81913519e+01] [-2.49692132e-03 9.99968453e-01 -7.54050234e-03 2.46603408e+00] [-2.16720717e-02 7.48464272e-03 9.99737116e-01 3.94056560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.893741731999995 meters 0.1782726442839944 Centerline is valid? [False, False] Translation: X:-58.17, Y:2.46, Z:3.92 [[ 9.99528911e-01 1.21420766e-03 3.06672794e-02 -5.81723707e+01] [-9.80744353e-04 9.99970436e-01 -7.62667671e-03 2.45934534e+00] [-3.06756331e-02 7.59300710e-03 9.99500551e-01 3.92374962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.923741731999996 meters 0.1846832542154494 Centerline is valid? [False, False] Translation: X:-58.26, Y:2.46, Z:3.93 [[ 9.99176973e-01 1.93954442e-03 4.05168348e-02 -5.82553504e+01] [-1.65053574e-03 9.99972967e-01 -7.16528532e-03 2.45732216e+00] [-4.05296368e-02 7.09251362e-03 9.99153164e-01 3.93082350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.953741732 meters 0.18683298553308608 Centerline is valid? [False, False] Translation: X:-58.31, Y:2.46, Z:3.94 [[ 9.99016405e-01 2.06154518e-03 4.42941567e-02 -5.83093193e+01] [-1.72237246e-03 9.99968917e-01 -7.69407938e-03 2.45661326e+00] [-4.43086416e-02 7.61022049e-03 9.98988903e-01 3.94192412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.983741732 meters 0.19028302878632988 Centerline is valid? [False, False] Translation: X:-58.28, Y:2.45, Z:3.94 [[ 9.97991674e-01 6.03946746e-03 6.30566674e-02 -5.82837641e+01] [-5.50824468e-03 9.99947891e-01 -8.59497416e-03 2.44863254e+00] [-6.31052907e-02 8.23038110e-03 9.97972937e-01 3.93763150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.01374173199999 meters 0.18556050405725533 Centerline is valid? [False, False] Translation: X:-58.28, Y:2.44, Z:3.93 [[ 9.96468486e-01 5.48467766e-03 8.37882682e-02 -5.82812796e+01] [-4.66334213e-03 9.99939174e-01 -9.99508160e-03 2.44387218e+00] [-8.38379915e-02 9.56905047e-03 9.96433452e-01 3.93317489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.043741731999994 meters 0.18738648074305825 Centerline is valid? [False, False] Translation: X:-58.35, Y:2.45, Z:3.95 [[ 9.95539975e-01 1.49946781e-03 9.43287371e-02 -5.83482651e+01] [-9.14491695e-04 9.99980085e-01 -6.24438460e-03 2.44514421e+00] [-9.43362218e-02 6.13027164e-03 9.95521520e-01 3.94769921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.073741731999995 meters 0.18949100623281742 Centerline is valid? [False, False] Translation: X:-58.35, Y:2.44, Z:3.95 [[ 9.92802793e-01 1.03264092e-03 1.19756202e-01 -5.83513584e+01] [-1.16524196e-04 9.99970681e-01 -7.65659801e-03 2.43950024e+00] [-1.19760597e-01 7.58753740e-03 9.92773805e-01 3.95180587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.103741731999996 meters 0.20043084076802278 Centerline is valid? [False, False] Translation: X:-58.33, Y:2.43, Z:3.96 [[ 9.88857096e-01 -1.83316623e-03 1.48856584e-01 -5.83271894e+01] [ 3.52148822e-03 9.99932423e-01 -1.10791624e-02 2.43200503e+00] [-1.48826215e-01 1.14799050e-02 9.88796728e-01 3.96008082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.133741732 meters 0.20043084076802278 Centerline is valid? [False, False] Translation: X:-58.33, Y:2.43, Z:3.96 [[ 9.88857096e-01 -1.83316623e-03 1.48856584e-01 -5.83271894e+01] [ 3.52148822e-03 9.99932423e-01 -1.10791624e-02 2.43200503e+00] [-1.48826215e-01 1.14799050e-02 9.88796728e-01 3.96008082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.163741732 meters 0.20901932251872463 Centerline is valid? [False, False] Translation: X:-58.38, Y:2.43, Z:3.98 [[ 9.86906618e-01 -3.46607271e-03 1.61255429e-01 -5.83832226e+01] [ 5.44203045e-03 9.99915409e-01 -1.18135332e-02 2.43159117e+00] [-1.61200841e-01 1.25364110e-02 9.86841997e-01 3.98174258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.19374173199999 meters 0.19256792857262367 Centerline is valid? [False, False] Translation: X:-58.48, Y:2.43, Z:4.01 [[ 9.79617496e-01 -6.66171728e-03 2.00761510e-01 -5.84829310e+01] [ 9.37547002e-03 9.99877046e-01 -1.25695222e-02 2.43007474e+00] [-2.00653091e-01 1.41955574e-02 9.79559505e-01 4.01324573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22374173199999 meters 0.19116566334049237 Centerline is valid? [False, False] Translation: X:-58.50, Y:2.43, Z:4.03 [[ 9.77108968e-01 -6.72998856e-03 2.12632950e-01 -5.85019747e+01] [ 9.55403487e-03 9.99879241e-01 -1.22566013e-02 2.42902155e+00] [-2.12524786e-01 1.40075377e-02 9.77055272e-01 4.03343674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.253741731999995 meters 0.19106885699509532 Centerline is valid? [False, False] Translation: X:-58.53, Y:2.43, Z:4.05 [[ 9.68958020e-01 -7.89459805e-03 2.47099234e-01 -5.85272673e+01] [ 1.11928168e-02 9.99865999e-01 -1.19459273e-02 2.42720562e+00] [-2.46971814e-01 1.43408385e-02 9.68916541e-01 4.05486437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.283741731999996 meters 0.18859543939901668 Centerline is valid? [False, False] Translation: X:-58.54, Y:2.43, Z:4.08 [[ 9.59154507e-01 -1.19739165e-02 2.82629186e-01 -5.85362264e+01] [ 1.50952007e-02 9.99846729e-01 -8.86868280e-03 2.42530134e+00] [-2.82479674e-01 1.27727814e-02 9.59188245e-01 4.07539037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.313741732 meters 0.191237797762827 Centerline is valid? [False, False] Translation: X:-58.53, Y:2.42, Z:4.09 [[ 9.47956673e-01 -1.54386019e-02 3.18024835e-01 -5.85313089e+01] [ 1.77794106e-02 9.99831990e-01 -4.45909458e-03 2.42339226e+00] [-3.17902561e-01 9.88132258e-03 9.48071897e-01 4.09398166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.343741732 meters 0.18755148543515898 Centerline is valid? [False, False] Translation: X:-58.52, Y:2.42, Z:4.10 [[ 9.46262984e-01 -1.04213551e-02 3.23230196e-01 -5.85223646e+01] [ 1.35292378e-02 9.99881317e-01 -7.36966645e-03 2.42192142e+00] [-3.23115032e-01 1.13467008e-02 9.46291672e-01 4.09620846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.37374173199999 meters 0.18893793444325974 Centerline is valid? [False, False] Translation: X:-58.51, Y:2.42, Z:4.09 [[ 9.48683923e-01 -5.03125199e-03 3.16185864e-01 -5.85099087e+01] [ 8.29845427e-03 9.99925177e-01 -8.98754481e-03 2.41899293e+00] [-3.16116987e-01 1.11501932e-02 9.48654691e-01 4.09328353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40374173199999 meters 0.1896351043418072 Centerline is valid? [False, False] Translation: X:-58.49, Y:2.42, Z:4.09 [[ 9.50211694e-01 1.21353592e-03 3.11602734e-01 -5.84946500e+01] [ 2.25558191e-03 9.99939431e-01 -1.07725073e-02 2.41687655e+00] [-3.11596934e-01 1.09390079e-02 9.50151403e-01 4.09029515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.433741731999994 meters 0.18876771383919552 Centerline is valid? [False, False] Translation: X:-58.48, Y:2.42, Z:4.09 [[ 9.51834575e-01 6.87676309e-03 3.06534910e-01 -5.84813565e+01] [-2.70507750e-03 9.99897889e-01 -1.40319241e-02 2.41578492e+00] [-3.06600104e-01 1.25268699e-02 9.51755984e-01 4.08869005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1919.92 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%| | 0/1948 [00:00