+ python -m lidar_slam --no-model /working/737001a5-d028-4f7b-a8c7-6c969208c3d0 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/737001a5-d028-4f7b-a8c7-6c969208c3d0 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 0.02956246 Adjusted end_distance from 9.223372036854776e+18 to 19.90252246 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.02956246 meters 0.08008077302163415 Centerline is valid? [0, True] SLAMing on 0.05956246 meters 0.07263684250789876 Centerline is valid? [True, True] Translation: X:-0.03, Y:-0.00, Z:0.00 [[ 9.99999605e-01 -4.38612134e-04 -7.72684611e-04 -2.98133538e-02] [ 4.38583240e-04 9.99999903e-01 -3.75623339e-05 -2.91837936e-04] [ 7.72701011e-04 3.72234325e-05 9.99999701e-01 4.70266138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.08956246 meters 0.06773158819843171 Centerline is valid? [True, True] Translation: X:-0.06, Y:-0.00, Z:0.00 [[ 9.99998884e-01 -7.33662737e-04 -1.30105605e-03 -5.81198810e-02] [ 7.33581770e-04 9.99999729e-01 -6.27082833e-05 -4.32941492e-04] [ 1.30110170e-03 6.17537824e-05 9.99999152e-01 3.40170733e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11956246 meters 0.05363663938477768 Centerline is valid? [True, True] Translation: X:-0.09, Y:0.00, Z:0.01 [[ 9.99997929e-01 -1.17066516e-03 -1.66493405e-03 -8.66433819e-02] [ 1.17053340e-03 9.99999312e-01 -8.01083320e-05 1.42723201e-03] [ 1.66502668e-03 7.81593052e-05 9.99998611e-01 6.02828238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.14956246 meters 0.05062087247294649 Centerline is valid? [True, True] Translation: X:-0.12, Y:0.00, Z:0.01 [[ 9.99999032e-01 -1.26711249e-03 -5.75497465e-04 -1.15428401e-01] [ 1.26709703e-03 9.99999197e-01 -2.72146067e-05 4.51124912e-03] [ 5.75531487e-04 2.64853692e-05 9.99999834e-01 6.84450103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17956245999999998 meters 0.040687773710961384 Centerline is valid? [True, True] Translation: X:-0.15, Y:0.01, Z:0.01 [[ 9.99994791e-01 -3.36806908e-04 -3.21017449e-03 -1.45566850e-01] [ 3.36310656e-04 9.99999931e-01 -1.55125707e-04 9.59731717e-03] [ 3.21022651e-03 1.54045283e-04 9.99994835e-01 6.38374359e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20956246 meters 0.035616043123990665 Centerline is valid? [True, True] Translation: X:-0.17, Y:0.01, Z:0.00 [[ 9.99988222e-01 1.25134226e-03 -4.68928535e-03 -1.73799612e-01] [-1.25241653e-03 9.99999190e-01 -2.26161183e-04 1.02891357e-02] [ 4.68899854e-03 2.32031458e-04 9.99988980e-01 2.44995860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.23956245999999998 meters 0.03620573654228555 Centerline is valid? [True, True] Translation: X:-0.20, Y:0.01, Z:0.01 [[ 9.99988126e-01 2.83783720e-03 -3.96174903e-03 -2.03211034e-01] [-2.83861592e-03 9.99995953e-01 -1.90950638e-04 1.29573814e-02] [ 3.96119111e-03 2.02194255e-04 9.99992134e-01 9.79813027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.26956246 meters 0.037975108523451886 Centerline is valid? [True, True] Translation: X:-0.23, Y:0.02, Z:0.01 [[ 9.99985781e-01 3.56069163e-03 -3.96972283e-03 -2.32145954e-01] [-3.56146884e-03 9.99993640e-01 -1.88731277e-04 1.88673338e-02] [ 3.96902557e-03 2.02866638e-04 9.99992103e-01 5.65484987e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.29956246000000003 meters 0.03547522422452771 Centerline is valid? [True, True] Translation: X:-0.26, Y:0.02, Z:0.01 [[ 9.99979761e-01 3.47712137e-03 -5.32795836e-03 -2.59501089e-01] [-3.47852996e-03 9.99993917e-01 -2.55131734e-04 1.56807488e-02] [ 5.32703883e-03 2.73660033e-04 9.99985774e-01 8.89838344e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32956246 meters 0.03622621468023068 Centerline is valid? [True, True] Translation: X:-0.29, Y:0.02, Z:0.01 [[ 9.99979727e-01 2.64301794e-03 -5.79307553e-03 -2.88593893e-01] [-2.64465383e-03 9.99996465e-01 -2.74744958e-04 1.96656670e-02] [ 5.79232889e-03 2.90060068e-04 9.99983182e-01 1.16907354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.35956246 meters 0.03557564112640673 Centerline is valid? [True, True] Translation: X:-0.32, Y:0.02, Z:0.02 [[ 9.99980101e-01 2.90154004e-03 -5.60173004e-03 -3.15019117e-01] [-2.90306423e-03 9.99995751e-01 -2.63980790e-04 1.96437017e-02] [ 5.60094029e-03 2.80237719e-04 9.99984275e-01 1.66563778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.38956246 meters 0.035303751251130104 Centerline is valid? [True, True] Translation: X:-0.34, Y:0.02, Z:0.02 [[ 9.99984542e-01 3.05987001e-03 -4.64249690e-03 -3.42960033e-01] [-3.06092316e-03 9.99995291e-01 -2.19762227e-04 2.09257205e-02] [ 4.64180260e-03 2.33969156e-04 9.99989199e-01 1.71715468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.41956246 meters 0.03615339435029095 Centerline is valid? [True, True] Translation: X:-0.37, Y:0.02, Z:0.02 [[ 9.99978957e-01 3.10739622e-03 -5.69461947e-03 -3.71240342e-01] [-3.10896438e-03 9.99995132e-01 -2.66544853e-04 2.38865944e-02] [ 5.69376348e-03 2.84243613e-04 9.99983750e-01 1.76684635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.44956246 meters 0.03564038398833849 Centerline is valid? [True, True] Translation: X:-0.40, Y:0.02, Z:0.02 [[ 9.99980392e-01 3.06677484e-03 -5.45993962e-03 -3.99498474e-01] [-3.06821948e-03 9.99995260e-01 -2.56232793e-04 2.40139679e-02] [ 5.45912794e-03 2.72980062e-04 9.99985062e-01 1.91460174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.47956245999999997 meters 0.03535574185306639 Centerline is valid? [True, True] Translation: X:-0.43, Y:0.03, Z:0.02 [[ 9.99984346e-01 2.44240557e-03 -5.03412263e-03 -4.28277004e-01] [-2.44361452e-03 9.99996987e-01 -2.34013804e-04 2.64610709e-02] [ 5.03353590e-03 2.46311596e-04 9.99987301e-01 1.89751561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5095624599999999 meters 0.035913895165258676 Centerline is valid? [True, True] Translation: X:-0.46, Y:0.03, Z:0.02 [[ 9.99978471e-01 2.48247923e-03 -6.07408742e-03 -4.56506248e-01] [-2.48423197e-03 9.99996875e-01 -2.81032072e-04 3.05092169e-02] [ 6.07337078e-03 2.96115464e-04 9.99981513e-01 1.97906394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.53956246 meters 0.035246210266317746 Centerline is valid? [True, True] Translation: X:-0.49, Y:0.03, Z:0.02 [[ 9.99988894e-01 2.08683724e-03 -4.22571922e-03 -4.85207415e-01] [-2.08767645e-03 9.99997802e-01 -1.94195061e-04 3.11951218e-02] [ 4.22530468e-03 2.03014839e-04 9.99991053e-01 2.46350185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.56956246 meters 0.03444694753206293 Centerline is valid? [True, True] Translation: X:-0.51, Y:0.03, Z:0.03 [[ 9.99990761e-01 2.07229845e-03 -3.76611057e-03 -5.12540591e-01] [-2.07296839e-03 9.99997836e-01 -1.73990528e-04 2.93349417e-02] [ 3.76574186e-03 1.81795949e-04 9.99992893e-01 2.80554010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5995624599999999 meters 0.035087598584732774 Centerline is valid? [True, True] Translation: X:-0.54, Y:0.03, Z:0.03 [[ 9.99974207e-01 2.95571594e-04 -7.17618918e-03 -5.41671899e-01] [-2.97941979e-04 9.99999901e-01 -3.29245711e-04 3.38480994e-02] [ 7.17609115e-03 3.31375307e-04 9.99974197e-01 2.64231850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6295624599999999 meters 0.03351556362696659 Centerline is valid? [True, True] Translation: X:-0.57, Y:0.03, Z:0.03 [[ 9.99965410e-01 -3.72196504e-04 -8.30903340e-03 -5.69778613e-01] [ 3.69031322e-04 9.99999859e-01 -3.82462583e-04 3.11058974e-02] [ 8.30917458e-03 3.79383060e-04 9.99965406e-01 2.54818926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.65956246 meters 0.034082974477638105 Centerline is valid? [True, True] Translation: X:-0.60, Y:0.04, Z:0.03 [[ 9.99988884e-01 -2.28065300e-03 -4.12678697e-03 -6.00414883e-01] [ 2.27988772e-03 9.99997383e-01 -1.90137145e-04 3.75276996e-02] [ 4.12720980e-03 1.80726420e-04 9.99991467e-01 3.14647509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6895624599999999 meters 0.03315340506904821 Centerline is valid? [True, True] Translation: X:-0.63, Y:0.04, Z:0.04 [[ 9.99994680e-01 -2.45127931e-03 -2.15219763e-03 -6.28599259e-01] [ 2.45107346e-03 9.99996991e-01 -9.82763627e-05 3.87220410e-02] [ 2.15243206e-03 9.30006453e-05 9.99997679e-01 3.72082248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7195624599999999 meters 0.03378020361071563 Centerline is valid? [True, True] Translation: X:-0.66, Y:0.04, Z:0.04 [[ 9.99995571e-01 -2.29609166e-03 -1.89344936e-03 -6.57928460e-01] [ 2.29593216e-03 9.99997361e-01 -8.64062290e-05 4.41301219e-02] [ 1.89364275e-03 8.20586150e-05 9.99998204e-01 4.18539233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7495624599999999 meters 0.03238106239753296 Centerline is valid? [True, True] Translation: X:-0.69, Y:0.05, Z:0.04 [[ 9.99991770e-01 -7.90656830e-04 -3.97941716e-03 -6.86582970e-01] [ 7.89937737e-04 9.99999671e-01 -1.82271644e-04 4.85577076e-02] [ 3.97955996e-03 1.79126652e-04 9.99992065e-01 4.22736984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.77956246 meters 0.03361951791709732 Centerline is valid? [True, True] Translation: X:-0.72, Y:0.06, Z:0.04 [[ 9.99990079e-01 -1.72987092e-04 -4.45097950e-03 -7.16210617e-01] [ 1.72082070e-04 9.99999964e-01 -2.03713200e-04 5.63495057e-02] [ 4.45101458e-03 2.02945245e-04 9.99990074e-01 4.48733995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.80956246 meters 0.03488828324269926 Centerline is valid? [True, True] Translation: X:-0.75, Y:0.07, Z:0.05 [[ 9.99970247e-01 5.16847629e-03 -5.72640987e-03 -7.46234153e-01] [-5.17006379e-03 9.99986601e-01 -2.62456259e-04 6.78649067e-02] [ 5.72497664e-03 2.92054355e-04 9.99983570e-01 4.54979046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8395624599999999 meters 0.03671481331721751 Centerline is valid? [True, True] Translation: X:-0.78, Y:0.08, Z:0.05 [[ 9.99945064e-01 7.93749228e-03 -6.84576334e-03 -7.76362669e-01] [-7.93982360e-03 9.99968430e-01 -3.13438289e-04 7.66520739e-02] [ 6.84305931e-03 3.67775223e-04 9.99976518e-01 4.95421149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8695624599999999 meters 0.037448183392159856 Centerline is valid? [True, True] Translation: X:-0.81, Y:0.08, Z:0.05 [[ 9.99878015e-01 1.30133142e-02 -8.63758766e-03 -8.06059553e-01] [-1.30172143e-02 9.99915194e-01 -3.95449040e-04 8.43863194e-02] [ 8.63170904e-03 5.07838131e-04 9.99962617e-01 4.86256425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.89956246 meters 0.042321814383306164 Centerline is valid? [True, True] Translation: X:-0.84, Y:0.10, Z:0.05 [[ 9.99818876e-01 1.67963360e-02 -8.94980898e-03 -8.37405654e-01] [-1.68006759e-02 9.99858775e-01 -4.09947721e-04 9.94620151e-02] [ 8.94165942e-03 5.60236310e-04 9.99959866e-01 4.74753401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9295624599999999 meters 0.0437469835836725 Centerline is valid? [True, True] Translation: X:-0.87, Y:0.10, Z:0.05 [[ 9.99763150e-01 1.95864823e-02 -9.48752669e-03 -8.66650668e-01] [-1.95914790e-02 9.99807974e-01 -4.34004499e-04 1.02969919e-01] [ 9.47720422e-03 6.19776386e-04 9.99954898e-01 5.38942187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9595624599999999 meters 0.04110997568151317 Centerline is valid? [True, True] Translation: X:-0.90, Y:0.10, Z:0.06 [[ 9.99713470e-01 2.21308270e-02 -9.12169414e-03 -8.95973107e-01] [-2.21355483e-02 9.99754892e-01 -4.16948329e-04 1.00367707e-01] [ 9.11023093e-03 6.18742563e-04 9.99958310e-01 5.55032718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9895624599999999 meters 0.04110997568151317 Centerline is valid? [True, True] Translation: X:-0.92, Y:0.10, Z:0.06 [[ 9.99707787e-01 2.23859513e-02 -9.12191200e-03 -9.23395568e-01] [-2.23906399e-02 9.99749213e-01 -4.12171876e-04 9.89599869e-02] [ 9.11039748e-03 6.16296881e-04 9.99958310e-01 5.58044600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.01956246 meters 0.04479810074291698 Centerline is valid? [True, True] Translation: X:-0.95, Y:0.11, Z:0.06 [[ 9.99669873e-01 2.49451495e-02 -6.15496167e-03 -9.54010571e-01] [-2.49473390e-02 9.99688728e-01 -2.79202082e-04 1.09011752e-01] [ 6.14608106e-03 4.32659826e-04 9.99981019e-01 5.62269870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.04956246 meters 0.04596649640732755 Centerline is valid? [True, True] Translation: X:-0.99, Y:0.11, Z:0.06 [[ 9.99650483e-01 2.58764941e-02 -5.41465438e-03 -9.85500369e-01] [-2.58782073e-02 9.99665073e-01 -2.46563597e-04 1.11041000e-01] [ 5.40646066e-03 3.86598967e-04 9.99985310e-01 5.66488219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.07956246 meters 0.04718573401078369 Centerline is valid? [True, True] Translation: X:-1.02, Y:0.11, Z:0.06 [[ 9.99626918e-01 2.67877292e-02 -5.33313059e-03 -1.01706399e+00] [-2.67894049e-02 9.99641070e-01 -2.43009924e-04 1.09126410e-01] [ 5.32470669e-03 3.85790656e-04 9.99985749e-01 6.12829423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.10956246 meters 0.045744576691428965 Centerline is valid? [True, True] Translation: X:-1.05, Y:0.11, Z:0.06 [[ 9.99607581e-01 2.72899988e-02 -6.31987565e-03 -1.04865788e+00] [-2.72923628e-02 9.99627453e-01 -2.88103011e-04 1.07328690e-01] [ 6.30965886e-03 4.60474293e-04 9.99979988e-01 5.64905924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1395624599999998 meters 0.04313317556577487 Centerline is valid? [True, True] Translation: X:-1.08, Y:0.10, Z:0.06 [[ 9.99608930e-01 2.73945664e-02 -5.61465540e-03 -1.07923386e+00] [-2.73964366e-02 9.99624614e-01 -2.56430846e-04 1.02860015e-01] [ 5.60552293e-03 4.10152114e-04 9.99984205e-01 5.75162268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1695624599999999 meters 0.04435322973830621 Centerline is valid? [True, True] Translation: X:-1.11, Y:0.11, Z:0.06 [[ 9.99644898e-01 2.62165503e-02 -4.77173781e-03 -1.11085586e+00] [-2.62178881e-02 9.99656228e-01 -2.17992658e-04 1.05706035e-01] [ 4.76438241e-03 3.43020136e-04 9.99988591e-01 5.92005626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1995624599999999 meters 0.04117644701853642 Centerline is valid? [True, True] Translation: X:-1.14, Y:0.10, Z:0.06 [[ 9.99672610e-01 2.52311677e-02 -4.24979367e-03 -1.14136633e+00] [-2.52322206e-02 9.99681598e-01 -1.94323637e-04 9.79079976e-02] [ 4.24353751e-03 3.01491749e-04 9.99990951e-01 6.20557246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.22956246 meters 0.04668176261190682 Centerline is valid? [True, True] Translation: X:-1.17, Y:0.11, Z:0.06 [[ 9.99680687e-01 2.47893239e-02 -4.90034769e-03 -1.17428376e+00] [-2.47907216e-02 9.99692638e-01 -2.24677865e-04 1.09648257e-01] [ 4.89327190e-03 3.46089278e-04 9.99987968e-01 6.17382144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.25956246 meters 0.04030153801405816 Centerline is valid? [True, True] Translation: X:-1.20, Y:0.10, Z:0.06 [[ 9.99697843e-01 2.40483997e-02 -5.08899313e-03 -1.20436139e+00] [-2.40498965e-02 9.99710732e-01 -2.33126154e-04 9.64713186e-02] [ 5.08191474e-03 3.55445472e-04 9.99987024e-01 6.47334788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.28956246 meters 0.04542369670237744 Centerline is valid? [True, True] Translation: X:-1.24, Y:0.11, Z:0.06 [[ 9.99701807e-01 2.39841337e-02 -4.58895525e-03 -1.23587808e+00] [-2.39853522e-02 9.99712288e-01 -2.10656269e-04 1.07935214e-01] [ 4.58258255e-03 3.20661161e-04 9.99989449e-01 6.38736092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.31956246 meters 0.04754720737691616 Centerline is valid? [True, True] Translation: X:-1.27, Y:0.11, Z:0.06 [[ 9.99641279e-01 2.58020882e-02 -7.18090084e-03 -1.26710680e+00] [-2.58051144e-02 9.99666938e-01 -3.29074014e-04 1.12616276e-01] [ 7.17001836e-03 5.14259936e-04 9.99974163e-01 5.88832231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3495624599999998 meters 0.04797000429921695 Centerline is valid? [True, True] Translation: X:-1.30, Y:0.11, Z:0.05 [[ 9.99561195e-01 2.79253430e-02 -9.87892412e-03 -1.29692861e+00] [-2.79311704e-02 9.99609746e-01 -4.52375566e-04 1.12100562e-01] [ 9.86243609e-03 7.28106973e-04 9.99951100e-01 5.08587478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3795624599999998 meters 0.04801864180657204 Centerline is valid? [True, True] Translation: X:-1.33, Y:0.11, Z:0.06 [[ 9.99464686e-01 3.15397716e-02 -8.69387411e-03 -1.32660376e+00] [-3.15444181e-02 9.99502272e-01 -3.97813301e-04 1.11170043e-01] [ 8.67699998e-03 6.71843546e-04 9.99962128e-01 5.67336111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4095624599999999 meters 0.048931262907869665 Centerline is valid? [True, True] Translation: X:-1.36, Y:0.11, Z:0.06 [[ 9.99431429e-01 3.32425278e-02 -5.63491097e-03 -1.35811430e+00] [-3.32445115e-02 9.99447215e-01 -2.58722122e-04 1.11625345e-01] [ 5.62319550e-03 4.45904883e-04 9.99984090e-01 6.12882918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4395624599999999 meters 0.04551490109077098 Centerline is valid? [True, True] Translation: X:-1.39, Y:0.10, Z:0.07 [[ 9.99364923e-01 3.53832111e-02 -4.21653768e-03 -1.38708151e+00] [-3.53843383e-02 9.99373760e-01 -1.92988061e-04 1.03861074e-01] [ 4.20706858e-03 3.42064895e-04 9.99991092e-01 6.62864303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.46956246 meters 0.05229961672172143 Centerline is valid? [True, True] Translation: X:-1.42, Y:0.12, Z:0.06 [[ 9.99353869e-01 3.57599551e-02 -3.61530608e-03 -1.41952482e+00] [-3.57607900e-02 9.99360365e-01 -1.66536708e-04 1.16074279e-01] [ 3.60703825e-03 2.95715305e-04 9.99993451e-01 6.32169315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.49956246 meters 0.04825919828479409 Centerline is valid? [True, True] Translation: X:-1.45, Y:0.10, Z:0.07 [[ 9.99311504e-01 3.68869771e-02 -3.98355580e-03 -1.44995272e+00] [-3.68879985e-02 9.99319389e-01 -1.83194438e-04 1.04203832e-01] [ 3.97408706e-03 3.30013709e-04 9.99992049e-01 6.64506030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.52956246 meters 0.04705950934919054 Centerline is valid? [True, True] Translation: X:-1.48, Y:0.10, Z:0.07 [[ 9.99330149e-01 3.63603209e-02 -4.14497067e-03 -1.48108784e+00] [-3.63614236e-02 9.99338687e-01 -1.90962094e-04 9.96624597e-02] [ 4.13528610e-03 3.41551212e-04 9.99991391e-01 6.77103898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.55956246 meters 0.04726233694387397 Centerline is valid? [True, True] Translation: X:-1.51, Y:0.10, Z:0.07 [[ 9.99375054e-01 3.51071099e-02 -4.12223312e-03 -1.51335716e+00] [-3.51081917e-02 9.99383499e-01 -1.90340140e-04 9.78992024e-02] [ 4.11300947e-03 3.34945338e-04 9.99991485e-01 6.66303953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.58956246 meters 0.04517898826212337 Centerline is valid? [True, True] Translation: X:-1.54, Y:0.09, Z:0.07 [[ 9.99427957e-01 3.35992569e-02 -3.85344560e-03 -1.54337817e+00] [-3.36001911e-02 9.99435338e-01 -1.77935531e-04 9.06554138e-02] [ 3.84529120e-03 3.07310252e-04 9.99992560e-01 6.70820902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6195624599999998 meters 0.04858291577723854 Centerline is valid? [True, True] Translation: X:-1.57, Y:0.10, Z:0.07 [[ 9.99500115e-01 3.13430889e-02 -4.13890516e-03 -1.57488109e+00] [-3.13441476e-02 9.99508633e-01 -1.91156208e-04 9.58236870e-02] [ 4.13088001e-03 3.20791106e-04 9.99991416e-01 6.58808700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6495624599999998 meters 0.04505805418085531 Centerline is valid? [True, True] Translation: X:-1.60, Y:0.09, Z:0.07 [[ 9.99575297e-01 2.89406808e-02 -3.41515071e-03 -1.60430197e+00] [-2.89413891e-02 9.99581098e-01 -1.58135529e-04 8.72738936e-02] [ 3.40914355e-03 2.56907573e-04 9.99994156e-01 6.61007021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6795624599999999 meters 0.04268852191662679 Centerline is valid? [True, True] Translation: X:-1.64, Y:0.08, Z:0.06 [[ 9.99596910e-01 2.80160463e-02 -4.59554189e-03 -1.63531899e+00] [-2.80173189e-02 9.99607415e-01 -2.12772496e-04 7.97320376e-02] [ 4.58777671e-03 3.41441492e-04 9.99989418e-01 6.48330196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.70956246 meters 0.04263771302263918 Centerline is valid? [True, True] Translation: X:-1.67, Y:0.08, Z:0.06 [[ 9.99635436e-01 2.66983163e-02 -4.02428592e-03 -1.66642894e+00] [-2.66992817e-02 9.99643493e-01 -1.86348846e-04 7.88243747e-02] [ 4.01787603e-03 2.93726453e-04 9.99991885e-01 6.48107511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.73956246 meters 0.04165327797732967 Centerline is valid? [True, True] Translation: X:-1.70, Y:0.08, Z:0.07 [[ 9.99630737e-01 2.68200957e-02 -4.36707307e-03 -1.69780749e+00] [-2.68212352e-02 9.99640225e-01 -2.02577148e-04 7.56623267e-02] [ 4.36006877e-03 3.19632638e-04 9.99990444e-01 6.50368563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.76956246 meters 0.047586292706847395 Centerline is valid? [True, True] Translation: X:-1.73, Y:0.09, Z:0.06 [[ 9.99633311e-01 2.67402052e-02 -4.26665998e-03 -1.73086333e+00] [-2.67412952e-02 9.99642368e-01 -1.98621496e-04 8.84652580e-02] [ 4.25982291e-03 3.12644678e-04 9.99990878e-01 6.12055475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.79956246 meters 0.04350064153869813 Centerline is valid? [True, True] Translation: X:-1.76, Y:0.08, Z:0.07 [[ 9.99591969e-01 2.83821202e-02 -3.21729744e-03 -1.76073659e+00] [-2.83827470e-02 9.99597118e-01 -1.49332451e-04 7.85380488e-02] [ 3.21176288e-03 2.40587258e-04 9.99994813e-01 6.55458753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8295624599999998 meters 0.04784046484135659 Centerline is valid? [True, True] Translation: X:-1.79, Y:0.09, Z:0.07 [[ 9.99556076e-01 2.95935930e-02 -3.44526832e-03 -1.79301277e+00] [-2.95943207e-02 9.99561979e-01 -1.60408791e-04 8.90223933e-02] [ 3.43901215e-03 2.62297957e-04 9.99994052e-01 6.59046573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8595624599999998 meters 0.043178036835872353 Centerline is valid? [True, True] Translation: X:-1.82, Y:0.08, Z:0.07 [[ 9.99526358e-01 3.06160435e-02 -3.11715739e-03 -1.82313097e+00] [-3.06166467e-02 9.99531190e-01 -1.45962246e-04 7.84467960e-02] [ 3.11122725e-03 2.41330018e-04 9.99995131e-01 6.91885725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8895624599999998 meters 0.044067910767226576 Centerline is valid? [True, True] Translation: X:-1.86, Y:0.08, Z:0.07 [[ 9.99468410e-01 3.25082301e-02 -2.47216437e-03 -1.85504527e+00] [-3.25086148e-02 9.99471449e-01 -1.15588560e-04 8.04846126e-02] [ 2.46710013e-03 1.95893754e-04 9.99996938e-01 6.55706365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9195624599999999 meters 0.049387368594800675 Centerline is valid? [True, True] Translation: X:-1.89, Y:0.09, Z:0.06 [[ 9.99416950e-01 3.39765655e-02 -3.36957634e-03 -1.88706970e+00] [-3.39772877e-02 9.99422593e-01 -1.57298605e-04 9.03855578e-02] [ 3.36228626e-03 2.71695957e-04 9.99994311e-01 6.24385526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9495624599999999 meters 0.04783455059930751 Centerline is valid? [True, True] Translation: X:-1.92, Y:0.09, Z:0.06 [[ 9.99425877e-01 3.37016432e-02 -3.48077105e-03 -1.91853052e+00] [-3.37024168e-02 9.99431899e-01 -1.63810453e-04 8.56858836e-02] [ 3.47327294e-03 2.81026803e-04 9.99993929e-01 6.40412811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.97956246 meters 0.04958915961003702 Centerline is valid? [True, True] Translation: X:-1.95, Y:0.09, Z:0.07 [[ 9.99409370e-01 3.42648359e-02 -2.61378142e-03 -1.95069998e+00] [-3.42652737e-02 9.99412766e-01 -1.22879259e-04 8.84645923e-02] [ 2.60803608e-03 2.12368619e-04 9.99996577e-01 6.72190116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.00956246 meters 0.045704124121196676 Centerline is valid? [True, True] Translation: X:-1.98, Y:0.08, Z:0.07 [[ 9.99487571e-01 3.19446887e-02 -2.03299867e-03 -1.98055914e+00] [-3.19449477e-02 9.99489625e-01 -9.50506369e-05 7.87613560e-02] [ 2.02892472e-03 1.59945966e-04 9.99997929e-01 6.66229518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.03956246 meters 0.04535141222341032 Centerline is valid? [True, True] Translation: X:-2.01, Y:0.08, Z:0.07 [[ 9.99513007e-01 3.11925715e-02 -8.78977759e-04 -2.01245336e+00] [-3.11926203e-02 9.99513391e-01 -4.18256682e-05 7.75015236e-02] [ 8.77245390e-04 6.92229188e-05 9.99999613e-01 6.56201210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.06956246 meters 0.04569045494189332 Centerline is valid? [True, True] Translation: X:-2.04, Y:0.08, Z:0.07 [[ 9.99556897e-01 2.96566908e-02 -2.54762629e-03 -2.04428992e+00] [-2.96570921e-02 9.99560125e-01 -1.19895643e-04 7.75392776e-02] [ 2.54294994e-03 1.95397704e-04 9.99996748e-01 6.52171469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.09956246 meters 0.047970404142653765 Centerline is valid? [True, True] Translation: X:-2.08, Y:0.08, Z:0.06 [[ 9.99582127e-01 2.88101600e-02 -2.35513175e-03 -2.07681745e+00] [-2.88105014e-02 9.99584885e-01 -1.11183419e-04 8.20174964e-02] [ 2.35095088e-03 1.78989485e-04 9.99997220e-01 6.42671598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1295624600000003 meters 0.04326008021819792 Centerline is valid? [True, True] Translation: X:-2.11, Y:0.07, Z:0.07 [[ 9.99589266e-01 2.86571056e-02 -2.62242234e-04 -2.10794131e+00] [-2.86571100e-02 9.99589301e-01 -1.29987694e-05 7.16352484e-02] [ 2.61762024e-04 2.05085349e-05 9.99999966e-01 6.92542141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.15956246 meters 0.043933309642785155 Centerline is valid? [True, True] Translation: X:-2.14, Y:0.07, Z:0.07 [[ 9.99585714e-01 2.87683057e-02 -8.85761780e-04 -2.14068733e+00] [-2.87683544e-02 9.99586104e-01 -4.23557007e-05 7.42075821e-02] [ 8.84176665e-04 6.78200622e-05 9.99999607e-01 6.60715196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1895624600000003 meters 0.04848160885090655 Centerline is valid? [True, True] Translation: X:-2.17, Y:0.08, Z:0.06 [[ 9.99582908e-01 2.87205436e-02 -3.02322053e-03 -2.17296416e+00] [-2.87211070e-02 9.99587454e-01 -1.43107620e-04 8.17223965e-02] [ 3.01786319e-03 2.29878171e-04 9.99995420e-01 6.19222999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.21956246 meters 0.04187929721084661 Centerline is valid? [True, True] Translation: X:-2.20, Y:0.07, Z:0.06 [[ 9.99662709e-01 2.54342124e-02 -5.25063465e-03 -2.20179804e+00] [-2.54358597e-02 9.99676426e-01 -2.47178494e-04 6.55275463e-02] [ 5.24264889e-03 3.80649530e-04 9.99986185e-01 6.20630401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.24956246 meters 0.04220294532142957 Centerline is valid? [True, True] Translation: X:-2.23, Y:0.07, Z:0.06 [[ 9.99801791e-01 1.97228408e-02 -2.71820874e-03 -2.23234983e+00] [-1.97232614e-02 9.99805469e-01 -1.28029357e-04 6.65410115e-02] [ 2.71515486e-03 1.81615922e-04 9.99996297e-01 6.36310420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.27956246 meters 0.041230911904080396 Centerline is valid? [True, True] Translation: X:-2.26, Y:0.06, Z:0.06 [[ 9.99879577e-01 1.54681379e-02 -1.25256022e-03 -2.26252702e+00] [-1.54682239e-02 9.99880358e-01 -5.90290709e-05 6.17975181e-02] [ 1.25149730e-03 7.83968445e-05 9.99999214e-01 6.46640654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.30956246 meters 0.040596941020706885 Centerline is valid? [True, True] Translation: X:-2.29, Y:0.06, Z:0.06 [[ 9.99944095e-01 1.04032952e-02 -1.89158191e-03 -2.29377938e+00] [-1.04034830e-02 9.99945878e-01 -8.94398508e-05 5.80516473e-02] [ 1.89054906e-03 1.09113891e-04 9.99998207e-01 6.29742236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3395624600000002 meters 0.03698142444238513 Centerline is valid? [True, True] Translation: X:-2.32, Y:0.05, Z:0.06 [[ 9.99986424e-01 4.15966328e-03 -3.13832015e-03 -2.32301435e+00] [-4.16015032e-03 9.99991335e-01 -1.48680178e-04 4.87196189e-02] [ 3.13767450e-03 1.61734044e-04 9.99995064e-01 6.13905918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.36956246 meters 0.034967479418644046 Centerline is valid? [True, True] Translation: X:-2.35, Y:0.04, Z:0.06 [[ 9.99997887e-01 1.56214123e-03 -1.33637915e-03 -2.35173508e+00] [-1.56222639e-03 9.99998778e-01 -6.26792796e-05 4.45984180e-02] [ 1.33627961e-03 6.47668739e-05 9.99999105e-01 6.38031322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3995624600000003 meters 0.03366546985267754 Centerline is valid? [True, True] Translation: X:-2.38, Y:0.04, Z:0.07 [[ 9.99999705e-01 6.05088087e-04 -4.72943237e-04 -2.38051367e+00] [-6.05098446e-04 9.99999817e-01 -2.17608537e-05 4.25181345e-02] [ 4.72929983e-04 2.20470245e-05 9.99999888e-01 6.97761259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.42956246 meters 0.03679579294728164 Centerline is valid? [True, True] Translation: X:-2.41, Y:0.05, Z:0.07 [[ 9.99996661e-01 2.34317193e-03 -1.08989320e-03 -2.41115694e+00] [-2.34322906e-03 9.99997253e-01 -5.11510325e-05 5.05002492e-02] [ 1.08977035e-03 5.37047311e-05 9.99999405e-01 6.52197059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.45956246 meters 0.038767257227276315 Centerline is valid? [True, True] Translation: X:-2.44, Y:0.06, Z:0.06 [[ 9.99978491e-01 6.34795135e-03 -1.64985759e-03 -2.44213021e+00] [-6.34808808e-03 9.99979848e-01 -7.76517225e-05 5.65580859e-02] [ 1.64933142e-03 8.81234936e-05 9.99998636e-01 6.49587122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.48956246 meters 0.03852069208051089 Centerline is valid? [True, True] Translation: X:-2.47, Y:0.06, Z:0.07 [[ 9.99943351e-01 1.05865211e-02 -1.10430271e-03 -2.47164716e+00] [-1.05865848e-02 9.99943959e-01 -5.18568458e-05 5.89483014e-02] [ 1.10369184e-03 6.35447025e-05 9.99999389e-01 6.68956261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.51956246 meters 0.040277704279886674 Centerline is valid? [True, True] Translation: X:-2.50, Y:0.07, Z:0.07 [[ 9.99825160e-01 1.85379222e-02 -2.44830082e-03 -2.50198006e+00] [-1.85382597e-02 9.99828145e-01 -1.15244456e-04 6.74203743e-02] [ 2.44574367e-03 1.60611543e-04 9.99996996e-01 6.54323851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.54956246 meters 0.04662142811243849 Centerline is valid? [True, True] Translation: X:-2.53, Y:0.08, Z:0.06 [[ 9.99720035e-01 2.36091184e-02 -1.56910779e-03 -2.53317977e+00] [-2.36092633e-02 9.99721260e-01 -7.38516988e-05 8.44373810e-02] [ 1.56692684e-03 1.10876502e-04 9.99998766e-01 6.44733496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.57956246 meters 0.042408772089929186 Centerline is valid? [True, True] Translation: X:-2.56, Y:0.08, Z:0.07 [[ 9.99563585e-01 2.94577632e-02 -2.20900487e-03 -2.56263367e+00] [-2.94580644e-02 9.99566012e-01 -1.03944539e-04 7.80892843e-02] [ 2.20498421e-03 1.68972184e-04 9.99997555e-01 6.57337526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6095624600000003 meters 0.046248800054968495 Centerline is valid? [True, True] Translation: X:-2.59, Y:0.09, Z:0.06 [[ 9.99477056e-01 3.22312176e-02 -2.60046183e-03 -2.59436977e+00] [-3.22316448e-02 9.99480418e-01 -1.22530593e-04 8.96678981e-02] [ 2.59516137e-03 2.06283679e-04 9.99996611e-01 6.27096866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.63956246 meters 0.04951419129929735 Centerline is valid? [True, True] Translation: X:-2.63, Y:0.10, Z:0.06 [[ 9.99484295e-01 3.20556143e-02 -1.89255945e-03 -2.62733043e+00] [-3.20558416e-02 9.99486075e-01 -8.98915607e-05 9.95388940e-02] [ 1.88870529e-03 1.50512789e-04 9.99998205e-01 6.39489274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.66956246 meters 0.04365685525885828 Centerline is valid? [True, True] Translation: X:-2.66, Y:0.09, Z:0.07 [[ 9.99540665e-01 3.02968732e-02 -7.47228008e-04 -2.65678358e+00] [-3.02969080e-02 9.99540943e-01 -3.52252868e-05 8.70732163e-02] [ 7.45817771e-04 5.78478048e-05 9.99999720e-01 6.79353885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.69956246 meters 0.04825609542653849 Centerline is valid? [True, True] Translation: X:-2.69, Y:0.10, Z:0.06 [[ 9.99684572e-01 2.50656824e-02 -1.57083166e-03 -2.68856192e+00] [-2.50658299e-02 9.99685800e-01 -7.42663056e-05 9.76848210e-02] [ 1.56847657e-03 1.13617079e-04 9.99998763e-01 6.46205932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.72956246 meters 0.03994819700134976 Centerline is valid? [True, True] Translation: X:-2.72, Y:0.08, Z:0.07 [[ 9.99773676e-01 2.12277692e-02 -1.40670932e-03 -2.71733971e+00] [-2.12278836e-02 9.99774661e-01 -6.64566626e-05 7.94249412e-02] [ 1.40498160e-03 9.63030835e-05 9.99999008e-01 6.75515420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.75956246 meters 0.037717354309106894 Centerline is valid? [True, True] Translation: X:-2.75, Y:0.07, Z:0.06 [[ 9.99878278e-01 1.52036444e-02 -3.50414288e-03 -2.74786845e+00] [-1.52043184e-02 9.99884394e-01 -1.65775063e-04 7.47571216e-02] [ 3.50121739e-03 2.19032989e-04 9.99993847e-01 6.20608373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.78956246 meters 0.037769083845635244 Centerline is valid? [True, True] Translation: X:-2.78, Y:0.07, Z:0.06 [[ 9.99924597e-01 1.15173894e-02 -4.26023023e-03 -2.77918994e+00] [-1.15183520e-02 9.99933641e-01 -2.01484513e-04 7.41172815e-02] [ 4.25762695e-03 2.50540152e-04 9.99990905e-01 5.98865182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.81956246 meters 0.03879426620361964 Centerline is valid? [True, True] Translation: X:-2.81, Y:0.08, Z:0.06 [[ 9.99965794e-01 7.81227676e-03 -2.71664505e-03 -2.81008613e+00] [-7.81265389e-03 9.99969473e-01 -1.28237260e-04 7.74283227e-02] [ 2.71556029e-03 1.49457081e-04 9.99996302e-01 6.20767551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.84956246 meters 0.03571400358848946 Centerline is valid? [True, True] Translation: X:-2.84, Y:0.07, Z:0.07 [[ 9.99980813e-01 6.11242405e-03 1.00607141e-03 -2.83936669e+00] [-6.11247509e-03 9.99981318e-01 4.76641733e-05 7.02853613e-02] [-1.00576127e-03 -5.38128452e-05 9.99999493e-01 6.77290584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8795624600000003 meters 0.037354976542573054 Centerline is valid? [True, True] Translation: X:-2.87, Y:0.08, Z:0.07 [[ 9.99986851e-01 4.92874973e-03 -1.41589471e-03 -2.87224847e+00] [-4.92885039e-03 9.99987851e-01 -6.76136221e-05 7.54639933e-02] [ 1.41554426e-03 7.45914662e-05 9.99998995e-01 6.61537041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.90956246 meters 0.037354976542573054 Centerline is valid? [True, True] Translation: X:-2.90, Y:0.07, Z:0.07 [[ 9.99986851e-01 4.92874223e-03 -1.41592697e-03 -2.90225637e+00] [-4.92884193e-03 9.99987851e-01 -6.69310778e-05 7.40463660e-02] [ 1.41557988e-03 7.39090780e-05 9.99998995e-01 6.64828049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.93956246 meters 0.03741641397133095 Centerline is valid? [True, True] Translation: X:-2.93, Y:0.07, Z:0.06 [[ 9.99984685e-01 4.13434959e-03 -3.67917261e-03 -2.93330085e+00] [-4.13501737e-03 9.99991436e-01 -1.73915034e-04 7.49189979e-02] [ 3.67842207e-03 1.89125814e-04 9.99993217e-01 6.08628571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.96956246 meters 0.036275929010545646 Centerline is valid? [True, True] Translation: X:-2.96, Y:0.08, Z:0.06 [[ 9.99989592e-01 3.89252476e-03 -2.37978844e-03 -2.96093362e+00] [-3.89280104e-03 9.99992417e-01 -1.11473807e-04 7.64329728e-02] [ 2.37933648e-03 1.20736690e-04 9.99997162e-01 6.11547541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.99956246 meters 0.03953218683429683 Centerline is valid? [True, True] Translation: X:-2.99, Y:0.09, Z:0.06 [[ 9.99987498e-01 4.99959856e-03 -8.44326548e-05 -2.99104709e+00] [-4.99959889e-03 9.99987502e-01 -3.64669315e-06 8.73874811e-02] [ 8.44133675e-05 4.06877697e-06 9.99999996e-01 6.29911441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.02956246 meters 0.03738878168764537 Centerline is valid? [True, True] Translation: X:-3.02, Y:0.09, Z:0.06 [[ 9.99973032e-01 7.34211698e-03 1.70424572e-04 -3.02196532e+00] [-7.34211840e-03 9.99973046e-01 7.71230427e-06 8.67085874e-02] [-1.70363354e-04 -8.96337366e-06 9.99999985e-01 6.46146148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.05956246 meters 0.037367534030040804 Centerline is valid? [True, True] Translation: X:-3.05, Y:0.09, Z:0.06 [[ 9.99945186e-01 1.04565352e-02 -5.34651492e-04 -3.05215639e+00] [-1.04565502e-02 9.99945328e-01 -2.52319442e-05 9.01732305e-02] [ 5.34358423e-04 3.08211713e-05 9.99999857e-01 6.26920988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0895624600000002 meters 0.037741778219526165 Centerline is valid? [True, True] Translation: X:-3.08, Y:0.10, Z:0.06 [[ 9.99915309e-01 1.27604152e-02 -2.55855302e-03 -3.08197737e+00] [-1.27607652e-02 9.99918571e-01 -1.20531030e-04 9.62124112e-02] [ 2.55680665e-03 1.53169916e-04 9.99996720e-01 5.98863789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.11956246 meters 0.041441693939683576 Centerline is valid? [True, True] Translation: X:-3.11, Y:0.11, Z:0.06 [[ 9.99901052e-01 1.37400193e-02 -3.01642584e-03 -3.11455809e+00] [-1.37405129e-02 9.99905584e-01 -1.42978779e-04 1.09532373e-01] [ 3.01417651e-03 1.84411869e-04 9.99995440e-01 5.64995349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1495624600000003 meters 0.04220960394516956 Centerline is valid? [True, True] Translation: X:-3.15, Y:0.12, Z:0.06 [[ 9.99906067e-01 1.36692019e-02 -1.00530550e-03 -3.14694392e+00] [-1.36692572e-02 9.99906570e-01 -4.81970911e-05 1.16365032e-01] [ 1.00455275e-03 6.19343432e-05 9.99999494e-01 6.07387919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.17956246 meters 0.03922890398556083 Centerline is valid? [True, True] Translation: X:-3.18, Y:0.11, Z:0.06 [[ 9.99916709e-01 1.28337791e-02 -1.36702315e-03 -3.17790172e+00] [-1.28338801e-02 9.99917640e-01 -6.52064822e-05 1.13062040e-01] [ 1.36607372e-03 8.27452623e-05 9.99999063e-01 6.19028115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.20956246 meters 0.03677295531501261 Centerline is valid? [True, True] Translation: X:-3.21, Y:0.11, Z:0.06 [[ 9.99945597e-01 9.58786592e-03 -4.10792552e-03 -3.20833273e+00] [-9.58874632e-03 9.99954008e-01 -1.94673369e-04 1.09979539e-01] [ 4.10587009e-03 2.34052634e-04 9.99991543e-01 5.58476855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.23956246 meters 0.03399834324310768 Centerline is valid? [True, True] Translation: X:-3.24, Y:0.11, Z:0.06 [[ 9.99988779e-01 2.71231092e-03 -3.88403176e-03 -3.23825825e+00] [-2.71304477e-03 9.99996303e-01 -1.83684987e-04 1.08281630e-01] [ 3.88351919e-03 1.94220478e-04 9.99992440e-01 5.68902392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.26956246 meters 0.03639130959391843 Centerline is valid? [True, True] Translation: X:-3.27, Y:0.11, Z:0.06 [[ 9.99998949e-01 -8.60058096e-04 -1.16685423e-03 -3.26883072e+00] [ 8.59994459e-04 9.99999629e-01 -5.50379243e-05 1.11310866e-01] [ 1.16690113e-03 5.40343783e-05 9.99999318e-01 5.99253022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.29956246 meters 0.03241726539268628 Centerline is valid? [True, True] Translation: X:-3.30, Y:0.11, Z:0.06 [[ 9.99984132e-01 -5.25602503e-03 -2.02732889e-03 -3.29753418e+00] [ 5.25584214e-03 9.99986183e-01 -9.55297469e-05 1.07917395e-01] [ 2.02780299e-03 8.48729105e-05 9.99997940e-01 6.24684787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.32956246 meters 0.031991223276586545 Centerline is valid? [True, True] Translation: X:-3.33, Y:0.11, Z:0.06 [[ 9.99972647e-01 -7.23586433e-03 -1.53240635e-03 -3.32765476e+00] [ 7.23576236e-03 9.99973819e-01 -7.20743226e-05 1.10001118e-01] [ 1.53288775e-03 6.09842229e-05 9.99998823e-01 6.03345468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3595624600000003 meters 0.030613131224682753 Centerline is valid? [True, True] Translation: X:-3.36, Y:0.11, Z:0.06 [[ 9.99957950e-01 -9.05946614e-03 -1.42268969e-03 -3.35619465e+00] [ 9.05938046e-03 9.99958961e-01 -6.66576327e-05 1.12528191e-01] [ 1.42323519e-03 5.37661426e-05 9.99998986e-01 5.89518470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.38956246 meters 0.030902163223962106 Centerline is valid? [True, True] Translation: X:-3.38, Y:0.11, Z:0.06 [[ 9.99978585e-01 -6.53684215e-03 3.16074193e-04 -3.38412772e+00] [ 6.53683749e-03 9.99978635e-01 1.57564522e-05 1.14286688e-01] [-3.16170437e-04 -1.36899891e-05 9.99999950e-01 6.33942586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.41956246 meters 0.033252762237493044 Centerline is valid? [True, True] Translation: X:-3.41, Y:0.13, Z:0.06 [[ 9.99992400e-01 -2.46435013e-03 -3.02093631e-03 -3.41487688e+00] [ 2.46393143e-03 9.99996954e-01 -1.42314569e-04 1.27541303e-01] [ 3.02127782e-03 1.34870108e-04 9.99995427e-01 6.11228727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.44956246 meters 0.03448677176404421 Centerline is valid? [True, True] Translation: X:-3.45, Y:0.13, Z:0.06 [[ 9.99989347e-01 4.62148538e-04 -4.59258350e-03 -3.44506497e+00] [-4.63146281e-04 9.99999869e-01 -2.16189820e-04 1.34340734e-01] [ 4.59248299e-03 2.18314555e-04 9.99989431e-01 5.86741841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.47956246 meters 0.03401113986790939 Centerline is valid? [True, True] Translation: X:-3.47, Y:0.14, Z:0.07 [[ 9.99988716e-01 3.92055959e-03 -2.68278670e-03 -3.47379337e+00] [-3.92091097e-03 9.99992305e-01 -1.25729786e-04 1.36535596e-01] [ 2.68227313e-03 1.36247335e-04 9.99996393e-01 6.50239410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.50956246 meters 0.036647554209110644 Centerline is valid? [True, True] Translation: X:-3.50, Y:0.15, Z:0.07 [[ 9.99960444e-01 8.88975271e-03 2.89092729e-04 -3.50447841e+00] [-8.88975702e-03 9.99960485e-01 1.36452696e-05 1.51055072e-01] [-2.88960003e-04 -1.62146940e-05 9.99999958e-01 6.82798331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.53956246 meters 0.03704362729135382 Centerline is valid? [True, True] Translation: X:-3.54, Y:0.16, Z:0.07 [[ 9.99939556e-01 1.08895955e-02 -1.51714915e-03 -3.53591607e+00] [-1.08897169e-02 9.99940703e-01 -7.17928554e-05 1.57674577e-01] [ 1.51627739e-03 8.83098407e-05 9.99998847e-01 6.59728447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.56956246 meters 0.03949939429802763 Centerline is valid? [True, True] Translation: X:-3.57, Y:0.17, Z:0.06 [[ 9.99898607e-01 1.37497223e-02 -3.70426212e-03 -3.56768176e+00] [-1.37504634e-02 9.99905443e-01 -1.74672091e-04 1.68188420e-01] [ 3.70151016e-03 2.25589701e-04 9.99993124e-01 6.16512005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.59956246 meters 0.03935780433714817 Centerline is valid? [True, True] Translation: X:-3.60, Y:0.17, Z:0.06 [[ 9.99907246e-01 1.32229928e-02 -3.26372929e-03 -3.59954202e+00] [-1.32235671e-02 9.99912553e-01 -1.54419964e-04 1.70878049e-01] [ 3.26140199e-03 1.97563784e-04 9.99994662e-01 6.33102460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.62956246 meters 0.038887645978781415 Centerline is valid? [True, True] Translation: X:-3.63, Y:0.18, Z:0.07 [[ 9.99924919e-01 1.22499096e-02 -3.08505077e-04 -3.63168841e+00] [-1.22499149e-02 9.99924967e-01 -1.50792094e-05 1.77009734e-01] [ 3.08297210e-04 1.88572382e-05 9.99999952e-01 6.67092217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.65956246 meters 0.039436406451850356 Centerline is valid? [True, True] Translation: X:-3.66, Y:0.18, Z:0.07 [[ 9.99940337e-01 1.09182293e-02 3.38590239e-04 -3.66386554e+00] [-1.09182351e-02 9.99940394e-01 1.53190336e-05 1.79748082e-01] [-3.38402801e-04 -1.90149275e-05 9.99999943e-01 6.67032119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.68956246 meters 0.036011616107958645 Centerline is valid? [True, True] Translation: X:-3.69, Y:0.17, Z:0.06 [[ 9.99961070e-01 7.95155240e-03 -3.82512012e-03 -3.69357939e+00] [-7.95230651e-03 9.99968363e-01 -1.81977264e-04 1.72907102e-01] [ 3.82355210e-03 2.12388707e-04 9.99992668e-01 6.22961271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.71956246 meters 0.03779952688937731 Centerline is valid? [True, True] Translation: X:-3.72, Y:0.18, Z:0.06 [[ 9.99975464e-01 4.90629128e-03 -5.00002768e-03 -3.72433466e+00] [-4.90753426e-03 9.99987930e-01 -2.36356356e-04 1.84520479e-01] [ 4.99880769e-03 2.60888364e-04 9.99987472e-01 5.71911380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.74956246 meters 0.034844657799048905 Centerline is valid? [True, True] Translation: X:-3.75, Y:0.18, Z:0.06 [[ 9.99987555e-01 3.79054692e-03 -3.24374114e-03 -3.75306236e+00] [-3.79106252e-03 9.99992802e-01 -1.52818892e-04 1.79856635e-01] [ 3.24313852e-03 1.65114216e-04 9.99994727e-01 6.28766232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.77956246 meters 0.035102159453326155 Centerline is valid? [True, True] Translation: X:-3.78, Y:0.18, Z:0.07 [[ 9.99988118e-01 4.42096730e-03 -2.05400606e-03 -3.78198773e+00] [-4.42117006e-03 9.99990222e-01 -9.41869616e-05 1.81868354e-01] [ 2.05356958e-03 1.03266953e-04 9.99997886e-01 6.77379978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.80956246 meters 0.03698409031808639 Centerline is valid? [True, True] Translation: X:-3.81, Y:0.19, Z:0.06 [[ 9.99973266e-01 6.14263308e-03 -3.96672453e-03 -3.81281601e+00] [-6.14342161e-03 9.99981112e-01 -1.86632288e-04 1.89020146e-01] [ 3.96550319e-03 2.10996560e-04 9.99992115e-01 6.45509137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8395624600000002 meters 0.03581203779793287 Centerline is valid? [True, True] Translation: X:-3.84, Y:0.19, Z:0.06 [[ 9.99964540e-01 7.15013593e-03 -4.44906788e-03 -3.84187923e+00] [-7.15113454e-03 9.99974409e-01 -2.08586490e-04 1.93389008e-01] [ 4.44746260e-03 2.40394977e-04 9.99990081e-01 6.06095861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.86956246 meters 0.04001170029800105 Centerline is valid? [True, True] Translation: X:-3.87, Y:0.20, Z:0.06 [[ 9.99950340e-01 8.97395522e-03 -4.33415868e-03 -3.87243296e+00] [-8.97492115e-03 9.99959704e-01 -2.03464972e-04 2.04118111e-01] [ 4.33215814e-03 2.42353600e-04 9.99990587e-01 6.05550213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.89956246 meters 0.039774278660107305 Centerline is valid? [True, True] Translation: X:-3.90, Y:0.21, Z:0.07 [[ 9.99942150e-01 1.04545288e-02 -2.52990829e-03 -3.90256352e+00] [-1.04548629e-02 9.99945339e-01 -1.18868476e-04 2.09555223e-01] [ 2.52852729e-03 1.45311444e-04 9.99996793e-01 6.60456138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.92956246 meters 0.04025657055628938 Centerline is valid? [True, True] Translation: X:-3.93, Y:0.21, Z:0.07 [[ 9.99926751e-01 1.20267454e-02 -1.36015402e-03 -3.93334762e+00] [-1.20268437e-02 9.99927673e-01 -6.40950350e-05 2.12692525e-01] [ 1.35928479e-03 8.04487000e-05 9.99999073e-01 6.83182148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.95956246 meters 0.03983784259017872 Centerline is valid? [True, True] Translation: X:-3.96, Y:0.21, Z:0.07 [[ 9.99917906e-01 1.25917796e-02 -2.37240536e-03 -3.96476073e+00] [-1.25920810e-02 9.99920710e-01 -1.12120118e-04 2.12779824e-01] [ 2.37080546e-03 1.41984434e-04 9.99997180e-01 6.60529453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.98956246 meters 0.03762466765794995 Centerline is valid? [True, True] Translation: X:-4.00, Y:0.21, Z:0.07 [[ 9.99928574e-01 1.14240273e-02 -3.51264784e-03 -3.99541080e+00] [-1.14246805e-02 9.99934722e-01 -1.65953867e-04 2.08618511e-01] [ 3.51052268e-03 2.06072893e-04 9.99993817e-01 6.76276694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0195624599999995 meters 0.038133540332177036 Centerline is valid? [True, True] Translation: X:-4.03, Y:0.21, Z:0.07 [[ 9.99941086e-01 1.04155510e-02 -3.05629633e-03 -4.02818785e+00] [-1.04160422e-02 9.99945741e-01 -1.44839689e-04 2.13892628e-01] [ 3.05462191e-03 1.76665667e-04 9.99995319e-01 6.83738860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.04956246 meters 0.03789973610813984 Centerline is valid? [True, True] Translation: X:-4.06, Y:0.21, Z:0.07 [[ 9.99943556e-01 9.73140324e-03 -4.26438161e-03 -4.06068025e+00] [-9.73235318e-03 9.99952619e-01 -2.02066593e-04 2.12841878e-01] [ 4.26221317e-03 2.43557655e-04 9.99990887e-01 6.81681570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.07956246 meters 0.03839977166873699 Centerline is valid? [True, True] Translation: X:-4.09, Y:0.21, Z:0.07 [[ 9.99936671e-01 1.02144159e-02 -4.72444906e-03 -4.09198395e+00] [-1.02155860e-02 9.99947795e-01 -2.23598854e-04 2.14208008e-01] [ 4.72191849e-03 2.71847709e-04 9.99988815e-01 6.55600522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.10956246 meters 0.03812175896503725 Centerline is valid? [True, True] Translation: X:-4.12, Y:0.21, Z:0.07 [[ 9.99931847e-01 1.09101039e-02 -4.15585329e-03 -4.12302660e+00] [-1.09110150e-02 9.99940454e-01 -1.96620617e-04 2.13028353e-01] [ 4.15346067e-03 2.41951795e-04 9.99991345e-01 6.54616582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.13956246 meters 0.03868367465636374 Centerline is valid? [True, True] Translation: X:-4.15, Y:0.22, Z:0.07 [[ 9.99906042e-01 1.28019013e-02 -4.90076912e-03 -4.15484764e+00] [-1.28031934e-02 9.99918009e-01 -2.32365426e-04 2.16788623e-01] [ 4.89739258e-03 2.95089088e-04 9.99987964e-01 6.82859226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.16956246 meters 0.03887613729559957 Centerline is valid? [True, True] Translation: X:-4.19, Y:0.22, Z:0.07 [[ 9.99903933e-01 1.32068353e-02 -4.20767325e-03 -4.18676341e+00] [-1.32077937e-02 9.99912753e-01 -2.00054475e-04 2.16568937e-01] [ 4.20466406e-03 2.55609337e-04 9.99991128e-01 6.88067798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.19956246 meters 0.03883255550967449 Centerline is valid? [True, True] Translation: X:-4.22, Y:0.21, Z:0.07 [[ 9.99913658e-01 1.27330032e-02 -3.24753923e-03 -4.21889272e+00] [-1.27335727e-02 9.99918913e-01 -1.54773165e-04 2.13437849e-01] [ 3.24530517e-03 1.96112579e-04 9.99994715e-01 6.88367576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.22956246 meters 0.038113181646770244 Centerline is valid? [True, True] Translation: X:-4.25, Y:0.21, Z:0.07 [[ 9.99912664e-01 1.28977765e-02 -2.88301010e-03 -4.24997073e+00] [-1.28982262e-02 9.99916805e-01 -1.37442325e-04 2.10644362e-01] [ 2.88099755e-03 1.74616038e-04 9.99995835e-01 7.19039898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.25956246 meters 0.03887358070030808 Centerline is valid? [True, True] Translation: X:-4.28, Y:0.21, Z:0.07 [[ 9.99905464e-01 1.27070512e-02 -5.25304690e-03 -4.28269322e+00] [-1.27085421e-02 9.99919212e-01 -2.50517111e-04 2.14290635e-01] [ 5.24943918e-03 3.17251996e-04 9.99986171e-01 6.93450746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.28956246 meters 0.03876424785133809 Centerline is valid? [True, True] Translation: X:-4.31, Y:0.21, Z:0.07 [[ 9.99912710e-01 1.22174674e-02 -5.03054588e-03 -4.31422707e+00] [-1.22188276e-02 9.99925319e-01 -2.39741737e-04 2.12991104e-01] [ 5.02724116e-03 3.01188183e-04 9.99987318e-01 6.94977281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.31956246 meters 0.03879403641023594 Centerline is valid? [True, True] Translation: X:-4.35, Y:0.21, Z:0.07 [[ 9.99907111e-01 1.30429118e-02 -3.95620677e-03 -4.34517668e+00] [-1.30437603e-02 9.99914909e-01 -1.88741570e-04 2.11596197e-01] [ 3.95340839e-03 2.40327850e-04 9.99992156e-01 7.39263281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3495624600000005 meters 0.039059323937875236 Centerline is valid? [True, True] Translation: X:-4.38, Y:0.21, Z:0.07 [[ 9.99891242e-01 1.43808749e-02 -3.27019222e-03 -4.37729135e+00] [-1.43814634e-02 9.99896569e-01 -1.56493803e-04 2.14042553e-01] [ 3.26760347e-03 2.03506932e-04 9.99994641e-01 7.27239964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.37956246 meters 0.04095520712805178 Centerline is valid? [True, True] Translation: X:-4.41, Y:0.22, Z:0.07 [[ 9.99898334e-01 1.33811986e-02 -4.92591622e-03 -4.41010358e+00] [-1.33825222e-02 9.99910422e-01 -2.35852071e-04 2.17643868e-01] [ 4.92231899e-03 3.01749276e-04 9.99987840e-01 6.98463720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.40956246 meters 0.038893132135562024 Centerline is valid? [True, True] Translation: X:-4.44, Y:0.21, Z:0.07 [[ 9.99875799e-01 1.38605867e-02 -7.50137240e-03 -4.44050260e+00] [-1.38636663e-02 9.99903830e-01 -3.58691871e-04 2.11061042e-01] [ 7.49567932e-03 4.62643845e-04 9.99971800e-01 7.36096520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.43956246 meters 0.041670770581015516 Centerline is valid? [True, True] Translation: X:-4.47, Y:0.22, Z:0.07 [[ 9.99889992e-01 1.43326307e-02 -3.81820265e-03 -4.47149003e+00] [-1.43334313e-02 9.99897254e-01 -1.82394517e-04 2.21403227e-01] [ 3.81519615e-03 2.37102398e-04 9.99992694e-01 7.44774492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.46956246 meters 0.041545500363162874 Centerline is valid? [True, True] Translation: X:-4.50, Y:0.22, Z:0.08 [[ 9.99881537e-01 1.52972099e-02 -1.70510166e-03 -4.50237313e+00] [-1.52973720e-02 9.99882985e-01 -8.20374718e-05 2.23558498e-01] [ 1.70364720e-03 1.08111328e-04 9.99998543e-01 7.70292013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.49956246 meters 0.041630382984882315 Centerline is valid? [True, True] Translation: X:-4.53, Y:0.23, Z:0.08 [[ 9.99844271e-01 1.70870203e-02 -4.41209558e-03 -4.53202704e+00] [-1.70881158e-02 9.99853965e-01 -2.10728632e-04 2.25086757e-01] [ 4.40785054e-03 2.86090216e-04 9.99990244e-01 7.70724513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.52956246 meters 0.041684404374842825 Centerline is valid? [True, True] Translation: X:-4.56, Y:0.23, Z:0.08 [[ 9.99817370e-01 1.75571891e-02 -7.54800747e-03 -4.56245798e+00] [-1.75604132e-02 9.99845739e-01 -3.61089690e-04 2.27897620e-01] [ 7.54050339e-03 4.93569874e-04 9.99971448e-01 7.53366613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.55956246 meters 0.03902682782821753 Centerline is valid? [True, True] Translation: X:-4.59, Y:0.22, Z:0.08 [[ 9.99821956e-01 1.73574733e-02 -7.40092501e-03 -4.59318498e+00] [-1.73605800e-02 9.99849230e-01 -3.55732083e-04 2.21400175e-01] [ 7.39363457e-03 4.84153098e-04 9.99972550e-01 7.67602087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.58956246 meters 0.03954351311560246 Centerline is valid? [True, True] Translation: X:-4.62, Y:0.23, Z:0.08 [[ 9.99850463e-01 1.65323454e-02 -5.07286722e-03 -4.62466015e+00] [-1.65337933e-02 9.99863278e-01 -2.43609227e-04 2.25039179e-01] [ 5.06814622e-03 3.27446537e-04 9.99987103e-01 8.05369969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.61956246 meters 0.038922573094413715 Centerline is valid? [True, True] Translation: X:-4.66, Y:0.23, Z:0.08 [[ 9.99841613e-01 1.70321102e-02 -5.16294301e-03 -4.65557975e+00] [-1.70336188e-02 9.99854887e-01 -2.48357217e-04 2.26124197e-01] [ 5.15796375e-03 3.36261483e-04 9.99986641e-01 8.20284588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.64956246 meters 0.04422847822298708 Centerline is valid? [True, True] Translation: X:-4.69, Y:0.24, Z:0.08 [[ 9.99844547e-01 1.65756282e-02 -6.01087001e-03 -4.68880886e+00] [-1.65776677e-02 9.99862539e-01 -2.89640897e-04 2.40957285e-01] [ 6.00524277e-03 3.89242077e-04 9.99981893e-01 7.82928966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.67956246 meters 0.04139064456147049 Centerline is valid? [True, True] Translation: X:-4.72, Y:0.23, Z:0.08 [[ 9.99848630e-01 1.62250057e-02 -6.28226268e-03 -4.71952361e+00] [-1.62272270e-02 9.99868284e-01 -3.02768266e-04 2.31920956e-01] [ 6.27652279e-03 4.04666139e-04 9.99980221e-01 7.89064332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.70956246 meters 0.03988114859806602 Centerline is valid? [True, True] Translation: X:-4.75, Y:0.23, Z:0.08 [[ 9.99881801e-01 1.36330186e-02 -7.10808849e-03 -4.74891350e+00] [-1.36357929e-02 9.99906970e-01 -3.41987611e-04 2.27874135e-01] [ 7.10276490e-03 4.38871611e-04 9.99974679e-01 8.16845431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.73956246 meters 0.0389818612259057 Centerline is valid? [True, True] Translation: X:-4.78, Y:0.22, Z:0.08 [[ 9.99901358e-01 1.18530287e-02 -7.53521070e-03 -4.77963561e+00] [-1.18560961e-02 9.99929648e-01 -3.62537511e-04 2.24980899e-01] [ 7.53038342e-03 4.51839932e-04 9.99971544e-01 8.02921239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.76956246 meters 0.03934578774190846 Centerline is valid? [True, True] Translation: X:-4.81, Y:0.23, Z:0.08 [[ 9.99924648e-01 9.79472059e-03 -7.40013640e-03 -4.80920664e+00] [-9.79761851e-03 9.99951939e-01 -3.55451200e-04 2.25452977e-01] [ 7.39629919e-03 4.27928129e-04 9.99972555e-01 7.86189548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.79956246 meters 0.03934578774190846 Centerline is valid? [True, True] Translation: X:-4.84, Y:0.22, Z:0.08 [[ 9.99922179e-01 1.00434205e-02 -7.40033846e-03 -4.83653299e+00] [-1.00462941e-02 9.99949473e-01 -3.51236751e-04 2.23965876e-01] [ 7.39643693e-03 4.25555394e-04 9.99972555e-01 7.89192432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.82956246 meters 0.03732361241496048 Centerline is valid? [True, True] Translation: X:-4.86, Y:0.22, Z:0.08 [[ 9.99927561e-01 9.51079431e-03 -7.37688355e-03 -4.86409551e+00] [-9.51364457e-03 9.99954683e-01 -3.51382122e-04 2.19523805e-01] [ 7.37320732e-03 4.21537717e-04 9.99972729e-01 8.10862434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.85956246 meters 0.038981635873954514 Centerline is valid? [True, True] Translation: X:-4.89, Y:0.22, Z:0.08 [[ 9.99909322e-01 1.13956877e-02 -7.17535000e-03 -4.89313118e+00] [-1.13984304e-02 9.99934977e-01 -3.41469481e-04 2.23306473e-01] [ 7.17099216e-03 4.23226245e-04 9.99974199e-01 7.98118661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.88956246 meters 0.03895831301202029 Centerline is valid? [True, True] Translation: X:-4.92, Y:0.23, Z:0.08 [[ 9.99862281e-01 1.51887925e-02 -6.68724757e-03 -4.92215285e+00] [-1.51912594e-02 9.99884556e-01 -3.18246405e-04 2.26018685e-01] [ 6.68164178e-03 4.19790289e-04 9.99977589e-01 8.26810207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.91956246 meters 0.04188130616430532 Centerline is valid? [True, True] Translation: X:-4.95, Y:0.23, Z:0.08 [[ 9.99774935e-01 1.95969761e-02 -8.12632117e-03 -4.95290696e+00] [-1.96007678e-02 9.99807812e-01 -3.87209898e-04 2.33012691e-01] [ 8.11717125e-03 5.46404885e-04 9.99966906e-01 8.09902922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.94956246 meters 0.04156079714531776 Centerline is valid? [True, True] Translation: X:-4.98, Y:0.23, Z:0.08 [[ 9.99703259e-01 2.29078658e-02 -8.28397037e-03 -4.98252378e+00] [-2.29119179e-02 9.99737410e-01 -3.94559334e-04 2.31312411e-01] [ 8.27275657e-03 5.84243901e-04 9.99965609e-01 8.45571133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.97956246 meters 0.0429666005009789 Centerline is valid? [True, True] Translation: X:-5.01, Y:0.24, Z:0.08 [[ 9.99671083e-01 2.47163378e-02 -6.84318828e-03 -5.01468885e+00] [-2.47191516e-02 9.99694382e-01 -3.26901288e-04 2.35227519e-01] [ 6.83301708e-03 4.95951573e-04 9.99976532e-01 8.45472989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.00956246 meters 0.04651859295024841 Centerline is valid? [True, True] Translation: X:-5.05, Y:0.24, Z:0.09 [[ 9.99562549e-01 2.87174946e-02 -7.07222260e-03 -5.04541421e+00] [-2.87205955e-02 9.99587422e-01 -3.37273886e-04 2.42693450e-01] [ 7.05961909e-03 5.40244790e-04 9.99974935e-01 8.51321934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.03956246 meters 0.05045963856612678 Centerline is valid? [True, True] Translation: X:-5.08, Y:0.25, Z:0.08 [[ 9.99546398e-01 2.89803982e-02 -8.19355574e-03 -5.07780878e+00] [-2.89845792e-02 9.99579782e-01 -3.91969863e-04 2.50885772e-01] [ 8.17875322e-03 6.29278829e-04 9.99966355e-01 7.77807827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.06956246 meters 0.046518354639583766 Centerline is valid? [True, True] Translation: X:-5.11, Y:0.24, Z:0.08 [[ 9.99493506e-01 3.08335040e-02 -7.87563400e-03 -5.10840185e+00] [-3.08374234e-02 9.99524343e-01 -3.76691125e-04 2.41016341e-01] [ 7.86027319e-03 6.19364594e-04 9.99968916e-01 8.31210740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.09956246 meters 0.043564738139244524 Centerline is valid? [True, True] Translation: X:-5.14, Y:0.23, Z:0.09 [[ 9.99531427e-01 2.96758972e-02 -7.50117211e-03 -5.13903421e+00] [-2.96794247e-02 9.99559404e-01 -3.59360691e-04 2.33245706e-01] [ 7.48720277e-03 5.81822777e-04 9.99971801e-01 8.69011225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.12956246 meters 0.044814942531940787 Centerline is valid? [True, True] Translation: X:-5.17, Y:0.24, Z:0.08 [[ 9.99555033e-01 2.87920246e-02 -7.79452117e-03 -5.17129743e+00] [-2.87958121e-02 9.99585245e-01 -3.74098624e-04 2.38388187e-01] [ 7.78051730e-03 5.98381730e-04 9.99969552e-01 8.23829354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.15956246 meters 0.04652441536633249 Centerline is valid? [True, True] Translation: X:-5.20, Y:0.24, Z:0.08 [[ 9.99543425e-01 2.88807619e-02 -8.87931000e-03 -5.20411334e+00] [-2.88856847e-02 9.99582631e-01 -4.26630964e-04 2.43124603e-01] [ 8.86328262e-03 6.82921124e-04 9.99960487e-01 7.99475230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.18956246 meters 0.05058834189860765 Centerline is valid? [True, True] Translation: X:-5.24, Y:0.26, Z:0.08 [[ 9.99543308e-01 2.87202474e-02 -9.39798384e-03 -5.23720621e+00] [-2.87257601e-02 9.99587228e-01 -4.52097404e-04 2.55287516e-01] [ 9.38112026e-03 7.21855164e-04 9.99955736e-01 7.83066490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.21956246 meters 0.04653756490225186 Centerline is valid? [True, True] Translation: X:-5.27, Y:0.25, Z:0.08 [[ 9.99534066e-01 2.88536238e-02 -9.95586410e-03 -5.26795169e+00] [-2.88598360e-02 9.99583353e-01 -4.80841943e-04 2.47905585e-01] [ 9.93784198e-03 7.67942508e-04 9.99950324e-01 7.95221621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.24956246 meters 0.04692649219245346 Centerline is valid? [True, True] Translation: X:-5.30, Y:0.25, Z:0.08 [[ 9.99508588e-01 3.00387467e-02 -8.95853536e-03 -5.29995561e+00] [-3.00438212e-02 9.99548489e-01 -4.32380064e-04 2.51977950e-01] [ 8.94150233e-03 7.01316223e-04 9.99959778e-01 8.41053870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.27956246 meters 0.046012576317846665 Centerline is valid? [True, True] Translation: X:-5.33, Y:0.25, Z:0.09 [[ 9.99520213e-01 2.98646342e-02 -8.21268889e-03 -5.33067418e+00] [-2.98688941e-02 9.99553746e-01 -3.96513745e-04 2.52658036e-01] [ 8.19718221e-03 6.41627438e-04 9.99966197e-01 8.62549357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3095624599999995 meters 0.04613217004222811 Centerline is valid? [True, True] Translation: X:-5.36, Y:0.26, Z:0.09 [[ 9.99457124e-01 3.12507881e-02 -1.04328646e-02 -5.36099841e+00] [-3.12577332e-02 9.99511231e-01 -5.03259928e-04 2.56854309e-01] [ 1.04120380e-02 8.29094418e-04 9.99945450e-01 8.57130824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.33956246 meters 0.04830852532957557 Centerline is valid? [True, True] Translation: X:-5.39, Y:0.26, Z:0.08 [[ 9.99479106e-01 3.05084619e-02 -1.05238343e-02 -5.39394107e+00] [-3.05155025e-02 9.99534164e-01 -5.09059502e-04 2.64189005e-01] [ 1.05034013e-02 8.29934428e-04 9.99944493e-01 8.32237714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.36956246 meters 0.04889913390496034 Centerline is valid? [True, True] Translation: X:-5.43, Y:0.27, Z:0.09 [[ 9.99500833e-01 3.01416286e-02 -9.46397213e-03 -5.42646819e+00] [-3.01473123e-02 9.99545361e-01 -4.58441982e-04 2.67992116e-01] [ 9.44585126e-03 7.43526466e-04 9.99955111e-01 8.60380580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.39956246 meters 0.04744958265499332 Centerline is valid? [True, True] Translation: X:-5.46, Y:0.27, Z:0.09 [[ 9.99516062e-01 2.93751179e-02 -1.02344932e-02 -5.45735276e+00] [-2.93817274e-02 9.99568141e-01 -4.96016060e-04 2.65348003e-01] [ 1.02155028e-02 7.96483107e-04 9.99947503e-01 8.59290331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.42956246 meters 0.04635242406683494 Centerline is valid? [True, True] Translation: X:-5.49, Y:0.26, Z:0.09 [[ 9.99558270e-01 2.77144609e-02 -1.07318903e-02 -5.48801431e+00] [-2.77216312e-02 9.99615547e-01 -5.19923562e-04 2.63580497e-01] [ 1.07133550e-02 8.17199401e-04 9.99942276e-01 8.60506437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.45956246 meters 0.04672021814039499 Centerline is valid? [True, True] Translation: X:-5.52, Y:0.26, Z:0.09 [[ 9.99611065e-01 2.57237310e-02 -1.07707642e-02 -5.51954251e+00] [-2.57308440e-02 9.99668771e-01 -5.22326516e-04 2.64177948e-01] [ 1.07537604e-02 7.99264217e-04 9.99941857e-01 8.59229215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.48956246 meters 0.04393156255173175 Centerline is valid? [True, True] Translation: X:-5.55, Y:0.26, Z:0.09 [[ 9.99676033e-01 2.28875769e-02 -1.11349718e-02 -5.54902056e+00] [-2.28950000e-02 9.99737729e-01 -5.39619543e-04 2.60104574e-01] [ 1.11197008e-02 7.94379904e-04 9.99937859e-01 8.56840736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.51956246 meters 0.04352592146765883 Centerline is valid? [True, True] Translation: X:-5.58, Y:0.26, Z:0.08 [[ 9.99670370e-01 2.30885258e-02 -1.12281634e-02 -5.58006778e+00] [-2.30960983e-02 9.99733101e-01 -5.45206021e-04 2.59732406e-01] [ 1.12125787e-02 8.04353071e-04 9.99936814e-01 8.40392302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.54956246 meters 0.04346259512669536 Centerline is valid? [True, True] Translation: X:-5.61, Y:0.26, Z:0.09 [[ 9.99665963e-01 2.34463836e-02 -1.08733310e-02 -5.61197884e+00] [-2.34535159e-02 9.99724789e-01 -5.28879130e-04 2.59735536e-01] [ 1.08579383e-02 7.83720307e-04 9.99940744e-01 8.70272181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.57956246 meters 0.04878208175244533 Centerline is valid? [True, True] Translation: X:-5.64, Y:0.27, Z:0.08 [[ 9.99670718e-01 2.34492164e-02 -1.04206021e-02 -5.64499266e+00] [-2.34557746e-02 9.99724747e-01 -5.07567077e-04 2.66378195e-01] [ 1.04058318e-02 7.51823239e-04 9.99945575e-01 8.45601513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.60956246 meters 0.043158313521162645 Centerline is valid? [True, True] Translation: X:-5.68, Y:0.26, Z:0.09 [[ 9.99675621e-01 2.28178390e-02 -1.13136488e-02 -5.67547010e+00] [-2.28255328e-02 9.99739312e-01 -5.51370716e-04 2.58197750e-01] [ 1.12981183e-02 8.09431924e-04 9.99935847e-01 8.67448730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.63956246 meters 0.04532934543995927 Centerline is valid? [True, True] Translation: X:-5.71, Y:0.26, Z:0.09 [[ 9.99642220e-01 2.40510171e-02 -1.17039044e-02 -5.70735718e+00] [-2.40593415e-02 9.99710369e-01 -5.70948052e-04 2.61012983e-01] [ 1.16867827e-02 8.52332010e-04 9.99931344e-01 8.52971004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.66956246 meters 0.04650763160935107 Centerline is valid? [True, True] Translation: X:-5.74, Y:0.26, Z:0.09 [[ 9.99650264e-01 2.37350542e-02 -1.16617861e-02 -5.73959512e+00] [-2.37433079e-02 9.99717926e-01 -5.69800026e-04 2.63218080e-01] [ 1.16449724e-02 8.46490125e-04 9.99931837e-01 8.52658001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.69956246 meters 0.04461393238898141 Centerline is valid? [True, True] Translation: X:-5.77, Y:0.26, Z:0.09 [[ 9.99644958e-01 2.40647100e-02 -1.14388948e-02 -5.77093978e+00] [-2.40726772e-02 9.99710055e-01 -5.59307694e-04 2.60153360e-01] [ 1.14221186e-02 8.34473938e-04 9.99934417e-01 8.54265644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.72956246 meters 0.046203705972600324 Centerline is valid? [True, True] Translation: X:-5.80, Y:0.26, Z:0.09 [[ 9.99616862e-01 2.53317124e-02 -1.11549423e-02 -5.80229737e+00] [-2.53393696e-02 9.99678758e-01 -5.45623221e-04 2.64540941e-01] [ 1.11375372e-02 8.28073377e-04 9.99937633e-01 8.75800841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.75956246 meters 0.04560192930575778 Centerline is valid? [True, True] Translation: X:-5.83, Y:0.26, Z:0.09 [[ 9.99606337e-01 2.58189725e-02 -1.09795832e-02 -5.83362056e+00] [-2.58264278e-02 9.99666298e-01 -5.37743124e-04 2.61441404e-01] [ 1.09620353e-02 8.21094846e-04 9.99939578e-01 8.97468172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.78956246 meters 0.04500969240337294 Centerline is valid? [True, True] Translation: X:-5.87, Y:0.26, Z:0.09 [[ 9.99623798e-01 2.51185841e-02 -1.10144625e-02 -5.86586753e+00] [-2.51260543e-02 9.99684145e-01 -5.40336410e-04 2.61423020e-01] [ 1.09974110e-02 8.16883116e-04 9.99939193e-01 8.99735196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.81956246 meters 0.0464659335355836 Centerline is valid? [True, True] Translation: X:-5.90, Y:0.26, Z:0.09 [[ 9.99605927e-01 2.45837026e-02 -1.35511030e-02 -5.89814840e+00] [-2.45949709e-02 9.99697276e-01 -6.65489244e-04 2.64190860e-01] [ 1.35306405e-02 9.98515975e-04 9.99907958e-01 8.77508404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.84956246 meters 0.045744670620971574 Centerline is valid? [True, True] Translation: X:-5.93, Y:0.26, Z:0.09 [[ 9.99635480e-01 2.32301617e-02 -1.37574109e-02 -5.92893895e+00] [-2.32416437e-02 9.99729648e-01 -6.75294078e-04 2.63231965e-01] [ 1.37380044e-02 9.94792763e-04 9.99905134e-01 8.84065816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.87956246 meters 0.04409181545336948 Centerline is valid? [True, True] Translation: X:-5.96, Y:0.26, Z:0.09 [[ 9.99701014e-01 2.14547404e-02 -1.17292814e-02 -5.95836372e+00] [-2.14629586e-02 9.99769479e-01 -5.75213051e-04 2.61799597e-01] [ 1.17142365e-02 8.26786151e-04 9.99931044e-01 9.34961530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.90956246 meters 0.046225334402919066 Centerline is valid? [True, True] Translation: X:-5.99, Y:0.27, Z:0.09 [[ 9.99756347e-01 1.89690903e-02 -1.12880868e-02 -5.99034517e+00] [-1.89765542e-02 9.99819775e-01 -5.54465397e-04 2.72202428e-01] [ 1.12755347e-02 7.68539290e-04 9.99936134e-01 9.19814707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.93956246 meters 0.04242723580325553 Centerline is valid? [True, True] Translation: X:-6.02, Y:0.26, Z:0.09 [[ 9.99769415e-01 1.73939758e-02 -1.25922899e-02 -6.02038742e+00] [-1.74031396e-02 9.99848363e-01 -6.18509051e-04 2.63741816e-01] [ 1.25796221e-02 8.37511811e-04 9.99920523e-01 9.07614251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.96956246 meters 0.04127499845796753 Centerline is valid? [True, True] Translation: X:-6.05, Y:0.26, Z:0.09 [[ 9.99819693e-01 1.31351966e-02 -1.37130338e-02 -6.05080301e+00] [-1.31456621e-02 9.99913365e-01 -6.73311466e-04 2.60480811e-01] [ 1.37030017e-02 8.53456972e-04 9.99905745e-01 8.98053485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.99956246 meters 0.04271313780626776 Centerline is valid? [True, True] Translation: X:-6.08, Y:0.27, Z:0.09 [[ 9.99858763e-01 1.06765344e-02 -1.29794429e-02 -6.08083706e+00] [-1.06856990e-02 9.99942703e-01 -6.36938370e-04 2.65529985e-01] [ 1.29718989e-02 7.75542829e-04 9.99915561e-01 9.09236236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.02956246 meters 0.03879260637755866 Centerline is valid? [True, True] Translation: X:-6.11, Y:0.26, Z:0.10 [[ 9.99886452e-01 9.83074242e-03 -1.14210254e-02 -6.10909633e+00] [-9.83777275e-03 9.99951451e-01 -5.59541333e-04 2.62075388e-01] [ 1.14149702e-02 6.71835250e-04 9.99934621e-01 9.75009655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0595624599999995 meters 0.04070830259705675 Centerline is valid? [True, True] Translation: X:-6.14, Y:0.27, Z:0.10 [[ 9.99873070e-01 1.08938815e-02 -1.16261039e-02 -6.13778057e+00] [-1.09011855e-02 9.99940421e-01 -5.65048325e-04 2.66509920e-01] [ 1.16192556e-02 6.91714919e-04 9.99932255e-01 9.61145254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.08956246 meters 0.03957213179371343 Centerline is valid? [True, True] Translation: X:-6.16, Y:0.26, Z:0.10 [[ 9.99851494e-01 9.74985771e-03 -1.42101888e-02 -6.16493876e+00] [-9.76064988e-03 9.99952125e-01 -6.90309648e-04 2.64274449e-01] [ 1.42027781e-02 8.28907812e-04 9.99898792e-01 9.61339699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.11956246 meters 0.04011153337989029 Centerline is valid? [True, True] Translation: X:-6.19, Y:0.27, Z:0.10 [[ 9.99861142e-01 9.71900611e-03 -1.35364949e-02 -6.19368295e+00] [-9.72874097e-03 9.99952461e-01 -6.53491121e-04 2.70118776e-01] [ 1.35295001e-02 7.85093431e-04 9.99908164e-01 9.65876236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.14956246 meters 0.038946608388969906 Centerline is valid? [True, True] Translation: X:-6.22, Y:0.27, Z:0.10 [[ 9.99876736e-01 1.01672220e-02 -1.19641059e-02 -6.22094333e+00] [-1.01748624e-02 9.99948068e-01 -5.77910483e-04 2.67838709e-01] [ 1.19576088e-02 6.99572379e-04 9.99928261e-01 9.83785530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.17956246 meters 0.038980874099152865 Centerline is valid? [True, True] Translation: X:-6.25, Y:0.27, Z:0.10 [[ 9.99861315e-01 1.08689859e-02 -1.26180885e-02 -6.24954259e+00] [-1.08774849e-02 9.99940655e-01 -6.05117807e-04 2.69436593e-01] [ 1.26107627e-02 7.42286953e-04 9.99920206e-01 9.99576895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.20956246 meters 0.040327153119076246 Centerline is valid? [True, True] Translation: X:-6.28, Y:0.28, Z:0.10 [[ 9.99833183e-01 1.13968838e-02 -1.42729635e-02 -6.27913476e+00] [-1.14077759e-02 9.99934697e-01 -6.81942831e-04 2.75776721e-01] [ 1.42642594e-02 8.44651839e-04 9.99897904e-01 9.57261497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.23956246 meters 0.04014091684897788 Centerline is valid? [True, True] Translation: X:-6.31, Y:0.28, Z:0.10 [[ 9.99850295e-01 1.12527957e-02 -1.31439321e-02 -6.30824901e+00] [-1.12619778e-02 9.99936387e-01 -6.24774785e-04 2.76951401e-01] [ 1.31360655e-02 7.72707925e-04 9.99913420e-01 9.76523707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.26956246 meters 0.038925675301730266 Centerline is valid? [True, True] Translation: X:-6.34, Y:0.27, Z:0.10 [[ 9.99872495e-01 1.14348757e-02 -1.11461675e-02 -6.33597875e+00] [-1.14414817e-02 9.99934404e-01 -5.29083246e-04 2.73788644e-01] [ 1.11393864e-02 6.56544457e-04 9.99937740e-01 1.01640374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.29956246 meters 0.03976976134050899 Centerline is valid? [True, True] Translation: X:-6.37, Y:0.28, Z:0.10 [[ 9.99854384e-01 1.28256446e-02 -1.12567267e-02 -6.36538176e+00] [-1.28324332e-02 9.99917520e-01 -5.31046532e-04 2.76137709e-01] [ 1.12489873e-02 6.75420397e-04 9.99936500e-01 1.01928315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.32956246 meters 0.03927765757750144 Centerline is valid? [True, True] Translation: X:-6.39, Y:0.28, Z:0.10 [[ 9.99819714e-01 1.30059757e-02 -1.38341610e-02 -6.39337448e+00] [-1.30162577e-02 9.99915071e-01 -6.53454968e-04 2.76253000e-01] [ 1.38244873e-02 8.33406165e-04 9.99904090e-01 9.55561942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.35956246 meters 0.0417826454821679 Centerline is valid? [True, True] Translation: X:-6.42, Y:0.28, Z:0.09 [[ 9.99823505e-01 1.21486478e-02 -1.43306846e-02 -6.42179580e+00] [-1.21595770e-02 9.99925841e-01 -6.75756447e-04 2.79634140e-01] [ 1.43214123e-02 8.49892242e-04 9.99897082e-01 9.24966289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.38956246 meters 0.039037629111173644 Centerline is valid? [True, True] Translation: X:-6.45, Y:0.27, Z:0.10 [[ 9.99869106e-01 8.95041286e-03 -1.34781624e-02 -6.45070802e+00] [-8.95979171e-03 9.99959658e-01 -6.35631297e-04 2.70874810e-01] [ 1.34719295e-02 7.56309624e-04 9.99908963e-01 9.50449901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.41956246 meters 0.0395726702653788 Centerline is valid? [True, True] Translation: X:-6.48, Y:0.27, Z:0.10 [[ 9.99885253e-01 8.64228978e-03 -1.24414904e-02 -6.47953833e+00] [-8.65019677e-03 9.99962417e-01 -5.81860528e-04 2.71165536e-01] [ 1.24359942e-02 6.89415102e-04 9.99922432e-01 9.62284791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.44956246 meters 0.04181554990566646 Centerline is valid? [True, True] Translation: X:-6.51, Y:0.28, Z:0.10 [[ 9.99900954e-01 8.52690146e-03 -1.11971013e-02 -6.50836700e+00] [-8.53326897e-03 9.99963455e-01 -5.21022046e-04 2.78293565e-01] [ 1.11922494e-02 6.16518318e-04 9.99937175e-01 9.50402501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.47956246 meters 0.037900278187044764 Centerline is valid? [True, True] Translation: X:-6.54, Y:0.27, Z:0.10 [[ 9.99885717e-01 9.27361666e-03 -1.19395583e-02 -6.53524798e+00] [-9.28090741e-03 9.99956777e-01 -5.55374657e-04 2.68072245e-01] [ 1.19338919e-02 6.66121122e-04 9.99928567e-01 9.99382285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.50956246 meters 0.03926265049531735 Centerline is valid? [True, True] Translation: X:-6.56, Y:0.27, Z:0.10 [[ 9.99854171e-01 9.44919593e-03 -1.42249338e-02 -6.56437299e+00] [-9.45950352e-03 9.99955042e-01 -6.57503193e-04 2.70152478e-01] [ 1.42180814e-02 7.91968121e-04 9.99898604e-01 9.87733314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.53956246 meters 0.04139474158348297 Centerline is valid? [True, True] Translation: X:-6.60, Y:0.28, Z:0.10 [[ 9.99799893e-01 1.29845071e-02 -1.52176290e-02 -6.59531131e+00] [-1.29967510e-02 9.99915289e-01 -7.05967815e-04 2.79187283e-01] [ 1.52071733e-02 9.03606282e-04 9.99883956e-01 9.53462652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.56956246 meters 0.042206653590278274 Centerline is valid? [True, True] Translation: X:-6.62, Y:0.28, Z:0.10 [[ 9.99765773e-01 1.68257290e-02 -1.36122830e-02 -6.62443151e+00] [-1.68358703e-02 9.99858068e-01 -6.30754670e-04 2.82223912e-01] [ 1.35997381e-02 8.59781561e-04 9.99907150e-01 9.75255725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.59956246 meters 0.0432600743169542 Centerline is valid? [True, True] Translation: X:-6.65, Y:0.28, Z:0.10 [[ 9.99687813e-01 2.13161948e-02 -1.30344163e-02 -6.65399945e+00] [-2.13258718e-02 9.99772395e-01 -6.03857350e-04 2.83253533e-01] [ 1.30185777e-02 8.81639125e-04 9.99914866e-01 1.00499247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.62956246 meters 0.04208096628968359 Centerline is valid? [True, True] Translation: X:-6.68, Y:0.28, Z:0.10 [[ 9.99667358e-01 2.21963453e-02 -1.31337667e-02 -6.68452452e+00] [-2.22062590e-02 9.99753225e-01 -6.09456253e-04 2.78121704e-01] [ 1.31169979e-02 9.00905347e-04 9.99913563e-01 1.04709835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.65956246 meters 0.04505178500188713 Centerline is valid? [True, True] Translation: X:-6.72, Y:0.28, Z:0.10 [[ 9.99681301e-01 2.19604029e-02 -1.24513721e-02 -6.71608955e+00] [-2.19693003e-02 9.99758479e-01 -5.78224901e-04 2.83750502e-01] [ 1.24356668e-02 8.51588554e-04 9.99922311e-01 1.01190143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.68956246 meters 0.0433469632861924 Centerline is valid? [True, True] Translation: X:-6.75, Y:0.28, Z:0.10 [[ 9.99684746e-01 2.11745207e-02 -1.34925201e-02 -6.74682638e+00] [-2.11849077e-02 9.99775378e-01 -6.27355438e-04 2.76937197e-01] [ 1.34762054e-02 9.12995454e-04 9.99908775e-01 1.00474521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.71956246 meters 0.0433469632861924 Centerline is valid? [True, True] Translation: X:-6.78, Y:0.28, Z:0.10 [[ 9.99685427e-01 2.11423433e-02 -1.34925079e-02 -6.77773430e+00] [-2.11527309e-02 9.99776059e-01 -6.27617395e-04 2.75544088e-01] [ 1.34762171e-02 9.12823353e-04 9.99908775e-01 1.00813331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.74956246 meters 0.04309327459672053 Centerline is valid? [True, True] Translation: X:-6.81, Y:0.27, Z:0.10 [[ 9.99756977e-01 1.84188401e-02 -1.21133151e-02 -6.80764706e+00] [-1.84270083e-02 9.99830050e-01 -5.63038275e-04 2.72982363e-01] [ 1.21008860e-02 7.86113602e-04 9.99926473e-01 1.02662373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.77956246 meters 0.04119668641444186 Centerline is valid? [True, True] Translation: X:-6.84, Y:0.27, Z:0.10 [[ 9.99785381e-01 1.73416646e-02 -1.13340004e-02 -6.83700218e+00] [-1.73487431e-02 9.99849361e-01 -5.26505773e-04 2.67391102e-01] [ 1.13231625e-02 7.23023435e-04 9.99935630e-01 1.02191379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8095624599999995 meters 0.040584537988128146 Centerline is valid? [True, True] Translation: X:-6.87, Y:0.26, Z:0.10 [[ 9.99782014e-01 1.66982481e-02 -1.25337028e-02 -6.86759808e+00] [-1.67068613e-02 9.99860261e-01 -5.82808456e-04 2.63044333e-01] [ 1.25222195e-02 7.92080246e-04 9.99921280e-01 9.99405364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.83956246 meters 0.040555815023910785 Centerline is valid? [True, True] Translation: X:-6.90, Y:0.26, Z:0.10 [[ 9.99779426e-01 1.71614703e-02 -1.21071332e-02 -6.89661226e+00] [-1.71694755e-02 9.99852438e-01 -5.57563159e-04 2.61407050e-01] [ 1.20957781e-02 7.65313303e-04 9.99926551e-01 1.03910531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.86956246 meters 0.04195778519836555 Centerline is valid? [True, True] Translation: X:-6.93, Y:0.27, Z:0.11 [[ 9.99759768e-01 1.96754121e-02 -9.65840693e-03 -6.92697334e+00] [-1.96806392e-02 9.99806218e-01 -4.46442465e-04 2.68009996e-01] [ 9.64775137e-03 6.36418837e-04 9.99953257e-01 1.05691795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.89956246 meters 0.045949827893861886 Centerline is valid? [True, True] Translation: X:-6.96, Y:0.28, Z:0.10 [[ 9.99688475e-01 2.17622111e-02 -1.22212196e-02 -6.95845656e+00] [-2.17707430e-02 9.99762829e-01 -5.65504600e-04 2.77514110e-01] [ 1.22060145e-02 8.31393463e-04 9.99925158e-01 1.01175125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.92956246 meters 0.046413745917659885 Centerline is valid? [True, True] Translation: X:-6.99, Y:0.27, Z:0.10 [[ 9.99535469e-01 2.54795974e-02 -1.67223523e-02 -6.98742324e+00] [-2.54960780e-02 9.99674623e-01 -7.73061147e-04 2.71577401e-01] [ 1.66972140e-02 1.19905643e-03 9.99859873e-01 9.97072130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.95956246 meters 0.050751241020476526 Centerline is valid? [True, True] Translation: X:-7.02, Y:0.28, Z:0.10 [[ 9.99197335e-01 3.43773585e-02 -2.05641253e-02 -7.01853811e+00] [-3.44041641e-02 9.99407549e-01 -9.51046287e-04 2.77280133e-01] [ 2.05192476e-02 1.65777446e-03 9.99788084e-01 9.65520376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.98956246 meters 0.05324544199820061 Centerline is valid? [True, True] Translation: X:-7.05, Y:0.28, Z:0.10 [[ 9.98898926e-01 4.23620374e-02 -2.01592114e-02 -7.04815827e+00] [-4.23893982e-02 9.99100731e-01 -9.31675223e-04 2.82469924e-01] [ 2.01016152e-02 1.78518622e-03 9.99796348e-01 9.80830801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0195624599999995 meters 0.059303027518346 Centerline is valid? [True, True] Translation: X:-7.08, Y:0.29, Z:0.10 [[ 9.98400838e-01 5.44500559e-02 -1.51973290e-02 -7.07912464e+00] [-5.44669954e-02 9.98515324e-01 -7.02663288e-04 2.86999031e-01] [ 1.51365059e-02 1.52929246e-03 9.99884267e-01 1.04341202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.04956246 meters 0.059639084966472126 Centerline is valid? [True, True] Translation: X:-7.11, Y:0.28, Z:0.11 [[ 9.98110789e-01 6.01219504e-02 -1.26572009e-02 -7.10811147e+00] [-6.01341460e-02 9.98190133e-01 -5.84819736e-04 2.79485359e-01] [ 1.25991326e-02 1.34484486e-03 9.99919723e-01 1.10145828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.07956246 meters 0.06716987555921693 Centerline is valid? [True, True] Translation: X:-7.14, Y:0.29, Z:0.10 [[ 9.97716886e-01 6.64834820e-02 -1.18727096e-02 -7.13920517e+00] [-6.64946625e-02 9.97786630e-01 -5.49006380e-04 2.85174730e-01] [ 1.18099311e-02 1.33722475e-03 9.99929366e-01 1.04855082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.10956246 meters 0.063199253973096 Centerline is valid? [True, True] Translation: X:-7.17, Y:0.26, Z:0.10 [[ 9.97742100e-01 6.59307218e-02 -1.28000587e-02 -7.16989176e+00] [-6.59437066e-02 9.97823168e-01 -5.94581945e-04 2.64109011e-01] [ 1.27329939e-02 1.43732275e-03 9.99917899e-01 1.02599943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.13956246 meters 0.06211135656454733 Centerline is valid? [True, True] Translation: X:-7.20, Y:0.25, Z:0.11 [[ 9.97991560e-01 6.19277987e-02 -1.33339199e-02 -7.19945503e+00] [-6.19415207e-02 9.98079589e-01 -6.18197708e-04 2.46906536e-01] [ 1.32700297e-02 1.44287937e-03 9.99910908e-01 1.06478780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.16956246 meters 0.05732538732976894 Centerline is valid? [True, True] Translation: X:-7.23, Y:0.22, Z:0.11 [[ 9.98444197e-01 5.43229715e-02 -1.25777585e-02 -7.22799550e+00] [-5.43345875e-02 9.98522615e-01 -5.83410116e-04 2.18131410e-01] [ 1.25274838e-02 1.26590977e-03 9.99920727e-01 1.09394764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.19956246 meters 0.05421211452008616 Centerline is valid? [True, True] Translation: X:-7.26, Y:0.20, Z:0.11 [[ 9.98645125e-01 4.98069428e-02 -1.50726112e-02 -7.25730740e+00] [-4.98231398e-02 9.98757810e-01 -7.00779803e-04 2.01408412e-01] [ 1.50189845e-02 1.45079515e-03 9.99886156e-01 1.05186294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2295624599999995 meters 0.05527045773871081 Centerline is valid? [True, True] Translation: X:-7.29, Y:0.19, Z:0.10 [[ 9.98740550e-01 4.72219148e-02 -1.69529815e-02 -7.28754486e+00] [-4.72420300e-02 9.98883161e-01 -7.87795315e-04 1.91227170e-01] [ 1.68968466e-02 1.58769639e-03 9.99855978e-01 1.00489132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.25956246 meters 0.05752821080127764 Centerline is valid? [True, True] Translation: X:-7.32, Y:0.18, Z:0.10 [[ 9.98770279e-01 4.71009894e-02 -1.54734425e-02 -7.31852838e+00] [-4.71177492e-02 9.98889082e-01 -7.20164235e-04 1.77080769e-01] [ 1.54223323e-02 1.44835242e-03 9.99880020e-01 1.04365054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.28956246 meters 0.05668296402745762 Centerline is valid? [True, True] Translation: X:-7.35, Y:0.16, Z:0.11 [[ 9.98666739e-01 4.92755112e-02 -1.53840285e-02 -7.34775315e+00] [-4.92923254e-02 9.98784138e-01 -7.15472269e-04 1.63395201e-01] [ 1.53300684e-02 1.47283290e-03 9.99881403e-01 1.06338735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.31956246 meters 0.05622770732371389 Centerline is valid? [True, True] Translation: X:-7.38, Y:0.14, Z:0.10 [[ 9.98468262e-01 5.30037633e-02 -1.58660226e-02 -7.37650794e+00] [-5.30221131e-02 9.98593066e-01 -7.37845375e-04 1.42063030e-01] [ 1.58045916e-02 1.57796524e-03 9.99873854e-01 1.04940066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.34956246 meters 0.062364533819063935 Centerline is valid? [True, True] Translation: X:-7.41, Y:0.14, Z:0.10 [[ 9.98351912e-01 5.54918053e-02 -1.46327874e-02 -7.40742455e+00] [-5.55076833e-02 9.98458028e-01 -6.80893579e-04 1.39106981e-01] [ 1.45724401e-02 1.49200354e-03 9.99892703e-01 1.03616409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.37956246 meters 0.05784232477219575 Centerline is valid? [True, True] Translation: X:-7.44, Y:0.11, Z:0.10 [[ 9.98287859e-01 5.65441449e-02 -1.49703379e-02 -7.43656578e+00] [-5.65608910e-02 9.98398908e-01 -6.97260806e-04 1.06303434e-01] [ 1.49069430e-02 1.54280265e-03 9.99887695e-01 1.03233392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.40956246 meters 0.058854090288085394 Centerline is valid? [True, True] Translation: X:-7.47, Y:0.08, Z:0.11 [[ 9.98491529e-01 5.31114778e-02 -1.39225812e-02 -7.46686096e+00] [-5.31256361e-02 9.98587626e-01 -6.48804149e-04 8.35069752e-02] [ 1.38684583e-02 1.38747143e-03 9.99902866e-01 1.08534271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.43956246 meters 0.05479664845392506 Centerline is valid? [True, True] Translation: X:-7.49, Y:0.06, Z:0.11 [[ 9.98646943e-01 5.07911622e-02 -1.11597958e-02 -7.49489061e+00] [-5.08001251e-02 9.98708704e-01 -5.20968959e-04 5.96030856e-02] [ 1.11189246e-02 1.08718308e-03 9.99937592e-01 1.13370931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.46956246 meters 0.05293407281250683 Centerline is valid? [True, True] Translation: X:-7.52, Y:0.03, Z:0.11 [[ 9.98786955e-01 4.76678127e-02 -1.23449909e-02 -7.52340028e+00] [-4.76785327e-02 9.98862566e-01 -5.75351723e-04 3.37848625e-02] [ 1.23035236e-02 1.16324485e-03 9.99923632e-01 1.11748962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.49956246 meters 0.054251894094941265 Centerline is valid? [True, True] Translation: X:-7.56, Y:0.02, Z:0.11 [[ 9.98786099e-01 4.72725432e-02 -1.38432403e-02 -7.55551415e+00] [-4.72860103e-02 9.98881181e-01 -6.46955020e-04 2.13131690e-02] [ 1.37971690e-02 1.30076128e-03 9.99903968e-01 1.08631493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.52956246 meters 0.055577581709076146 Centerline is valid? [True, True] Translation: X:-7.59, Y:0.01, Z:0.11 [[ 9.98697748e-01 4.90984182e-02 -1.38619342e-02 -7.58577362e+00] [-4.91120930e-02 9.98793063e-01 -6.47618017e-04 6.00331442e-03] [ 1.38134067e-02 1.32756326e-03 9.99903709e-01 1.13017017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5595624599999995 meters 0.05831948405279372 Centerline is valid? [True, True] Translation: X:-7.62, Y:-0.00, Z:0.11 [[ 9.98576521e-01 5.15085892e-02 -1.38490556e-02 -7.61560423e+00] [-5.15224666e-02 9.98671626e-01 -6.46896429e-04 -4.89848169e-03] [ 1.37973382e-02 1.35951309e-03 9.99903888e-01 1.12792795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.58956246 meters 0.0548861179335797 Centerline is valid? [True, True] Translation: X:-7.64, Y:-0.02, Z:0.12 [[ 9.98471532e-01 5.33709026e-02 -1.43578121e-02 -7.64424934e+00] [-5.33860084e-02 9.98573725e-01 -6.70614483e-04 -2.45322246e-02] [ 1.43015426e-02 1.43609575e-03 9.99896696e-01 1.16472295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.61956246 meters 0.06301540982967631 Centerline is valid? [True, True] Translation: X:-7.68, Y:-0.02, Z:0.11 [[ 9.98330567e-01 5.53327105e-02 -1.65641066e-02 -7.67504779e+00] [-5.53530843e-02 9.98466543e-01 -7.73714468e-04 -2.34647971e-02] [ 1.64958946e-02 1.68929719e-03 9.99862506e-01 1.14133310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.64956246 meters 0.062041252972521284 Centerline is valid? [True, True] Translation: X:-7.70, Y:-0.04, Z:0.12 [[ 9.98257814e-01 5.66788218e-02 -1.63965713e-02 -7.70449619e+00] [-5.66989713e-02 9.98391025e-01 -7.66268448e-04 -3.91686270e-02] [ 1.63267584e-02 1.69460219e-03 9.99865274e-01 1.17693230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.67956246 meters 0.06006033020087238 Centerline is valid? [True, True] Translation: X:-7.74, Y:-0.05, Z:0.11 [[ 9.98235793e-01 5.70665474e-02 -1.63923715e-02 -7.73524735e+00] [-5.70867565e-02 9.98368927e-01 -7.67181438e-04 -5.35114304e-02] [ 1.63218539e-02 1.70161529e-03 9.99865342e-01 1.14899937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.70956246 meters 0.05995364701667408 Centerline is valid? [True, True] Translation: X:-7.77, Y:-0.07, Z:0.12 [[ 9.98252420e-01 5.65273666e-02 -1.72267900e-02 -7.76652895e+00] [-5.65496271e-02 9.98399463e-01 -8.07445118e-04 -7.14310446e-02] [ 1.71535751e-02 1.78020259e-03 9.99851282e-01 1.15638490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.73956246 meters 0.05971742679295695 Centerline is valid? [True, True] Translation: X:-7.80, Y:-0.08, Z:0.12 [[ 9.98312330e-01 5.58089663e-02 -1.60577162e-02 -7.79686395e+00] [-5.58282121e-02 9.98440106e-01 -7.52434791e-04 -8.40799325e-02] [ 1.59906752e-02 1.64763852e-03 9.99870783e-01 1.18131434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7695624599999995 meters 0.05904358016489526 Centerline is valid? [True, True] Translation: X:-7.83, Y:-0.10, Z:0.12 [[ 9.98344224e-01 5.53628107e-02 -1.56131070e-02 -7.82851359e+00] [-5.53809744e-02 9.98465027e-01 -7.33075984e-04 -1.03453436e-01] [ 1.55485561e-02 1.59653125e-03 9.99877839e-01 1.18047093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.79956246 meters 0.05906878905691234 Centerline is valid? [True, True] Translation: X:-7.86, Y:-0.12, Z:0.12 [[ 9.98418951e-01 5.39568415e-02 -1.57562115e-02 -7.85955768e+00] [-5.39751687e-02 9.98542004e-01 -7.39940216e-04 -1.15536281e-01] [ 1.56933141e-02 1.58921451e-03 9.99875589e-01 1.15129205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.82956246 meters 0.05919952527220231 Centerline is valid? [True, True] Translation: X:-7.89, Y:-0.14, Z:0.12 [[ 9.98627850e-01 5.09159186e-02 -1.22469311e-02 -7.88910987e+00] [-5.09267595e-02 9.98702225e-01 -5.74763526e-04 -1.35491893e-01] [ 1.22017727e-02 1.19767138e-03 9.99924838e-01 1.19694747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.85956246 meters 0.05477136260989962 Centerline is valid? [True, True] Translation: X:-7.92, Y:-0.16, Z:0.12 [[ 9.98731799e-01 4.91565179e-02 -1.08825741e-02 -7.91762987e+00] [-4.91649724e-02 9.98790541e-01 -5.10557564e-04 -1.58063296e-01] [ 1.08443149e-02 1.04495153e-03 9.99940653e-01 1.24722441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.88956246 meters 0.05341238305000049 Centerline is valid? [True, True] Translation: X:-7.95, Y:-0.17, Z:0.12 [[ 9.98949585e-01 4.41787696e-02 -1.21639834e-02 -7.94770973e+00] [-4.41889686e-02 9.99023027e-01 -5.70835610e-04 -1.70576188e-01] [ 1.21268807e-02 1.10774988e-03 9.99925853e-01 1.20632277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.91956246 meters 0.05525181279419364 Centerline is valid? [True, True] Translation: X:-7.98, Y:-0.18, Z:0.11 [[ 9.99251366e-01 3.59877510e-02 -1.41982148e-02 -7.97812179e+00] [-3.60008280e-02 9.99351538e-01 -6.66440808e-04 -1.82837243e-01] [ 1.41650241e-02 1.17708938e-03 9.99898978e-01 1.13034451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.94956246 meters 0.04759446007539818 Centerline is valid? [True, True] Translation: X:-8.01, Y:-0.21, Z:0.12 [[ 9.99475679e-01 2.95810267e-02 -1.31655156e-02 -8.00645346e+00] [-2.95917126e-02 9.99561879e-01 -6.17554051e-04 -2.10270901e-01] [ 1.31414796e-02 1.00682041e-03 9.99913140e-01 1.16525382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9795624599999995 meters 0.047854622539796526 Centerline is valid? [True, True] Translation: X:-8.04, Y:-0.22, Z:0.12 [[ 9.99665875e-01 2.25593869e-02 -1.26179466e-02 -8.03610612e+00] [-2.25686475e-02 9.99745120e-01 -5.91998644e-04 -2.17695173e-01] [ 1.26013754e-02 8.76570832e-04 9.99920215e-01 1.19322736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.00956246 meters 0.04372915778570009 Centerline is valid? [True, True] Translation: X:-8.07, Y:-0.23, Z:0.12 [[ 9.99748981e-01 1.82571028e-02 -1.29866646e-02 -8.06518024e+00] [-1.82665465e-02 9.99832967e-01 -6.08932671e-04 -2.31020941e-01] [ 1.29733781e-02 8.46001330e-04 9.99915484e-01 1.19511249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.039562459999999 meters 0.04345266191732074 Centerline is valid? [True, True] Translation: X:-8.10, Y:-0.24, Z:0.12 [[ 9.99786123e-01 1.55606774e-02 -1.36225271e-02 -8.09549415e+00] [-1.55708218e-02 9.99878563e-01 -6.38927969e-04 -2.39987822e-01] [ 1.36109307e-02 8.50905260e-04 9.99907005e-01 1.16692675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.069562459999998 meters 0.04576408812845072 Centerline is valid? [True, True] Translation: X:-8.12, Y:-0.24, Z:0.12 [[ 9.99779787e-01 1.58917366e-02 -1.37051247e-02 -8.12328799e+00] [-1.59019521e-02 9.99873353e-01 -6.36716027e-04 -2.37904100e-01] [ 1.36932704e-02 8.54514049e-04 9.99905878e-01 1.16812726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.09956246 meters 0.04245506826217129 Centerline is valid? [True, True] Translation: X:-8.15, Y:-0.25, Z:0.13 [[ 9.99766406e-01 1.78566442e-02 -1.21767768e-02 -8.15102252e+00] [-1.78648645e-02 9.99840250e-01 -5.66640123e-04 -2.47062923e-01] [ 1.21647132e-02 7.84044226e-04 9.99925700e-01 1.26779153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.129562459999999 meters 0.04480862159144101 Centerline is valid? [True, True] Translation: X:-8.18, Y:-0.24, Z:0.12 [[ 9.99704400e-01 2.01943627e-02 -1.35388225e-02 -8.18142742e+00] [-2.02047438e-02 9.99795665e-01 -6.30406554e-04 -2.41232286e-01] [ 1.35233254e-02 9.03768647e-04 9.99908147e-01 1.22371840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.159562459999998 meters 0.045404530199390176 Centerline is valid? [True, True] Translation: X:-8.21, Y:-0.24, Z:0.12 [[ 9.99638510e-01 2.22084339e-02 -1.51537159e-02 -8.21050005e+00] [-2.22216605e-02 9.99752820e-01 -7.04985326e-04 -2.39907006e-01] [ 1.51343136e-02 1.04147121e-03 9.99884927e-01 1.19664449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.18956246 meters 0.045948531916332795 Centerline is valid? [True, True] Translation: X:-8.24, Y:-0.24, Z:0.12 [[ 9.99556708e-01 2.54082391e-02 -1.55180207e-02 -8.24067565e+00] [-2.54224972e-02 9.99676535e-01 -7.22202004e-04 -2.40095733e-01] [ 1.54946513e-02 1.11638870e-03 9.99879327e-01 1.19698858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.219562459999999 meters 0.049513989812146164 Centerline is valid? [True, True] Translation: X:-8.27, Y:-0.23, Z:0.12 [[ 9.99604954e-01 2.49580686e-02 -1.29240514e-02 -8.27033713e+00] [-2.49678999e-02 9.99688073e-01 -5.99887166e-04 -2.31300377e-01] [ 1.29050480e-02 9.22336604e-04 9.99916301e-01 1.21789661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.249562459999998 meters 0.050959742436582106 Centerline is valid? [True, True] Translation: X:-8.30, Y:-0.23, Z:0.13 [[ 9.99600707e-01 2.58276125e-02 -1.14613248e-02 -8.29907464e+00] [-2.58353557e-02 9.99666072e-01 -5.28030443e-04 -2.27533647e-01] [ 1.14438598e-02 8.23927009e-04 9.99934177e-01 1.25245134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.27956246 meters 0.04872194573801587 Centerline is valid? [True, True] Translation: X:-8.33, Y:-0.23, Z:0.12 [[ 9.99602195e-01 2.53177671e-02 -1.24282966e-02 -8.32686430e+00] [-2.53268418e-02 9.99679060e-01 -5.73293838e-04 -2.31817296e-01] [ 1.24097933e-02 8.87835280e-04 9.99922601e-01 1.22702604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.309562459999999 meters 0.0489184321135486 Centerline is valid? [True, True] Translation: X:-8.36, Y:-0.23, Z:0.12 [[ 9.99609817e-01 2.37596705e-02 -1.46864771e-02 -8.35593461e+00] [-2.37721109e-02 9.99717177e-01 -6.73047623e-04 -2.30645750e-01] [ 1.46663320e-02 1.02191357e-03 9.99891921e-01 1.17095992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.33956246 meters 0.046760564350803314 Centerline is valid? [True, True] Translation: X:-8.38, Y:-0.24, Z:0.12 [[ 9.99665220e-01 2.11126812e-02 -1.49567062e-02 -8.38488858e+00] [-2.11253122e-02 9.99776600e-01 -6.86996778e-04 -2.37981399e-01] [ 1.49388605e-02 1.00273187e-03 9.99887906e-01 1.16641730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.36956246 meters 0.04243048493615752 Centerline is valid? [True, True] Translation: X:-8.41, Y:-0.25, Z:0.13 [[ 9.99770445e-01 1.64045425e-02 -1.37821455e-02 -8.41392402e+00] [-1.64148235e-02 9.99865067e-01 -6.33165670e-04 -2.45127566e-01] [ 1.37698990e-02 8.59251809e-04 9.99904821e-01 1.25060503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.399562459999999 meters 0.04546056650162483 Centerline is valid? [True, True] Translation: X:-8.44, Y:-0.23, Z:0.12 [[ 9.99830527e-01 1.41408101e-02 -1.17879099e-02 -8.44499511e+00] [-1.41481749e-02 9.99899763e-01 -5.41617048e-04 -2.32698875e-01] [ 1.17790694e-02 7.08302670e-04 9.99930373e-01 1.24933527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.42956246 meters 0.040371381302122304 Centerline is valid? [True, True] Translation: X:-8.47, Y:-0.24, Z:0.13 [[ 9.99855752e-01 1.23361433e-02 -1.16745279e-02 -8.47307573e+00] [-1.23432317e-02 9.99923676e-01 -5.35313477e-04 -2.40645275e-01] [ 1.16670332e-02 6.79337663e-04 9.99931707e-01 1.29422606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.459562459999999 meters 0.04115460459826689 Centerline is valid? [True, True] Translation: X:-8.50, Y:-0.23, Z:0.13 [[ 9.99818102e-01 1.34299776e-02 -1.35424465e-02 -8.50325596e+00] [-1.34396137e-02 9.99909492e-01 -6.20789893e-04 -2.29743414e-01] [ 1.35328836e-02 8.02682224e-04 9.99908104e-01 1.26048067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.489562459999998 meters 0.04279120717104152 Centerline is valid? [True, True] Translation: X:-8.53, Y:-0.22, Z:0.12 [[ 9.99787531e-01 1.39733612e-02 -1.51538140e-02 -8.53288222e+00] [-1.39854700e-02 9.99901958e-01 -6.93379063e-04 -2.20574327e-01] [ 1.51426395e-02 9.05164953e-04 9.99884934e-01 1.21788317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.51956246 meters 0.044367209065680514 Centerline is valid? [True, True] Translation: X:-8.56, Y:-0.21, Z:0.12 [[ 9.99717243e-01 1.79947726e-02 -1.55441933e-02 -8.56394643e+00] [-1.80080076e-02 9.99837589e-01 -7.11889286e-04 -2.11402093e-01] [ 1.55288585e-02 9.91607946e-04 9.99878928e-01 1.24579154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.549562459999999 meters 0.046742794542107446 Centerline is valid? [True, True] Translation: X:-8.59, Y:-0.20, Z:0.13 [[ 9.99717654e-01 2.00604888e-02 -1.27353677e-02 -8.59342385e+00] [-2.00694735e-02 9.99798421e-01 -5.78072229e-04 -1.99018295e-01] [ 1.27212041e-02 8.33501137e-04 9.99918735e-01 1.29283605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.579562459999998 meters 0.047748358328165805 Centerline is valid? [True, True] Translation: X:-8.62, Y:-0.18, Z:0.13 [[ 9.99621112e-01 2.51732213e-02 -1.11328985e-02 -8.62275366e+00] [-2.51804166e-02 9.99682795e-01 -5.06590988e-04 -1.83080097e-01] [ 1.11166146e-02 7.86730071e-04 9.99937899e-01 1.31104466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.60956246 meters 0.047748358328165805 Centerline is valid? [True, True] Translation: X:-8.65, Y:-0.18, Z:0.13 [[ 9.99614859e-01 2.54202022e-02 -1.11331273e-02 -8.65016624e+00] [-2.54273569e-02 9.99676547e-01 -5.01553331e-04 -1.84497305e-01] [ 1.11167766e-02 7.84446163e-04 9.99937899e-01 1.31405608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.639562459999999 meters 0.04706400728274876 Centerline is valid? [True, True] Translation: X:-8.68, Y:-0.18, Z:0.14 [[ 9.99598204e-01 2.65217319e-02 -1.00013765e-02 -8.67863163e+00] [-2.65275612e-02 9.99647981e-01 -4.50619675e-04 -1.79794161e-01] [ 9.98590461e-03 7.15750745e-04 9.99949883e-01 1.35717360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.66956246 meters 0.046234210649166274 Centerline is valid? [True, True] Translation: X:-8.71, Y:-0.17, Z:0.13 [[ 9.99603056e-01 2.57335883e-02 -1.14678726e-02 -8.70914636e+00] [-2.57412174e-02 9.99668506e-01 -5.18121973e-04 -1.71139808e-01] [ 1.14507379e-02 8.13113308e-04 9.99934108e-01 1.33628176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.69956246 meters 0.04934271533770596 Centerline is valid? [True, True] Translation: X:-8.74, Y:-0.15, Z:0.13 [[ 9.99687582e-01 2.24407427e-02 -1.10068902e-02 -8.74049767e+00] [-2.24475713e-02 9.99747898e-01 -4.97225909e-04 -1.50776543e-01] [ 1.09929572e-02 7.44148520e-04 9.99939299e-01 1.30949445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.729562459999999 meters 0.043589619297195036 Centerline is valid? [True, True] Translation: X:-8.77, Y:-0.16, Z:0.14 [[ 9.99740387e-01 1.98355459e-02 -1.12120638e-02 -8.76950103e+00] [-1.98424648e-02 9.99802991e-01 -5.06176488e-04 -1.59421525e-01] [ 1.11998146e-02 7.28520059e-04 9.99937015e-01 1.38376729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.75956246 meters 0.04265116939958633 Centerline is valid? [True, True] Translation: X:-8.80, Y:-0.15, Z:0.14 [[ 9.99807065e-01 1.51596420e-02 -1.24907044e-02 -8.79999947e+00] [-1.51678677e-02 9.99884802e-01 -5.64069830e-04 -1.52143573e-01] [ 1.24807144e-02 7.53418353e-04 9.99921829e-01 1.35627206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.789562459999999 meters 0.042347679863356066 Centerline is valid? [True, True] Translation: X:-8.83, Y:-0.14, Z:0.13 [[ 9.99818409e-01 1.18823281e-02 -1.48983210e-02 -8.83028298e+00] [-1.18936561e-02 9.99929042e-01 -6.71977884e-04 -1.44164903e-01] [ 1.48892792e-02 8.49051364e-04 9.99888788e-01 1.30717499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.819562459999998 meters 0.041397182476032746 Centerline is valid? [True, True] Translation: X:-8.86, Y:-0.14, Z:0.13 [[ 9.99820005e-01 1.09948719e-02 -1.54619118e-02 -8.85870877e+00] [-1.10069239e-02 9.99939181e-01 -6.94579196e-04 -1.36683417e-01] [ 1.54533347e-02 8.64642262e-04 9.99880216e-01 1.32409930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.84956246 meters 0.04209758008687473 Centerline is valid? [True, True] Translation: X:-8.89, Y:-0.13, Z:0.14 [[ 9.99817800e-01 1.30221846e-02 -1.39567052e-02 -8.88744884e+00] [-1.30321401e-02 9.99914884e-01 -6.22601303e-04 -1.29221732e-01] [ 1.39474096e-02 8.04373603e-04 9.99902407e-01 1.38219643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.879562459999999 meters 0.04641958969159751 Centerline is valid? [True, True] Translation: X:-8.92, Y:-0.10, Z:0.14 [[ 9.99651769e-01 2.28483723e-02 -1.32019750e-02 -8.91941948e+00] [-2.28581636e-02 9.99738543e-01 -5.91212110e-04 -1.03341765e-01] [ 1.31850150e-02 8.92779135e-04 9.99912675e-01 1.35523985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.909562459999998 meters 0.05073894570925452 Centerline is valid? [True, True] Translation: X:-8.95, Y:-0.09, Z:0.13 [[ 9.99512694e-01 2.73150142e-02 -1.51084158e-02 -8.94998118e+00] [-2.73283344e-02 9.99626283e-01 -6.75851092e-04 -8.72682025e-02] [ 1.50843087e-02 1.08840959e-03 9.99885633e-01 1.32136700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.93956246 meters 0.05295918999454619 Centerline is valid? [True, True] Translation: X:-8.98, Y:-0.07, Z:0.14 [[ 9.99328754e-01 3.40588579e-02 -1.34920302e-02 -8.98112919e+00] [-3.40700934e-02 9.99419264e-01 -6.03713173e-04 -7.30427040e-02] [ 1.34636331e-02 1.06298266e-03 9.99908796e-01 1.35887596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.969562459999999 meters 0.05116879779492664 Centerline is valid? [True, True] Translation: X:-9.01, Y:-0.07, Z:0.14 [[ 9.99143314e-01 3.94223133e-02 -1.25904704e-02 -9.01057764e+00] [-3.94325203e-02 9.99222077e-01 -5.63376655e-04 -7.33467617e-02] [ 1.25584663e-02 1.05936800e-03 9.99920578e-01 1.42129658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.999562459999998 meters 0.05322184515175621 Centerline is valid? [True, True] Translation: X:-9.04, Y:-0.06, Z:0.14 [[ 9.99009782e-01 4.25725503e-02 -1.29241487e-02 -9.04204965e+00] [-4.25835675e-02 9.99092741e-01 -5.78329898e-04 -6.20598062e-02] [ 1.28878021e-02 1.12811358e-03 9.99916312e-01 1.38050860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.02956246 meters 0.05515836875780794 Centerline is valid? [True, True] Translation: X:-9.08, Y:-0.06, Z:0.13 [[ 9.99002972e-01 4.22532194e-02 -1.44127400e-02 -9.07516002e+00] [-4.22669231e-02 9.99106145e-01 -6.47392116e-04 -5.54193866e-02] [ 1.43725027e-02 1.25592882e-03 9.99895921e-01 1.34993622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.059562459999999 meters 0.05188086143797524 Centerline is valid? [True, True] Translation: X:-9.11, Y:-0.06, Z:0.14 [[ 9.99028290e-01 4.19896130e-02 -1.33920668e-02 -9.10626102e+00] [-4.20014233e-02 9.99117370e-01 -6.01731676e-04 -5.97861345e-02] [ 1.33549801e-02 1.16363283e-03 9.99910141e-01 1.40560170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.08956246 meters 0.05390748489550574 Centerline is valid? [True, True] Translation: X:-9.14, Y:-0.05, Z:0.14 [[ 9.99110851e-01 4.02516627e-02 -1.25424016e-02 -9.13800948e+00] [-4.02618891e-02 9.99189002e-01 -5.63815919e-04 -5.39859539e-02] [ 1.25095352e-02 1.06829538e-03 9.99921182e-01 1.41030648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.11956246 meters 0.052860661245690894 Centerline is valid? [True, True] Translation: X:-9.17, Y:-0.06, Z:0.14 [[ 9.99160333e-01 3.83631245e-02 -1.43840014e-02 -9.16928390e+00] [-3.83763862e-02 9.99263146e-01 -6.46992688e-04 -5.59210426e-02] [ 1.43485819e-02 1.19845542e-03 9.99896336e-01 1.36925876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.149562459999999 meters 0.051933902311776005 Centerline is valid? [True, True] Translation: X:-9.20, Y:-0.06, Z:0.14 [[ 9.99318016e-01 3.45980790e-02 -1.29025150e-02 -9.19986975e+00] [-3.46084441e-02 9.99400780e-01 -5.80864613e-04 -5.70617377e-02] [ 1.28746867e-02 1.02700444e-03 9.99916590e-01 1.37219450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.17956246 meters 0.05145801055916995 Centerline is valid? [True, True] Translation: X:-9.23, Y:-0.05, Z:0.14 [[ 9.99345235e-01 3.39217257e-02 -1.25864446e-02 -9.23183965e+00] [-3.39315453e-02 9.99423998e-01 -5.67379103e-04 -5.45003408e-02] [ 1.25599483e-02 9.94085119e-04 9.99920627e-01 1.38098536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.209562459999999 meters 0.05034676799259472 Centerline is valid? [True, True] Translation: X:-9.26, Y:-0.05, Z:0.14 [[ 9.99254223e-01 3.62944383e-02 -1.31799429e-02 -9.26161563e+00] [-3.63054037e-02 9.99340565e-01 -5.93592482e-04 -5.29194290e-02] [ 1.31497074e-02 1.07165294e-03 9.99912965e-01 1.38497264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.239562459999998 meters 0.05564390021512768 Centerline is valid? [True, True] Translation: X:-9.29, Y:-0.04, Z:0.14 [[ 9.99169491e-01 3.92342545e-02 -1.10000428e-02 -9.29351167e+00] [-3.92420732e-02 9.99229610e-01 -4.95769185e-04 -3.94691392e-02] [ 1.09721173e-02 9.27021927e-04 9.99939375e-01 1.40982070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.26956246 meters 0.059670109963109785 Centerline is valid? [True, True] Translation: X:-9.32, Y:-0.03, Z:0.15 [[ 9.98923869e-01 4.52593176e-02 -1.01340177e-02 -9.32425105e+00] [-4.52662595e-02 9.98974853e-01 -4.56570306e-04 -3.16731029e-02] [ 1.01029648e-02 9.14808052e-04 9.99948545e-01 1.46647829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.299562459999999 meters 0.055984580260631266 Centerline is valid? [True, True] Translation: X:-9.35, Y:-0.04, Z:0.14 [[ 9.98521904e-01 5.18360863e-02 -1.63409829e-02 -9.35381408e+00] [-5.18550034e-02 9.98654353e-01 -7.35786153e-04 -4.11416075e-02] [ 1.62808534e-02 1.58206031e-03 9.99866206e-01 1.35175794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.329562459999998 meters 0.058901142108219964 Centerline is valid? [True, True] Translation: X:-9.39, Y:-0.04, Z:0.13 [[ 9.98333367e-01 5.53842004e-02 -1.62196916e-02 -9.38509874e+00] [-5.54032972e-02 9.98463791e-01 -7.30071450e-04 -3.59922283e-02] [ 1.61543404e-02 1.62747909e-03 9.99868186e-01 1.33861048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.35956246 meters 0.055308804337327315 Centerline is valid? [True, True] Translation: X:-9.42, Y:-0.04, Z:0.14 [[ 9.98318288e-01 5.63654671e-02 -1.35473093e-02 -9.41653415e+00] [-5.63789015e-02 9.98409258e-01 -6.11511369e-04 -4.08859058e-02] [ 1.34912909e-02 1.37426540e-03 9.99908044e-01 1.41070951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.389562459999999 meters 0.05544283098502276 Centerline is valid? [True, True] Translation: X:-9.45, Y:-0.05, Z:0.14 [[ 9.98531781e-01 5.33392398e-02 -9.44496804e-03 -9.44692110e+00] [-5.33456315e-02 9.98576017e-01 -4.25911223e-04 -4.75000203e-02] [ 9.40880079e-03 9.29133676e-04 9.99955305e-01 1.42586262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.419562459999998 meters 0.05397898448569559 Centerline is valid? [True, True] Translation: X:-9.48, Y:-0.06, Z:0.14 [[ 9.98750096e-01 4.88331001e-02 -1.06570869e-02 -9.47736458e+00] [-4.88409867e-02 9.98806451e-01 -4.80884449e-04 -5.81845127e-02] [ 1.06208841e-02 1.00078603e-03 9.99943096e-01 1.42119060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.44956246 meters 0.052492451381829786 Centerline is valid? [True, True] Translation: X:-9.51, Y:-0.07, Z:0.13 [[ 9.99027374e-01 4.05183109e-02 -1.73945913e-02 -9.50724970e+00] [-4.05380631e-02 9.99177687e-01 -7.84299677e-04 -7.03836313e-02] [ 1.73485090e-02 1.48867989e-03 9.99848395e-01 1.26191363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.479562459999999 meters 0.04958297709622758 Centerline is valid? [True, True] Translation: X:-9.54, Y:-0.09, Z:0.13 [[ 9.99268306e-01 3.43917366e-02 -1.67350326e-02 -9.53748057e+00] [-3.44091688e-02 9.99407544e-01 -7.54751195e-04 -8.58819216e-02] [ 1.66991607e-02 1.33003751e-03 9.99859675e-01 1.31877845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.50956246 meters 0.049527966059190597 Centerline is valid? [True, True] Translation: X:-9.57, Y:-0.09, Z:0.14 [[ 9.99329519e-01 3.41395520e-02 -1.32288873e-02 -9.56683916e+00] [-3.41504117e-02 9.99416527e-01 -5.95820727e-04 -9.19100491e-02] [ 1.32008276e-02 1.04719319e-03 9.99912317e-01 1.39746634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.539562459999999 meters 0.05132719793157463 Centerline is valid? [True, True] Translation: X:-9.60, Y:-0.09, Z:0.14 [[ 9.99329716e-01 3.54334720e-02 -9.19715105e-03 -9.59877542e+00] [-3.54387892e-02 9.99371762e-01 -4.15766172e-04 -8.78892796e-02] [ 9.17664101e-03 7.41423388e-04 9.99957619e-01 1.42092896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.569562459999998 meters 0.05180135136221967 Centerline is valid? [True, True] Translation: X:-9.63, Y:-0.09, Z:0.14 [[ 9.99061209e-01 4.22757837e-02 -9.45823249e-03 -9.62841566e+00] [-4.22817061e-02 9.99105638e-01 -4.26992908e-04 -9.12546998e-02] [ 9.43172194e-03 8.26502257e-04 9.99955179e-01 1.41657510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.59956246 meters 0.057930771314096255 Centerline is valid? [True, True] Translation: X:-9.66, Y:-0.09, Z:0.13 [[ 9.98765823e-01 4.81556160e-02 -1.21600792e-02 -9.65920722e+00] [-4.81658360e-02 9.98839202e-01 -5.48827661e-04 -8.58627315e-02] [ 1.21195347e-02 1.13385069e-03 9.99925913e-01 1.34087264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.629562459999999 meters 0.05920459318975095 Centerline is valid? [True, True] Translation: X:-9.69, Y:-0.09, Z:0.13 [[ 9.98395264e-01 5.42657226e-02 -1.61903576e-02 -9.68816277e+00] [-5.42846375e-02 9.98525235e-01 -7.30781850e-04 -9.18549006e-02] [ 1.61268242e-02 1.60849683e-03 9.99868661e-01 1.30053583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.659562459999998 meters 0.058952274797546084 Centerline is valid? [True, True] Translation: X:-9.72, Y:-0.10, Z:0.13 [[ 9.98302683e-01 5.61144238e-02 -1.55860416e-02 -9.71879142e+00] [-5.61321821e-02 9.98423098e-01 -7.03905234e-04 -9.58961754e-02] [ 1.55219647e-02 1.57758901e-03 9.99878283e-01 1.33238076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.68956246 meters 0.0579758650353086 Centerline is valid? [True, True] Translation: X:-9.75, Y:-0.11, Z:0.14 [[ 9.98343450e-01 5.64897844e-02 -1.09206483e-02 -9.74988920e+00] [-5.64985376e-02 9.98402559e-01 -4.94438487e-04 -1.06530540e-01] [ 1.08752725e-02 1.11062008e-03 9.99940246e-01 1.39328084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.719562459999999 meters 0.05810492345417507 Centerline is valid? [True, True] Translation: X:-9.78, Y:-0.12, Z:0.14 [[ 9.98681189e-01 5.04878677e-02 -9.31971094e-03 -9.78040850e+00] [-5.04939810e-02 9.98724276e-01 -4.21673293e-04 -1.15422459e-01] [ 9.28653217e-03 8.91706493e-04 9.99956482e-01 1.35677465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.749562459999998 meters 0.05198253026104998 Centerline is valid? [True, True] Translation: X:-9.81, Y:-0.14, Z:0.13 [[ 9.98886413e-01 4.57188864e-02 -1.16497994e-02 -9.80921842e+00] [-4.57281269e-02 9.98953783e-01 -5.27920465e-04 -1.35599999e-01] [ 1.16134752e-02 1.06005608e-03 9.99931999e-01 1.32835560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.77956246 meters 0.05322259300153654 Centerline is valid? [True, True] Translation: X:-9.84, Y:-0.14, Z:0.13 [[ 9.99089808e-01 4.04146384e-02 -1.36459748e-02 -9.83965778e+00] [-4.04268183e-02 9.99182311e-01 -6.17793783e-04 -1.42238237e-01] [ 1.36098487e-02 1.16889482e-03 9.99906698e-01 1.26591048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.809562459999999 meters 0.05131606247886634 Centerline is valid? [True, True] Translation: X:-9.87, Y:-0.16, Z:0.13 [[ 9.99305634e-01 3.44722731e-02 -1.41390275e-02 -9.86963518e+00] [-3.44847600e-02 9.99405019e-01 -6.40227777e-04 -1.56350336e-01] [ 1.41085449e-02 1.12736419e-03 9.99899834e-01 1.29552564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.83956246 meters 0.05237468696341207 Centerline is valid? [True, True] Translation: X:-9.90, Y:-0.16, Z:0.14 [[ 9.99392752e-01 3.35711255e-02 -9.33305064e-03 -9.89947159e+00] [-3.35765236e-02 9.99436060e-01 -4.22260967e-04 -1.58565485e-01] [ 9.31361159e-03 7.35375946e-04 9.99956357e-01 1.36081571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.86956246 meters 0.04983029236931748 Centerline is valid? [True, True] Translation: X:-9.93, Y:-0.17, Z:0.14 [[ 9.99275159e-01 3.69928505e-02 -8.98251775e-03 -9.92822604e+00] [-3.69979897e-02 9.99315257e-01 -4.06579488e-04 -1.69007731e-01] [ 8.96132650e-03 7.38619882e-04 9.99959574e-01 1.38774458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.899562459999999 meters 0.05146989684127746 Centerline is valid? [True, True] Translation: X:-9.96, Y:-0.17, Z:0.13 [[ 9.98947405e-01 4.39190773e-02 -1.32361826e-02 -9.95774632e+00] [-4.39308416e-02 9.99034395e-01 -5.99218857e-04 -1.68741983e-01] [ 1.31970845e-02 1.18006476e-03 9.99912218e-01 1.29879783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.92956246 meters 0.05496928212239012 Centerline is valid? [True, True] Translation: X:-9.99, Y:-0.16, Z:0.13 [[ 9.98692836e-01 4.95654831e-02 -1.24852718e-02 -9.98822789e+00] [-4.95763875e-02 9.98770175e-01 -5.65211676e-04 -1.64221440e-01] [ 1.24419021e-02 1.18344752e-03 9.99921896e-01 1.30634766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.959562459999999 meters 0.05939517704766362 Centerline is valid? [True, True] Translation: X:-10.02, Y:-0.16, Z:0.13 [[ 9.98421239e-01 5.49993261e-02 -1.14063373e-02 -1.00190034e+01] [-5.50087782e-02 9.98485737e-01 -5.16362107e-04 -1.60488306e-01] [ 1.13606656e-02 1.14299557e-03 9.99934812e-01 1.28791855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.989562459999998 meters 0.05869753413394732 Centerline is valid? [True, True] Translation: X:-10.05, Y:-0.17, Z:0.13 [[ 9.98211557e-01 5.81427031e-02 -1.38965050e-02 -1.00484045e+01] [-5.81570342e-02 9.98307249e-01 -6.29051949e-04 -1.72296422e-01] [ 1.38364069e-02 1.43610644e-03 9.99903241e-01 1.27620175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.01956246 meters 0.05813466927753439 Centerline is valid? [True, True] Translation: X:-10.08, Y:-0.18, Z:0.13 [[ 9.98426645e-01 5.45967083e-02 -1.27841112e-02 -1.00786048e+01] [-5.46085528e-02 9.98507672e-01 -5.79008365e-04 -1.79085518e-01] [ 1.27334212e-02 1.27621919e-03 9.99918112e-01 1.26643965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.049562459999999 meters 0.05319758205565715 Centerline is valid? [True, True] Translation: X:-10.11, Y:-0.20, Z:0.14 [[ 9.98841973e-01 4.75868433e-02 -7.08559520e-03 -1.01070082e+01] [-4.75903065e-02 9.98866888e-01 -3.20869515e-04 -1.99436639e-01] [ 7.06229726e-03 6.57703587e-04 9.99974845e-01 1.36584506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.079562459999998 meters 0.05235563717523241 Centerline is valid? [True, True] Translation: X:-10.14, Y:-0.21, Z:0.13 [[ 9.99197560e-01 3.90292491e-02 -8.99743086e-03 -1.01365850e+01] [-3.90344898e-02 9.99237781e-01 -4.07523771e-04 -2.12945686e-01] [ 8.97466750e-03 7.58406881e-04 9.99959439e-01 1.34725636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.10956246 meters 0.04963651690898593 Centerline is valid? [True, True] Translation: X:-10.17, Y:-0.22, Z:0.13 [[ 9.99368250e-01 3.37347733e-02 -1.11832480e-02 -1.01660043e+01] [-3.37425388e-02 9.99430430e-01 -5.06386711e-04 -2.23242919e-01] [ 1.11597955e-02 8.83417982e-04 9.99937337e-01 1.28713876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.139562459999999 meters 0.04644178348456125 Centerline is valid? [True, True] Translation: X:-10.20, Y:-0.24, Z:0.13 [[ 9.99548392e-01 2.80847698e-02 -1.06890966e-02 -1.01955661e+01] [-2.80915445e-02 9.99605237e-01 -4.84158473e-04 -2.36936687e-01] [ 1.06712795e-02 7.84213056e-04 9.99942753e-01 1.26687534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.169562459999998 meters 0.04599324409706953 Centerline is valid? [True, True] Translation: X:-10.23, Y:-0.24, Z:0.12 [[ 9.99625531e-01 2.49878895e-02 -1.11535963e-02 -1.02256979e+01] [-2.49950689e-02 9.99687447e-01 -5.04736986e-04 -2.44225219e-01] [ 1.11374979e-02 7.83332885e-04 9.99937669e-01 1.23331647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.19956246 meters 0.04611835697319889 Centerline is valid? [True, True] Translation: X:-10.25, Y:-0.25, Z:0.13 [[ 9.99584064e-01 2.59426920e-02 -1.25966607e-02 -1.02532685e+01] [-2.59519047e-02 9.99663031e-01 -5.68421049e-04 -2.49796171e-01] [ 1.25776697e-02 8.95091960e-04 9.99920497e-01 1.25996579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.229562459999999 meters 0.04435446086271735 Centerline is valid? [True, True] Translation: X:-10.28, Y:-0.25, Z:0.13 [[ 9.99531821e-01 2.98075564e-02 -6.90271560e-03 -1.02815851e+01] [-2.98104136e-02 9.99555522e-01 -3.11379552e-04 -2.53516557e-01] [ 6.89036603e-03 5.17006578e-04 9.99976127e-01 1.34597370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.25956246 meters 0.04923991365507851 Centerline is valid? [True, True] Translation: X:-10.31, Y:-0.24, Z:0.13 [[ 9.99343786e-01 3.55139805e-02 -7.12422203e-03 -1.03130904e+01] [-3.55171724e-02 9.99369014e-01 -3.21975121e-04 -2.44124414e-01] [ 7.10829213e-03 5.74796059e-04 9.99974571e-01 1.29797685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.289562459999999 meters 0.049708385085956014 Centerline is valid? [True, True] Translation: X:-10.34, Y:-0.25, Z:0.13 [[ 9.99133537e-01 4.05820995e-02 -9.23406527e-03 -1.03430169e+01] [-4.05876731e-02 9.99175894e-01 -4.16919948e-04 -2.45095617e-01] [ 9.20953594e-03 7.91347925e-04 9.99957278e-01 1.28056097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.319562459999998 meters 0.05532907714733426 Centerline is valid? [True, True] Translation: X:-10.37, Y:-0.23, Z:0.12 [[ 9.98727084e-01 4.84182592e-02 -1.41380422e-02 -1.03741634e+01] [-4.84321088e-02 9.98826273e-01 -6.38659070e-04 -2.30217978e-01] [ 1.40905252e-02 1.32258131e-03 9.99899849e-01 1.22067755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.34956246 meters 0.05816231259282765 Centerline is valid? [True, True] Translation: X:-10.40, Y:-0.23, Z:0.13 [[ 9.98469324e-01 5.44086063e-02 -9.93542259e-03 -1.04046458e+01] [-5.44157385e-02 9.98518265e-01 -4.48750628e-04 -2.25227328e-01] [ 9.89628503e-03 9.88707094e-04 9.99950542e-01 1.28058264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.379562459999999 meters 0.05417859419797428 Centerline is valid? [True, True] Translation: X:-10.44, Y:-0.24, Z:0.13 [[ 9.98454297e-01 5.53016910e-02 -5.54439597e-03 -1.04352923e+01] [-5.53039299e-02 9.98469535e-01 -2.51197921e-04 -2.36897878e-01] [ 5.52201879e-03 5.57436529e-04 9.99984598e-01 1.34760325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.409562459999998 meters 0.053757076359151404 Centerline is valid? [True, True] Translation: X:-10.47, Y:-0.24, Z:0.13 [[ 9.98559901e-01 5.30898088e-02 -7.71986462e-03 -1.04662616e+01] [-5.30940808e-02 9.98589453e-01 -3.49341597e-04 -2.40942266e-01] [ 7.69042891e-03 7.58717626e-04 9.99970140e-01 1.31038689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.43956246 meters 0.056090818860632136 Centerline is valid? [True, True] Translation: X:-10.50, Y:-0.24, Z:0.12 [[ 9.98763539e-01 4.85753408e-02 -1.05749643e-02 -1.04979881e+01] [-4.85831102e-02 9.98819029e-01 -4.78897186e-04 -2.36875548e-01] [ 1.05392130e-02 9.92069705e-04 9.99943969e-01 1.23397288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.469562459999999 meters 0.0513927648512664 Centerline is valid? [True, True] Translation: X:-10.53, Y:-0.25, Z:0.13 [[ 9.99088353e-01 4.18263742e-02 -8.54502081e-03 -1.05268085e+01] [-4.18312038e-02 9.99124617e-01 -3.87170818e-04 -2.46376212e-01] [ 8.52134669e-03 7.44266362e-04 9.99963416e-01 1.28826490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.499562459999998 meters 0.05290930432034873 Centerline is valid? [True, True] Translation: X:-10.56, Y:-0.25, Z:0.13 [[ 9.99286482e-01 3.69136636e-02 -7.99430123e-03 -1.05575964e+01] [-3.69177327e-02 9.99318243e-01 -3.61992533e-04 -2.46662440e-01] [ 7.97548859e-03 6.56865721e-04 9.99967980e-01 1.28332305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.52956246 meters 0.05290930432034873 Centerline is valid? [True, True] Translation: X:-10.59, Y:-0.25, Z:0.13 [[ 9.99288701e-01 3.68535588e-02 -7.99424980e-03 -1.05893766e+01] [-3.68576351e-02 9.99320461e-01 -3.63127503e-04 -2.48019584e-01] [ 7.97543485e-03 6.57518353e-04 9.99967980e-01 1.28681072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.559562459999999 meters 0.048813025369262006 Centerline is valid? [True, True] Translation: X:-10.62, Y:-0.26, Z:0.12 [[ 9.99474283e-01 2.97957766e-02 -1.27816114e-02 -1.06190500e+01] [-2.98056159e-02 9.99555546e-01 -5.79960910e-04 -2.56860436e-01] [ 1.27586502e-02 9.60619814e-04 9.99918144e-01 1.20939527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.589562459999998 meters 0.04697756494328365 Centerline is valid? [True, True] Translation: X:-10.65, Y:-0.26, Z:0.12 [[ 9.99576884e-01 2.69481547e-02 -1.09476192e-02 -1.06496368e+01] [-2.69552009e-02 9.99636519e-01 -4.96553732e-04 -2.63925340e-01] [ 1.09302587e-02 7.91438907e-04 9.99939950e-01 1.23655513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.61956246 meters 0.04765956236085772 Centerline is valid? [True, True] Translation: X:-10.68, Y:-0.26, Z:0.13 [[ 9.99678228e-01 2.44415184e-02 -6.78623926e-03 -1.06798725e+01] [-2.44441683e-02 9.99701149e-01 -3.07800623e-04 -2.62135778e-01] [ 6.77668807e-03 4.73585556e-04 9.99976926e-01 1.29998764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.649562459999999 meters 0.04536022708647947 Centerline is valid? [True, True] Translation: X:-10.71, Y:-0.27, Z:0.13 [[ 9.99665128e-01 2.44960481e-02 -8.34115674e-03 -1.07098145e+01] [-2.45000630e-02 9.99699756e-01 -3.79472526e-04 -2.66454534e-01] [ 8.32935679e-03 5.83704317e-04 9.99965140e-01 1.27820492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.67956246 meters 0.0470936756289394 Centerline is valid? [True, True] Translation: X:-10.74, Y:-0.26, Z:0.12 [[ 9.99521485e-01 2.81518936e-02 -1.28168563e-02 -1.07407765e+01] [-2.81616641e-02 9.99603212e-01 -5.82437100e-04 -2.63979634e-01] [ 1.27953740e-02 9.43102396e-04 9.99917691e-01 1.20996824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.709562459999999 meters 0.0486623063438202 Centerline is valid? [True, True] Translation: X:-10.77, Y:-0.26, Z:0.13 [[ 9.99412092e-01 3.23757689e-02 -1.12818084e-02 -1.07712815e+01] [-3.23836043e-02 9.99475382e-01 -5.12487494e-04 -2.61725246e-01] [ 1.12592976e-02 8.77531818e-04 9.99936227e-01 1.27616957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.739562459999998 meters 0.0538260088661357 Centerline is valid? [True, True] Translation: X:-10.80, Y:-0.25, Z:0.14 [[ 9.99255422e-01 3.78224823e-02 -7.61982162e-03 -1.08025396e+01] [-3.78262181e-02 9.99284272e-01 -3.46700909e-04 -2.50233581e-01] [ 7.60125481e-03 6.34671797e-04 9.99970909e-01 1.35552972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.76956246 meters 0.05170023047399298 Centerline is valid? [True, True] Translation: X:-10.83, Y:-0.25, Z:0.13 [[ 9.98978290e-01 4.40480698e-02 -1.01065796e-02 -1.08320778e+01] [-4.40549501e-02 9.99029004e-01 -4.59051230e-04 -2.49065222e-01] [ 1.00765458e-02 9.03827071e-04 9.99948822e-01 1.29442220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.799562459999999 meters 0.055328630516408545 Centerline is valid? [True, True] Translation: X:-10.86, Y:-0.24, Z:0.13 [[ 9.98739673e-01 4.95241674e-02 -8.14997088e-03 -1.08634461e+01] [-4.95288242e-02 9.98772626e-01 -3.70418818e-04 -2.41927876e-01] [ 8.12162313e-03 7.73610444e-04 9.99966720e-01 1.33970421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.829562459999998 meters 0.05239882049644239 Centerline is valid? [True, True] Translation: X:-10.89, Y:-0.25, Z:0.14 [[ 9.98706130e-01 5.04822138e-02 -6.13278355e-03 -1.08942717e+01] [-5.04848732e-02 9.98724787e-01 -2.79508565e-04 -2.46106998e-01] [ 6.11085273e-03 5.88759717e-04 9.99981155e-01 1.36796223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.85956246 meters 0.05411986480388668 Centerline is valid? [True, True] Translation: X:-10.93, Y:-0.24, Z:0.13 [[ 9.98792540e-01 4.85980465e-02 -7.18972639e-03 -1.09258940e+01] [-4.86016530e-02 9.98818188e-01 -3.27650115e-04 -2.44649527e-01] [ 7.16530632e-03 6.76687078e-04 9.99974100e-01 1.30121345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.889562459999999 meters 0.05280636190753878 Centerline is valid? [True, True] Translation: X:-10.96, Y:-0.25, Z:0.12 [[ 9.98934706e-01 4.44529699e-02 -1.23849158e-02 -1.09560149e+01] [-4.44633496e-02 9.99010857e-01 -5.63872065e-04 -2.48572539e-01] [ 1.23475995e-02 1.11394622e-03 9.99923145e-01 1.23945464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.919562459999998 meters 0.053651953183486555 Centerline is valid? [True, True] Translation: X:-10.99, Y:-0.24, Z:0.12 [[ 9.99041414e-01 4.18295302e-02 -1.29051914e-02 -1.09875381e+01] [-4.18405889e-02 9.99124126e-01 -5.88002661e-04 -2.41265021e-01] [ 1.28692922e-02 1.12739982e-03 9.99916552e-01 1.22191042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.94956246 meters 0.048835309125928865 Centerline is valid? [True, True] Translation: X:-11.02, Y:-0.25, Z:0.13 [[ 9.99316097e-01 3.61325023e-02 -7.86004340e-03 -1.10170258e+01] [-3.61364266e-02 9.99346802e-01 -3.57778262e-04 -2.46837740e-01] [ 7.84198181e-03 6.41567458e-04 9.99969045e-01 1.29851467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.979562459999999 meters 0.04912014557692709 Centerline is valid? [True, True] Translation: X:-11.05, Y:-0.25, Z:0.13 [[ 9.99441476e-01 3.24643054e-02 -7.92495735e-03 -1.10476512e+01] [-3.24681811e-02 9.99472704e-01 -3.60856491e-04 -2.49299877e-01] [ 7.90906360e-03 6.17963895e-04 9.99968532e-01 1.28015618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.00956246 meters 0.04701327226717183 Centerline is valid? [True, True] Translation: X:-11.08, Y:-0.25, Z:0.12 [[ 9.99520386e-01 2.79970168e-02 -1.32350009e-02 -1.10773882e+01] [-2.80074444e-02 9.99607533e-01 -6.03159749e-04 -2.49607877e-01] [ 1.32129200e-02 9.73549019e-04 9.99912232e-01 1.18380398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.039562459999999 meters 0.047182645294585907 Centerline is valid? [True, True] Translation: X:-11.11, Y:-0.25, Z:0.12 [[ 9.99535116e-01 2.76030943e-02 -1.29468392e-02 -1.11064922e+01] [-2.76129688e-02 9.99618518e-01 -5.84527687e-04 -2.49335002e-01] [ 1.29257654e-02 9.41756616e-04 9.99916015e-01 1.18566658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.069562459999998 meters 0.046807369549724295 Centerline is valid? [True, True] Translation: X:-11.14, Y:-0.25, Z:0.13 [[ 9.99555799e-01 2.80603663e-02 -1.00409080e-02 -1.11351564e+01] [-2.80663006e-02 9.99605962e-01 -4.50568718e-04 -2.49898207e-01] [ 1.00243083e-02 7.32179717e-04 9.99949487e-01 1.25855547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.09956246 meters 0.04853544214012092 Centerline is valid? [True, True] Translation: X:-11.17, Y:-0.24, Z:0.12 [[ 9.99420379e-01 3.16963153e-02 -1.24196879e-02 -1.11662376e+01] [-3.17057127e-02 9.99497090e-01 -5.60445210e-04 -2.38617336e-01] [ 1.23956779e-02 9.53895421e-04 9.99922716e-01 1.23200169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.129562459999999 meters 0.0513723040046332 Centerline is valid? [True, True] Translation: X:-11.20, Y:-0.23, Z:0.12 [[ 9.99277490e-01 3.56745535e-02 -1.31082047e-02 -1.11977477e+01] [-3.56853657e-02 9.99362899e-01 -5.91802790e-04 -2.28851730e-01] [ 1.30787411e-02 1.05914628e-03 9.99913909e-01 1.19876095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.159562459999998 meters 0.05196084481396871 Centerline is valid? [True, True] Translation: X:-11.23, Y:-0.22, Z:0.13 [[ 9.99076026e-01 4.18065648e-02 -9.96523514e-03 -1.12272267e+01] [-4.18131101e-02 9.99125348e-01 -4.49286112e-04 -2.22956741e-01] [ 9.93773593e-03 8.65548458e-04 9.99950245e-01 1.25014450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.18956246 meters 0.0532005861853501 Centerline is valid? [True, True] Translation: X:-11.26, Y:-0.22, Z:0.13 [[ 9.98882768e-01 4.63754269e-02 -9.08488007e-03 -1.12581863e+01] [-4.63810589e-02 9.98923735e-01 -4.10111068e-04 -2.19046714e-01] [ 9.05608326e-03 8.31019237e-04 9.99958648e-01 1.26083789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.219562459999999 meters 0.05519345246734975 Centerline is valid? [True, True] Translation: X:-11.29, Y:-0.21, Z:0.12 [[ 9.98734288e-01 4.91714842e-02 -1.05823577e-02 -1.12893933e+01] [-4.91792831e-02 9.98789853e-01 -4.77860965e-04 -2.13804385e-01] [ 1.05460544e-02 9.97688899e-04 9.99943891e-01 1.23002484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.249562459999998 meters 0.057269252071765454 Centerline is valid? [True, True] Translation: X:-11.32, Y:-0.21, Z:0.12 [[ 9.98695570e-01 4.95490889e-02 -1.23307343e-02 -1.13214154e+01] [-4.95597175e-02 9.98771006e-01 -5.57701936e-04 -2.08424422e-01] [ 1.22879463e-02 1.16808216e-03 9.99923818e-01 1.18670749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.27956246 meters 0.05674649094080929 Centerline is valid? [True, True] Translation: X:-11.35, Y:-0.21, Z:0.12 [[ 9.98693852e-01 4.92618024e-02 -1.35596406e-02 -1.13531800e+01] [-4.92746418e-02 9.98785078e-01 -6.14223242e-04 -2.08927544e-01] [ 1.35129089e-02 1.28156741e-03 9.99907875e-01 1.18641994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.309562459999999 meters 0.05512609651313476 Centerline is valid? [True, True] Translation: X:-11.38, Y:-0.21, Z:0.12 [[ 9.98805871e-01 4.74693538e-02 -1.15538832e-02 -1.13831424e+01] [-4.74785508e-02 9.98872121e-01 -5.22876342e-04 -2.11310307e-01] [ 1.15160312e-02 1.07081359e-03 9.99933115e-01 1.22894125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.339562459999998 meters 0.05796921740565187 Centerline is valid? [True, True] Translation: X:-11.42, Y:-0.21, Z:0.12 [[ 9.98848774e-01 4.65491375e-02 -1.15889944e-02 -1.14160302e+01] [-4.65583449e-02 9.98915434e-01 -5.25827929e-04 -2.05607790e-01] [ 1.15519485e-02 1.06478698e-03 9.99932707e-01 1.20118490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.36956246 meters 0.05291290050327245 Centerline is valid? [True, True] Translation: X:-11.45, Y:-0.22, Z:0.12 [[ 9.98989814e-01 4.27906097e-02 -1.37228006e-02 -1.14450107e+01] [-4.28031595e-02 9.99083331e-01 -6.21988898e-04 -2.15002332e-01] [ 1.36836060e-02 1.20873979e-03 9.99905644e-01 1.16880983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.399562459999999 meters 0.05407607118998922 Centerline is valid? [True, True] Translation: X:-11.48, Y:-0.21, Z:0.12 [[ 9.99073278e-01 4.09943248e-02 -1.31167673e-02 -1.14763971e+01] [-4.10056410e-02 9.99158738e-01 -5.94837800e-04 -2.11137302e-01] [ 1.30813477e-02 1.13214800e-03 9.99913795e-01 1.19389019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.42956246 meters 0.05165546056511286 Centerline is valid? [True, True] Translation: X:-11.51, Y:-0.21, Z:0.12 [[ 9.99260033e-01 3.74067003e-02 -8.95126020e-03 -1.15063970e+01] [-3.74118270e-02 9.99299850e-01 -4.05914034e-04 -2.14687984e-01] [ 8.92980907e-03 7.40496669e-04 9.99959854e-01 1.21917359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.459562459999999 meters 0.04973635084606323 Centerline is valid? [True, True] Translation: X:-11.54, Y:-0.22, Z:0.12 [[ 9.99362127e-01 3.39448032e-02 -1.10945626e-02 -1.15355833e+01] [-3.39524633e-02 9.99423322e-01 -5.02762013e-04 -2.19641813e-01] [ 1.10710984e-02 8.79129043e-04 9.99938327e-01 1.18636776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.489562459999998 meters 0.04999790173187857 Centerline is valid? [True, True] Translation: X:-11.57, Y:-0.22, Z:0.12 [[ 9.99428096e-01 3.12898949e-02 -1.28227591e-02 -1.15668207e+01] [-3.12999171e-02 9.99509868e-01 -5.81608406e-04 -2.18941773e-01] [ 1.27982758e-02 9.82627079e-04 9.99917616e-01 1.16507843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.51956246 meters 0.051484592453332687 Centerline is valid? [True, True] Translation: X:-11.60, Y:-0.21, Z:0.11 [[ 9.99373464e-01 3.20618870e-02 -1.49905107e-02 -1.15980447e+01] [-3.20756741e-02 9.99485212e-01 -6.80133528e-04 -2.12140077e-01] [ 1.49609874e-02 1.16053814e-03 9.99887405e-01 1.10229712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.549562459999999 meters 0.051804435616168196 Centerline is valid? [True, True] Translation: X:-11.63, Y:-0.21, Z:0.11 [[ 9.99350455e-01 3.34311313e-02 -1.34546147e-02 -1.16289739e+01] [-3.34423589e-02 9.99440462e-01 -6.10296375e-04 -2.10462816e-01] [ 1.34266834e-02 1.05985401e-03 9.99909296e-01 1.09790279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.579562459999998 meters 0.05078006727575592 Centerline is valid? [True, True] Translation: X:-11.66, Y:-0.21, Z:0.11 [[ 9.99293756e-01 3.49813924e-02 -1.37218958e-02 -1.16590687e+01] [-3.49932208e-02 9.99387356e-01 -6.22791131e-04 -2.14653376e-01] [ 1.36917031e-02 1.10252462e-03 9.99905656e-01 1.12326450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.60956246 meters 0.05553916033236051 Centerline is valid? [True, True] Translation: X:-11.69, Y:-0.20, Z:0.11 [[ 9.99326247e-01 3.41795011e-02 -1.33721445e-02 -1.16916895e+01] [-3.41906811e-02 9.99415143e-01 -6.08280990e-04 -2.03173051e-01] [ 1.33435330e-02 1.06507389e-03 9.99910404e-01 1.10802928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.639562459999999 meters 0.05060022385458928 Centerline is valid? [True, True] Translation: X:-11.72, Y:-0.21, Z:0.12 [[ 9.99319794e-01 3.53199063e-02 -1.06043815e-02 -1.17222765e+01] [-3.53270056e-02 9.99375690e-01 -4.82837332e-04 -2.12754617e-01] [ 1.05807073e-02 8.57129948e-04 9.99943655e-01 1.21407561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.669562459999998 meters 0.05425570203485061 Centerline is valid? [True, True] Translation: X:-11.75, Y:-0.21, Z:0.12 [[ 9.99339630e-01 3.55855994e-02 -7.34634983e-03 -1.17545850e+01] [-3.55890193e-02 9.99366454e-01 -3.35286734e-04 -2.05856315e-01] [ 7.32976420e-03 5.96514706e-04 9.99972959e-01 1.20088034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.69956246 meters 0.04991667084054531 Centerline is valid? [True, True] Translation: X:-11.79, Y:-0.22, Z:0.11 [[ 9.99331378e-01 3.32208733e-02 -1.52698977e-02 -1.17863115e+01] [-3.32354170e-02 9.99447306e-01 -6.99596183e-04 -2.18017508e-01] [ 1.52382169e-02 1.20662984e-03 9.99883164e-01 1.08563569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.729562459999999 meters 0.05367338975850888 Centerline is valid? [True, True] Translation: X:-11.82, Y:-0.21, Z:0.11 [[ 9.99402662e-01 3.06025760e-02 -1.60562028e-02 -1.18168618e+01] [-3.06182798e-02 9.99530882e-01 -7.33087948e-04 -2.11232476e-01] [ 1.60262361e-02 1.22426336e-03 9.99870822e-01 1.05094405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.75956246 meters 0.04844229604697686 Centerline is valid? [True, True] Translation: X:-11.85, Y:-0.22, Z:0.12 [[ 9.99562526e-01 2.77467360e-02 -1.02408460e-02 -1.18461056e+01] [-2.77529746e-02 9.99614703e-01 -4.67551821e-04 -2.19485479e-01] [ 1.02239272e-02 7.51561218e-04 9.99947452e-01 1.16468881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.789562459999999 meters 0.04571618188917742 Centerline is valid? [True, True] Translation: X:-11.88, Y:-0.22, Z:0.12 [[ 9.99633908e-01 2.63422896e-02 -6.17522469e-03 -1.18759205e+01] [-2.63445317e-02 9.99652883e-01 -2.81998824e-04 -2.21369704e-01] [ 6.16565267e-03 4.44578989e-04 9.99980893e-01 1.22086789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.819562459999998 meters 0.048824127745883204 Centerline is valid? [True, True] Translation: X:-11.91, Y:-0.21, Z:0.11 [[ 9.99552550e-01 2.62626381e-02 -1.43168875e-02 -1.19069633e+01] [-2.62746825e-02 9.99654547e-01 -6.53797333e-04 -2.14102819e-01] [ 1.42947712e-02 1.02967646e-03 9.99897294e-01 1.06764846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.84956246 meters 0.05470323410524115 Centerline is valid? [True, True] Translation: X:-11.94, Y:-0.20, Z:0.09 [[ 9.99459561e-01 2.73867662e-02 -1.81810656e-02 -1.19373415e+01] [-2.74063595e-02 9.99624031e-01 -8.29343714e-04 -2.01144494e-01] [ 1.81515170e-02 1.32717232e-03 9.99834367e-01 9.44534609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.879562459999999 meters 0.04963327459799224 Centerline is valid? [True, True] Translation: X:-11.96, Y:-0.21, Z:0.11 [[ 9.99469464e-01 3.04449347e-02 -1.15714019e-02 -1.19648578e+01] [-3.04530206e-02 9.99536062e-01 -5.23191851e-04 -2.08155469e-01] [ 1.15501050e-02 8.75298420e-04 9.99932912e-01 1.10689875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.909562459999998 meters 0.050298928558404614 Centerline is valid? [True, True] Translation: X:-12.00, Y:-0.20, Z:0.12 [[ 9.99395992e-01 3.32531402e-02 -1.00935829e-02 -1.19953900e+01] [-3.32594557e-02 9.99446646e-01 -4.58437058e-04 -2.02381969e-01] [ 1.00727531e-02 7.93867233e-04 9.99948953e-01 1.15127756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.93956246 meters 0.05121425061699312 Centerline is valid? [True, True] Translation: X:-12.03, Y:-0.20, Z:0.11 [[ 9.99247824e-01 3.70052455e-02 -1.15929899e-02 -1.20263283e+01] [-3.70138274e-02 9.99314615e-01 -5.26514960e-04 -1.96245342e-01] [ 1.15655604e-02 9.55219856e-04 9.99932660e-01 1.07153794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.969562459999999 meters 0.056315261470173544 Centerline is valid? [True, True] Translation: X:-12.06, Y:-0.18, Z:0.10 [[ 9.98975734e-01 4.33450728e-02 -1.29880064e-02 -1.20578210e+01] [-4.33563808e-02 9.99059496e-01 -5.90221852e-04 -1.83661300e-01] [ 1.29502080e-02 1.15273026e-03 9.99915478e-01 1.03231562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.999562459999998 meters 0.057220509978609876 Centerline is valid? [True, True] Translation: X:-12.09, Y:-0.18, Z:0.11 [[ 9.98810090e-01 4.76505919e-02 -1.03838780e-02 -1.20886213e+01] [-4.76580489e-02 9.98863598e-01 -4.71733526e-04 -1.80623405e-01] [ 1.03495994e-02 9.66047573e-04 9.99945975e-01 1.08133790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.02956246 meters 0.05590408925847158 Centerline is valid? [True, True] Translation: X:-12.12, Y:-0.18, Z:0.11 [[ 9.98725745e-01 4.96452161e-02 -9.06853425e-03 -1.21185192e+01] [-4.96509850e-02 9.98766544e-01 -4.11988979e-04 -1.80724782e-01] [ 9.03689533e-03 8.61725658e-04 9.99958795e-01 1.09692341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.059562459999999 meters 0.06062931844956378 Centerline is valid? [True, True] Translation: X:-12.15, Y:-0.17, Z:0.09 [[ 9.98669866e-01 4.93683510e-02 -1.48749357e-02 -1.21512142e+01] [-4.93838616e-02 9.98779643e-01 -6.77010495e-04 -1.71105207e-01] [ 1.48233601e-02 1.41069175e-03 9.99889133e-01 9.11765682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.089562459999998 meters 0.05874763694105899 Centerline is valid? [True, True] Translation: X:-12.18, Y:-0.18, Z:0.09 [[ 9.98746459e-01 4.69690640e-02 -1.73036671e-02 -1.21808934e+01] [-4.69896867e-02 9.98895065e-01 -7.86942352e-04 -1.75345874e-01] [ 1.72475857e-02 1.59904978e-03 9.99849971e-01 8.95195722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.11956246 meters 0.05533652926345261 Centerline is valid? [True, True] Translation: X:-12.21, Y:-0.18, Z:0.10 [[ 9.99035164e-01 4.24880269e-02 -1.11134476e-02 -1.22109361e+01] [-4.24962578e-02 9.99096498e-01 -5.05424704e-04 -1.78082884e-01] [ 1.10819321e-02 9.77216988e-04 9.99938116e-01 1.01280727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.149562459999999 meters 0.05498511869434376 Centerline is valid? [True, True] Translation: X:-12.24, Y:-0.18, Z:0.10 [[ 9.99222342e-01 3.83858215e-02 -9.01333619e-03 -1.22420363e+01] [-3.83910727e-02 9.99262707e-01 -4.10248870e-04 -1.80273870e-01] [ 8.99094298e-03 7.55961482e-04 9.99959295e-01 9.99547080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.17956246 meters 0.054660744535976885 Centerline is valid? [True, True] Translation: X:-12.27, Y:-0.19, Z:0.09 [[ 9.99342682e-01 3.41378404e-02 -1.21988829e-02 -1.22725102e+01] [-3.41471431e-02 9.99416662e-01 -5.55053497e-04 -1.86286944e-01] [ 1.21728185e-02 9.71245649e-04 9.99925437e-01 9.41227594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.209562459999999 meters 0.0504147864477683 Centerline is valid? [True, True] Translation: X:-12.30, Y:-0.20, Z:0.09 [[ 9.99548671e-01 2.75231415e-02 -1.20387341e-02 -1.23012326e+01] [-2.75317262e-02 9.99620780e-01 -5.47912087e-04 -1.99155447e-01] [ 1.20190885e-02 8.79111929e-04 9.99927382e-01 9.31473539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.239562459999998 meters 0.04982091143450709 Centerline is valid? [True, True] Translation: X:-12.33, Y:-0.20, Z:0.10 [[ 9.99650122e-01 2.48759339e-02 -8.99007261e-03 -1.23315786e+01] [-2.48806145e-02 9.99690346e-01 -4.09156650e-04 -2.00866171e-01] [ 8.97711064e-03 6.32692026e-04 9.99959505e-01 9.97584455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.26956246 meters 0.04508942521614304 Centerline is valid? [True, True] Translation: X:-12.36, Y:-0.21, Z:0.10 [[ 9.99743684e-01 2.04013048e-02 -9.81593748e-03 -1.23606783e+01] [-2.04066672e-02 9.99791663e-01 -4.46438157e-04 -2.12798771e-01] [ 9.80478453e-03 6.46634297e-04 9.99951723e-01 9.72176843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.299562459999999 meters 0.04569398640211551 Centerline is valid? [True, True] Translation: X:-12.39, Y:-0.21, Z:0.09 [[ 9.99742819e-01 1.84532918e-02 -1.31822237e-02 -1.23913573e+01] [-1.84627971e-02 9.99829368e-01 -5.99731417e-04 -2.12976461e-01] [ 1.31689073e-02 8.42957898e-04 9.99912931e-01 9.37068013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.329562459999998 meters 0.04355973913236268 Centerline is valid? [True, True] Translation: X:-12.42, Y:-0.22, Z:0.09 [[ 9.99810127e-01 1.68404568e-02 -9.80352388e-03 -1.24201746e+01] [-1.68456301e-02 9.99858003e-01 -4.45356996e-04 -2.17296385e-01] [ 9.79463180e-03 6.10418972e-04 9.99951845e-01 9.49655808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.35956246 meters 0.04831146336113694 Centerline is valid? [True, True] Translation: X:-12.45, Y:-0.20, Z:0.09 [[ 9.99820170e-01 1.62289151e-02 -9.81075560e-03 -1.24500893e+01] [-1.62340636e-02 9.99868120e-01 -4.45369828e-04 -2.04463610e-01] [ 9.80223389e-03 6.04558168e-04 9.99951774e-01 9.00809355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.389562459999999 meters 0.04460237767041948 Centerline is valid? [True, True] Translation: X:-12.48, Y:-0.21, Z:0.08 [[ 9.99768263e-01 1.49750474e-02 -1.54650858e-02 -1.24781436e+01] [-1.49876817e-02 9.99887432e-01 -7.01372338e-04 -2.11333407e-01] [ 1.54528418e-02 9.32995587e-04 9.99880162e-01 8.22937282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.419562459999998 meters 0.04460237767041948 Centerline is valid? [True, True] Translation: X:-12.51, Y:-0.21, Z:0.08 [[ 9.99764470e-01 1.52258726e-02 -1.54653625e-02 -1.25055021e+01] [-1.52384426e-02 9.99883646e-01 -6.95255948e-04 -2.12749718e-01] [ 1.54529772e-02 9.30760233e-04 9.99880162e-01 8.25943921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.44956246 meters 0.04366712811941983 Centerline is valid? [True, True] Translation: X:-12.54, Y:-0.22, Z:0.09 [[ 9.99832345e-01 1.36314212e-02 -1.22256292e-02 -1.25356299e+01] [-1.36391837e-02 9.99906830e-01 -5.51787360e-04 -2.21261243e-01] [ 1.22169685e-02 7.18442453e-04 9.99925112e-01 9.45392853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.479562459999999 meters 0.04256365772933022 Centerline is valid? [True, True] Translation: X:-12.57, Y:-0.22, Z:0.10 [[ 9.99876197e-01 1.27238981e-02 -9.25710090e-03 -1.25651652e+01] [-1.27283010e-02 9.99918905e-01 -4.16856134e-04 -2.18279286e-01] [ 9.25104616e-03 5.34631692e-04 9.99957065e-01 9.53993430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.50956246 meters 0.04341502200239706 Centerline is valid? [True, True] Translation: X:-12.59, Y:-0.21, Z:0.08 [[ 9.99792815e-01 1.46554956e-02 -1.41259638e-02 -1.25946666e+01] [-1.46659391e-02 9.99892247e-01 -6.36000767e-04 -2.07000263e-01] [ 1.41151207e-02 8.43039521e-04 9.99900021e-01 8.46259797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.539562459999999 meters 0.04800290049142797 Centerline is valid? [True, True] Translation: X:-12.62, Y:-0.19, Z:0.08 [[ 9.99781356e-01 1.53538630e-02 -1.41950140e-02 -1.26239757e+01] [-1.53644053e-02 9.99881760e-01 -6.33911548e-04 -1.94731333e-01] [ 1.41836026e-02 8.51870895e-04 9.99899045e-01 8.04483434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.569562459999998 meters 0.04280490943554437 Centerline is valid? [True, True] Translation: X:-12.65, Y:-0.20, Z:0.09 [[ 9.99819536e-01 1.72510708e-02 -7.95589217e-03 -1.26508302e+01] [-1.72544408e-02 9.99851068e-01 -3.55142778e-04 -2.04782376e-01] [ 7.94858069e-03 4.92353158e-04 9.99968288e-01 9.49835173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.59956246 meters 0.04480606151294309 Centerline is valid? [True, True] Translation: X:-12.68, Y:-0.19, Z:0.09 [[ 9.99730629e-01 2.13874829e-02 -9.01361077e-03 -1.26824189e+01] [-2.13919850e-02 9.99771084e-01 -4.03349372e-04 -1.88704812e-01] [ 9.00292079e-03 5.96059748e-04 9.99959295e-01 8.88808476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.629562459999999 meters 0.04793505241560163 Centerline is valid? [True, True] Translation: X:-12.71, Y:-0.18, Z:0.08 [[ 9.99656076e-01 2.31304704e-02 -1.23575960e-02 -1.27134718e+01] [-2.31390655e-02 9.99732103e-01 -5.52989052e-04 -1.77575818e-01] [ 1.23414946e-02 8.38742090e-04 9.99923489e-01 8.25777610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.659562459999998 meters 0.050668013302457425 Centerline is valid? [True, True] Translation: X:-12.75, Y:-0.17, Z:0.08 [[ 9.99680199e-01 2.24675106e-02 -1.16064606e-02 -1.27455297e+01] [-2.24750561e-02 9.99747269e-01 -5.20078961e-04 -1.71327475e-01] [ 1.15918424e-02 7.80768492e-04 9.99932508e-01 8.05807871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.68956246 meters 0.048210247401076864 Centerline is valid? [True, True] Translation: X:-12.78, Y:-0.17, Z:0.09 [[ 9.99749714e-01 2.03470868e-02 -9.30081637e-03 -1.27750394e+01] [-2.03518429e-02 9.99792793e-01 -4.16996308e-04 -1.70113587e-01] [ 9.29040451e-03 6.06180693e-04 9.99956660e-01 8.73252836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.719562459999999 meters 0.04312568492947367 Centerline is valid? [True, True] Translation: X:-12.81, Y:-0.17, Z:0.08 [[ 9.99794123e-01 1.84048250e-02 -8.54251058e-03 -1.28058229e+01] [-1.84087696e-02 9.99830471e-01 -3.83354994e-04 -1.66762535e-01] [ 8.53400679e-03 5.40533179e-04 9.99963439e-01 8.12597668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.749562459999998 meters 0.04392149421466032 Centerline is valid? [True, True] Translation: X:-12.84, Y:-0.16, Z:0.08 [[ 9.99824924e-01 1.61646497e-02 -9.42470097e-03 -1.28373289e+01] [-1.61693546e-02 9.99869178e-01 -4.23223922e-04 -1.59941331e-01] [ 9.41662674e-03 5.75541158e-04 9.99955497e-01 7.92648964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.77956246 meters 0.044996797560157925 Centerline is valid? [True, True] Translation: X:-12.87, Y:-0.16, Z:0.07 [[ 9.99865960e-01 1.24815345e-02 -1.05958863e-02 -1.28680648e+01] [-1.24872676e-02 9.99921918e-01 -4.75083084e-04 -1.56085314e-01] [ 1.05891292e-02 6.07333072e-04 9.99943749e-01 7.22831288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.809562459999999 meters 0.04438794187762377 Centerline is valid? [True, True] Translation: X:-12.90, Y:-0.15, Z:0.07 [[ 9.99872155e-01 1.19681758e-02 -1.06036397e-02 -1.28972450e+01] [-1.19738412e-02 9.99928200e-01 -4.70965692e-04 -1.50324968e-01] [ 1.05972418e-02 5.97871779e-04 9.99943669e-01 7.32981004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.839562459999998 meters 0.04034297932995561 Centerline is valid? [True, True] Translation: X:-12.93, Y:-0.15, Z:0.07 [[ 9.99918753e-01 7.48170197e-03 -1.03204853e-02 -1.29262677e+01] [-7.48686414e-03 9.99971866e-01 -4.61641748e-04 -1.51855944e-01] [ 1.03167411e-02 5.38872312e-04 9.99946636e-01 6.93444673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.86956246 meters 0.03861017842960634 Centerline is valid? [True, True] Translation: X:-12.95, Y:-0.15, Z:0.07 [[ 9.99916793e-01 5.31960328e-03 -1.17519691e-02 -1.29548349e+01] [-5.32612864e-03 9.99985679e-01 -5.24029325e-04 -1.50211336e-01] [ 1.17490131e-02 5.86578221e-04 9.99930806e-01 6.84663202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.899562459999999 meters 0.038443490560586706 Centerline is valid? [True, True] Translation: X:-12.98, Y:-0.15, Z:0.07 [[ 9.99938952e-01 5.64140453e-03 -9.50091124e-03 -1.29836268e+01] [-5.64564460e-03 9.99983975e-01 -4.19519437e-04 -1.45025254e-01] [ 9.49839231e-03 4.73132595e-04 9.99954777e-01 6.70944099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.92956246 meters 0.03973519680548222 Centerline is valid? [True, True] Translation: X:-13.02, Y:-0.13, Z:0.06 [[ 9.99885074e-01 9.25445634e-03 -1.20080933e-02 -1.30151086e+01] [-9.26152513e-03 9.99956969e-01 -5.33192278e-04 -1.29988713e-01] [ 1.20026422e-02 6.44344258e-04 9.99927758e-01 6.05863255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.959562459999999 meters 0.04311688527784681 Centerline is valid? [True, True] Translation: X:-13.05, Y:-0.12, Z:0.06 [[ 9.99833381e-01 1.37870337e-02 -1.19636155e-02 -1.30455701e+01] [-1.37943736e-02 9.99904712e-01 -5.31210094e-04 -1.19992959e-01] [ 1.19551517e-02 6.96152167e-04 9.99928292e-01 6.07125417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.989562459999998 meters 0.04351513196166975 Centerline is valid? [True, True] Translation: X:-13.07, Y:-0.11, Z:0.06 [[ 9.99754224e-01 1.96755935e-02 -1.02157779e-02 -1.30749543e+01] [-1.96812433e-02 9.99806203e-01 -4.52793727e-04 -1.13140403e-01] [ 1.02048891e-02 6.53741651e-04 9.99947715e-01 6.42470910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.01956246 meters 0.04942556668934692 Centerline is valid? [True, True] Translation: X:-13.11, Y:-0.10, Z:0.06 [[ 9.99665315e-01 2.33108195e-02 -1.12188869e-02 -1.31058639e+01] [-2.33178668e-02 9.99727978e-01 -4.97755443e-04 -9.60663024e-02] [ 1.12042320e-02 7.59189362e-04 9.99936942e-01 5.95234988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.049562459999999 meters 0.047938657975268265 Centerline is valid? [True, True] Translation: X:-13.14, Y:-0.09, Z:0.06 [[ 9.99559651e-01 2.75794350e-02 -1.09488909e-02 -1.31358741e+01] [-2.75863980e-02 9.99619305e-01 -4.85410097e-04 -8.96120463e-02] [ 1.09313353e-02 7.87236808e-04 9.99939941e-01 5.58155684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.079562459999998 meters 0.04846754706823912 Centerline is valid? [True, True] Translation: X:-13.17, Y:-0.09, Z:0.06 [[ 9.99484610e-01 3.01980486e-02 -1.08900327e-02 -1.31657797e+01] [-3.02050934e-02 9.99543605e-01 -4.82976345e-04 -8.56111639e-02] [ 1.08704776e-02 8.11661877e-04 9.99940585e-01 5.60805276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.10956246 meters 0.05301337880522773 Centerline is valid? [True, True] Translation: X:-13.20, Y:-0.07, Z:0.06 [[ 9.99491007e-01 2.99673076e-02 -1.09401589e-02 -1.31990379e+01] [-2.99744190e-02 9.99550548e-01 -4.86602135e-04 -7.30851319e-02] [ 1.09206597e-02 8.14279366e-04 9.99940036e-01 5.51290561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.139562459999999 meters 0.048703948878774175 Centerline is valid? [True, True] Translation: X:-13.23, Y:-0.08, Z:0.06 [[ 9.99521714e-01 2.93901628e-02 -9.62087430e-03 -1.32297047e+01] [-2.93956391e-02 9.99567763e-01 -4.28274008e-04 -7.83431232e-02] [ 9.60412876e-03 7.10880919e-04 9.99953627e-01 5.99095007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.169562459999998 meters 0.04898811948559265 Centerline is valid? [True, True] Translation: X:-13.26, Y:-0.07, Z:0.06 [[ 9.99569590e-01 2.79465441e-02 -8.92331795e-03 -1.32609304e+01] [-2.79512017e-02 9.99609210e-01 -3.97643470e-04 -6.78381282e-02] [ 8.90871804e-03 6.46889780e-04 9.99960107e-01 5.53457794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.19956246 meters 0.047925321262653066 Centerline is valid? [True, True] Translation: X:-13.29, Y:-0.07, Z:0.05 [[ 9.99616464e-01 2.62197667e-02 -8.91335214e-03 -1.32923335e+01] [-2.62243467e-02 9.99656004e-01 -3.97319847e-04 -6.90809327e-02] [ 8.89986834e-03 6.30914297e-04 9.99960196e-01 5.29636849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.229562459999999 meters 0.04596635845309923 Centerline is valid? [True, True] Translation: X:-13.32, Y:-0.07, Z:0.06 [[ 9.99692671e-01 2.35439499e-02 -7.76179289e-03 -1.33217318e+01] [-2.35473385e-02 9.99722663e-01 -3.45477507e-04 -6.98751288e-02] [ 7.75150635e-03 5.28140897e-04 9.99969817e-01 5.65126725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.259562459999998 meters 0.047692348644884856 Centerline is valid? [True, True] Translation: X:-13.35, Y:-0.06, Z:0.05 [[ 9.99706630e-01 2.27280094e-02 -8.37204295e-03 -1.33547347e+01] [-2.27319348e-02 9.99741526e-01 -3.73988085e-04 -5.75589991e-02] [ 8.36137899e-03 5.64191102e-04 9.99964884e-01 4.85006977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.289562459999999 meters 0.04824195525747073 Centerline is valid? [True, True] Translation: X:-13.38, Y:-0.06, Z:0.04 [[ 9.99625213e-01 2.35598789e-02 -1.39415234e-02 -1.33844079e+01] [-2.35708293e-02 9.99721976e-01 -6.21638389e-04 -5.90066678e-02] [ 1.39230016e-02 9.50018676e-04 9.99902619e-01 3.87728288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.319562459999998 meters 0.05046362105428083 Centerline is valid? [True, True] Translation: X:-13.42, Y:-0.05, Z:0.04 [[ 9.99584691e-01 2.51214150e-02 -1.41194678e-02 -1.34163655e+01] [-2.51328181e-02 9.99683922e-01 -6.30728592e-04 -5.32934914e-02] [ 1.40991601e-02 9.85328661e-04 9.99900116e-01 3.86558983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.34956246 meters 0.04789536973674509 Centerline is valid? [True, True] Translation: X:-13.45, Y:-0.05, Z:0.05 [[ 9.99581972e-01 2.76742299e-02 -8.36766371e-03 -1.34477837e+01] [-2.76783404e-02 9.99616811e-01 -3.75810797e-04 -5.17157697e-02] [ 8.35405704e-03 6.07256742e-04 9.99964920e-01 4.83844533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.379562459999999 meters 0.04931225587559778 Centerline is valid? [True, True] Translation: X:-13.48, Y:-0.04, Z:0.05 [[ 9.99417467e-01 3.38496853e-02 -4.35027887e-03 -1.34779475e+01] [-3.38508514e-02 9.99426877e-01 -1.94675263e-04 -4.49062711e-02] [ 4.34119592e-03 3.41822501e-04 9.99990519e-01 4.91206556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.409562459999998 meters 0.05228454651846043 Centerline is valid? [True, True] Translation: X:-13.51, Y:-0.04, Z:0.04 [[ 9.99303024e-01 3.66938822e-02 -6.85745771e-03 -1.35083827e+01] [-3.66968469e-02 9.99326397e-01 -3.06973867e-04 -3.90243470e-02] [ 6.84157444e-03 5.58406990e-04 9.99976440e-01 4.29901823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.43956246 meters 0.05476256100342815 Centerline is valid? [True, True] Translation: X:-13.54, Y:-0.03, Z:0.04 [[ 9.99236773e-01 3.82398874e-02 -7.97383248e-03 -1.35394970e+01] [-3.82439469e-02 9.99268369e-01 -3.57189539e-04 -3.46539845e-02] [ 7.95433969e-03 6.61867749e-04 9.99968145e-01 3.74845035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.469562459999999 meters 0.050058538610757305 Centerline is valid? [True, True] Translation: X:-13.57, Y:-0.04, Z:0.04 [[ 9.99268728e-01 3.75097790e-02 -7.41798844e-03 -1.35704047e+01] [-3.75132994e-02 9.99296072e-01 -3.35955359e-04 -4.44530119e-02] [ 7.40016510e-03 6.13982905e-04 9.99972430e-01 4.02565216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.499562459999998 meters 0.04909334775198249 Centerline is valid? [True, True] Translation: X:-13.60, Y:-0.05, Z:0.04 [[ 9.99284066e-01 3.67987070e-02 -8.78698112e-03 -1.36019931e+01] [-3.68036323e-02 9.99322437e-01 -3.99430252e-04 -4.98773567e-02] [ 8.76632887e-03 7.22537108e-04 9.99961314e-01 3.88108563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.52956246 meters 0.050178157696497236 Centerline is valid? [True, True] Translation: X:-13.63, Y:-0.05, Z:0.03 [[ 9.99348187e-01 3.42305035e-02 -1.14661838e-02 -1.36330500e+01] [-3.42386922e-02 9.99413550e-01 -5.18562437e-04 -4.69280998e-02] [ 1.14417088e-02 9.10811569e-04 9.99934127e-01 3.45474546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.559562459999999 meters 0.047570040605061696 Centerline is valid? [True, True] Translation: X:-13.66, Y:-0.05, Z:0.03 [[ 9.99445289e-01 3.17538024e-02 -1.00404518e-02 -1.36627030e+01] [-3.17599528e-02 9.99495422e-01 -4.53669525e-04 -5.10158957e-02] [ 1.00209798e-02 7.72302143e-04 9.99949490e-01 3.48604459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.589562459999998 meters 0.04694994282009075 Centerline is valid? [True, True] Translation: X:-13.69, Y:-0.05, Z:0.04 [[ 9.99465214e-01 3.17327051e-02 -7.89441313e-03 -1.36944121e+01] [-3.17365146e-02 9.99496206e-01 -3.57724420e-04 -5.31029801e-02] [ 7.87908440e-03 6.08074271e-04 9.99968775e-01 3.77800504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.61956246 meters 0.050071499155364435 Centerline is valid? [True, True] Translation: X:-13.72, Y:-0.05, Z:0.04 [[ 9.99343910e-01 3.53741685e-02 -7.77286540e-03 -1.37249962e+01] [-3.53779670e-02 9.99373942e-01 -3.51700155e-04 -4.72162452e-02] [ 7.75555804e-03 6.26457584e-04 9.99969729e-01 3.69807724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.649562459999999 meters 0.05200566286875044 Centerline is valid? [True, True] Translation: X:-13.76, Y:-0.04, Z:0.03 [[ 9.99190074e-01 3.91890379e-02 -9.13320880e-03 -1.37555613e+01] [-3.91944405e-02 9.99231517e-01 -4.13220263e-04 -4.30681330e-02] [ 9.10999638e-03 7.70856594e-04 9.99958206e-01 3.38047599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.67956246 meters 0.05896080072555256 Centerline is valid? [True, True] Translation: X:-13.79, Y:-0.03, Z:0.03 [[ 9.98912659e-01 4.54030187e-02 -1.05861121e-02 -1.37870761e+01] [-4.54106265e-02 9.98968290e-01 -4.79284519e-04 -3.19716288e-02] [ 1.05534293e-02 9.59485355e-04 9.99943851e-01 2.89011890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.709562459999999 meters 0.05620877916801514 Centerline is valid? [True, True] Translation: X:-13.82, Y:-0.04, Z:0.03 [[ 9.98719032e-01 4.95150861e-02 -1.04188001e-02 -1.38167675e+01] [-4.95226752e-02 9.98772888e-01 -4.71518383e-04 -3.96524557e-02] [ 1.03826678e-02 9.86881236e-04 9.99945612e-01 3.23431700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.739562459999998 meters 0.05943362688833885 Centerline is valid? [True, True] Translation: X:-13.85, Y:-0.04, Z:0.03 [[ 9.98406774e-01 5.55898129e-02 -9.67913104e-03 -1.38473619e+01] [-5.55966451e-02 9.98453214e-01 -4.38034961e-04 -3.68297337e-02] [ 9.63980921e-03 9.75464286e-04 9.99953060e-01 2.93574486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.76956246 meters 0.06038811367430865 Centerline is valid? [True, True] Translation: X:-13.88, Y:-0.04, Z:0.03 [[ 9.98256766e-01 5.82983100e-02 -9.20526484e-03 -1.38778076e+01] [-5.83046042e-02 9.98298753e-01 -4.16663543e-04 -3.90778098e-02] [ 9.16531363e-03 9.52646524e-04 9.99957544e-01 3.14220112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.799562459999999 meters 0.06326990330777903 Centerline is valid? [True, True] Translation: X:-13.91, Y:-0.04, Z:0.03 [[ 9.98204532e-01 5.94301053e-02 -7.46820516e-03 -1.39089132e+01] [-5.94342837e-02 9.98232163e-01 -3.38598522e-04 -3.85944781e-02] [ 7.43487964e-03 7.81858003e-04 9.99972055e-01 3.41552999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.829562459999998 meters 0.05826152617068239 Centerline is valid? [True, True] Translation: X:-13.94, Y:-0.05, Z:0.04 [[ 9.98316737e-01 5.76205409e-02 -6.60048261e-03 -1.39385558e+01] [-5.76237699e-02 9.98338325e-01 -2.99921683e-04 -5.26007127e-02] [ 6.57223310e-03 6.79761528e-04 9.99978172e-01 3.76747183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.85956246 meters 0.05963252724953984 Centerline is valid? [True, True] Translation: X:-13.97, Y:-0.06, Z:0.03 [[ 9.98544889e-01 5.32161296e-02 -8.72629684e-03 -1.39691688e+01] [-5.32216015e-02 9.98582648e-01 -3.95878633e-04 -6.00044211e-02] [ 8.69286148e-03 8.59730079e-04 9.99961847e-01 3.08579301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.889562459999999 meters 0.05698019768144134 Centerline is valid? [True, True] Translation: X:-14.00, Y:-0.07, Z:0.03 [[ 9.98698710e-01 4.98018588e-02 -1.09845914e-02 -1.39983563e+01] [-4.98103219e-02 9.98758571e-01 -4.98049447e-04 -7.16220723e-02] [ 1.09461510e-02 1.04454737e-03 9.99939544e-01 2.75723532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.919562459999998 meters 0.05951059937869755 Centerline is valid? [True, True] Translation: X:-14.03, Y:-0.08, Z:0.03 [[ 9.98843341e-01 4.70483704e-02 -9.92121292e-03 -1.40283505e+01] [-4.70551381e-02 9.98892192e-01 -4.49692945e-04 -7.53296951e-02] [ 9.88906481e-03 9.16016848e-04 9.99950682e-01 3.00222734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.94956246 meters 0.05801856567753954 Centerline is valid? [True, True] Translation: X:-14.06, Y:-0.08, Z:0.04 [[ 9.98947047e-01 4.52852153e-02 -7.35168521e-03 -1.40591259e+01] [-4.52888875e-02 9.98973876e-01 -3.33724932e-04 -8.39548986e-02] [ 7.32902866e-03 6.66323180e-04 9.99972920e-01 3.58968842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.979562459999999 meters 0.053077652085666165 Centerline is valid? [True, True] Translation: X:-14.09, Y:-0.10, Z:0.03 [[ 9.98961482e-01 4.46979850e-02 -8.83442241e-03 -1.40897070e+01] [-4.47032843e-02 9.99000227e-01 -4.03192886e-04 -9.80357618e-02] [ 8.80756809e-03 7.97701860e-04 9.99960894e-01 3.46026847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.009562459999998 meters 0.05798860015130155 Centerline is valid? [True, True] Translation: X:-14.12, Y:-0.09, Z:0.03 [[ 9.98863247e-01 4.64628452e-02 -1.06497809e-02 -1.41206642e+01] [-4.64706320e-02 9.98919539e-01 -4.84754490e-04 -9.14074802e-02] [ 1.06157512e-02 9.79105494e-04 9.99943172e-01 2.90676839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.039562459999999 meters 0.05366040752666989 Centerline is valid? [True, True] Translation: X:-14.15, Y:-0.11, Z:0.03 [[ 9.98701887e-01 4.98603748e-02 -1.04155276e-02 -1.41498205e+01] [-4.98680040e-02 9.98755705e-01 -4.73904298e-04 -1.07618367e-01] [ 1.03789386e-02 9.92690689e-04 9.99945645e-01 3.35676427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.069562459999998 meters 0.057244431841177036 Centerline is valid? [True, True] Translation: X:-14.18, Y:-0.11, Z:0.03 [[ 9.98546360e-01 5.32285094e-02 -8.47899994e-03 -1.41806440e+01] [-5.32336858e-02 9.98582008e-01 -3.85819573e-04 -1.08089036e-01] [ 8.44644018e-03 8.36627149e-04 9.99963978e-01 3.35141314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.09956246 meters 0.05738161575862772 Centerline is valid? [True, True] Translation: X:-14.21, Y:-0.12, Z:0.04 [[ 9.98324210e-01 5.75151701e-02 -6.38565001e-03 -1.42100387e+01] [-5.75181938e-02 9.98344416e-01 -2.90738642e-04 -1.17555472e-01] [ 6.35835615e-03 6.57542480e-04 9.99979569e-01 3.72929557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.129562459999999 meters 0.05768669829318003 Centerline is valid? [True, True] Translation: X:-14.24, Y:-0.12, Z:0.04 [[ 9.98272497e-01 5.83109944e-02 -7.20067839e-03 -1.42409898e+01] [-5.83148651e-02 9.98298186e-01 -3.28595986e-04 -1.20963859e-01] [ 7.16926342e-03 7.47934925e-04 9.99974021e-01 3.62925562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.159562459999998 meters 0.06329316857850809 Centerline is valid? [True, True] Translation: X:-14.27, Y:-0.12, Z:0.03 [[ 9.98002675e-01 6.18043866e-02 -1.30720824e-02 -1.42720482e+01] [-6.18174312e-02 9.98087296e-01 -5.95816053e-04 -1.16562043e-01] [ 1.30102553e-02 1.40270857e-03 9.99914379e-01 2.83009723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.18956246 meters 0.059186955789803194 Centerline is valid? [True, True] Translation: X:-14.30, Y:-0.13, Z:0.03 [[ 9.98001607e-01 6.19037228e-02 -1.26776042e-02 -1.43028281e+01] [-6.19160607e-02 9.98081190e-01 -5.82663880e-04 -1.30284523e-01] [ 1.26172092e-02 1.36644680e-03 9.99919466e-01 3.19207065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.219562459999999 meters 0.0604893138267985 Centerline is valid? [True, True] Translation: X:-14.33, Y:-0.14, Z:0.03 [[ 9.98069122e-01 6.15773368e-02 -8.13999379e-03 -1.43333538e+01] [-6.15824071e-02 9.98101932e-01 -3.73484984e-04 -1.40632535e-01] [ 8.10154532e-03 8.74044241e-04 9.99966800e-01 3.44210364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.249562459999998 meters 0.059639293845605325 Centerline is valid? [True, True] Translation: X:-14.36, Y:-0.15, Z:0.04 [[ 9.98212199e-01 5.90057737e-02 -9.52496075e-03 -1.43639758e+01] [-5.90125964e-02 9.98257143e-01 -4.36598631e-04 -1.52745904e-01] [ 9.48259826e-03 9.97910744e-04 9.99954541e-01 3.59566588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.27956246 meters 0.05810141535723174 Centerline is valid? [True, True] Translation: X:-14.39, Y:-0.16, Z:0.03 [[ 9.98368045e-01 5.59352227e-02 -1.15107831e-02 -1.43936551e+01] [-5.59449888e-02 9.98433713e-01 -5.27936043e-04 -1.63131462e-01] [ 1.14632237e-02 1.17104511e-03 9.99933609e-01 3.38644548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.309562459999999 meters 0.06040376539000483 Centerline is valid? [True, True] Translation: X:-14.43, Y:-0.17, Z:0.03 [[ 9.98418962e-01 5.52357934e-02 -1.04203672e-02 -1.44253031e+01] [-5.52438036e-02 9.98472779e-01 -4.82220234e-04 -1.65857241e-01] [ 1.03778172e-02 1.05711855e-03 9.99945590e-01 3.46912805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.339562459999998 meters 0.06040376539000483 Centerline is valid? [True, True] Translation: X:-14.46, Y:-0.17, Z:0.04 [[ 9.98432774e-01 5.49855832e-02 -1.04202252e-02 -1.44581439e+01] [-5.49936116e-02 9.98486588e-01 -4.85289541e-04 -1.67192098e-01] [ 1.03777712e-02 1.05757480e-03 9.99945590e-01 3.50500289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.36956246 meters 0.05736783733071461 Centerline is valid? [True, True] Translation: X:-14.49, Y:-0.19, Z:0.04 [[ 9.98454839e-01 5.43366324e-02 -1.16389410e-02 -1.44887127e+01] [-5.43466241e-02 9.98521982e-01 -5.43691202e-04 -1.87440256e-01] [ 1.15921961e-02 1.17538827e-03 9.99932117e-01 3.65088632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.399562459999999 meters 0.05828266570523365 Centerline is valid? [True, True] Translation: X:-14.52, Y:-0.19, Z:0.03 [[ 9.98523354e-01 5.28038794e-02 -1.27617504e-02 -1.45204435e+01] [-5.28157996e-02 9.98604092e-01 -5.98614717e-04 -1.92624594e-01] [ 1.27123270e-02 1.27175283e-03 9.99918386e-01 3.45541973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.429562459999998 meters 0.06162133764587889 Centerline is valid? [True, True] Translation: X:-14.55, Y:-0.20, Z:0.03 [[ 9.98581515e-01 5.17613729e-02 -1.24786855e-02 -1.45515902e+01] [-5.17726709e-02 9.98658725e-01 -5.83835247e-04 -2.00359092e-01] [ 1.24317281e-02 1.22906197e-03 9.99921968e-01 3.31699165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.459562459999999 meters 0.055207290431560876 Centerline is valid? [True, True] Translation: X:-14.58, Y:-0.22, Z:0.04 [[ 9.98598456e-01 5.15060817e-02 -1.21757046e-02 -1.45823743e+01] [-5.15168825e-02 9.98671958e-01 -5.74900286e-04 -2.21944179e-01] [ 1.21299239e-02 1.20134888e-03 9.99925708e-01 4.01946700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.489562459999998 meters 0.059591227849891834 Centerline is valid? [True, True] Translation: X:-14.61, Y:-0.23, Z:0.03 [[ 9.98471734e-01 5.32265152e-02 -1.48706035e-02 -1.46131787e+01] [-5.32427700e-02 9.98581353e-01 -6.99056661e-04 -2.25147735e-01] [ 1.48122990e-02 1.48974044e-03 9.99889182e-01 3.31947659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.51956246 meters 0.06229324893451153 Centerline is valid? [True, True] Translation: X:-14.64, Y:-0.24, Z:0.04 [[ 9.98579330e-01 5.20180695e-02 -1.15517212e-02 -1.46433230e+01] [-5.20278050e-02 9.98645489e-01 -5.43658413e-04 -2.36935806e-01] [ 1.15077942e-02 1.14389675e-03 9.99933129e-01 3.79846298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.549562459999999 meters 0.0564736450993262 Centerline is valid? [True, True] Translation: X:-14.67, Y:-0.26, Z:0.05 [[ 9.98649594e-01 5.15115396e-02 -6.74902482e-03 -1.46724530e+01] [-5.15148517e-02 9.98672178e-01 -3.17717485e-04 -2.59119990e-01] [ 6.72369720e-03 6.64963450e-04 9.99977175e-01 4.61830688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.579562459999998 meters 0.06126474118139544 Centerline is valid? [True, True] Translation: X:-14.70, Y:-0.27, Z:0.04 [[ 9.98677760e-01 5.01648231e-02 -1.12348821e-02 -1.47044450e+01] [-5.01739690e-02 9.98740351e-01 -5.33514844e-04 -2.66690853e-01] [ 1.11939664e-02 1.09650804e-03 9.99936744e-01 3.74436479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.60956246 meters 0.05623506115277619 Centerline is valid? [True, True] Translation: X:-14.73, Y:-0.29, Z:0.04 [[ 9.98766594e-01 4.79316300e-02 -1.29556778e-02 -1.47336036e+01] [-4.79435891e-02 9.98849856e-01 -6.13900230e-04 -2.85318619e-01] [ 1.29113517e-02 1.23428474e-03 9.99915883e-01 3.96225422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.639562459999999 meters 0.057608228403845024 Centerline is valid? [True, True] Translation: X:-14.76, Y:-0.28, Z:0.05 [[ 9.98850884e-01 4.72380152e-02 -8.09202242e-03 -1.47645841e+01] [-4.72426568e-02 9.98883369e-01 -3.83319761e-04 -2.84850552e-01] [ 8.06487935e-03 7.65167921e-04 9.99967186e-01 4.61707212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.669562459999998 meters 0.05827186482093156 Centerline is valid? [True, True] Translation: X:-14.80, Y:-0.29, Z:0.05 [[ 9.98854767e-01 4.72209667e-02 -7.70287505e-03 -1.47961040e+01] [-4.72252018e-02 9.98884200e-01 -3.68750120e-04 -2.93329829e-01] [ 7.67686744e-03 7.32097644e-04 9.99970264e-01 4.73049003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.69956246 meters 0.056594351827703435 Centerline is valid? [True, True] Translation: X:-14.83, Y:-0.31, Z:0.04 [[ 9.98886345e-01 4.52838271e-02 -1.32455278e-02 -1.48268931e+01] [-4.52961638e-02 9.98973402e-01 -6.32724476e-04 -3.13400450e-01] [ 1.32032778e-02 1.23199144e-03 9.99912074e-01 4.10726527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.729562459999999 meters 0.05712259905582837 Centerline is valid? [True, True] Translation: X:-14.86, Y:-0.32, Z:0.04 [[ 9.98765244e-01 4.68813064e-02 -1.64356382e-02 -1.48569396e+01] [-4.69004934e-02 9.98899259e-01 -7.83697321e-04 -3.17836260e-01] [ 1.63808061e-02 1.55356919e-03 9.99864619e-01 3.78314994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.759562459999998 meters 0.054610535289178225 Centerline is valid? [True, True] Translation: X:-14.89, Y:-0.33, Z:0.04 [[ 9.98866402e-01 4.56630283e-02 -1.34461571e-02 -1.48859372e+01] [-4.56757780e-02 9.98956110e-01 -6.42483309e-04 -3.31537772e-01] [ 1.34027831e-02 1.25591868e-03 9.99909390e-01 4.39116565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.789562459999999 meters 0.056062340820681275 Centerline is valid? [True, True] Translation: X:-14.92, Y:-0.33, Z:0.05 [[ 9.98912184e-01 4.47118902e-02 -1.32398852e-02 -1.49175973e+01] [-4.47241762e-02 9.98999173e-01 -6.33172870e-04 -3.34559589e-01] [ 1.31983240e-02 1.22462705e-03 9.99912148e-01 4.73982048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.819562459999998 meters 0.05450972659516433 Centerline is valid? [True, True] Translation: X:-14.95, Y:-0.34, Z:0.04 [[ 9.98831181e-01 4.61034391e-02 -1.45170346e-02 -1.49467133e+01] [-4.61183415e-02 9.98935743e-01 -6.93277512e-04 -3.42637581e-01] [ 1.44696223e-02 1.36196876e-03 9.99894382e-01 4.34702918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.84956246 meters 0.05694575333544866 Centerline is valid? [True, True] Translation: X:-14.98, Y:-0.35, Z:0.04 [[ 9.98589402e-01 5.11179859e-02 -1.43581867e-02 -1.49767867e+01] [-5.11330817e-02 9.98691613e-01 -6.85998006e-04 -3.50034037e-01] [ 1.43043338e-02 1.41920867e-03 9.99896681e-01 4.40956670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.879562459999999 meters 0.062099422996730914 Centerline is valid? [True, True] Translation: X:-15.01, Y:-0.35, Z:0.05 [[ 9.98431491e-01 5.47535453e-02 -1.16878959e-02 -1.50077888e+01] [-5.47637937e-02 9.98499181e-01 -5.58354994e-04 -3.45384516e-01] [ 1.16397826e-02 1.19755273e-03 9.99931538e-01 4.76364932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.909562459999998 meters 0.05756599617340521 Centerline is valid? [True, True] Translation: X:-15.04, Y:-0.36, Z:0.05 [[ 9.98309387e-01 5.72398764e-02 -1.00977405e-02 -1.50361746e+01] [-5.72476495e-02 9.98359892e-01 -4.82198293e-04 -3.63598303e-01] [ 1.00535782e-02 1.05945499e-03 9.99948900e-01 5.31647910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.93956246 meters 0.061727326511294 Centerline is valid? [True, True] Translation: X:-15.07, Y:-0.36, Z:0.05 [[ 9.98106871e-01 5.98084325e-02 -1.43396434e-02 -1.50674606e+01] [-5.98243785e-02 9.98208683e-01 -6.85275694e-04 -3.61498293e-01] [ 1.42729713e-02 1.54183864e-03 9.99896947e-01 4.87187413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.969562459999999 meters 0.059625731123736245 Centerline is valid? [True, True] Translation: X:-15.10, Y:-0.37, Z:0.05 [[ 9.97981435e-01 6.20457874e-02 -1.35416395e-02 -1.50970099e+01] [-6.20602065e-02 9.98072198e-01 -6.46782093e-04 -3.70077817e-01] [ 1.34754038e-02 1.48587346e-03 9.99908099e-01 4.87937753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.999562459999998 meters 0.0716982532198686 Centerline is valid? [True, True] Translation: X:-15.13, Y:-0.36, Z:0.05 [[ 9.97938275e-01 6.33910398e-02 -1.00386707e-02 -1.51291550e+01] [-6.33990413e-02 9.97988142e-01 -4.80538903e-04 -3.58430652e-01] [ 9.98801244e-03 1.11599026e-03 9.99949496e-01 5.13494071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.02956246 meters 0.07171047203846134 Centerline is valid? [True, True] Translation: X:-15.16, Y:-0.36, Z:0.05 [[ 9.97930092e-01 6.31691627e-02 -1.20494125e-02 -1.51613999e+01] [-6.31807227e-02 9.98001933e-01 -5.80761845e-04 -3.64184129e-01] [ 1.19886508e-02 1.34085031e-03 9.99927235e-01 5.09981394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.059562459999999 meters 0.06974239598659064 Centerline is valid? [True, True] Translation: X:-15.19, Y:-0.37, Z:0.05 [[ 9.98014741e-01 6.16696515e-02 -1.27840156e-02 -1.51908524e+01] [-6.16825319e-02 9.98095630e-01 -6.15326954e-04 -3.72203515e-01] [ 1.27217231e-02 1.40265582e-03 9.99918092e-01 5.44986976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.089562459999998 meters 0.06899489592980014 Centerline is valid? [True, True] Translation: X:-15.22, Y:-0.38, Z:0.06 [[ 9.98073433e-01 6.08984381e-02 -1.18660015e-02 -1.52211523e+01] [-6.09094844e-02 9.98143130e-01 -5.71430935e-04 -3.76208464e-01] [ 1.18091686e-02 1.29308207e-03 9.99929433e-01 5.66484811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.11956246 meters 0.06605122798433491 Centerline is valid? [True, True] Translation: X:-15.25, Y:-0.38, Z:0.05 [[ 9.98170557e-01 5.90379756e-02 -1.30405687e-02 -1.52510608e+01] [-5.90511710e-02 9.98254759e-01 -6.28818033e-04 -3.80109996e-01] [ 1.29806856e-02 1.39772850e-03 9.99914770e-01 5.39326941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.149562459999999 meters 0.06497465188796592 Centerline is valid? [True, True] Translation: X:-15.28, Y:-0.39, Z:0.06 [[ 9.98213186e-01 5.80250866e-02 -1.42661940e-02 -1.52820189e+01] [-5.80407836e-02 9.98313975e-01 -6.88385476e-04 -3.86835071e-01] [ 1.42021972e-02 1.51517654e-03 9.99897996e-01 5.55810794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.179562459999998 meters 0.06476675884760878 Centerline is valid? [True, True] Translation: X:-15.31, Y:-0.40, Z:0.06 [[ 9.98242370e-01 5.78049037e-02 -1.30676327e-02 -1.53136222e+01] [-5.78180679e-02 9.98326937e-01 -6.31538402e-04 -3.96927723e-01] [ 1.30092637e-02 1.38597367e-03 9.99914415e-01 5.75467323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.209562459999999 meters 0.06299153049618397 Centerline is valid? [True, True] Translation: X:-15.35, Y:-0.40, Z:0.07 [[ 9.98245980e-01 5.82159812e-02 -1.07639490e-02 -1.53457661e+01] [-5.82249481e-02 9.98303353e-01 -5.21293711e-04 -3.98863813e-01] [ 1.07153388e-02 1.14710972e-03 9.99941931e-01 6.57697178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.239562459999998 meters 0.0634804773069438 Centerline is valid? [True, True] Translation: X:-15.38, Y:-0.39, Z:0.07 [[ 9.97971760e-01 6.24882943e-02 -1.21482560e-02 -1.53754121e+01] [-6.25000136e-02 9.98044790e-01 -5.87069242e-04 -3.94786199e-01] [ 1.20878186e-02 1.34514469e-03 9.99926035e-01 6.70722710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.26956246 meters 0.06656739667249267 Centerline is valid? [True, True] Translation: X:-15.41, Y:-0.39, Z:0.06 [[ 9.97610150e-01 6.73645230e-02 -1.53626162e-02 -1.54063309e+01] [-6.73838444e-02 9.97726849e-01 -7.42965104e-04 -3.90332097e-01] [ 1.52776452e-02 1.77638167e-03 9.99881712e-01 6.34108488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.299562459999999 meters 0.06801996337053738 Centerline is valid? [True, True] Translation: X:-15.44, Y:-0.39, Z:0.06 [[ 9.97272763e-01 7.20906706e-02 -1.58104740e-02 -1.54373128e+01] [-7.21117217e-02 9.97396268e-01 -7.64693720e-04 -3.88554096e-01] [ 1.57141805e-02 1.90272872e-03 9.99874714e-01 6.33809443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.329562459999998 meters 0.09145715373342561 Centerline is valid? [True, True] Translation: X:-15.47, Y:-0.34, Z:0.06 [[ 9.97070048e-01 7.54559204e-02 -1.25587955e-02 -1.54697767e+01] [-7.54694666e-02 9.97147928e-01 -6.07539357e-04 -3.44586944e-01] [ 1.24771344e-02 1.55356489e-03 9.99920951e-01 6.20751858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.35956246 meters 0.06542312122717545 Centerline is valid? [True, True] Translation: X:-15.50, Y:-0.40, Z:0.08 [[ 9.96854171e-01 7.85284603e-02 -1.07258313e-02 -1.54967548e+01] [-7.85385110e-02 9.96910946e-01 -5.18431371e-04 -3.98355244e-01] [ 1.06519870e-02 1.35919130e-03 9.99942342e-01 7.50377123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.389562459999999 meters 0.09305252704521627 Centerline is valid? [True, True] Translation: X:-15.53, Y:-0.35, Z:0.06 [[ 9.96815009e-01 7.85428284e-02 -1.38152476e-02 -1.55312580e+01] [-7.85595241e-02 9.96909200e-01 -6.69157232e-04 -3.45213568e-01] [ 1.37199899e-02 1.75234525e-03 9.99904341e-01 6.41693387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.419562459999998 meters 0.09259264518420483 Centerline is valid? [True, True] Translation: X:-15.56, Y:-0.35, Z:0.06 [[ 9.96897688e-01 7.70386750e-02 -1.61258262e-02 -1.55620919e+01] [-7.70612258e-02 9.97026057e-01 -7.80826707e-04 -3.49789670e-01] [ 1.60177150e-02 2.02108027e-03 9.99869666e-01 5.81581188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.44956246 meters 0.08920302646821081 Centerline is valid? [True, True] Translation: X:-15.59, Y:-0.36, Z:0.06 [[ 9.97063103e-01 7.50991382e-02 -1.50096070e-02 -1.55916551e+01] [-7.51184641e-02 9.97174352e-01 -7.27168550e-04 -3.62614775e-01] [ 1.49125854e-02 1.85253155e-03 9.99887085e-01 6.29078219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.479562459999999 meters 0.0660129303322712 Centerline is valid? [True, True] Translation: X:-15.62, Y:-0.41, Z:0.07 [[ 9.97620596e-01 6.78032920e-02 -1.24843932e-02 -1.56191068e+01] [-6.78160996e-02 9.97697655e-01 -6.04936373e-04 -4.10857914e-01] [ 1.24146331e-02 1.45013984e-03 9.99921884e-01 7.46241956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.509562459999998 meters 0.08140891797534851 Centerline is valid? [True, True] Translation: X:-15.65, Y:-0.39, Z:0.07 [[ 9.97954393e-01 6.23339922e-02 -1.41951379e-02 -1.56510761e+01] [-6.23500019e-02 9.98054109e-01 -6.87655089e-04 -3.87183615e-01] [ 1.41246514e-02 1.57131529e-03 9.99899007e-01 6.62353550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.539562459999999 meters 0.0785889979929248 Centerline is valid? [True, True] Translation: X:-15.68, Y:-0.40, Z:0.06 [[ 9.98241755e-01 5.76575184e-02 -1.37480416e-02 -1.56813391e+01] [-5.76721002e-02 9.98335357e-01 -6.66227743e-04 -3.95330062e-01] [ 1.36867430e-02 1.45793479e-03 9.99905269e-01 6.48458057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.569562459999998 meters 0.07757408922270216 Centerline is valid? [True, True] Translation: X:-15.71, Y:-0.40, Z:0.07 [[ 9.98362399e-01 5.52266617e-02 -1.49176366e-02 -1.57112981e+01] [-5.52435638e-02 9.98472647e-01 -7.23024411e-04 -3.97485235e-01] [ 1.48549219e-02 1.54594380e-03 9.99888464e-01 6.62666959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.59956246 meters 0.07691346805844619 Centerline is valid? [True, True] Translation: X:-15.74, Y:-0.40, Z:0.07 [[ 9.98396780e-01 5.44968053e-02 -1.52960244e-02 -1.57432668e+01] [-5.45145112e-02 9.98512702e-01 -7.42681316e-04 -4.02193205e-01] [ 1.52328009e-02 1.57534593e-03 9.99882733e-01 6.71016834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.629562459999999 meters 0.07514208975445467 Centerline is valid? [True, True] Translation: X:-15.77, Y:-0.41, Z:0.07 [[ 9.98384182e-01 5.52112045e-02 -1.34442384e-02 -1.57741751e+01] [-5.52249528e-02 9.98473724e-01 -6.53241092e-04 -4.10735244e-01] [ 1.33876525e-02 1.39464300e-03 9.99909409e-01 7.32106764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.659562459999998 meters 0.07655654691599569 Centerline is valid? [True, True] Translation: X:-15.80, Y:-0.41, Z:0.08 [[ 9.98256610e-01 5.79855345e-02 -1.10189894e-02 -1.58047223e+01] [-5.79949328e-02 9.98316734e-01 -5.35040031e-04 -4.05123102e-01] [ 1.09694169e-02 1.17315280e-03 9.99939146e-01 7.95443299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.68956246 meters 0.07769571740818905 Centerline is valid? [True, True] Translation: X:-15.84, Y:-0.40, Z:0.08 [[ 9.97991432e-01 6.22472500e-02 -1.17635964e-02 -1.58351877e+01] [-6.22582537e-02 9.98059910e-01 -5.71170374e-04 -4.01981119e-01] [ 1.17052202e-02 1.30240411e-03 9.99930643e-01 7.67883623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.719562459999999 meters 0.08256740969350579 Centerline is valid? [True, True] Translation: X:-15.87, Y:-0.39, Z:0.07 [[ 9.97377974e-01 7.04471485e-02 -1.65643238e-02 -1.58660540e+01] [-7.04700856e-02 9.97513569e-01 -8.04416584e-04 -3.92946496e-01] [ 1.64664689e-02 1.96959670e-03 9.99862479e-01 7.22535789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.749562459999998 meters 0.08529835105939644 Centerline is valid? [True, True] Translation: X:-15.90, Y:-0.39, Z:0.08 [[ 9.96849638e-01 7.77527580e-02 -1.56623129e-02 -1.58966397e+01] [-7.77741533e-02 9.96970713e-01 -7.60681424e-04 -3.86861571e-01] [ 1.55557222e-02 1.97640813e-03 9.99877049e-01 7.77335114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.77956246 meters 0.08436491523524475 Centerline is valid? [True, True] Translation: X:-15.93, Y:-0.39, Z:0.08 [[ 9.96762519e-01 7.92951157e-02 -1.32952984e-02 -1.59276026e+01] [-7.93106710e-02 9.96849738e-01 -6.46010388e-04 -3.89408654e-01] [ 1.32021892e-02 1.69837798e-03 9.99911405e-01 8.17511262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.809562459999999 meters 0.0846363872337933 Centerline is valid? [True, True] Translation: X:-15.96, Y:-0.39, Z:0.08 [[ 9.96663992e-01 8.03862261e-02 -1.41046834e-02 -1.59587146e+01] [-8.04038448e-02 9.96762134e-01 -6.85633600e-04 -3.88285783e-01] [ 1.40038988e-02 1.81741710e-03 9.99900289e-01 8.07976240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.839562459999998 meters 0.08252321159854888 Centerline is valid? [True, True] Translation: X:-15.99, Y:-0.38, Z:0.09 [[ 9.96592765e-01 8.15967337e-02 -1.20346651e-02 -1.59899671e+01] [-8.16096523e-02 9.96664197e-01 -5.85478415e-04 -3.82555312e-01] [ 1.19467467e-02 1.56562839e-03 9.99927409e-01 8.71653489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.86956246 meters 0.08200266877522214 Centerline is valid? [True, True] Translation: X:-16.02, Y:-0.39, Z:0.08 [[ 9.96477881e-01 8.27220945e-02 -1.37436553e-02 -1.60196339e+01] [-8.27390434e-02 9.96571023e-01 -6.68260302e-04 -3.89568541e-01] [ 1.36412487e-02 1.80304350e-03 9.99905328e-01 8.15824968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.899562459999999 meters 0.08203162266315533 Centerline is valid? [True, True] Translation: X:-16.05, Y:-0.39, Z:0.08 [[ 9.96465536e-01 8.17612411e-02 -1.92752657e-02 -1.60504971e+01] [-8.17945137e-02 9.96648769e-01 -9.42842729e-04 -3.94619000e-01] [ 1.91335819e-02 2.51612127e-03 9.99813770e-01 7.73424180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.929562459999998 meters 0.0791012414604113 Centerline is valid? [True, True] Translation: X:-16.08, Y:-0.39, Z:0.08 [[ 9.96798893e-01 7.72596890e-02 -2.05646935e-02 -1.60803025e+01] [-7.72965849e-02 9.97007638e-01 -1.00415921e-03 -3.94163009e-01] [ 2.04255755e-02 2.59052537e-03 9.99788020e-01 8.01601964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.959562459999999 meters 0.07757483110749964 Centerline is valid? [True, True] Translation: X:-16.11, Y:-0.40, Z:0.09 [[ 9.96899214e-01 7.66091242e-02 -1.79721886e-02 -1.61104718e+01] [-7.66372117e-02 9.97058657e-01 -8.78338662e-04 -3.95276526e-01] [ 1.78520375e-02 2.25295354e-03 9.99838101e-01 9.05321847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.989562459999998 meters 0.07743989281875228 Centerline is valid? [True, True] Translation: X:-16.14, Y:-0.40, Z:0.09 [[ 9.96768272e-01 7.82305714e-02 -1.82479811e-02 -1.61398195e+01] [-7.82597845e-02 9.96932601e-01 -8.91230816e-04 -3.96877258e-01] [ 1.81222858e-02 2.31643367e-03 9.99833095e-01 9.36900890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.01956246 meters 0.0774604205201678 Centerline is valid? [True, True] Translation: X:-16.17, Y:-0.40, Z:0.09 [[ 9.96564083e-01 8.02430517e-02 -2.05202696e-02 -1.61707457e+01] [-8.02804222e-02 9.96771814e-01 -1.00258072e-03 -3.97131908e-01] [ 2.03735762e-02 2.64651185e-03 9.99788934e-01 8.82800710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.04956246 meters 0.07867458438276842 Centerline is valid? [True, True] Translation: X:-16.20, Y:-0.40, Z:0.08 [[ 9.96061826e-01 8.54790242e-02 -2.35409204e-02 -1.62009010e+01] [-8.55296498e-02 9.96334962e-01 -1.15028749e-03 -3.95648793e-01] [ 2.33563166e-02 3.15920414e-03 9.99722212e-01 8.27593388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.079562460000002 meters 0.07954828767308642 Centerline is valid? [True, True] Translation: X:-16.23, Y:-0.40, Z:0.09 [[ 9.95804321e-01 8.91639892e-02 -2.05800449e-02 -1.62315398e+01] [-8.92034593e-02 9.96012917e-01 -1.00608448e-03 -3.96582778e-01] [ 2.04082841e-02 2.83767448e-03 9.99787702e-01 8.81140861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.10956246 meters 0.07756518435015695 Centerline is valid? [True, True] Translation: X:-16.26, Y:-0.40, Z:0.10 [[ 9.95635063e-01 9.26376709e-02 -1.13615081e-02 -1.62623357e+01] [-9.26499195e-02 9.95698591e-01 -5.55388566e-04 -3.97895084e-01] [ 1.12611877e-02 1.60560714e-03 9.99935302e-01 1.03617649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.13956246 meters 0.07992895187523777 Centerline is valid? [True, True] Translation: X:-16.29, Y:-0.39, Z:0.10 [[ 9.95220073e-01 9.65131593e-02 -1.49069192e-02 -1.62937512e+01] [-9.65346753e-02 9.95329355e-01 -7.28921824e-04 -3.94514379e-01] [ 1.47669437e-02 2.16447224e-03 9.99888620e-01 1.02514203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.16956246 meters 0.08044727546799038 Centerline is valid? [True, True] Translation: X:-16.32, Y:-0.39, Z:0.09 [[ 9.94757779e-01 9.94385116e-02 -2.38525414e-02 -1.63232660e+01] [-9.94944331e-02 9.95037435e-01 -1.16632309e-03 -3.92591635e-01] [ 2.36181942e-02 3.53340405e-03 9.99714807e-01 8.92617674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.19956246 meters 0.08158414817786012 Centerline is valid? [True, True] Translation: X:-16.35, Y:-0.40, Z:0.10 [[ 9.94943985e-01 9.82357353e-02 -2.08855525e-02 -1.63534705e+01] [-9.82783442e-02 9.95158442e-01 -1.02109551e-03 -3.95122338e-01] [ 2.06841258e-02 3.06853035e-03 9.99781352e-01 9.64032725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.22956246 meters 0.08158414817786012 Centerline is valid? [True, True] Translation: X:-16.39, Y:-0.40, Z:0.10 [[ 9.94967440e-01 9.79979686e-02 -2.08851780e-02 -1.63864622e+01] [-9.80406832e-02 9.95181876e-01 -1.02873812e-03 -3.96586579e-01] [ 2.06837363e-02 3.07115805e-03 9.99781352e-01 9.67653837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.25956246 meters 0.07853309455041621 Centerline is valid? [True, True] Translation: X:-16.42, Y:-0.41, Z:0.10 [[ 9.95254795e-01 9.56009699e-02 -1.81203660e-02 -1.64156620e+01] [-9.56326869e-02 9.95416293e-01 -8.90000510e-04 -4.06117528e-01] [ 1.79522226e-02 2.61867656e-03 9.99835417e-01 1.02886583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.28956246 meters 0.07945475357504195 Centerline is valid? [True, True] Translation: X:-16.45, Y:-0.40, Z:0.10 [[ 9.95591099e-01 9.21469323e-02 -1.75301744e-02 -1.64471064e+01] [-9.21760981e-02 9.95742349e-01 -8.61373222e-04 -3.99821673e-01] [ 1.73761642e-02 2.47343859e-03 9.99845964e-01 1.03990173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.31956246 meters 0.078851367085422 Centerline is valid? [True, True] Translation: X:-16.48, Y:-0.40, Z:0.11 [[ 9.95789307e-01 8.95256115e-02 -1.97185523e-02 -1.64778194e+01] [-8.95620298e-02 9.95980774e-01 -9.69837356e-04 -4.02346973e-01] [ 1.95524737e-02 2.73178724e-03 9.99805100e-01 1.07223353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.34956246 meters 0.0738282991695408 Centerline is valid? [True, True] Translation: X:-16.51, Y:-0.42, Z:0.11 [[ 9.96037945e-01 8.63901651e-02 -2.10986313e-02 -1.65071665e+01] [-8.64311665e-02 9.96257285e-01 -1.03751417e-03 -4.19776453e-01] [ 2.09300341e-02 2.85698280e-03 9.99776861e-01 1.06337302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.37956246 meters 0.07482089737806183 Centerline is valid? [True, True] Translation: X:-16.54, Y:-0.42, Z:0.11 [[ 9.96213770e-01 8.36203352e-02 -2.37857748e-02 -1.65375636e+01] [-8.36716774e-02 9.96492690e-01 -1.16979132e-03 -4.21850222e-01] [ 2.36045324e-02 3.15555789e-03 9.99716394e-01 1.08090703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.40956246 meters 0.07444852864138804 Centerline is valid? [True, True] Translation: X:-16.57, Y:-0.42, Z:0.11 [[ 9.96592063e-01 7.99168695e-02 -2.04341169e-02 -1.65688934e+01] [-7.99540004e-02 9.96798047e-01 -1.00531972e-03 -4.17131622e-01] [ 2.02883458e-02 2.63568304e-03 9.99790696e-01 1.14943931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.43956246 meters 0.07952087895558678 Centerline is valid? [True, True] Translation: X:-16.60, Y:-0.41, Z:0.12 [[ 9.96399224e-01 8.23115293e-02 -2.03322095e-02 -1.65994733e+01] [-8.23487772e-02 9.96603070e-01 -1.00013383e-03 -4.07967638e-01] [ 2.01808198e-02 2.67086516e-03 9.99792779e-01 1.17320797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.46956246 meters 0.07739588790718169 Centerline is valid? [True, True] Translation: X:-16.63, Y:-0.41, Z:0.12 [[ 9.96158090e-01 8.44386328e-02 -2.32201744e-02 -1.66289103e+01] [-8.44877838e-02 9.96423861e-01 -1.14214911e-03 -4.14037536e-01] [ 2.30406943e-02 3.09958215e-03 9.99729723e-01 1.15822048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.49956246 meters 0.08165374185673735 Centerline is valid? [True, True] Translation: X:-16.66, Y:-0.40, Z:0.12 [[ 9.95732182e-01 8.86256851e-02 -2.57470480e-02 -1.66602945e+01] [-8.86874942e-02 9.96058695e-01 -1.26646940e-03 -4.03841262e-01] [ 2.55333293e-02 3.54450551e-03 9.99667688e-01 1.17573260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.52956246 meters 0.07996177202946188 Centerline is valid? [True, True] Translation: X:-16.69, Y:-0.41, Z:0.12 [[ 9.95418435e-01 9.24180291e-02 -2.45162568e-02 -1.66893978e+01] [-9.24751836e-02 9.95714260e-01 -1.20545091e-03 -4.05885562e-01] [ 2.42997811e-02 3.46707341e-03 9.99698705e-01 1.20746563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.559562460000002 meters 0.08666871692979361 Centerline is valid? [True, True] Translation: X:-16.72, Y:-0.39, Z:0.12 [[ 9.94819680e-01 9.88988607e-02 -2.35121101e-02 -1.67208813e+01] [-9.89532084e-02 9.95091415e-01 -1.15650565e-03 -3.92742920e-01] [ 2.32823218e-02 3.47711331e-03 9.99722883e-01 1.21840570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.58956246 meters 0.09186512641388327 Centerline is valid? [True, True] Translation: X:-16.75, Y:-0.38, Z:0.12 [[ 9.94573518e-01 1.01659476e-01 -2.21103466e-02 -1.67518468e+01] [-1.01708198e-01 9.94813681e-01 -1.08742022e-03 -3.82729852e-01] [ 2.18851287e-02 3.33032286e-03 9.99754945e-01 1.23232252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.61956246 meters 0.09434522534800152 Centerline is valid? [True, True] Translation: X:-16.78, Y:-0.37, Z:0.12 [[ 9.94001492e-01 1.06402326e-01 -2.52898888e-02 -1.67831644e+01] [-1.06467583e-01 9.94315396e-01 -1.24419069e-03 -3.73533258e-01] [ 2.50137410e-02 3.92928073e-03 9.99679385e-01 1.17764473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.649562460000002 meters 0.08468160488729519 Centerline is valid? [True, True] Translation: X:-16.81, Y:-0.40, Z:0.12 [[ 9.93810700e-01 1.07693806e-01 -2.72458583e-02 -1.68113634e+01] [-1.07770008e-01 9.94174950e-01 -1.33976847e-03 -3.98360897e-01] [ 2.69428651e-02 4.26776260e-03 9.99627865e-01 1.24759452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.67956246 meters 0.08541149807493736 Centerline is valid? [True, True] Translation: X:-16.84, Y:-0.40, Z:0.13 [[ 9.93880056e-01 1.07707056e-01 -2.45280187e-02 -1.68435275e+01] [-1.07768869e-01 9.94175241e-01 -1.20846685e-03 -4.04144807e-01] [ 2.42549885e-02 3.84442793e-03 9.99698412e-01 1.28765722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.70956246 meters 0.09447398168663822 Centerline is valid? [True, True] Translation: X:-16.88, Y:-0.38, Z:0.13 [[ 9.93876837e-01 1.08267761e-01 -2.20663784e-02 -1.68769722e+01] [-1.08318064e-01 9.94115688e-01 -1.09374976e-03 -3.81105757e-01] [ 2.18181151e-02 3.47723993e-03 9.99755910e-01 1.28947717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.739562460000002 meters 0.08812600333920464 Centerline is valid? [True, True] Translation: X:-16.91, Y:-0.39, Z:0.13 [[ 9.93898840e-01 1.07571169e-01 -2.43626762e-02 -1.69076082e+01] [-1.07632323e-01 9.94190033e-01 -1.20907790e-03 -3.91306157e-01] [ 2.40910679e-02 3.82391255e-03 9.99702455e-01 1.27415970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.76956246 meters 0.09286366858603608 Centerline is valid? [True, True] Translation: X:-16.94, Y:-0.39, Z:0.12 [[ 9.94064206e-01 1.05754321e-01 -2.55417065e-02 -1.69388641e+01] [-1.05820926e-01 9.94384396e-01 -1.26649885e-03 -3.91128715e-01] [ 2.52643366e-02 3.96182821e-03 9.99672955e-01 1.24624452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.79956246 meters 0.09198823909122612 Centerline is valid? [True, True] Translation: X:-16.97, Y:-0.40, Z:0.13 [[ 9.94639308e-01 1.01350093e-01 -2.05135405e-02 -1.69693918e+01] [-1.01392136e-01 9.94846018e-01 -1.01725451e-03 -3.98388334e-01] [ 2.03047153e-02 3.09171302e-03 9.99789058e-01 1.31433513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.829562460000002 meters 0.09024842330775609 Centerline is valid? [True, True] Translation: X:-17.00, Y:-0.40, Z:0.13 [[ 9.94856938e-01 9.90915580e-02 -2.09889386e-02 -1.69992825e+01] [-9.91350864e-02 9.95073440e-01 -1.04107152e-03 -3.99765729e-01] [ 2.07823739e-02 3.11645746e-03 9.99779166e-01 1.33779548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.85956246 meters 0.0902476806919355 Centerline is valid? [True, True] Translation: X:-17.03, Y:-0.40, Z:0.13 [[ 9.95022223e-01 9.62783019e-02 -2.57150421e-02 -1.70300596e+01] [-9.63427332e-02 9.95347402e-01 -1.27563372e-03 -3.99208285e-01] [ 2.54725845e-02 3.74674135e-03 9.99668500e-01 1.27998204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.88956246 meters 0.09145153421049945 Centerline is valid? [True, True] Translation: X:-17.06, Y:-0.40, Z:0.13 [[ 9.95040894e-01 9.57668595e-02 -2.68761686e-02 -1.70628693e+01] [-9.58373001e-02 9.95396107e-01 -1.34221509e-03 -4.01166804e-01] [ 2.66238939e-02 3.91129833e-03 9.99637869e-01 1.28638309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.91956246 meters 0.09196048355805082 Centerline is valid? [True, True] Translation: X:-17.09, Y:-0.40, Z:0.13 [[ 9.94963280e-01 9.71116798e-02 -2.48474158e-02 -1.70948411e+01] [-9.71722735e-02 9.95266804e-01 -1.24007942e-03 -4.01031349e-01] [ 2.46093819e-02 3.64831337e-03 9.99690486e-01 1.33295206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.94956246 meters 0.09429152766436168 Centerline is valid? [True, True] Translation: X:-17.13, Y:-0.40, Z:0.14 [[ 9.94822324e-01 9.92535827e-02 -2.18465279e-02 -1.71260015e+01] [-9.93009234e-02 9.95056852e-01 -1.09023510e-03 -4.00062913e-01] [ 2.16303275e-02 3.25397060e-03 9.99760742e-01 1.36952497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.97956246 meters 0.09495508045387185 Centerline is valid? [True, True] Translation: X:-17.16, Y:-0.40, Z:0.14 [[ 9.94765551e-01 9.98218572e-02 -2.18424994e-02 -1.71578367e+01] [-9.98693569e-02 9.94999959e-01 -1.09200048e-03 -3.97582211e-01] [ 2.16242805e-02 3.26768082e-03 9.99760828e-01 1.37792036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.00956246 meters 0.09582671803617418 Centerline is valid? [True, True] Translation: X:-17.19, Y:-0.40, Z:0.14 [[ 9.94571548e-01 1.01557681e-01 -2.26599504e-02 -1.71882990e+01] [-1.01609228e-01 9.94823745e-01 -1.13216587e-03 -3.95267783e-01] [ 2.24276766e-02 3.42848004e-03 9.99742589e-01 1.37106597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.03956246 meters 0.09447546625085507 Centerline is valid? [True, True] Translation: X:-17.22, Y:-0.41, Z:0.14 [[ 9.94409525e-01 1.03028222e-01 -2.31275304e-02 -1.72178992e+01] [-1.03082312e-01 9.94672158e-01 -1.15568642e-03 -4.06816864e-01] [ 2.28852422e-02 3.53326488e-03 9.99731855e-01 1.38610525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.06956246 meters 0.09964181919250747 Centerline is valid? [True, True] Translation: X:-17.25, Y:-0.39, Z:0.14 [[ 9.94333920e-01 1.04305888e-01 -2.05021350e-02 -1.72503559e+01] [-1.04348685e-01 9.94540245e-01 -1.02589860e-03 -3.94323011e-01] [ 2.02831912e-02 3.15945661e-03 9.99789283e-01 1.36840200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.09956246 meters 0.10075924485216836 Centerline is valid? [True, False] Translation: X:-17.29, Y:-0.37, Z:0.13 [[ 9.98710374e-01 5.07478899e-02 -1.49705214e-03 -1.72871786e+01] [-5.07416362e-02 9.98703981e-01 3.95529165e-03 -3.74273253e-01] [ 1.69583463e-03 -3.87422793e-03 9.99991057e-01 1.29089278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.12956246 meters 0.10313350171275795 Centerline is valid? [False, False] Translation: X:-17.31, Y:-0.37, Z:0.13 [[ 9.99503649e-01 3.09794730e-02 5.72081774e-03 -1.73077037e+01] [-3.10137604e-02 9.99500917e-01 6.00525509e-03 -3.66222617e-01] [-5.53192294e-03 -6.17969844e-03 9.99965604e-01 1.26673288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.15956246 meters 0.10408559760357074 Centerline is valid? [False, False] Translation: X:-17.33, Y:-0.36, Z:0.13 [[ 9.99588271e-01 2.67543486e-02 1.03678680e-02 -1.73308204e+01] [-2.68418534e-02 9.99604443e-01 8.39479793e-03 -3.63557281e-01] [-1.01391695e-02 -8.66963435e-03 9.99911013e-01 1.28404951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.18956246 meters 0.10809013704982218 Centerline is valid? [False, False] Translation: X:-17.36, Y:-0.36, Z:0.13 [[ 9.99764991e-01 1.40649765e-02 1.64966383e-02 -1.73611723e+01] [-1.43498407e-02 9.99747733e-01 1.72786708e-02 -3.58396409e-01] [-1.62494527e-02 -1.75113343e-02 9.99714614e-01 1.34247272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.21956246 meters 0.1048201974023484 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.36, Z:0.15 [[ 9.99849211e-01 6.78032870e-03 1.59869744e-02 -1.73749371e+01] [-6.95235946e-03 9.99918265e-01 1.07297732e-02 -3.64983759e-01] [-1.59129163e-02 -1.08393024e-02 9.99814627e-01 1.45342863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.24956246 meters 0.10858490964143157 Centerline is valid? [False, False] Translation: X:-17.38, Y:-0.37, Z:0.15 [[ 9.99866694e-01 2.53349775e-03 1.61299553e-02 -1.73834612e+01] [-2.65245178e-03 9.99969415e-01 7.35761057e-03 -3.69739875e-01] [-1.61108215e-02 -7.39941369e-03 9.99842833e-01 1.53838385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.27956246 meters 0.11192313724905886 Centerline is valid? [False, False] Translation: X:-17.41, Y:-0.37, Z:0.16 [[ 9.99790783e-01 -6.00202376e-03 1.95541977e-02 -1.74125737e+01] [ 5.89852976e-03 9.99968313e-01 5.34605842e-03 -3.70384736e-01] [-1.95856653e-02 -5.22959892e-03 9.99794505e-01 1.61263795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.309562460000002 meters 0.11277933418509656 Centerline is valid? [False, False] Translation: X:-17.42, Y:-0.37, Z:0.17 [[ 9.99756770e-01 -9.70315019e-03 1.98053100e-02 -1.74224532e+01] [ 9.66761425e-03 9.99951483e-01 1.88922208e-03 -3.69835009e-01] [-1.98226805e-02 -1.69729247e-03 9.99802071e-01 1.70637086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.33956246 meters 0.11077857005412342 Centerline is valid? [False, False] Translation: X:-17.45, Y:-0.38, Z:0.18 [[ 9.99783451e-01 -5.09613451e-03 2.01762556e-02 -1.74504042e+01] [ 5.14995854e-03 9.99983315e-01 -2.61663159e-03 -3.76226430e-01] [-2.01625843e-02 2.71997184e-03 9.99793015e-01 1.79755654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.36956246 meters 0.11064440631158509 Centerline is valid? [False, False] Translation: X:-17.47, Y:-0.37, Z:0.18 [[ 9.99890643e-01 -6.27191063e-03 1.33926920e-02 -1.74685258e+01] [ 6.23924455e-03 9.99977462e-01 2.47948789e-03 -3.74353320e-01] [-1.34079412e-02 -2.39565646e-03 9.99907240e-01 1.81898664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.399562460000002 meters 0.1193535420681469 Centerline is valid? [False, False] Translation: X:-17.50, Y:-0.38, Z:0.19 [[ 9.99959604e-01 -4.98070889e-03 7.48215470e-03 -1.74962044e+01] [ 5.00861548e-03 9.99980554e-01 -3.71565655e-03 -3.78719217e-01] [-7.46350260e-03 3.75298169e-03 9.99965105e-01 1.87152986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.42956246 meters 0.1235491285902561 Centerline is valid? [False, False] Translation: X:-17.50, Y:-0.38, Z:0.19 [[ 9.99963723e-01 -3.63857469e-03 7.70153323e-03 -1.75016887e+01] [ 3.65605947e-03 9.99990769e-01 -2.25743805e-03 -3.77661044e-01] [-7.69324828e-03 2.28551342e-03 9.99967795e-01 1.92778852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.45956246 meters 0.11931889665626819 Centerline is valid? [False, False] Translation: X:-17.51, Y:-0.38, Z:0.20 [[ 9.99913155e-01 -1.02828095e-02 8.24299910e-03 -1.75085805e+01] [ 1.03470752e-02 9.99916108e-01 -7.79203097e-03 -3.83388837e-01] [-8.16218360e-03 7.87664520e-03 9.99935667e-01 2.00292643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.489562460000002 meters 0.11813414838053761 Centerline is valid? [False, False] Translation: X:-17.51, Y:-0.39, Z:0.20 [[ 9.99844222e-01 -1.54862918e-02 8.46794643e-03 -1.75096483e+01] [ 1.55934031e-02 9.99797340e-01 -1.27327929e-02 -3.85095138e-01] [-8.26904658e-03 1.28628535e-02 9.99883078e-01 2.01268946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.51956246 meters 0.11193114497673966 Centerline is valid? [False, False] Translation: X:-17.52, Y:-0.38, Z:0.20 [[ 9.99763427e-01 -2.09135998e-02 5.97588127e-03 -1.75203412e+01] [ 2.09684048e-02 9.99737250e-01 -9.26047832e-03 -3.84406735e-01] [-5.78064117e-03 9.38359223e-03 9.99939264e-01 1.96054477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.54956246 meters 0.10885584974228388 Centerline is valid? [False, False] Translation: X:-17.52, Y:-0.39, Z:0.20 [[ 9.99598329e-01 -2.76547749e-02 6.19622659e-03 -1.75245397e+01] [ 2.77446273e-02 9.99503728e-01 -1.49175447e-02 -3.90512792e-01] [-5.78061024e-03 1.50834648e-02 9.99869528e-01 2.01495140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.579562460000002 meters 0.11041608302001127 Centerline is valid? [False, False] Translation: X:-17.53, Y:-0.39, Z:0.21 [[ 9.99535754e-01 -2.96403719e-02 7.05153040e-03 -1.75292766e+01] [ 2.97544905e-02 9.99418221e-01 -1.66700488e-02 -3.91280995e-01] [-6.55332152e-03 1.68721245e-02 9.99836179e-01 2.05773133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.60956246 meters 0.10674893220671937 Centerline is valid? [False, False] Translation: X:-17.56, Y:-0.39, Z:0.20 [[ 9.99570579e-01 -2.89303058e-02 4.65784051e-03 -1.75564529e+01] [ 2.90100022e-02 9.99415893e-01 -1.80635683e-02 -3.94040406e-01] [-4.13253528e-03 1.81909354e-02 9.99825991e-01 2.02495382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.63956246 meters 0.10955684427519717 Centerline is valid? [False, False] Translation: X:-17.57, Y:-0.39, Z:0.20 [[ 9.99684404e-01 -2.50979894e-02 -1.08738800e-03 -1.75713683e+01] [ 2.50667572e-02 9.99426596e-01 -2.27626385e-02 -3.90566383e-01] [ 1.65806095e-03 2.27281974e-02 9.99740306e-01 1.99591849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.66956246 meters 0.10528073980485086 Centerline is valid? [False, False] Translation: X:-17.59, Y:-0.39, Z:0.20 [[ 9.99708639e-01 -2.39237189e-02 -3.20834212e-03 -1.75922079e+01] [ 2.38078397e-02 9.99195282e-01 -3.22796303e-02 -3.86190899e-01] [ 3.97800911e-03 3.21938415e-02 9.99473728e-01 2.03536718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.69956246 meters 0.10873676881563103 Centerline is valid? [False, False] Translation: X:-17.60, Y:-0.38, Z:0.21 [[ 9.99757116e-01 -2.18368017e-02 -2.97701836e-03 -1.75985221e+01] [ 2.17358097e-02 9.99297136e-01 -3.05415953e-02 -3.81552170e-01] [ 3.64185667e-03 3.04694694e-02 9.99529063e-01 2.09916493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.72956246 meters 0.10632644066000368 Centerline is valid? [False, False] Translation: X:-17.62, Y:-0.38, Z:0.21 [[ 9.99848434e-01 -1.59719456e-02 -6.92858582e-03 -1.76180047e+01] [ 1.57202902e-02 9.99264709e-01 -3.49701917e-02 -3.76859398e-01] [ 7.48203329e-03 3.48559721e-02 9.99364338e-01 2.12872464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.75956246 meters 0.10542076574402244 Centerline is valid? [False, False] Translation: X:-17.67, Y:-0.36, Z:0.21 [[ 9.99847640e-01 -1.61722442e-02 -6.56931522e-03 -1.76660962e+01] [ 1.59380958e-02 9.99286039e-01 -3.42547687e-02 -3.57262154e-01] [ 7.11860147e-03 3.41448473e-02 9.99391542e-01 2.07502844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.78956246 meters 0.1140656160470212 Centerline is valid? [False, False] Translation: X:-17.69, Y:-0.34, Z:0.21 [[ 9.99876404e-01 -1.54860967e-02 -2.71238581e-03 -1.76894432e+01] [ 1.54017626e-02 9.99467811e-01 -2.87555440e-02 -3.44631941e-01] [ 3.15625344e-03 2.87102144e-02 9.99582794e-01 2.11265299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.81956246 meters 0.10968263284611113 Centerline is valid? [False, False] Translation: X:-17.74, Y:-0.33, Z:0.22 [[ 9.99838478e-01 -1.76868670e-02 -3.19272553e-03 -1.77354097e+01] [ 1.76234351e-02 9.99665889e-01 -1.89083118e-02 -3.26279772e-01] [ 3.52608761e-03 1.88489909e-02 9.99816124e-01 2.15666198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.84956246 meters 0.11347786001942405 Centerline is valid? [False, False] Translation: X:-17.77, Y:-0.32, Z:0.22 [[ 9.99887447e-01 -1.45747095e-02 -3.55955098e-03 -1.77730441e+01] [ 1.44994768e-02 9.99688421e-01 -2.03181454e-02 -3.17742754e-01] [ 3.85457296e-03 2.02642470e-02 9.99787229e-01 2.16117166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.87956246 meters 0.11492616890537044 Centerline is valid? [False, False] Translation: X:-17.81, Y:-0.30, Z:0.21 [[ 9.99788732e-01 -2.05179023e-02 1.22786571e-03 -1.78076838e+01] [ 2.05348197e-02 9.99663110e-01 -1.58741152e-02 -3.01314173e-01] [-9.01748509e-04 1.58959755e-02 9.99873244e-01 2.13989270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.90956246 meters 0.11084424919046451 Centerline is valid? [False, False] Translation: X:-17.87, Y:-0.29, Z:0.22 [[ 9.99761714e-01 -2.17915969e-02 -1.28130262e-03 -1.78718147e+01] [ 2.17710537e-02 9.99660576e-01 -1.43091941e-02 -2.86184850e-01] [ 1.59268791e-03 1.42778891e-02 9.99896797e-01 2.16330116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.93956246 meters 0.1161104434551935 Centerline is valid? [False, False] Translation: X:-17.92, Y:-0.28, Z:0.22 [[ 9.99806472e-01 -1.95795132e-02 -1.91338498e-03 -1.79155796e+01] [ 1.95482877e-02 9.99693905e-01 -1.51644442e-02 -2.81741583e-01] [ 2.20971174e-03 1.51241061e-02 9.99883182e-01 2.20469429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.96956246 meters 0.11238161608375212 Centerline is valid? [False, False] Translation: X:-17.96, Y:-0.28, Z:0.22 [[ 9.99843833e-01 -1.76374583e-02 -1.10874106e-03 -1.79595118e+01] [ 1.76170051e-02 9.99711336e-01 -1.63366405e-02 -2.78740729e-01] [ 1.39655782e-03 1.63145566e-02 9.99865933e-01 2.24228772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.99956246 meters 0.11754584221963926 Centerline is valid? [False, False] Translation: X:-17.91, Y:-0.26, Z:0.22 [[ 9.99964112e-01 -9.89709683e-05 -8.47147641e-03 -1.79103585e+01] [ 2.00371240e-07 9.99932039e-01 -1.16584021e-02 -2.61770002e-01] [ 8.47205452e-03 1.16579820e-02 9.99896152e-01 2.18460338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.02956246 meters 0.11601461586114735 Centerline is valid? [False, False] Translation: X:-17.95, Y:-0.25, Z:0.22 [[ 9.99882692e-01 -7.83064087e-03 -1.31637352e-02 -1.79481272e+01] [ 7.71688401e-03 9.99932635e-01 -8.67038146e-03 -2.51047365e-01] [ 1.32307430e-02 8.56778133e-03 9.99875763e-01 2.19026599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.05956246 meters 0.11267070608888478 Centerline is valid? [False, False] Translation: X:-17.98, Y:-0.24, Z:0.22 [[ 9.99755136e-01 -1.43289408e-02 -1.68626758e-02 -1.79793998e+01] [ 1.42654004e-02 9.99890707e-01 -3.88238375e-03 -2.42212133e-01] [ 1.69164633e-02 3.64088027e-03 9.99850277e-01 2.15371688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.08956246 meters 0.11651458436142317 Centerline is valid? [False, False] Translation: X:-17.99, Y:-0.24, Z:0.22 [[ 9.99753001e-01 -1.49584931e-02 -1.64371842e-02 -1.79906792e+01] [ 1.49030489e-02 9.99882851e-01 -3.49043142e-03 -2.39463174e-01] [ 1.64874702e-02 3.24460512e-03 9.99858808e-01 2.23941699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.11956246 meters 0.11443066478236019 Centerline is valid? [False, False] Translation: X:-17.99, Y:-0.24, Z:0.23 [[ 9.99794575e-01 -1.25403863e-02 -1.59231235e-02 -1.79935042e+01] [ 1.25159257e-02 9.99920336e-01 -1.63489672e-03 -2.35802273e-01] [ 1.59423572e-02 1.43526824e-03 9.99871882e-01 2.26066188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.149562460000002 meters 0.11443066478236019 Centerline is valid? [False, False] Translation: X:-17.99, Y:-0.24, Z:0.23 [[ 9.99794575e-01 -1.25403863e-02 -1.59231235e-02 -1.79935042e+01] [ 1.25159257e-02 9.99920336e-01 -1.63489672e-03 -2.35802273e-01] [ 1.59423572e-02 1.43526824e-03 9.99871882e-01 2.26066188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.17956246 meters 0.11467642389408092 Centerline is valid? [False, False] Translation: X:-17.99, Y:-0.23, Z:0.23 [[ 9.99841990e-01 -8.93469376e-03 -1.53677045e-02 -1.79943595e+01] [ 8.95713891e-03 9.99958915e-01 1.39232993e-03 -2.32580633e-01] [ 1.53546331e-02 -1.52976060e-03 9.99880940e-01 2.25718106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.20956246 meters 0.10937446667000249 Centerline is valid? [False, False] Translation: X:-17.99, Y:-0.23, Z:0.23 [[ 9.99841811e-01 -8.83696337e-03 -1.54357279e-02 -1.79937010e+01] [ 8.86187442e-03 9.99959537e-01 1.54620259e-03 -2.32946761e-01] [ 1.54214396e-02 -1.68274748e-03 9.99879667e-01 2.25168585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.239562460000002 meters 0.11297721042436787 Centerline is valid? [False, False] Translation: X:-17.99, Y:-0.23, Z:0.22 [[ 9.99842577e-01 -8.83660073e-03 -1.53862239e-02 -1.79928907e+01] [ 8.85676344e-03 9.99960006e-01 1.24279086e-03 -2.31056772e-01] [ 1.53746265e-02 -1.37886737e-03 9.99880853e-01 2.23924264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.26956246 meters 0.11027728846275793 Centerline is valid? [False, False] Translation: X:-17.99, Y:-0.23, Z:0.22 [[ 9.99840020e-01 -9.04801341e-03 -1.54294655e-02 -1.79927387e+01] [ 9.05995579e-03 9.99958710e-01 7.04272675e-04 -2.28915134e-01] [ 1.54224561e-02 -8.43950280e-04 9.99880711e-01 2.23792276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.29956246 meters 0.10963868861623827 Centerline is valid? [False, False] Translation: X:-18.01, Y:-0.23, Z:0.22 [[ 9.99949852e-01 -7.96159442e-04 -9.98297265e-03 -1.80080420e+01] [ 7.87810981e-04 9.99999337e-01 -8.40174609e-04 -2.32155469e-01] [ 9.98363494e-03 8.32267781e-04 9.99949816e-01 2.21053358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.329562460000002 meters 0.11391664696779212 Centerline is valid? [False, False] Translation: X:-18.01, Y:-0.23, Z:0.22 [[ 9.99949196e-01 -5.89303186e-04 -1.00627187e-02 -1.80086012e+01] [ 5.79949372e-04 9.99999397e-01 -9.32444069e-04 -2.29914243e-01] [ 1.00632621e-02 9.26560830e-04 9.99948935e-01 2.21643713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.35956246 meters 0.11206789709430147 Centerline is valid? [False, False] Translation: X:-18.01, Y:-0.23, Z:0.22 [[ 9.99949855e-01 -6.48798606e-04 -9.99335367e-03 -1.80101461e+01] [ 6.34692250e-04 9.99998798e-01 -1.41468058e-03 -2.27117471e-01] [ 9.99425950e-03 1.40826694e-03 9.99949064e-01 2.22869361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.38956246 meters 0.11567987602830417 Centerline is valid? [False, False] Translation: X:-18.02, Y:-0.22, Z:0.23 [[ 9.99949992e-01 1.49587905e-03 -9.88815113e-03 -1.80174643e+01] [-1.49019918e-03 9.99998720e-01 5.81755050e-04 -2.24824163e-01] [ 9.88900871e-03 -5.66990643e-04 9.99950942e-01 2.29510331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.41956246 meters 0.11836086019407581 Centerline is valid? [False, False] Translation: X:-18.02, Y:-0.22, Z:0.24 [[ 9.99947601e-01 4.04445655e-03 -9.40409946e-03 -1.80248518e+01] [-4.01656939e-03 9.99987486e-01 2.98242339e-03 -2.22471387e-01] [ 9.41604406e-03 -2.94449490e-03 9.99951333e-01 2.36002737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.44956246 meters 0.12000812031268761 Centerline is valid? [False, False] Translation: X:-18.04, Y:-0.22, Z:0.25 [[ 9.99952007e-01 3.06321216e-03 -9.30598131e-03 -1.80415754e+01] [-3.04288048e-03 9.99992954e-01 2.19817055e-03 -2.21896520e-01] [ 9.31264921e-03 -2.16974806e-03 9.99954282e-01 2.47471188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.47956246 meters 0.12601819011299883 Centerline is valid? [False, False] Translation: X:-18.05, Y:-0.22, Z:0.25 [[ 9.99952376e-01 2.62474072e-03 -9.39980622e-03 -1.80473640e+01] [-2.60517167e-03 9.99994415e-01 2.09349616e-03 -2.21812749e-01] [ 9.40524860e-03 -2.06890835e-03 9.99953629e-01 2.52913629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.50956246 meters 0.1287089899876368 Centerline is valid? [False, False] Translation: X:-18.06, Y:-0.23, Z:0.25 [[ 9.99905298e-01 9.64407839e-03 -9.81772401e-03 -1.80640446e+01] [-9.66519132e-03 9.99951075e-01 -2.10531957e-03 -2.27970780e-01] [ 9.79693981e-03 2.20001037e-03 9.99949589e-01 2.53427278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.53956246 meters 0.13494100664669345 Centerline is valid? [False, False] Translation: X:-18.06, Y:-0.22, Z:0.25 [[ 9.99831479e-01 1.53542021e-02 -1.00628685e-02 -1.80610892e+01] [-1.53259977e-02 9.99878420e-01 2.87396314e-03 -2.24335112e-01] [ 1.01057724e-02 -2.71925532e-03 9.99945238e-01 2.50358509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.56956246 meters 0.1274848721250808 Centerline is valid? [False, False] Translation: X:-18.06, Y:-0.22, Z:0.25 [[ 9.99881734e-01 1.17475532e-02 -9.92533999e-03 -1.80614225e+01] [-1.17546784e-02 9.99930694e-01 -6.59848024e-04 -2.24705303e-01] [ 9.91690050e-03 7.76439167e-04 9.99950525e-01 2.50284683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.59956246 meters 0.13067205490705014 Centerline is valid? [False, False] Translation: X:-18.06, Y:-0.22, Z:0.25 [[ 9.99982888e-01 2.51633307e-03 -5.28131248e-03 -1.80582829e+01] [-2.48938993e-03 9.99983886e-01 5.10198895e-03 -2.18845201e-01] [ 5.29406568e-03 -5.08875440e-03 9.99973038e-01 2.47289391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.62956246 meters 0.13154589063927608 Centerline is valid? [False, False] Translation: X:-18.06, Y:-0.22, Z:0.25 [[ 9.99983351e-01 2.34077060e-03 -5.27434837e-03 -1.80591400e+01] [-2.31433422e-03 9.99984758e-01 5.01279630e-03 -2.19206918e-01] [ 5.28600178e-03 -5.00050623e-03 9.99973526e-01 2.48299220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.65956246 meters 0.1308996444544284 Centerline is valid? [False, False] Translation: X:-18.06, Y:-0.22, Z:0.25 [[ 9.99985834e-01 1.13350621e-03 -5.20059746e-03 -1.80620750e+01] [-1.11169285e-03 9.99990581e-01 4.19537110e-03 -2.20628442e-01] [ 5.20530396e-03 -4.18953020e-03 9.99977676e-01 2.51599973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.68956246 meters 0.13438867256398868 Centerline is valid? [False, False] Translation: X:-18.07, Y:-0.22, Z:0.26 [[ 9.99984183e-01 -2.68036306e-03 -4.94471953e-03 -1.80720841e+01] [ 2.68717726e-03 9.99995448e-01 1.37194681e-03 -2.22827568e-01] [ 4.94101970e-03 -1.38521245e-03 9.99986834e-01 2.60733580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.71956246 meters 0.12667616917460822 Centerline is valid? [False, False] Translation: X:-18.08, Y:-0.23, Z:0.27 [[ 9.99968285e-01 -6.30495871e-03 -4.86576263e-03 -1.80816394e+01] [ 6.29914258e-03 9.99979428e-01 -1.20971859e-03 -2.25686370e-01] [ 4.87328976e-03 1.17903009e-03 9.99987430e-01 2.69754870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.74956246 meters 0.12988179061354516 Centerline is valid? [False, False] Translation: X:-18.09, Y:-0.23, Z:0.28 [[ 9.99932984e-01 -1.04722180e-02 -4.93566644e-03 -1.80927339e+01] [ 1.04517678e-02 9.99936763e-01 -4.15108627e-03 -2.27728403e-01] [ 4.97882541e-03 4.09922164e-03 9.99979204e-01 2.79690229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.77956246 meters 0.1315632782151641 Centerline is valid? [False, False] Translation: X:-18.12, Y:-0.23, Z:0.29 [[ 9.99940246e-01 -8.18392196e-03 -7.24763709e-03 -1.81181170e+01] [ 8.10130027e-03 9.99902692e-01 -1.13567244e-02 -2.31100657e-01] [ 7.33987438e-03 1.12973305e-02 9.99909244e-01 2.87131680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.80956246 meters 0.13188552743724957 Centerline is valid? [False, False] Translation: X:-18.12, Y:-0.23, Z:0.29 [[ 9.99918555e-01 -1.06174436e-02 -7.08184791e-03 -1.81217515e+01] [ 1.05208343e-02 9.99852948e-01 -1.35423504e-02 -2.31242527e-01] [ 7.22459165e-03 1.34667405e-02 9.99883219e-01 2.90653251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.83956246 meters 0.13279476401948012 Centerline is valid? [False, False] Translation: X:-18.12, Y:-0.23, Z:0.29 [[ 9.99945521e-01 -7.37855216e-03 -7.38320826e-03 -1.81220476e+01] [ 7.30159974e-03 9.99919303e-01 -1.03958576e-02 -2.30513539e-01] [ 7.45931883e-03 1.03413820e-02 9.99918704e-01 2.91695534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.86956246 meters 0.12671809442027193 Centerline is valid? [False, False] Translation: X:-18.12, Y:-0.23, Z:0.29 [[ 9.99967543e-01 -3.57613983e-03 -7.21969035e-03 -1.81231837e+01] [ 3.52799224e-03 9.99971527e-01 -6.67068403e-03 -2.30271037e-01] [ 7.24334008e-03 6.64499651e-03 9.99951688e-01 2.92632739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.899562460000002 meters 0.1336674147192598 Centerline is valid? [False, False] Translation: X:-18.12, Y:-0.23, Z:0.29 [[ 9.99974588e-01 1.44310125e-04 -7.12763265e-03 -1.81246178e+01] [-1.66825342e-04 9.99994998e-01 -3.15836979e-03 -2.28783948e-01] [ 7.12714122e-03 3.15947860e-03 9.99969610e-01 2.94168406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.92956246 meters 0.12800275819725632 Centerline is valid? [False, False] Translation: X:-18.13, Y:-0.23, Z:0.30 [[ 9.99975532e-01 -1.64662679e-03 -6.79880543e-03 -1.81291696e+01] [ 1.61559520e-03 9.99988265e-01 -4.56724284e-03 -2.30180601e-01] [ 6.80624619e-03 4.55614697e-03 9.99966458e-01 2.98921603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.95956246 meters 0.1277937124697906 Centerline is valid? [False, False] Translation: X:-18.13, Y:-0.23, Z:0.30 [[ 9.99976151e-01 -3.19257925e-03 -6.12416705e-03 -1.81332843e+01] [ 3.15675866e-03 9.99977907e-01 -5.84983059e-03 -2.31524010e-01] [ 6.14270780e-03 5.83035856e-03 9.99964136e-01 3.02273806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.989562460000002 meters 0.12887740912297577 Centerline is valid? [False, False] Translation: X:-18.16, Y:-0.23, Z:0.31 [[ 9.99967116e-01 -7.42450213e-03 -3.26254536e-03 -1.81593597e+01] [ 7.41215219e-03 9.99965380e-01 -3.78129557e-03 -2.26595857e-01] [ 3.29050665e-03 3.75698874e-03 9.99987529e-01 3.06857299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.01956246 meters 0.1273544643471293 Centerline is valid? [False, False] Translation: X:-18.20, Y:-0.22, Z:0.31 [[ 9.99904606e-01 -1.38053031e-02 4.38866933e-04 -1.82013209e+01] [ 1.38053577e-02 9.99904694e-01 -1.21475736e-04 -2.21297787e-01] [-4.37148097e-04 1.27522863e-04 9.99999896e-01 3.12334122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.04956246 meters 0.1283021530116776 Centerline is valid? [False, False] Translation: X:-18.22, Y:-0.22, Z:0.32 [[ 9.99988213e-01 -4.69116330e-03 -1.25177405e-03 -1.82225032e+01] [ 4.68897325e-03 9.99987481e-01 -1.74679133e-03 -2.23590206e-01] [ 1.25995286e-03 1.74090121e-03 9.99997691e-01 3.16954834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.079562460000002 meters 0.1229414895598275 Centerline is valid? [False, False] Translation: X:-18.23, Y:-0.22, Z:0.32 [[ 9.99988348e-01 -4.72533085e-03 -9.87802993e-04 -1.82329123e+01] [ 4.72427528e-03 9.99988270e-01 -1.06822563e-03 -2.21080207e-01] [ 9.92839125e-04 1.06354653e-03 9.99998942e-01 3.24480589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.10956246 meters 0.12227157679076643 Centerline is valid? [False, False] Translation: X:-18.26, Y:-0.22, Z:0.33 [[ 9.99963878e-01 -8.04641291e-03 2.73814424e-03 -1.82588603e+01] [ 8.04167093e-03 9.99966154e-01 1.73844936e-03 -2.19232334e-01] [-2.75203985e-03 -1.71636731e-03 9.99994740e-01 3.29676138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.13956246 meters 0.12907061721451246 Centerline is valid? [False, False] Translation: X:-18.27, Y:-0.22, Z:0.33 [[ 9.99999850e-01 -3.97557318e-04 3.76817784e-04 -1.82711126e+01] [ 3.98443103e-04 9.99997151e-01 -2.35354566e-03 -2.22779419e-01] [-3.75881041e-04 2.35369544e-03 9.99997159e-01 3.27444658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.16956246 meters 0.12114461707661427 Centerline is valid? [False, False] Translation: X:-18.27, Y:-0.22, Z:0.33 [[ 9.99999867e-01 2.43044342e-04 4.54249818e-04 -1.82711860e+01] [-2.42248622e-04 9.99998438e-01 -1.75095796e-03 -2.22567283e-01] [-4.54674669e-04 1.75084769e-03 9.99998364e-01 3.27259989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.19956246 meters 0.12499343983481458 Centerline is valid? [False, False] Translation: X:-18.27, Y:-0.22, Z:0.33 [[ 9.99999826e-01 4.13108730e-04 4.20083760e-04 -1.82710434e+01] [-4.12417005e-04 9.99998561e-01 -1.64539221e-03 -2.22052290e-01] [-4.20762881e-04 1.64521867e-03 9.99998558e-01 3.27100468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.22956246 meters 0.12199908034018347 Centerline is valid? [False, False] Translation: X:-18.27, Y:-0.22, Z:0.33 [[ 9.99999941e-01 1.65845589e-04 3.00891567e-04 -1.82715875e+01] [-1.65276970e-04 9.99998203e-01 -1.88882330e-03 -2.21909984e-01] [-3.01204279e-04 1.88877346e-03 9.99998171e-01 3.28031232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.25956246 meters 0.11814200457709065 Centerline is valid? [False, False] Translation: X:-18.28, Y:-0.22, Z:0.33 [[ 9.99998641e-01 -1.51576673e-03 6.47976166e-04 -1.82758148e+01] [ 1.51782362e-03 9.99993774e-01 -3.18570408e-03 -2.23396482e-01] [-6.43143348e-04 3.18668327e-03 9.99994716e-01 3.32272708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.28956246 meters 0.11913355251122898 Centerline is valid? [False, False] Translation: X:-18.28, Y:-0.23, Z:0.34 [[ 9.99992795e-01 -3.74884593e-03 5.96406133e-04 -1.82816285e+01] [ 3.75163456e-03 9.99981703e-01 -4.74540878e-03 -2.25387764e-01] [-5.78605414e-04 4.74761209e-03 9.99988563e-01 3.38956806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.31956246 meters 0.11656178330452382 Centerline is valid? [False, False] Translation: X:-18.29, Y:-0.23, Z:0.35 [[ 9.99960432e-01 -8.88786748e-03 3.75551456e-04 -1.82920833e+01] [ 8.89075985e-03 9.99923758e-01 -8.56925967e-03 -2.29232843e-01] [-2.99360379e-04 8.57225954e-03 9.99963213e-01 3.49672302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.34956246 meters 0.11219173142916992 Centerline is valid? [False, False] Translation: X:-18.31, Y:-0.23, Z:0.35 [[ 9.99866544e-01 -1.59354337e-02 3.59950255e-03 -1.83142017e+01] [ 1.59676360e-02 9.99831078e-01 -9.10216081e-03 -2.27949756e-01] [-3.45384764e-03 9.15842162e-03 9.99952096e-01 3.52272115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.37956246 meters 0.10829504087033938 Centerline is valid? [False, False] Translation: X:-18.37, Y:-0.23, Z:0.35 [[ 9.99852803e-01 -1.63041312e-02 5.34300456e-03 -1.83651802e+01] [ 1.63510285e-02 9.99827106e-01 -8.85444492e-03 -2.25580020e-01] [-5.19771675e-03 8.94050519e-03 9.99946524e-01 3.50493572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.40956246 meters 0.10498777068901341 Centerline is valid? [False, False] Translation: X:-18.38, Y:-0.23, Z:0.35 [[ 9.99967047e-01 -7.43158047e-03 3.26745806e-03 -1.83847699e+01] [ 7.46670532e-03 9.99913015e-01 -1.08724391e-02 -2.26809688e-01] [-3.18637443e-03 1.08964780e-02 9.99935555e-01 3.53773994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.43956246 meters 0.1002181784860932 Centerline is valid? [False, False] Translation: X:-18.39, Y:-0.23, Z:0.36 [[ 9.99978736e-01 -5.45340539e-03 3.57614364e-03 -1.83899575e+01] [ 5.48401176e-03 9.99947936e-01 -8.60527051e-03 -2.27234875e-01] [-3.52902943e-03 8.62469914e-03 9.99956579e-01 3.58568287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.46956246 meters 0.10140357192486442 Centerline is valid? [False, False] Translation: X:-18.40, Y:-0.22, Z:0.36 [[ 9.99981930e-01 -4.20894389e-03 4.29243710e-03 -1.83963410e+01] [ 4.23926593e-03 9.99965953e-01 -7.07959827e-03 -2.24683552e-01] [-4.26249333e-03 7.09766712e-03 9.99965727e-01 3.62859530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.49956246 meters 0.0912204209004687 Centerline is valid? [False, True] Translation: X:-18.45, Y:-0.22, Z:0.36 [[ 9.99865139e-01 -1.17690547e-02 1.14539928e-02 -1.84509225e+01] [ 1.17607753e-02 9.99930528e-01 7.89930006e-04 -2.17259107e-01] [-1.14624938e-02 -6.55115640e-04 9.99934089e-01 3.64018818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.52956246 meters 0.08996467975476027 Centerline is valid? [True, True] Translation: X:-18.48, Y:-0.23, Z:0.37 [[ 9.99868435e-01 -1.17600905e-02 1.11719335e-02 -1.84804767e+01] [ 1.17447593e-02 9.99929996e-01 1.43691406e-03 -2.30544485e-01] [-1.11880497e-02 -1.30551334e-03 9.99936560e-01 3.68401022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.55956246 meters 0.0859826427125629 Centerline is valid? [True, True] Translation: X:-18.51, Y:-0.23, Z:0.37 [[ 9.99871975e-01 -1.21791381e-02 1.03779797e-02 -1.85123985e+01] [ 1.21659357e-02 9.99925102e-01 1.33433812e-03 -2.33119850e-01] [-1.03934535e-02 -1.20790945e-03 9.99945257e-01 3.70483369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.58956246 meters 0.08019896825217085 Centerline is valid? [True, True] Translation: X:-18.54, Y:-0.23, Z:0.37 [[ 9.99847547e-01 -1.37838904e-02 1.07185827e-02 -1.85435153e+01] [ 1.37698330e-02 9.99904233e-01 1.38419625e-03 -2.32893867e-01] [-1.07366359e-02 -1.23639213e-03 9.99941596e-01 3.73300741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.61956246 meters 0.07640732582385915 Centerline is valid? [True, True] Translation: X:-18.57, Y:-0.23, Z:0.38 [[ 9.99808318e-01 -1.33352028e-02 1.43352788e-02 -1.85739102e+01] [ 1.33099978e-02 9.99909703e-01 1.85222738e-03 -2.30563595e-01] [-1.43586842e-02 -1.66106981e-03 9.99895529e-01 3.75117795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.649562460000002 meters 0.07997564897409896 Centerline is valid? [True, True] Translation: X:-18.61, Y:-0.22, Z:0.38 [[ 9.99817504e-01 -1.24086160e-02 1.45253226e-02 -1.86062072e+01] [ 1.23826601e-02 9.99921573e-01 1.87552503e-03 -2.23244970e-01] [-1.45474561e-02 -1.69532062e-03 9.99892743e-01 3.76616173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.67956246 meters 0.0776922691779771 Centerline is valid? [True, True] Translation: X:-18.64, Y:-0.23, Z:0.37 [[ 9.99844803e-01 -1.17588451e-02 1.31186824e-02 -1.86374538e+01] [ 1.17376134e-02 9.99929676e-01 1.69426165e-03 -2.27515057e-01] [-1.31376824e-02 -1.54001669e-03 9.99912511e-01 3.72611180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.70956246 meters 0.0792176881106641 Centerline is valid? [True, True] Translation: X:-18.67, Y:-0.23, Z:0.37 [[ 9.99874248e-01 -1.10703875e-02 1.13549123e-02 -1.86695033e+01] [ 1.10544410e-02 9.99937823e-01 1.46617276e-03 -2.29590363e-01] [-1.13704374e-02 -1.34046618e-03 9.99934456e-01 3.72535304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.739562460000002 meters 0.07536178997750162 Centerline is valid? [True, True] Translation: X:-18.70, Y:-0.24, Z:0.37 [[ 9.99891501e-01 -1.28421074e-02 7.21574734e-03 -1.86991230e+01] [ 1.28357159e-02 9.99917185e-01 9.31384474e-04 -2.35478363e-01] [-7.22711071e-03 -8.38664137e-04 9.99973532e-01 3.69105573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.76956246 meters 0.07094767767016934 Centerline is valid? [True, True] Translation: X:-18.73, Y:-0.24, Z:0.37 [[ 9.99909422e-01 -1.21659212e-02 5.75658227e-03 -1.87276194e+01] [ 1.21618290e-02 9.99925764e-01 7.45347933e-04 -2.40898063e-01] [-5.76522277e-03 -6.75269852e-04 9.99983153e-01 3.67085171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.79956246 meters 0.07606288885615042 Centerline is valid? [True, True] Translation: X:-18.76, Y:-0.24, Z:0.37 [[ 9.99910787e-01 -1.19045805e-02 6.05798541e-03 -1.87574982e+01] [ 1.19000413e-02 9.99928884e-01 7.84802550e-04 -2.36014267e-01] [-6.06689734e-03 -7.12642259e-04 9.99981342e-01 3.65128104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.829562460000002 meters 0.07000555310201109 Centerline is valid? [True, True] Translation: X:-18.79, Y:-0.24, Z:0.37 [[ 9.99917918e-01 -1.00494206e-02 7.94773282e-03 -1.87857753e+01] [ 1.00415632e-02 9.99949054e-01 1.02793041e-03 -2.42542349e-01] [-7.95765802e-03 -9.48038378e-04 9.99967888e-01 3.67835277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.85956246 meters 0.06936649361940195 Centerline is valid? [True, True] Translation: X:-18.81, Y:-0.25, Z:0.37 [[ 9.99903878e-01 -1.07048219e-02 8.81139687e-03 -1.88145606e+01] [ 1.06951948e-02 9.99942156e-01 1.13896511e-03 -2.50564637e-01] [-8.82307960e-03 -1.04461602e-03 9.99960530e-01 3.71043382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.88956246 meters 0.07063768997115885 Centerline is valid? [True, True] Translation: X:-18.85, Y:-0.25, Z:0.38 [[ 9.99871389e-01 -1.37014918e-02 8.33510391e-03 -1.88455935e+01] [ 1.36929838e-02 9.99905667e-01 1.07695830e-03 -2.49774856e-01] [-8.34907357e-03 -9.62687352e-04 9.99964682e-01 3.77263930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 540.42 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%| | 0/663 [00:00