+ python -m lidar_slam --no-model /working/8e5b840f-676e-45f7-99be-b47f5ddd538d Lidar SLAM 0.0.12 ===================================================== The recording path: /working/8e5b840f-676e-45f7-99be-b47f5ddd538d 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 0.006338938 Adjusted end_distance from 9.223372036854776e+18 to 30.029138938 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.006338938 meters 0.04025706880400914 Centerline is valid? [0, True] SLAMing on 0.036338938 meters 0.03583881064511561 Centerline is valid? [True, True] Translation: X:-0.03, Y:-0.01, Z:0.01 [[ 9.99997253e-01 1.64788827e-03 -1.66696101e-03 -3.07316617e-02] [-1.64794406e-03 9.99998642e-01 -3.20966416e-05 -7.42443068e-03] [ 1.66690585e-03 3.48436120e-05 9.99998610e-01 5.18598690e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.066338938 meters 0.033595163587462555 Centerline is valid? [True, True] Translation: X:-0.06, Y:-0.02, Z:0.01 [[ 9.99994404e-01 2.26004699e-03 -2.46660439e-03 -5.86161653e-02] [-2.26016190e-03 9.99997445e-01 -4.38010284e-05 -1.63718839e-02] [ 2.46649909e-03 4.93757085e-05 9.99996957e-01 1.20044310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09633893800000001 meters 0.03336575666277086 Centerline is valid? [True, True] Translation: X:-0.09, Y:-0.02, Z:0.02 [[ 9.99989631e-01 3.43527010e-03 -2.98960548e-03 -8.69886348e-02] [-3.43545121e-03 9.99994097e-01 -5.54452258e-05 -1.71964387e-02] [ 2.98939737e-03 6.57152946e-05 9.99995530e-01 1.51489513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.126338938 meters 0.03421762841866873 Centerline is valid? [True, True] Translation: X:-0.12, Y:-0.02, Z:0.02 [[ 9.99974707e-01 4.96816994e-03 -5.08939752e-03 -1.15616383e-01] [-4.96871583e-03 9.99987651e-01 -9.46215774e-05 -1.81022612e-02] [ 5.08886458e-03 1.19906954e-04 9.99987044e-01 1.84440567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.156338938 meters 0.0326294498974406 Centerline is valid? [True, True] Translation: X:-0.14, Y:-0.02, Z:0.02 [[ 9.99961215e-01 5.85334023e-03 -6.58072478e-03 -1.43671453e-01] [-5.85426862e-03 9.99982856e-01 -1.21823266e-04 -2.26162326e-02] [ 6.57989889e-03 1.60343872e-04 9.99978339e-01 1.84192733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.186338938 meters 0.03494530941772487 Centerline is valid? [True, True] Translation: X:-0.17, Y:-0.02, Z:0.02 [[ 9.99961802e-01 6.60769621e-03 -5.72134566e-03 -1.71406513e-01] [-6.60838816e-03 9.99978159e-01 -1.02045610e-04 -2.29362408e-02] [ 5.72054642e-03 1.39850585e-04 9.99983628e-01 1.86472481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.216338938 meters 0.03204648045258541 Centerline is valid? [True, True] Translation: X:-0.20, Y:-0.03, Z:0.02 [[ 9.99959181e-01 7.95351168e-03 -4.28685720e-03 -1.98750505e-01] [-7.95391670e-03 9.99968364e-01 -7.74389104e-05 -3.20678754e-02] [ 4.28610567e-03 1.11533055e-04 9.99990808e-01 2.24048262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.246338938 meters 0.032634993535915514 Centerline is valid? [True, True] Translation: X:-0.23, Y:-0.03, Z:0.03 [[ 9.99956947e-01 8.96403528e-03 -2.39781997e-03 -2.26994072e-01] [-8.96416448e-03 9.99959820e-01 -4.31431381e-05 -3.45723317e-02] [ 2.39733688e-03 6.46357333e-05 9.99997124e-01 2.84204251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.27633893800000003 meters 0.036189923635689715 Centerline is valid? [True, True] Translation: X:-0.26, Y:-0.03, Z:0.03 [[ 9.99927561e-01 1.07463883e-02 -5.42099231e-03 -2.58553342e-01] [-1.07470852e-02 9.99942243e-01 -9.94560133e-05 -3.28614914e-02] [ 5.41961042e-03 1.57708675e-04 9.99985301e-01 2.82391805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30633893800000006 meters 0.03514441186725794 Centerline is valid? [True, True] Translation: X:-0.29, Y:-0.03, Z:0.03 [[ 9.99913570e-01 1.09113526e-02 -7.33445884e-03 -2.87788426e-01] [-1.09126243e-02 9.99940447e-01 -1.33390259e-04 -3.39014154e-02] [ 7.33256658e-03 2.13416924e-04 9.99973094e-01 2.82974120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33633893800000003 meters 0.035919954601355726 Centerline is valid? [True, True] Translation: X:-0.32, Y:-0.04, Z:0.03 [[ 9.99934969e-01 9.64671537e-03 -6.08272770e-03 -3.16028890e-01] [-9.64754379e-03 9.99953456e-01 -1.06863939e-04 -4.43876719e-02] [ 6.08141369e-03 1.65540372e-04 9.99981494e-01 3.32637012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36633893800000006 meters 0.03522025513955591 Centerline is valid? [True, True] Translation: X:-0.35, Y:-0.04, Z:0.03 [[ 9.99927965e-01 1.07651246e-02 -5.30826370e-03 -3.45037625e-01] [-1.07657634e-02 9.99942043e-01 -9.17851701e-05 -4.21103911e-02] [ 5.30696798e-03 1.48926070e-04 9.99985907e-01 3.17767775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.39633893800000003 meters 0.033845497474829414 Centerline is valid? [True, True] Translation: X:-0.38, Y:-0.04, Z:0.03 [[ 9.99913510e-01 1.19939743e-02 -5.39595033e-03 -3.75150066e-01] [-1.19946635e-02 9.99928057e-01 -9.53813812e-05 -4.03717009e-02] [ 5.39441812e-03 1.60095740e-04 9.99985437e-01 2.80723912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42633893800000006 meters 0.03327438046090999 Centerline is valid? [True, True] Translation: X:-0.40, Y:-0.05, Z:0.03 [[ 9.99914507e-01 1.11355356e-02 -6.85403402e-03 -4.04062858e-01] [-1.11366284e-02 9.99937978e-01 -1.21298613e-04 -5.11816257e-02] [ 6.85225820e-03 1.97619073e-04 9.99976503e-01 3.28037240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.456338938 meters 0.03314415440300546 Centerline is valid? [True, True] Translation: X:-0.43, Y:-0.06, Z:0.04 [[ 9.99919201e-01 1.04086505e-02 -7.29741084e-03 -4.32605104e-01] [-1.04098404e-02 9.99945808e-01 -1.25089835e-04 -5.98190082e-02] [ 7.29571336e-03 2.01044610e-04 9.99973366e-01 3.66858425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48633893800000005 meters 0.034658230583151914 Centerline is valid? [True, True] Translation: X:-0.46, Y:-0.07, Z:0.05 [[ 9.99935562e-01 8.47502583e-03 -7.55292162e-03 -4.60112093e-01] [-8.47625368e-03 9.99964067e-01 -1.30570290e-04 -6.50229050e-02] [ 7.55154363e-03 1.94582356e-04 9.99971468e-01 4.64943360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.516338938 meters 0.03236074397306114 Centerline is valid? [True, True] Translation: X:-0.49, Y:-0.07, Z:0.04 [[ 9.99906818e-01 9.59824777e-03 -9.70711545e-03 -4.87829465e-01] [-9.60032280e-03 9.99953902e-01 -1.67188676e-04 -6.74704519e-02] [ 9.70506325e-03 2.60364539e-04 9.99952871e-01 4.18708328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.546338938 meters 0.03238339784440743 Centerline is valid? [True, True] Translation: X:-0.52, Y:-0.07, Z:0.04 [[ 9.99895732e-01 1.04030507e-02 -1.00150917e-02 -5.15728600e-01] [-1.04052912e-02 9.99945849e-01 -1.71632203e-04 -6.83191436e-02] [ 1.00127638e-02 2.75824253e-04 9.99949833e-01 4.42223290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.576338938 meters 0.03290372675865517 Centerline is valid? [True, True] Translation: X:-0.54, Y:-0.07, Z:0.05 [[ 9.99894228e-01 1.15122111e-02 -8.88825762e-03 -5.43590350e-01] [-1.15139769e-02 9.99933701e-01 -1.47521273e-04 -6.98374591e-02] [ 8.88597004e-03 2.49844862e-04 9.99960488e-01 4.96396283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.606338938 meters 0.03293958504461248 Centerline is valid? [True, True] Translation: X:-0.57, Y:-0.07, Z:0.05 [[ 9.99888765e-01 1.28042384e-02 -7.64912384e-03 -5.71584450e-01] [-1.28055642e-02 9.99917998e-01 -1.24362763e-04 -6.79178800e-02] [ 7.64690422e-03 2.22300276e-04 9.99970737e-01 4.97124980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.636338938 meters 0.03403648343894333 Centerline is valid? [True, True] Translation: X:-0.60, Y:-0.07, Z:0.05 [[ 9.99865458e-01 1.40711946e-02 -8.43014471e-03 -6.00809684e-01] [-1.40728428e-02 9.99900963e-01 -1.36222454e-04 -6.80250288e-02] [ 8.42739300e-03 2.54840228e-04 9.99964456e-01 5.05387741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.666338938 meters 0.032914605993771336 Centerline is valid? [True, True] Translation: X:-0.63, Y:-0.08, Z:0.05 [[ 9.99816169e-01 1.57108877e-02 -1.09906886e-02 -6.28801181e-01] [-1.57138056e-02 9.99876514e-01 -1.79185682e-04 -8.06284903e-02] [ 1.09865162e-02 3.51858287e-04 9.99939585e-01 5.30613891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.696338938 meters 0.03363132427205605 Centerline is valid? [True, True] Translation: X:-0.66, Y:-0.08, Z:0.06 [[ 9.99827007e-01 1.52951705e-02 -1.05836907e-02 -6.57037346e-01] [-1.52978404e-02 9.99882967e-01 -1.71353288e-04 -7.91219816e-02] [ 1.05798312e-02 3.33231256e-04 9.99943976e-01 5.66551918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.726338938 meters 0.03293487336327283 Centerline is valid? [True, True] Translation: X:-0.68, Y:-0.08, Z:0.06 [[ 9.99824674e-01 1.57066511e-02 -1.01942696e-02 -6.83766629e-01] [-1.57091162e-02 9.99876591e-01 -1.61773735e-04 -8.31164389e-02] [ 1.01904706e-02 3.21888337e-04 9.99948024e-01 6.18012616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7563389380000001 meters 0.034351214152477355 Centerline is valid? [True, True] Translation: X:-0.71, Y:-0.08, Z:0.06 [[ 9.99831465e-01 1.53116531e-02 -1.01288957e-02 -7.12293070e-01] [-1.53140343e-02 9.99882721e-01 -1.57567628e-04 -8.01705230e-02] [ 1.01252951e-02 3.12655328e-04 9.99948689e-01 6.06183511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.786338938 meters 0.03243743162674571 Centerline is valid? [True, True] Translation: X:-0.74, Y:-0.09, Z:0.06 [[ 9.99858622e-01 1.25729267e-02 -1.11650241e-02 -7.39328734e-01] [-1.25756577e-02 9.99920908e-01 -1.74428202e-04 -9.00141521e-02] [ 1.11619479e-02 3.14811063e-04 9.99937654e-01 6.03030502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.816338938 meters 0.03300209428515117 Centerline is valid? [True, True] Translation: X:-0.77, Y:-0.09, Z:0.07 [[ 9.99894944e-01 1.04015761e-02 -1.00949314e-02 -7.67391682e-01] [-1.04036933e-02 9.99945868e-01 -1.57236181e-04 -9.32601455e-02] [ 1.00927494e-02 2.62244233e-04 9.99949033e-01 6.82925680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.846338938 meters 0.03190645172085981 Centerline is valid? [True, True] Translation: X:-0.79, Y:-0.09, Z:0.06 [[ 9.99842300e-01 1.22009210e-02 -1.29039897e-02 -7.94858579e-01] [-1.22045154e-02 9.99925502e-01 -1.99832823e-04 -9.44694540e-02] [ 1.29005903e-02 3.57288250e-04 9.99916720e-01 6.45805117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8763389380000001 meters 0.03333172469517132 Centerline is valid? [True, True] Translation: X:-0.82, Y:-0.09, Z:0.07 [[ 9.99856061e-01 1.13479195e-02 -1.26127677e-02 -8.23208616e-01] [-1.13512215e-02 9.99935555e-01 -1.90241031e-04 -9.15166959e-02] [ 1.26097960e-02 3.33383968e-04 9.99920438e-01 6.74592349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.906338938 meters 0.032236530771895734 Centerline is valid? [True, True] Translation: X:-0.85, Y:-0.09, Z:0.07 [[ 9.99886653e-01 1.07459166e-02 -1.05454066e-02 -8.50944930e-01] [-1.07481958e-02 9.99942224e-01 -1.59477921e-04 -9.39204094e-02] [ 1.05430836e-02 2.72803940e-04 9.99944383e-01 7.41800166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.936338938 meters 0.03293766717944967 Centerline is valid? [True, True] Translation: X:-0.88, Y:-0.10, Z:0.08 [[ 9.99892650e-01 1.14002374e-02 -9.20454644e-03 -8.79845829e-01] [-1.14019622e-02 9.99934986e-01 -1.34922404e-04 -9.89872677e-02] [ 9.20240988e-03 2.39857810e-04 9.99957628e-01 7.63724083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.966338938 meters 0.03293766717944967 Centerline is valid? [True, True] Translation: X:-0.91, Y:-0.10, Z:0.08 [[ 9.99889307e-01 1.16897122e-02 -9.20459138e-03 -9.07132933e-01] [-1.16914210e-02 9.99931644e-01 -1.31862443e-04 -9.95681403e-02] [ 9.20242076e-03 2.39462600e-04 9.99957628e-01 7.66770296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9963389380000001 meters 0.03076287001970037 Centerline is valid? [True, True] Translation: X:-0.94, Y:-0.10, Z:0.08 [[ 9.99856756e-01 1.26667095e-02 -1.12259366e-02 -9.35671529e-01] [-1.26692934e-02 9.99919729e-01 -1.59081584e-04 -1.02002522e-01] [ 1.12230204e-02 3.01283481e-04 9.99936975e-01 7.72962964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.026338938 meters 0.031349574898229315 Centerline is valid? [True, True] Translation: X:-0.96, Y:-0.10, Z:0.08 [[ 9.99831636e-01 1.37042673e-02 -1.22021695e-02 -9.63141684e-01] [-1.37073967e-02 9.99906034e-01 -1.72857590e-04 -1.04845500e-01] [ 1.21986540e-02 3.40088464e-04 9.99925536e-01 7.86726373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0563389380000001 meters 0.031229641656440526 Centerline is valid? [True, True] Translation: X:-0.99, Y:-0.10, Z:0.08 [[ 9.99847380e-01 1.36163426e-02 -1.09458703e-02 -9.91407553e-01] [-1.36188481e-02 9.99907247e-01 -1.54390377e-04 -1.03713459e-01] [ 1.09427528e-02 3.03436959e-04 9.99940080e-01 8.22534694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0863389380000001 meters 0.031157535130816653 Centerline is valid? [True, True] Translation: X:-1.02, Y:-0.10, Z:0.08 [[ 9.99850258e-01 1.35964650e-02 -1.07050408e-02 -1.01926352e+00] [-1.35988496e-02 9.99907520e-01 -1.49993043e-04 -1.04744804e-01] [ 1.07020114e-02 2.95546822e-04 9.99942688e-01 8.36485230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1163389380000002 meters 0.03135897702595392 Centerline is valid? [True, True] Translation: X:-1.05, Y:-0.10, Z:0.08 [[ 9.99835116e-01 1.42065027e-02 -1.13099557e-02 -1.04795563e+00] [-1.42091506e-02 9.99899033e-01 -1.53797652e-04 -1.01938361e-01] [ 1.13066288e-02 3.14477157e-04 9.99936029e-01 8.09761896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1463389380000002 meters 0.03055146372615388 Centerline is valid? [True, True] Translation: X:-1.08, Y:-0.11, Z:0.09 [[ 9.99807799e-01 1.58688440e-02 -1.15128188e-02 -1.07593289e+00] [-1.58716628e-02 9.99874025e-01 -1.53513938e-04 -1.07332262e-01] [ 1.15089324e-02 3.36212010e-04 9.99933714e-01 8.54148699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1763389380000002 meters 0.031138101536984056 Centerline is valid? [True, True] Translation: X:-1.10, Y:-0.11, Z:0.09 [[ 9.99791654e-01 1.62816204e-02 -1.23108420e-02 -1.10463205e+00] [-1.62848369e-02 9.99867380e-01 -1.61069705e-04 -1.08482840e-01] [ 1.23065868e-02 3.61516200e-04 9.99924206e-01 9.22694848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2063389380000002 meters 0.03079012704711982 Centerline is valid? [True, True] Translation: X:-1.13, Y:-0.11, Z:0.09 [[ 9.99828670e-01 1.39370755e-02 -1.21815003e-02 -1.13331081e+00] [-1.39400123e-02 9.99902821e-01 -1.56211962e-04 -1.05122041e-01] [ 1.21781393e-02 3.25995462e-04 9.99925791e-01 8.75433878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2363389380000003 meters 0.032711070441633315 Centerline is valid? [True, True] Translation: X:-1.16, Y:-0.11, Z:0.09 [[ 9.99885753e-01 1.14816055e-02 -9.83122523e-03 -1.16161260e+00] [-1.14834116e-02 9.99934055e-01 -1.27279279e-04 -1.07386813e-01] [ 9.82911554e-03 2.40160743e-04 9.99951664e-01 9.33098329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.266338938 meters 0.030999916470403927 Centerline is valid? [True, True] Translation: X:-1.19, Y:-0.11, Z:0.09 [[ 9.99882693e-01 1.16990298e-02 -9.88601152e-03 -1.18910500e+00] [-1.17008127e-02 9.99931536e-01 -1.22530434e-04 -1.07602510e-01] [ 9.88390119e-03 2.38190429e-04 9.99951125e-01 9.06919404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.296338938 meters 0.02985714798909361 Centerline is valid? [True, True] Translation: X:-1.22, Y:-0.12, Z:0.09 [[ 9.99895029e-01 7.93994738e-03 -1.21197686e-02 -1.21624548e+00] [-7.94235511e-03 9.99968448e-01 -1.50541549e-04 -1.18574607e-01] [ 1.21181909e-02 2.46785253e-04 9.99926542e-01 8.94876946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3263389380000001 meters 0.029419202714893046 Centerline is valid? [True, True] Translation: X:-1.24, Y:-0.12, Z:0.09 [[ 9.99878006e-01 4.80887361e-03 -1.48609526e-02 -1.24402156e+00] [-4.81207033e-03 9.99988406e-01 -1.79358124e-04 -1.21655804e-01] [ 1.48599178e-02 2.50848193e-04 9.99889554e-01 9.40360059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3563389380000002 meters 0.029238102749919663 Centerline is valid? [True, True] Translation: X:-1.27, Y:-0.12, Z:0.09 [[ 9.99909830e-01 2.41595546e-03 -1.32096724e-02 -1.27253014e+00] [-2.41823015e-03 9.99997064e-01 -1.56228526e-04 -1.21994000e-01] [ 1.32092562e-02 1.88158467e-04 9.99912736e-01 9.23461743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3863389380000002 meters 0.029650224270867154 Centerline is valid? [True, True] Translation: X:-1.30, Y:-0.13, Z:0.10 [[ 9.99953985e-01 -2.25120144e-03 -9.32520319e-03 -1.30082256e+00] [ 2.25026328e-03 9.99997462e-01 -1.11095844e-04 -1.26002696e-01] [ 9.32542962e-03 9.01065696e-05 9.99956513e-01 1.01639663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4163389380000002 meters 0.028660980253520672 Centerline is valid? [True, True] Translation: X:-1.33, Y:-0.13, Z:0.10 [[ 9.99955815e-01 -2.82465097e-03 -8.96601919e-03 -1.32987595e+00] [ 2.82384771e-03 9.99996008e-01 -1.02246926e-04 -1.32944795e-01] [ 8.96627221e-03 7.69237356e-05 9.99959799e-01 9.87210086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4463389380000002 meters 0.02821377553277493 Centerline is valid? [True, True] Translation: X:-1.36, Y:-0.14, Z:0.10 [[ 9.99908900e-01 -5.62322153e-03 -1.22707254e-02 -1.35902888e+00] [ 5.62194607e-03 9.99984187e-01 -1.38434596e-04 -1.38938380e-01] [ 1.22713098e-02 6.94366285e-05 9.99924702e-01 9.55491146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4763389380000003 meters 0.02914209788085627 Centerline is valid? [True, True] Translation: X:-1.39, Y:-0.14, Z:0.09 [[ 9.99862347e-01 -6.49845775e-03 -1.52661836e-02 -1.38749774e+00] [ 6.49663668e-03 9.99978882e-01 -1.68877686e-04 -1.40888041e-01] [ 1.52669587e-02 6.96755914e-05 9.99883451e-01 9.23106734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5063389380000003 meters 0.02839074823592526 Centerline is valid? [True, True] Translation: X:-1.41, Y:-0.14, Z:0.10 [[ 9.99896276e-01 -6.01174883e-03 -1.30879907e-02 -1.41497812e+00] [ 6.01036712e-03 9.99981927e-01 -1.44901984e-04 -1.36339212e-01] [ 1.30886253e-02 6.62233256e-05 9.99914338e-01 9.96866453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.536338938 meters 0.029744627795059948 Centerline is valid? [True, True] Translation: X:-1.44, Y:-0.13, Z:0.10 [[ 9.99964470e-01 -5.28956809e-03 -6.56341754e-03 -1.44458357e+00] [ 5.28920604e-03 9.99986009e-01 -7.25188881e-05 -1.33170807e-01] [ 6.56370931e-03 3.78010439e-05 9.99978458e-01 1.03545192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5663389380000001 meters 0.030506242799183562 Centerline is valid? [True, True] Translation: X:-1.47, Y:-0.14, Z:0.11 [[ 9.99983590e-01 -4.14546872e-03 -3.95413828e-03 -1.47252445e+00] [ 4.14533531e-03 9.99991407e-01 -4.19339227e-05 -1.35357331e-01] [ 3.95427814e-03 2.55420055e-05 9.99992181e-01 1.05316132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5963389380000002 meters 0.028230313999822485 Centerline is valid? [True, True] Translation: X:-1.50, Y:-0.13, Z:0.11 [[ 9.99941618e-01 -2.89070963e-03 -1.04117616e-02 -1.50144618e+00] [ 2.88968429e-03 9.99995818e-01 -1.13521432e-04 -1.32535234e-01] [ 1.04120462e-02 8.34281009e-05 9.99945790e-01 1.07307430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6263389380000002 meters 0.0286454394192353 Centerline is valid? [True, True] Translation: X:-1.53, Y:-0.13, Z:0.10 [[ 9.99914689e-01 -2.54704915e-03 -1.28111936e-02 -1.53047150e+00] [ 2.54554152e-03 9.99996751e-01 -1.33985255e-04 -1.25378857e-01] [ 1.28114932e-02 1.01362400e-04 9.99917924e-01 9.93842012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6563389380000002 meters 0.027817300845176487 Centerline is valid? [True, True] Translation: X:-1.56, Y:-0.12, Z:0.10 [[ 9.99915160e-01 -2.96303145e-03 -1.26843478e-02 -1.55821208e+00] [ 2.96163793e-03 9.99995606e-01 -1.28644140e-04 -1.24553728e-01] [ 1.26846732e-02 9.10667801e-05 9.99919542e-01 9.89850529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6863389380000002 meters 0.0274613005145198 Centerline is valid? [True, True] Translation: X:-1.59, Y:-0.13, Z:0.10 [[ 9.99956259e-01 -3.68835176e-03 -8.59514952e-03 -1.58732195e+00] [ 3.68773254e-03 9.99993196e-01 -8.78905621e-05 -1.26233703e-01] [ 8.59541522e-03 5.61901051e-05 9.99963057e-01 1.03239590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7163389380000003 meters 0.02846849964931381 Centerline is valid? [True, True] Translation: X:-1.62, Y:-0.13, Z:0.11 [[ 9.99956165e-01 -6.95471791e-03 -6.26896245e-03 -1.61603709e+00] [ 6.95447561e-03 9.99975816e-01 -6.04494179e-05 -1.25271163e-01] [ 6.26923124e-03 1.68494217e-05 9.99980348e-01 1.05426442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7463389380000003 meters 0.02953959171119661 Centerline is valid? [True, True] Translation: X:-1.64, Y:-0.13, Z:0.10 [[ 9.99890508e-01 -1.05959429e-02 -1.03294454e-02 -1.64372304e+00] [ 1.05954528e-02 9.99943861e-01 -1.02171623e-04 -1.25624021e-01] [ 1.03299481e-02 -7.28471468e-06 9.99946645e-01 1.00187642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7763389380000003 meters 0.02827180430022084 Centerline is valid? [True, True] Translation: X:-1.67, Y:-0.13, Z:0.10 [[ 9.99777678e-01 -1.55099545e-02 -1.42840995e-02 -1.67297228e+00] [ 1.55095835e-02 9.99879710e-01 -1.36756981e-04 -1.28369139e-01] [ 1.42845024e-02 -8.48138565e-05 9.99897968e-01 9.64761475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8063389380000001 meters 0.027489047502145005 Centerline is valid? [True, True] Translation: X:-1.70, Y:-0.13, Z:0.11 [[ 9.99777959e-01 -1.79790903e-02 -1.09902137e-02 -1.70149441e+00] [ 1.79790587e-02 9.99838358e-01 -1.01690243e-04 -1.30820646e-01] [ 1.09902655e-02 -9.59260319e-05 9.99939601e-01 1.05339628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8363389380000001 meters 0.029196190837790643 Centerline is valid? [True, True] Translation: X:-1.73, Y:-0.13, Z:0.11 [[ 9.99820162e-01 -1.84351527e-02 -4.44836174e-03 -1.73133016e+00] [ 1.84351495e-02 9.99830057e-01 -4.17241798e-05 -1.28823181e-01] [ 4.44837497e-03 -4.02895375e-05 9.99990105e-01 1.10727898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8663389380000002 meters 0.031943963067076975 Centerline is valid? [True, True] Translation: X:-1.76, Y:-0.12, Z:0.10 [[ 9.99850642e-01 -1.69585368e-02 -3.33181863e-03 -1.75983751e+00] [ 1.69585375e-02 9.99856193e-01 -2.80435966e-05 -1.16559448e-01] [ 3.33181507e-03 -2.84633631e-05 9.99994449e-01 1.02372708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8963389380000002 meters 0.028898777082543025 Centerline is valid? [True, True] Translation: X:-1.79, Y:-0.11, Z:0.10 [[ 9.99850982e-01 -1.34850541e-02 -1.07780732e-02 -1.78793426e+00] [ 1.34847865e-02 9.99909071e-01 -9.74959877e-05 -1.08076044e-01] [ 1.07784079e-02 -4.78585575e-05 9.99941910e-01 9.62533668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9263389380000002 meters 0.02750366140228175 Centerline is valid? [True, True] Translation: X:-1.82, Y:-0.10, Z:0.09 [[ 9.99836978e-01 -1.10653771e-02 -1.42679533e-02 -1.81580062e+00] [ 1.10646761e-02 9.99938776e-01 -1.28074623e-04 -1.03248002e-01] [ 1.42684969e-02 -2.98165374e-05 9.99898199e-01 9.39416187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9563389380000002 meters 0.027267377890333944 Centerline is valid? [True, True] Translation: X:-1.84, Y:-0.10, Z:0.10 [[ 9.99905090e-01 -8.84213642e-03 -1.05653994e-02 -1.84487663e+00] [ 8.84163266e-03 9.99960908e-01 -9.43888437e-05 -1.00767360e-01] [ 1.05658210e-02 9.64505015e-07 9.99944180e-01 1.01056859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9863389380000003 meters 0.026488135269126627 Centerline is valid? [True, True] Translation: X:-1.87, Y:-0.09, Z:0.11 [[ 9.99966259e-01 -6.95451336e-03 -4.37219569e-03 -1.87402245e+00] [ 6.95441162e-03 9.99975817e-01 -3.84728758e-05 -9.39686051e-02] [ 4.37235752e-03 8.06552921e-06 9.99990441e-01 1.10187499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.016338938 meters 0.02723109268870193 Centerline is valid? [True, True] Translation: X:-1.90, Y:-0.08, Z:0.11 [[ 9.99987353e-01 -4.99924355e-03 -5.48449791e-04 -1.90195301e+00] [ 4.99924219e-03 9.99987504e-01 -3.85730880e-06 -8.28629957e-02] [ 5.48462221e-04 1.11542668e-06 9.99999850e-01 1.09560877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.046338938 meters 0.02883925196370611 Centerline is valid? [True, True] Translation: X:-1.93, Y:-0.07, Z:0.10 [[ 9.99982835e-01 -4.42890241e-03 -3.83605199e-03 -1.93129659e+00] [ 4.42880895e-03 9.99990192e-01 -3.28583955e-05 -7.29520659e-02] [ 3.83615989e-03 1.58686900e-05 9.99992642e-01 9.99240179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.076338938 meters 0.026293664430913664 Centerline is valid? [True, True] Translation: X:-1.96, Y:-0.07, Z:0.09 [[ 9.99908223e-01 -5.16100361e-03 -1.25263750e-02 -1.96064541e+00] [ 5.16004218e-03 9.99986681e-01 -1.09070678e-04 -7.31264061e-02] [ 1.25267710e-02 4.44240447e-05 9.99921536e-01 9.05043275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.106338938 meters 0.028434844070151802 Centerline is valid? [True, True] Translation: X:-1.99, Y:-0.08, Z:0.08 [[ 9.99825383e-01 -9.15778570e-03 -1.62891889e-02 -1.98913451e+00] [ 9.15671422e-03 9.99958067e-01 -1.40361828e-04 -7.91859289e-02] [ 1.62897912e-02 -8.81812892e-06 9.99867313e-01 8.35523162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.136338938 meters 0.02794755864792842 Centerline is valid? [True, True] Translation: X:-2.02, Y:-0.08, Z:0.09 [[ 9.99820164e-01 -1.33920821e-02 -1.34272702e-02 -2.01699976e+00] [ 1.33917568e-02 9.99910320e-01 -1.14146402e-04 -8.02488524e-02] [ 1.34275947e-02 -6.56888619e-05 9.99909844e-01 9.12300332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.166338938 meters 0.025802514346573442 Centerline is valid? [True, True] Translation: X:-2.05, Y:-0.07, Z:0.10 [[ 9.99859181e-01 -1.57473344e-02 -5.80004797e-03 -2.04595289e+00] [ 1.57473161e-02 9.99876002e-01 -4.88150010e-05 -7.23209445e-02] [ 5.80009748e-03 -4.25270622e-05 9.99983178e-01 1.02419875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1963389380000002 meters 0.02534114049660144 Centerline is valid? [True, True] Translation: X:-2.07, Y:-0.07, Z:0.10 [[ 9.99886720e-01 -1.49778383e-02 -1.48717512e-03 -2.07425850e+00] [ 1.49778376e-02 9.99887826e-01 -1.15669314e-05 -6.62595496e-02] [ 1.48718154e-03 -1.07090463e-05 9.99998894e-01 1.04823449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.226338938 meters 0.028404655915274548 Centerline is valid? [True, True] Translation: X:-2.10, Y:-0.07, Z:0.10 [[ 9.99878173e-01 -1.52874317e-02 -3.15185091e-03 -2.10272391e+00] [ 1.52874270e-02 9.99883140e-01 -2.55768667e-05 -6.68835435e-02] [ 3.15187359e-03 -2.26099400e-05 9.99995033e-01 9.62122800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.256338938 meters 0.027656659574995853 Centerline is valid? [True, True] Translation: X:-2.13, Y:-0.06, Z:0.09 [[ 9.99873355e-01 -1.43510532e-02 -6.87900316e-03 -2.13088691e+00] [ 1.43510074e-02 9.99897017e-01 -5.60224520e-05 -6.44089938e-02] [ 6.87909873e-03 -4.27052681e-05 9.99976338e-01 9.44844011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.286338938 meters 0.025630392034486815 Centerline is valid? [True, True] Translation: X:-2.16, Y:-0.06, Z:0.10 [[ 9.99913183e-01 -1.09487529e-02 -7.33152770e-03 -2.15825150e+00] [ 1.09486140e-02 9.99940060e-01 -5.90862668e-05 -5.51050318e-02] [ 7.33173517e-03 -2.11889296e-05 9.99973122e-01 9.72950025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.316338938 meters 0.02538642074021267 Centerline is valid? [True, True] Translation: X:-2.19, Y:-0.05, Z:0.10 [[ 9.99941704e-01 -8.76979490e-03 -6.29908326e-03 -2.18563477e+00] [ 8.76965399e-03 9.99961545e-01 -4.99912751e-05 -4.67608774e-02] [ 6.29927944e-03 -5.25241986e-06 9.99980159e-01 9.94000426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.346338938 meters 0.025598475337926172 Centerline is valid? [True, True] Translation: X:-2.21, Y:-0.04, Z:0.09 [[ 9.99955625e-01 -7.26729723e-03 -5.99451476e-03 -2.21388998e+00] [ 7.26716738e-03 9.99973593e-01 -4.34433583e-05 -3.80950137e-02] [ 5.99467217e-03 -1.21711613e-07 9.99982032e-01 9.48415250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.376338938 meters 0.025240976680904286 Centerline is valid? [True, True] Translation: X:-2.24, Y:-0.03, Z:0.09 [[ 9.99964447e-01 -3.69380330e-03 -7.58022191e-03 -2.24216770e+00] [ 3.69349720e-03 9.99993178e-01 -5.43799756e-05 -3.17451715e-02] [ 7.58037106e-03 2.63805139e-05 9.99971268e-01 8.96957116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.406338938 meters 0.026221238356169758 Centerline is valid? [True, True] Translation: X:-2.27, Y:-0.03, Z:0.09 [[ 9.99958554e-01 -1.97732113e-03 -8.88710643e-03 -2.27045745e+00] [ 1.97684866e-03 9.99998044e-01 -6.19475604e-05 -3.00430246e-02] [ 8.88721154e-03 4.43765285e-05 9.99960507e-01 8.64204498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.436338938 meters 0.026187787777353772 Centerline is valid? [True, True] Translation: X:-2.30, Y:-0.03, Z:0.09 [[ 9.99951219e-01 -3.10434967e-04 -9.87239303e-03 -2.29862881e+00] [ 3.09791244e-04 9.99999950e-01 -6.67334212e-05 -2.65115680e-02] [ 9.87241325e-03 6.36717849e-05 9.99951265e-01 8.79315736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4663389380000003 meters 0.025602131337629657 Centerline is valid? [True, True] Translation: X:-2.33, Y:-0.02, Z:0.08 [[ 9.99937151e-01 2.20665466e-03 -1.09920235e-02 -2.32751438e+00] [-2.20757738e-03 9.99997561e-01 -7.18121601e-05 -2.24689164e-02] [ 1.09918382e-02 9.60733892e-05 9.99939583e-01 8.22979566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.496338938 meters 0.02699269752346688 Centerline is valid? [True, True] Translation: X:-2.36, Y:-0.02, Z:0.09 [[ 9.99940207e-01 1.29595349e-03 -1.08583192e-02 -2.35550525e+00] [-1.29679805e-03 9.99999157e-01 -7.07394750e-05 -2.20769979e-02] [ 1.08582184e-02 8.48162924e-05 9.99941044e-01 8.57314115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.526338938 meters 0.025140942558211546 Centerline is valid? [True, True] Translation: X:-2.38, Y:-0.02, Z:0.09 [[ 9.99969040e-01 1.39053962e-03 -7.74508244e-03 -2.38388578e+00] [-1.39094368e-03 9.99999032e-01 -4.67831115e-05 -2.43304231e-02] [ 7.74500988e-03 5.75546365e-05 9.99970005e-01 8.54952883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.556338938 meters 0.025816355044662714 Centerline is valid? [True, True] Translation: X:-2.41, Y:-0.02, Z:0.09 [[ 9.99976671e-01 1.31388143e-03 -6.70314529e-03 -2.41223872e+00] [-1.31416883e-03 9.99999136e-01 -3.84705394e-05 -2.24451130e-02] [ 6.70308895e-03 4.72787065e-05 9.99977533e-01 8.99072500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.586338938 meters 0.027187996780363842 Centerline is valid? [True, True] Translation: X:-2.44, Y:-0.02, Z:0.08 [[ 9.99963575e-01 2.91261414e-03 -8.02274269e-03 -2.44099007e+00] [-2.91306531e-03 9.99995756e-01 -4.45510364e-05 -1.88395627e-02] [ 8.02257888e-03 6.79201871e-05 9.99967816e-01 8.23850867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.616338938 meters 0.02543087614899938 Centerline is valid? [True, True] Translation: X:-2.47, Y:-0.02, Z:0.08 [[ 9.99945905e-01 3.41929413e-03 -9.82324549e-03 -2.46893623e+00] [-3.42001029e-03 9.99994150e-01 -5.61076722e-05 -2.05413052e-02] [ 9.82299618e-03 8.97002377e-05 9.99951749e-01 7.84975084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.646338938 meters 0.028268393257334566 Centerline is valid? [True, True] Translation: X:-2.50, Y:-0.02, Z:0.08 [[ 9.99957987e-01 2.60869992e-03 -8.78744153e-03 -2.49764685e+00] [-2.60920592e-03 9.99996595e-01 -4.61176234e-05 -2.46219431e-02] [ 8.78729130e-03 6.90439303e-05 9.99961389e-01 7.81792198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6763389380000002 meters 0.025550831155989516 Centerline is valid? [True, True] Translation: X:-2.53, Y:-0.02, Z:0.08 [[ 9.99961802e-01 3.47510394e-03 -8.01982219e-03 -2.52570330e+00] [-3.47555955e-03 9.99993959e-01 -4.28748787e-05 -2.49691084e-02] [ 8.01962475e-03 7.07466106e-05 9.99967840e-01 8.11363234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.706338938 meters 0.028189168126061488 Centerline is valid? [True, True] Translation: X:-2.55, Y:-0.02, Z:0.08 [[ 9.99955112e-01 4.80860629e-03 -8.16407859e-03 -2.55400245e+00] [-4.80909101e-03 9.99988435e-01 -3.97424062e-05 -2.17801775e-02] [ 8.16379307e-03 7.90024192e-05 9.99966673e-01 7.62994097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7363389380000003 meters 0.028077049868402294 Centerline is valid? [True, True] Translation: X:-2.58, Y:-0.02, Z:0.07 [[ 9.99898679e-01 7.17207975e-03 -1.22960357e-02 -2.58254853e+00] [-7.17339010e-03 9.99974269e-01 -6.24659607e-05 -1.54116425e-02] [ 1.22952713e-02 1.50663893e-04 9.99924399e-01 6.90882800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.766338938 meters 0.025830207652218565 Centerline is valid? [True, True] Translation: X:-2.61, Y:-0.02, Z:0.07 [[ 9.99878156e-01 8.55883406e-03 -1.30544817e-02 -2.61143740e+00] [-8.56036082e-03 9.99963358e-01 -6.10787877e-05 -1.65293905e-02] [ 1.30534806e-02 1.72822419e-04 9.99914785e-01 6.78011814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.796338938 meters 0.02580784960167387 Centerline is valid? [True, True] Translation: X:-2.64, Y:-0.02, Z:0.07 [[ 9.99890172e-01 1.06508391e-02 -1.03054904e-02 -2.64045043e+00] [-1.06518685e-02 9.99943266e-01 -4.49978842e-05 -1.87804707e-02] [ 1.03044265e-02 1.54765671e-04 9.99946896e-01 6.90792475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.826338938 meters 0.027349900575052526 Centerline is valid? [True, True] Translation: X:-2.67, Y:-0.02, Z:0.07 [[ 9.99876132e-01 1.25459211e-02 -9.50368518e-03 -2.66808972e+00] [-1.25468892e-02 9.99921284e-01 -4.22448849e-05 -2.12693045e-02] [ 9.50240708e-03 1.61481337e-04 9.99954838e-01 7.16673143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.856338938 meters 0.027711030368697515 Centerline is valid? [True, True] Translation: X:-2.70, Y:-0.02, Z:0.07 [[ 9.99832212e-01 1.48472623e-02 -1.07287774e-02 -2.69698901e+00] [-1.48485814e-02 9.99889753e-01 -4.33003392e-05 -1.68242939e-02] [ 1.07269517e-02 2.02600198e-04 9.99942444e-01 6.59721117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.886338938 meters 0.027711030368697515 Centerline is valid? [True, True] Translation: X:-2.72, Y:-0.02, Z:0.07 [[ 9.99827870e-01 1.51367970e-02 -1.07287916e-02 -2.72424644e+00] [-1.51380950e-02 9.99885412e-01 -3.97839020e-05 -1.71118817e-02] [ 1.07269600e-02 2.02190520e-04 9.99942444e-01 6.62766400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.916338938 meters 0.02758604984173455 Centerline is valid? [True, True] Translation: X:-2.75, Y:-0.01, Z:0.06 [[ 9.99754328e-01 1.73229619e-02 -1.38274927e-02 -2.75298611e+00] [-1.73253594e-02 9.99849903e-01 -5.36086939e-05 -1.33228169e-02] [ 1.38244886e-02 2.93161805e-04 9.99904394e-01 5.84243169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9463389380000002 meters 0.029826630907338003 Centerline is valid? [True, True] Translation: X:-2.78, Y:-0.02, Z:0.05 [[ 9.99733761e-01 1.72096885e-02 -1.53698968e-02 -2.78049827e+00] [-1.72126145e-02 9.99851850e-01 -5.80953039e-05 -1.63483669e-02] [ 1.53666200e-02 3.22635946e-04 9.99881874e-01 5.47677597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.976338938 meters 0.02725826948576278 Centerline is valid? [True, True] Translation: X:-2.81, Y:-0.02, Z:0.06 [[ 9.99689015e-01 1.92692166e-02 -1.58293947e-02 -2.80929851e+00] [-1.92724862e-02 9.99814267e-01 -5.40167741e-05 -1.74950883e-02] [ 1.58254138e-02 3.59071767e-04 9.99874706e-01 5.51049923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0063389380000003 meters 0.028606106560979925 Centerline is valid? [True, True] Translation: X:-2.84, Y:-0.02, Z:0.06 [[ 9.99707378e-01 1.93395570e-02 -1.45306737e-02 -2.83703108e+00] [-1.93423236e-02 9.99812919e-01 -4.98725359e-05 -1.63187512e-02] [ 1.45269908e-02 3.30914936e-04 9.99894423e-01 5.90373033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.036338938 meters 0.028778530557979937 Centerline is valid? [True, True] Translation: X:-2.87, Y:-0.01, Z:0.05 [[ 9.99682512e-01 2.05069740e-02 -1.46403095e-02 -2.86568909e+00] [-2.05098269e-02 9.99789650e-01 -4.47320540e-05 -1.09140451e-02] [ 1.46363126e-02 3.44988066e-04 9.99892824e-01 5.30272794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.066338938 meters 0.02870440724174175 Centerline is valid? [True, True] Translation: X:-2.89, Y:-0.01, Z:0.05 [[ 9.99642969e-01 2.23999322e-02 -1.45663424e-02 -2.89306095e+00] [-2.24029643e-02 9.99749021e-01 -4.49949340e-05 -1.12330460e-02] [ 1.45616787e-02 3.71308118e-04 9.99893904e-01 5.49024557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.096338938 meters 0.02702348780049725 Centerline is valid? [True, True] Translation: X:-2.92, Y:-0.02, Z:0.06 [[ 9.99659988e-01 2.23371588e-02 -1.34521267e-02 -2.92164227e+00] [-2.23396678e-02 9.99750438e-01 -3.62621205e-05 -1.72224711e-02] [ 1.34479595e-02 3.36765833e-04 9.99909515e-01 5.63925776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.126338938 meters 0.027240608650862592 Centerline is valid? [True, True] Translation: X:-2.95, Y:-0.03, Z:0.06 [[ 9.99764172e-01 1.70381121e-02 -1.34648935e-02 -2.95105923e+00] [-1.70401714e-02 9.99854805e-01 -3.82153276e-05 -2.60009154e-02] [ 1.34622873e-02 2.67650408e-04 9.99909343e-01 5.77565385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.156338938 meters 0.027170797870845857 Centerline is valid? [True, True] Translation: X:-2.98, Y:-0.03, Z:0.06 [[ 9.99786308e-01 1.55387739e-02 -1.36339525e-02 -2.97947582e+00] [-1.55406665e-02 9.99879236e-01 -3.28747670e-05 -2.77750482e-02] [ 1.36317952e-02 2.44748451e-04 9.99907053e-01 5.68533798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.186338938 meters 0.025665147312746273 Centerline is valid? [True, True] Translation: X:-3.01, Y:-0.03, Z:0.06 [[ 9.99825612e-01 1.23870584e-02 -1.39752128e-02 -3.00783319e+00] [-1.23886908e-02 9.99923257e-01 -3.02425170e-05 -3.09599084e-02] [ 1.39737657e-02 2.03371834e-04 9.99902341e-01 6.00294044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2163389380000003 meters 0.025066864211915875 Centerline is valid? [True, True] Translation: X:-3.04, Y:-0.04, Z:0.06 [[ 9.99889560e-01 9.25744802e-03 -1.16261324e-02 -3.03744253e+00] [-9.25838364e-03 9.99957140e-01 -2.66555742e-05 -3.86528844e-02] [ 1.16253873e-02 1.34291824e-04 9.99932414e-01 6.00005018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.246338938 meters 0.027929550869117723 Centerline is valid? [True, True] Translation: X:-3.06, Y:-0.05, Z:0.06 [[ 9.99938479e-01 1.51346264e-03 -1.09885483e-02 -3.06482022e+00] [-1.51381315e-03 9.99998854e-01 -2.35801017e-05 -5.10889098e-02] [ 1.09885000e-02 4.02132600e-05 9.99939624e-01 6.28834477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2763389380000003 meters 0.026691089349366856 Centerline is valid? [True, True] Translation: X:-3.09, Y:-0.05, Z:0.06 [[ 9.99928412e-01 1.31217254e-04 -1.19646899e-02 -3.09333941e+00] [-1.31476728e-04 9.99999991e-01 -2.09000930e-05 -5.35853564e-02] [ 1.19646870e-02 2.24716750e-05 9.99928420e-01 6.08351239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.306338938 meters 0.02452241242958175 Centerline is valid? [True, True] Translation: X:-3.12, Y:-0.05, Z:0.06 [[ 9.99918352e-01 -7.26420904e-04 -1.27578378e-02 -3.12189722e+00] [ 7.26234406e-04 9.99999736e-01 -1.92510941e-05 -5.42466049e-02] [ 1.27578484e-02 9.98434150e-06 9.99918615e-01 5.75150296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.336338938 meters 0.025007391425311845 Centerline is valid? [True, True] Translation: X:-3.15, Y:-0.06, Z:0.06 [[ 9.99886626e-01 -1.77969509e-03 -1.49521863e-02 -3.14937476e+00] [ 1.77954270e-03 9.99998416e-01 -2.34965741e-05 -5.56756057e-02] [ 1.49522045e-02 -3.11414384e-06 9.99888210e-01 5.70339172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.366338938 meters 0.025039988179331785 Centerline is valid? [True, True] Translation: X:-3.18, Y:-0.06, Z:0.05 [[ 9.99860449e-01 -2.50738780e-03 -1.65165379e-02 -3.17765130e+00] [ 2.50739943e-03 9.99996856e-01 -2.00039319e-05 -6.13334852e-02] [ 1.65165362e-02 -2.14124175e-05 9.99863592e-01 5.00295609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.396338938 meters 0.025223257692239594 Centerline is valid? [True, True] Translation: X:-3.21, Y:-0.06, Z:0.05 [[ 9.99843832e-01 -2.35331633e-03 -1.75149550e-02 -3.20663367e+00] [ 2.35337964e-03 9.99997231e-01 -1.69968975e-05 -6.33265923e-02] [ 1.75149465e-02 -2.42250954e-05 9.99846601e-01 4.79724758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4263389380000002 meters 0.02527816843348634 Centerline is valid? [True, True] Translation: X:-3.24, Y:-0.06, Z:0.05 [[ 9.99892133e-01 -1.66977090e-03 -1.45922635e-02 -3.23524872e+00] [ 1.66980188e-03 9.99998606e-01 -1.00611056e-05 -5.98288836e-02] [ 1.45922599e-02 -1.43061685e-05 9.99893527e-01 4.92804839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.456338938 meters 0.025048096724122268 Centerline is valid? [True, True] Translation: X:-3.26, Y:-0.05, Z:0.05 [[ 9.99924938e-01 -1.96128701e-05 -1.22522751e-02 -3.26321739e+00] [ 1.95080828e-05 1.00000000e+00 -8.67198807e-06 -5.42765190e-02] [ 1.22522753e-02 8.43231873e-06 9.99924938e-01 5.03824480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4863389380000003 meters 0.02498696753283494 Centerline is valid? [True, True] Translation: X:-3.29, Y:-0.05, Z:0.05 [[ 9.99910463e-01 2.92421167e-03 -1.30581153e-02 -3.29154649e+00] [-2.92451544e-03 9.99995724e-01 -4.16773862e-06 -5.27109449e-02] [ 1.30580473e-02 4.23560253e-05 9.99914739e-01 4.50786162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.516338938 meters 0.025058541805749724 Centerline is valid? [True, True] Translation: X:-3.32, Y:-0.05, Z:0.04 [[ 9.99815578e-01 5.92245504e-03 -1.82684257e-02 -3.32009643e+00] [-5.92360249e-03 9.99982455e-01 -8.69866381e-06 -5.44996792e-02] [ 1.82680536e-02 1.16911951e-04 9.99833118e-01 3.74969639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5463389380000003 meters 0.025657448643447198 Centerline is valid? [True, True] Translation: X:-3.35, Y:-0.05, Z:0.03 [[ 9.99642301e-01 9.37158704e-03 -2.50488069e-02 -3.34998542e+00] [-9.37481755e-03 9.99956055e-01 -1.15364221e-05 -4.60849013e-02] [ 2.50475980e-02 2.46360290e-04 9.99686229e-01 2.63241530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.576338938 meters 0.025451132056125196 Centerline is valid? [True, True] Translation: X:-3.38, Y:-0.04, Z:0.03 [[ 9.99644619e-01 1.10840054e-02 -2.42441799e-02 -3.37874407e+00] [-1.10873280e-02 9.99938534e-01 -2.62487413e-06 -4.30631372e-02] [ 2.42426606e-02 2.71427115e-04 9.99706067e-01 2.51652985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.606338938 meters 0.02623304671968228 Centerline is valid? [True, True] Translation: X:-3.41, Y:-0.04, Z:0.03 [[ 9.99705655e-01 1.42450758e-02 -1.96387670e-02 -3.40706696e+00] [-1.42478767e-02 9.99898494e-01 -2.70426357e-06 -3.91650963e-02] [ 1.96367350e-02 2.82514198e-04 9.99807141e-01 3.26167327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.636338938 meters 0.02831255072506347 Centerline is valid? [True, True] Translation: X:-3.44, Y:-0.04, Z:0.03 [[ 9.99721770e-01 1.76696553e-02 -1.56257916e-02 -3.43525802e+00] [-1.76718160e-02 9.99843841e-01 -2.01210290e-07 -3.90319966e-02] [ 1.56233479e-02 2.76337268e-04 9.99877910e-01 3.46557191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.666338938 meters 0.02679240305420468 Centerline is valid? [True, True] Translation: X:-3.46, Y:-0.04, Z:0.03 [[ 9.99599358e-01 1.91660865e-02 -2.08274773e-02 -3.46496322e+00] [-1.91702555e-02 9.99816234e-01 -5.16947921e-07 -3.79461274e-02] [ 2.08236400e-02 3.99784803e-04 9.99783085e-01 2.75730931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6963389380000002 meters 0.027825900219314685 Centerline is valid? [True, True] Translation: X:-3.49, Y:-0.04, Z:0.02 [[ 9.99466657e-01 1.89856394e-02 -2.65696741e-02 -3.49409094e+00] [-1.89923390e-02 9.99819629e-01 2.04574339e-07 -3.67239314e-02] [ 2.65648856e-02 5.04415792e-04 9.99646964e-01 1.84049004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.726338938 meters 0.026351836667770898 Centerline is valid? [True, True] Translation: X:-3.52, Y:-0.04, Z:0.02 [[ 9.99525838e-01 1.68891703e-02 -2.57459619e-02 -3.52247969e+00] [-1.68945360e-02 9.99857277e-01 9.11233850e-06 -3.81101580e-02] [ 2.57424412e-02 4.25858062e-04 9.99668518e-01 1.58391092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7563389380000003 meters 0.02660511889692627 Centerline is valid? [True, True] Translation: X:-3.55, Y:-0.04, Z:0.03 [[ 9.99695727e-01 1.30401999e-02 -2.09381388e-02 -3.55295439e+00] [-1.30429517e-02 9.99914937e-01 5.13525576e-06 -4.29818737e-02] [ 2.09364247e-02 2.67961440e-04 9.99780773e-01 2.57017365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.786338938 meters 0.025887148465697573 Centerline is valid? [True, True] Translation: X:-3.58, Y:-0.05, Z:0.03 [[ 9.99766527e-01 1.18076032e-02 -1.80961917e-02 -3.58261537e+00] [-1.18094382e-02 9.99930266e-01 5.46200989e-06 -4.74432328e-02] [ 1.80949943e-02 2.08245123e-04 9.99836251e-01 3.33142339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8163389380000003 meters 0.02546900850182647 Centerline is valid? [True, True] Translation: X:-3.61, Y:-0.05, Z:0.03 [[ 9.99798610e-01 1.01974082e-02 -1.72844277e-02 -3.61074028e+00] [-1.01987809e-02 9.99947991e-01 8.72983518e-06 -4.83150322e-02] [ 1.72836178e-02 1.67552014e-04 9.99850613e-01 3.28903294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.846338938 meters 0.027156514172415696 Centerline is valid? [True, True] Translation: X:-3.64, Y:-0.05, Z:0.03 [[ 9.99793461e-01 7.52778888e-03 -1.88776949e-02 -3.63938832e+00] [-7.52883778e-03 9.99971658e-01 1.55070170e-05 -4.69074803e-02] [ 1.88772766e-02 1.26623288e-04 9.99821800e-01 2.59313177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.876338938 meters 0.02567136082718729 Centerline is valid? [True, True] Translation: X:-3.67, Y:-0.05, Z:0.02 [[ 9.99720824e-01 5.03714370e-03 -2.30846341e-02 -3.66835513e+00] [-5.03794711e-03 9.99987309e-01 2.33547197e-05 -5.20207445e-02] [ 2.30844588e-02 9.29509661e-05 9.99733514e-01 2.01707429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.906338938 meters 0.027926599296951852 Centerline is valid? [True, True] Translation: X:-3.70, Y:-0.06, Z:0.03 [[ 9.99726880e-01 2.95065760e-03 -2.31831452e-02 -3.69540006e+00] [-2.95086471e-03 9.99995646e-01 2.52760837e-05 -6.18751204e-02] [ 2.31831188e-02 4.31411445e-05 9.99731234e-01 2.79388137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.936338938 meters 0.026377908997757896 Centerline is valid? [True, True] Translation: X:-3.73, Y:-0.07, Z:0.03 [[ 9.99805866e-01 1.41524801e-03 -1.96526673e-02 -3.72525559e+00] [-1.41510160e-03 9.99998999e-01 2.13563235e-05 -6.56707433e-02] [ 1.96526779e-02 6.45834354e-06 9.99806867e-01 3.34857911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9663389380000003 meters 0.025252971083741676 Centerline is valid? [True, True] Translation: X:-3.75, Y:-0.06, Z:0.03 [[ 9.99848684e-01 3.43313472e-04 -1.73922913e-02 -3.75394028e+00] [-3.42915973e-04 9.99999941e-01 2.58371195e-05 -6.21627448e-02] [ 1.73922991e-02 -1.98691154e-05 9.99848742e-01 3.13295126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.996338938 meters 0.025443348999299443 Centerline is valid? [True, True] Translation: X:-3.78, Y:-0.06, Z:0.03 [[ 9.99810359e-01 -1.68426747e-03 -1.94012698e-02 -3.78168188e+00] [ 1.68513495e-03 9.99998580e-01 2.83642135e-05 -5.86768995e-02] [ 1.94011945e-02 -6.10525922e-05 9.99811777e-01 2.82789691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.026338938 meters 0.027842304568251545 Centerline is valid? [True, True] Translation: X:-3.81, Y:-0.06, Z:0.02 [[ 9.99696629e-01 -3.22880688e-03 -2.44177147e-02 -3.81147873e+00] [ 3.23064264e-03 9.99994781e-01 3.57334169e-05 -6.30821965e-02] [ 2.44174719e-02 -1.14607487e-04 9.99701843e-01 1.77154235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.056338938000001 meters 0.028131682084733454 Centerline is valid? [True, True] Translation: X:-3.84, Y:-0.07, Z:0.02 [[ 9.99719576e-01 -3.63460741e-03 -2.33999768e-02 -3.83887444e+00] [ 3.63646866e-03 9.99993387e-01 3.69885416e-05 -6.68316395e-02] [ 2.33996876e-02 -1.22071451e-04 9.99726182e-01 2.18254327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.086338938 meters 0.025373283851519622 Centerline is valid? [True, True] Translation: X:-3.87, Y:-0.07, Z:0.02 [[ 9.99759892e-01 -2.83041602e-03 -2.17289686e-02 -3.86718063e+00] [ 2.83187595e-03 9.99995990e-01 3.64177508e-05 -6.62520600e-02] [ 2.17287784e-02 -9.79427501e-05 9.99763897e-01 1.64691348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.116338938 meters 0.027323181206779498 Centerline is valid? [True, True] Translation: X:-3.89, Y:-0.06, Z:0.02 [[ 9.99772054e-01 -2.78403269e-03 -2.11681121e-02 -3.89488804e+00] [ 2.78544786e-03 9.99996120e-01 3.73694849e-05 -6.39310456e-02] [ 2.11679260e-02 -9.63236394e-05 9.99775930e-01 2.06120673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.146338938 meters 0.02536538429474876 Centerline is valid? [True, True] Translation: X:-3.92, Y:-0.06, Z:0.02 [[ 9.99759434e-01 -1.11611477e-03 -2.19049644e-02 -3.92362233e+00] [ 1.11738926e-03 9.99999375e-01 4.59430861e-05 -5.77497624e-02] [ 2.19048995e-02 -7.04084058e-05 9.99760056e-01 1.50168956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.176338938 meters 0.02752625547969528 Centerline is valid? [True, True] Translation: X:-3.95, Y:-0.06, Z:0.01 [[ 9.99753535e-01 -7.30947578e-04 -2.21886246e-02 -3.95187610e+00] [ 7.32307160e-04 9.99999730e-01 5.31484331e-05 -5.70793606e-02] [ 2.21885797e-02 -6.93842225e-05 9.99753801e-01 7.82963910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.206338938 meters 0.025786103545638827 Centerline is valid? [True, True] Translation: X:-3.98, Y:-0.06, Z:0.01 [[ 9.99727332e-01 8.73316690e-04 -2.33344932e-02 -3.97972813e+00] [-8.72256702e-04 9.99999618e-01 5.56039921e-05 -5.77641003e-02] [ 2.33345328e-02 -3.52351626e-05 9.99727712e-01 7.91016484e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.236338938 meters 0.02620222664438066 Centerline is valid? [True, True] Translation: X:-4.01, Y:-0.06, Z:0.01 [[ 9.99737212e-01 2.35423522e-03 -2.28027297e-02 -4.00705223e+00] [-2.35356080e-03 9.99997229e-01 5.64136337e-05 -5.88101530e-02] [ 2.28027993e-02 -2.73119809e-06 9.99739982e-01 1.06511196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2663389380000005 meters 0.026077790656701984 Centerline is valid? [True, True] Translation: X:-4.04, Y:-0.06, Z:0.01 [[ 9.99753860e-01 2.71212297e-03 -2.20196094e-02 -4.03532562e+00] [-2.71153629e-03 9.99996322e-01 5.65007793e-05 -5.69948123e-02] [ 2.20196817e-02 3.22009776e-06 9.99757537e-01 1.26112390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.296338938 meters 0.027859439382059658 Centerline is valid? [True, True] Translation: X:-4.06, Y:-0.05, Z:0.01 [[ 9.99722074e-01 4.12936385e-03 -2.32104206e-02 -4.06393201e+00] [-4.12891645e-03 9.99991474e-01 6.71994349e-05 -5.18798559e-02] [ 2.32105002e-02 2.86531288e-05 9.99730600e-01 6.16718704e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.326338938 meters 0.02836449742239498 Centerline is valid? [True, True] Translation: X:-4.09, Y:-0.05, Z:0.00 [[ 9.99621824e-01 7.30108808e-03 -2.65123052e-02 -4.09296075e+00] [-7.30167021e-03 9.99973340e-01 7.48530990e-05 -4.62674742e-02] [ 2.65121448e-02 1.18759317e-04 9.99648484e-01 2.75826352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.356338938 meters 0.025915965472794247 Centerline is valid? [True, True] Translation: X:-4.12, Y:-0.05, Z:0.00 [[ 9.99613013e-01 7.04251759e-03 -2.69114838e-02 -4.12083339e+00] [-7.04294201e-03 9.99975195e-01 7.90152025e-05 -4.53285067e-02] [ 2.69113727e-02 1.10551395e-04 9.99637817e-01 8.96437230e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.386338938000001 meters 0.026213737700969464 Centerline is valid? [True, True] Translation: X:-4.15, Y:-0.05, Z:0.01 [[ 9.99696335e-01 9.44835350e-03 -2.27588893e-02 -4.15062802e+00] [-9.44927134e-03 9.99955352e-01 6.72148143e-05 -4.51222046e-02] [ 2.27585082e-02 1.47860517e-04 9.99740981e-01 7.54568841e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.416338938 meters 0.027158952804175816 Centerline is valid? [True, True] Translation: X:-4.18, Y:-0.05, Z:0.01 [[ 9.99731960e-01 1.17008618e-02 -1.99774191e-02 -4.17878133e+00] [-1.17019707e-02 9.99931528e-01 6.13932753e-05 -4.69849399e-02] [ 1.99767695e-02 1.72398354e-04 9.99800430e-01 9.73773518e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.446338938 meters 0.027008807469525276 Centerline is valid? [True, True] Translation: X:-4.21, Y:-0.05, Z:0.01 [[ 9.99560339e-01 1.46379222e-02 -2.57848587e-02 -4.20757695e+00] [-1.46408070e-02 9.99892815e-01 7.69172877e-05 -4.52629145e-02] [ 2.57832209e-02 3.00627669e-04 9.99667512e-01 6.80910864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4763389380000005 meters 0.027432727345579472 Centerline is valid? [True, True] Translation: X:-4.23, Y:-0.04, Z:0.01 [[ 9.99554417e-01 1.53833240e-02 -2.55796986e-02 -4.23439047e+00] [-1.53862824e-02 9.99881621e-01 8.11737155e-05 -4.25189910e-02] [ 2.55779192e-02 3.12438920e-04 9.99672783e-01 6.73083669e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.506338938 meters 0.030628178862349312 Centerline is valid? [True, True] Translation: X:-4.26, Y:-0.04, Z:0.01 [[ 9.99621593e-01 1.62419036e-02 -2.22006971e-02 -4.26318380e+00] [-1.62443303e-02 9.99868050e-01 7.10410371e-05 -3.87495453e-02] [ 2.21989216e-02 2.89621303e-04 9.99753532e-01 1.25183698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.536338938 meters 0.02950152420682942 Centerline is valid? [True, True] Translation: X:-4.29, Y:-0.04, Z:0.01 [[ 9.99629696e-01 1.85972434e-02 -1.98648674e-02 -4.29174838e+00] [-1.85995068e-02 9.99827012e-01 7.08242271e-05 -3.97961929e-02] [ 1.98627481e-02 2.98678736e-04 9.99802672e-01 1.37544476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.566338938 meters 0.02723586979744649 Centerline is valid? [True, True] Translation: X:-4.32, Y:-0.05, Z:0.01 [[ 9.99532671e-01 2.05276295e-02 -2.26507268e-02 -4.32078927e+00] [-2.05309601e-02 9.99789214e-01 8.55221308e-05 -4.57945431e-02] [ 2.26477079e-02 3.79559004e-04 9.99743436e-01 8.20834380e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.596338938000001 meters 0.027472596940245023 Centerline is valid? [True, True] Translation: X:-4.35, Y:-0.05, Z:0.01 [[ 9.99462965e-01 2.04049406e-02 -2.56401837e-02 -4.34879070e+00] [-2.04091606e-02 9.99791707e-01 9.71198766e-05 -4.88544429e-02] [ 2.56368248e-02 4.26226908e-04 9.99671232e-01 6.25754758e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.626338938 meters 0.02761330110480258 Centerline is valid? [True, True] Translation: X:-4.38, Y:-0.05, Z:0.00 [[ 9.99440498e-01 2.07947290e-02 -2.61967679e-02 -4.37761604e+00] [-2.07990496e-02 9.99783671e-01 1.07569591e-04 -4.80725727e-02] [ 2.61933376e-02 4.37358468e-04 9.99656800e-01 9.57968395e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.656338938 meters 0.027936722781093805 Centerline is valid? [True, True] Translation: X:-4.41, Y:-0.05, Z:0.01 [[ 9.99487552e-01 2.03544998e-02 -2.47048188e-02 -4.40653197e+00] [-2.03580576e-02 9.99792747e-01 1.07513674e-04 -4.78766474e-02] [ 2.47018870e-02 3.95483546e-04 9.99694784e-01 5.90150250e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6863389380000005 meters 0.027969646489102974 Centerline is valid? [True, True] Translation: X:-4.43, Y:-0.05, Z:0.01 [[ 9.99565640e-01 2.03045009e-02 -2.13602247e-02 -4.43469174e+00] [-2.03071486e-02 9.99793784e-01 9.29675509e-05 -5.47130587e-02] [ 2.13577075e-02 3.40838087e-04 9.99771840e-01 1.33751312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.716338938 meters 0.026963269261795708 Centerline is valid? [True, True] Translation: X:-4.46, Y:-0.06, Z:0.02 [[ 9.99617894e-01 1.91989888e-02 -1.98862794e-02 -4.46208840e+00] [-1.92009945e-02 9.99815640e-01 9.00930069e-05 -6.13461940e-02] [ 1.98843428e-02 2.91777758e-04 9.99802244e-01 1.59314137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.746338938 meters 0.028360438883347182 Centerline is valid? [True, True] Translation: X:-4.49, Y:-0.06, Z:0.01 [[ 9.99628596e-01 1.79014032e-02 -2.05477662e-02 -4.49026918e+00] [-1.79031128e-02 9.99839721e-01 1.00765431e-04 -6.00715981e-02] [ 2.05462767e-02 2.67140970e-04 9.99788867e-01 1.08760061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.776338938 meters 0.028360438883347182 Centerline is valid? [True, True] Translation: X:-4.52, Y:-0.06, Z:0.01 [[ 9.99623819e-01 1.81662010e-02 -2.05477407e-02 -4.51756248e+00] [-1.81678610e-02 9.99834945e-01 1.05898060e-04 -6.01365992e-02] [ 2.05462730e-02 2.67450274e-04 9.99788867e-01 1.11811496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.806338938000001 meters 0.027217914143618935 Centerline is valid? [True, True] Translation: X:-4.55, Y:-0.06, Z:0.01 [[ 9.99551227e-01 1.73966554e-02 -2.43865112e-02 -4.54597924e+00] [-1.73988063e-02 9.99848622e-01 1.23993667e-04 -6.36159186e-02] [ 2.43849766e-02 3.00358161e-04 9.99702597e-01 6.61530371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.836338938 meters 0.030367116935156088 Centerline is valid? [True, True] Translation: X:-4.57, Y:-0.07, Z:0.01 [[ 9.99534861e-01 1.64844850e-02 -2.56578314e-02 -4.57450716e+00] [-1.64863564e-02 9.99864081e-01 1.38610369e-04 -6.55873296e-02] [ 2.56566289e-02 2.84458258e-04 9.99670774e-01 6.28302944e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.866338938 meters 0.02709171731863016 Centerline is valid? [True, True] Translation: X:-4.60, Y:-0.07, Z:0.00 [[ 9.99558656e-01 1.53470440e-02 -2.54354526e-02 -4.60205358e+00] [-1.53485029e-02 9.99882195e-01 1.37882925e-04 -6.86361885e-02] [ 2.54345722e-02 2.52574046e-04 9.99676457e-01 4.94981517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.896338938 meters 0.030259717450749783 Centerline is valid? [True, True] Translation: X:-4.63, Y:-0.07, Z:0.02 [[ 9.99704750e-01 1.41869864e-02 -1.97266726e-02 -4.63105629e+00] [-1.41876428e-02 9.99899345e-01 1.06683188e-04 -7.24983198e-02] [ 1.97262005e-02 1.73223294e-04 9.99805405e-01 1.73251058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.926338938000001 meters 0.02789249775791884 Centerline is valid? [True, True] Translation: X:-4.66, Y:-0.08, Z:0.02 [[ 9.99717883e-01 1.33771411e-02 -1.96266710e-02 -4.65943300e+00] [-1.33774868e-02 9.99910511e-01 1.13683015e-04 -7.51087473e-02] [ 1.96264354e-02 1.48904588e-04 9.99807372e-01 1.77555355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.956338938 meters 0.028545580741035758 Centerline is valid? [True, True] Translation: X:-4.69, Y:-0.08, Z:0.01 [[ 9.99679016e-01 1.57188683e-02 -1.98691493e-02 -4.68790144e+00] [-1.57195926e-02 9.99876432e-01 1.19738097e-04 -8.14565368e-02] [ 1.98685762e-02 1.92635269e-04 9.99802582e-01 1.46331606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.986338938 meters 0.028678110387910093 Centerline is valid? [True, True] Translation: X:-4.72, Y:-0.08, Z:0.01 [[ 9.99496999e-01 1.82103946e-02 -2.59640288e-02 -4.71847553e+00] [-1.82125492e-02 9.99834126e-01 1.53505721e-04 -7.84275816e-02] [ 2.59625174e-02 3.19442646e-04 9.99662866e-01 7.82711341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0163389380000005 meters 0.032148762072383326 Centerline is valid? [True, True] Translation: X:-4.75, Y:-0.07, Z:0.01 [[ 9.99423346e-01 2.19791247e-02 -2.58823059e-02 -4.74591171e+00] [-2.19824076e-02 9.99758345e-01 1.57712776e-04 -7.20373402e-02] [ 2.58795178e-02 4.11333569e-04 9.99664985e-01 9.53914442e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.046338938 meters 0.028140374401485577 Centerline is valid? [True, True] Translation: X:-4.77, Y:-0.07, Z:0.01 [[ 9.99334211e-01 2.77143825e-02 -2.37286338e-02 -4.77472960e+00] [-2.77185828e-02 9.99615755e-01 1.51939070e-04 -7.33511728e-02] [ 2.37237271e-02 5.05886192e-04 9.99718425e-01 1.32983353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.076338938 meters 0.03189495762287762 Centerline is valid? [True, True] Translation: X:-4.80, Y:-0.08, Z:0.02 [[ 9.99288357e-01 3.21743413e-02 -1.96873532e-02 -4.80187427e+00] [-3.21780464e-02 9.99482144e-01 1.28636467e-04 -7.87162812e-02] [ 1.96812968e-02 5.04955643e-04 9.99806177e-01 2.18497137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.106338938 meters 0.029429282282673594 Centerline is valid? [True, True] Translation: X:-4.83, Y:-0.08, Z:0.02 [[ 9.99265944e-01 3.38003255e-02 -1.80308581e-02 -4.83020974e+00] [-3.38035944e-02 9.99428488e-01 1.23542073e-04 -7.75259903e-02] [ 1.80247290e-02 4.86056428e-04 9.99837423e-01 2.46047671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.136338938000001 meters 0.029794196425511434 Centerline is valid? [True, True] Translation: X:-4.86, Y:-0.07, Z:0.02 [[ 9.99150351e-01 3.65525130e-02 -1.90391891e-02 -4.85798684e+00] [-3.65566608e-02 9.99331573e-01 1.30247227e-04 -7.10538722e-02] [ 1.90312236e-02 5.65872615e-04 9.99818730e-01 2.05676923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.166338938 meters 0.03227582285095296 Centerline is valid? [True, True] Translation: X:-4.89, Y:-0.07, Z:0.01 [[ 9.99016096e-01 3.88693854e-02 -2.13543960e-02 -4.88775482e+00] [-3.88751313e-02 9.99244066e-01 1.46142175e-04 -6.76594466e-02] [ 2.13439339e-02 6.84156562e-04 9.99771958e-01 9.11330339e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.196338938 meters 0.029567901832554862 Centerline is valid? [True, True] Translation: X:-4.92, Y:-0.08, Z:0.01 [[ 9.98983271e-01 3.85998539e-02 -2.32910990e-02 -4.91526724e+00] [-3.86065552e-02 9.99254476e-01 1.62036678e-04 -7.80035955e-02] [ 2.32799895e-02 7.37317169e-04 9.99728712e-01 1.33242296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2263389380000005 meters 0.02946811146702824 Centerline is valid? [True, True] Translation: X:-4.94, Y:-0.08, Z:0.02 [[ 9.98982443e-01 3.85117188e-02 -2.34718048e-02 -4.94219478e+00] [-3.85184204e-02 9.99257876e-01 1.66697617e-04 -8.26590779e-02] [ 2.34608057e-02 7.37568852e-04 9.99724485e-01 1.70016416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.256338938 meters 0.030409737740777213 Centerline is valid? [True, True] Translation: X:-4.97, Y:-0.08, Z:0.02 [[ 9.99072688e-01 3.74984157e-02 -2.11573136e-02 -4.97117746e+00] [-3.75036226e-02 9.99296480e-01 1.50761929e-04 -8.19835553e-02] [ 2.11480823e-02 6.42853778e-04 9.99776148e-01 2.20882874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.286338938 meters 0.029532067727965922 Centerline is valid? [True, True] Translation: X:-5.00, Y:-0.08, Z:0.02 [[ 9.99014482e-01 3.88424858e-02 -2.14784943e-02 -5.00034353e+00] [-3.88480105e-02 9.99245118e-01 1.60122725e-04 -7.87321166e-02] [ 2.14685002e-02 6.74431852e-04 9.99769298e-01 2.07395718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.316338938 meters 0.030180416314258253 Centerline is valid? [True, True] Translation: X:-5.03, Y:-0.08, Z:0.02 [[ 9.98965134e-01 4.12367249e-02 -1.91883664e-02 -5.02804116e+00] [-4.12414515e-02 9.99149198e-01 1.49489336e-04 -7.66769827e-02] [ 1.91782053e-02 6.42021448e-04 9.99815875e-01 2.05324703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.346338938000001 meters 0.032390026530544014 Centerline is valid? [True, True] Translation: X:-5.06, Y:-0.08, Z:0.03 [[ 9.98783273e-01 4.50713252e-02 -2.00137172e-02 -5.05799526e+00] [-4.50772922e-02 9.98983490e-01 1.53111188e-04 -7.85701318e-02] [ 2.00002740e-02 7.49239284e-04 9.99799694e-01 2.51933089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.376338938 meters 0.032388587966197625 Centerline is valid? [True, True] Translation: X:-5.09, Y:-0.08, Z:0.03 [[ 9.98756457e-01 4.51062419e-02 -2.12359706e-02 -5.08895442e+00] [-4.51129845e-02 9.98981878e-01 1.61691997e-04 -8.35018136e-02] [ 2.12216431e-02 7.96527087e-04 9.99774478e-01 2.90054761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.406338938 meters 0.03517924129070121 Centerline is valid? [True, True] Translation: X:-5.12, Y:-0.09, Z:0.04 [[ 9.98826454e-01 4.46273598e-02 -1.88178963e-02 -5.11742587e+00] [-4.46325355e-02 9.99003461e-01 1.45063292e-04 -8.57380075e-02] [ 1.88056173e-02 6.94997369e-04 9.99822917e-01 3.86130914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4363389380000005 meters 0.03150814268140658 Centerline is valid? [True, True] Translation: X:-5.15, Y:-0.08, Z:0.04 [[ 9.98810719e-01 4.60062320e-02 -1.61423212e-02 -5.14885823e+00] [-4.60102441e-02 9.98940960e-01 1.22942857e-04 -7.78676507e-02] [ 1.61308820e-02 6.19915494e-04 9.99869697e-01 4.03266121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.466338938000001 meters 0.03268509418239976 Centerline is valid? [True, True] Translation: X:-5.18, Y:-0.08, Z:0.05 [[ 9.98782301e-01 4.63855376e-02 -1.68016754e-02 -5.18056671e+00] [-4.63899645e-02 9.98923398e-01 1.26380107e-04 -8.21596080e-02] [ 1.67894489e-02 6.53202911e-04 9.99858834e-01 4.50368490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.496338938 meters 0.03241882045664176 Centerline is valid? [True, True] Translation: X:-5.21, Y:-0.09, Z:0.04 [[ 9.98705915e-01 4.65356951e-02 -2.05164570e-02 -5.21191571e+00] [-4.65423318e-02 9.98916307e-01 1.54148765e-04 -8.62949041e-02] [ 2.05013968e-02 8.00934463e-04 9.99789503e-01 3.90204103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.526338938 meters 0.030557216311029613 Centerline is valid? [True, True] Translation: X:-5.24, Y:-0.09, Z:0.04 [[ 9.98651140e-01 4.69141465e-02 -2.22477918e-02 -5.24113148e+00] [-4.69220213e-02 9.98898541e-01 1.68216700e-04 -8.87010246e-02] [ 2.22311785e-02 8.75921562e-04 9.99752473e-01 4.48608094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.556338938000001 meters 0.03465513659134544 Centerline is valid? [True, True] Translation: X:-5.27, Y:-0.08, Z:0.05 [[ 9.98726896e-01 4.69050155e-02 -1.85609029e-02 -5.27020977e+00] [-4.69104511e-02 9.98899089e-01 1.42671037e-04 -7.90116166e-02] [ 1.85471610e-02 7.28210924e-04 9.99827721e-01 4.69407565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.586338938 meters 0.03098501624511809 Centerline is valid? [True, True] Translation: X:-5.30, Y:-0.07, Z:0.05 [[ 9.98650764e-01 4.94595817e-02 -1.58240746e-02 -5.30133879e+00] [-4.94638877e-02 9.98775906e-01 1.19392456e-04 -7.36909767e-02] [ 1.58106095e-02 6.63488881e-04 9.99874784e-01 5.11628238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.616338938 meters 0.032593589432498 Centerline is valid? [True, True] Translation: X:-5.33, Y:-0.07, Z:0.05 [[ 9.98434584e-01 5.35594158e-02 -1.61174208e-02 -5.33239761e+00] [-5.35644141e-02 9.98564389e-01 1.21719546e-04 -7.21138191e-02] [ 1.61008017e-02 7.41791197e-04 9.99870099e-01 4.86283482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.646338938 meters 0.03617210136467037 Centerline is valid? [True, True] Translation: X:-5.36, Y:-0.08, Z:0.05 [[ 9.98210049e-01 5.69919945e-02 -1.81276018e-02 -5.36243438e+00] [-5.69988783e-02 9.98374233e-01 1.37125905e-04 -7.51252333e-02] [ 1.81059456e-02 8.96372511e-04 9.99835672e-01 5.16598884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.676338938000001 meters 0.03767674573762732 Centerline is valid? [True, True] Translation: X:-5.39, Y:-0.07, Z:0.05 [[ 9.98077634e-01 5.87516112e-02 -1.97302818e-02 -5.39379343e+00] [-5.87601307e-02 9.98272120e-01 1.48155897e-04 -6.52989408e-02] [ 1.97048946e-02 1.01148285e-03 9.99805328e-01 4.73005867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.706338938 meters 0.036808181179960486 Centerline is valid? [True, True] Translation: X:-5.42, Y:-0.06, Z:0.05 [[ 9.97879929e-01 6.24579071e-02 -1.82936190e-02 -5.42347772e+00] [-6.24658450e-02 9.98047093e-01 1.37732561e-04 -5.81886476e-02] [ 1.82664957e-02 1.00528581e-03 9.99832648e-01 4.87335157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.736338938 meters 0.038336247003551586 Centerline is valid? [True, True] Translation: X:-5.46, Y:-0.05, Z:0.05 [[ 9.97855794e-01 6.35735472e-02 -1.55633869e-02 -5.45556968e+00] [-6.35794552e-02 9.97976773e-01 1.15380998e-04 -5.05443201e-02] [ 1.55392338e-02 8.74378061e-04 9.99878877e-01 5.14215227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7663389380000005 meters 0.04048612159135912 Centerline is valid? [True, True] Translation: X:-5.49, Y:-0.04, Z:0.05 [[ 9.97250276e-01 7.23640306e-02 -1.59791921e-02 -5.48546139e+00] [-7.23713636e-02 9.97377748e-01 1.19627924e-04 -4.15279699e-02] [ 1.59459473e-02 1.03713694e-03 9.99872317e-01 4.99802823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.796338938 meters 0.03963929665398464 Centerline is valid? [True, True] Translation: X:-5.51, Y:-0.04, Z:0.05 [[ 9.96883770e-01 7.71093122e-02 -1.66403811e-02 -5.51487750e+00] [-7.71179172e-02 9.97021971e-01 1.24900292e-04 -3.87550928e-02] [ 1.66004565e-02 1.15876046e-03 9.99861531e-01 5.06578607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.826338938 meters 0.038895984677618296 Centerline is valid? [True, True] Translation: X:-5.55, Y:-0.04, Z:0.05 [[ 9.96682076e-01 8.00714017e-02 -1.46085704e-02 -5.54592038e+00] [-8.00783656e-02 9.96788565e-01 1.08563912e-04 -3.76673537e-02] [ 1.45703488e-02 1.06162674e-03 9.99893283e-01 5.12236495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.856338938 meters 0.04139441468856686 Centerline is valid? [True, True] Translation: X:-5.58, Y:-0.03, Z:0.06 [[ 9.96428066e-01 8.32793981e-02 -1.39875290e-02 -5.57672548e+00] [-8.32860977e-02 9.96525672e-01 1.03870091e-04 -2.94520117e-02] [ 1.39475820e-02 1.06146764e-03 9.99902164e-01 5.50895910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.886338938000001 meters 0.04268082144233518 Centerline is valid? [True, True] Translation: X:-5.61, Y:-0.02, Z:0.05 [[ 9.95876327e-01 8.90383921e-02 -1.73926804e-02 -5.60700565e+00] [-8.90496270e-02 9.96027182e-01 1.28982287e-04 -2.19681701e-02] [ 1.73350669e-02 1.42036130e-03 9.99848728e-01 4.63775920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.916338938 meters 0.04467109656767306 Centerline is valid? [True, True] Translation: X:-5.64, Y:-0.01, Z:0.04 [[ 9.95464326e-01 9.24773778e-02 -2.23318104e-02 -5.63818006e+00] [-9.24967689e-02 9.95712971e-01 1.65275716e-04 -1.44826568e-02] [ 2.22513575e-02 1.90109423e-03 9.99750600e-01 4.21748492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.946338938 meters 0.04613395975886992 Centerline is valid? [True, True] Translation: X:-5.67, Y:-0.01, Z:0.04 [[ 9.95197761e-01 9.55371824e-02 -2.13087493e-02 -5.66923855e+00] [-9.55555415e-02 9.95424087e-01 1.57291621e-04 -9.63181172e-03] [ 2.12262696e-02 1.87963281e-03 9.99772930e-01 4.34959502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9763389380000005 meters 0.046893085137255014 Centerline is valid? [True, True] Translation: X:-5.70, Y:-0.00, Z:0.06 [[ 9.95005567e-01 9.83861765e-02 -1.68547512e-02 -5.69919574e+00] [-9.83980724e-02 9.95147127e-01 1.24067292e-04 -4.39098160e-03] [ 1.67851637e-02 1.53502738e-03 9.99857941e-01 5.58013273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.006338938000001 meters 0.04519719613534131 Centerline is valid? [True, True] Translation: X:-5.73, Y:0.00, Z:0.05 [[ 9.94650493e-01 1.02161337e-01 -1.52793052e-02 -5.72881987e+00] [-1.02171547e-01 9.94766788e-01 1.12925663e-04 2.62408859e-03] [ 1.52108819e-02 1.44878868e-03 9.99883258e-01 5.18888232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.036338938 meters 0.04745061812452933 Centerline is valid? [True, True] Translation: X:-5.76, Y:0.01, Z:0.04 [[ 9.94036417e-01 1.07144635e-01 -2.02886193e-02 -5.75961029e+00] [-1.07163682e-01 9.94241381e-01 1.49214504e-04 1.02655713e-02] [ 2.01877724e-02 2.02587850e-03 9.99794154e-01 4.26670046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.066338938 meters 0.04827350811385023 Centerline is valid? [True, True] Translation: X:-5.79, Y:0.01, Z:0.04 [[ 9.93413185e-01 1.11727847e-01 -2.54387697e-02 -5.78999450e+00] [-1.11759280e-01 9.93735291e-01 1.87225852e-04 1.14941086e-02] [ 2.53003215e-02 2.65702595e-03 9.99676365e-01 4.31826435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.096338938000001 meters 0.05039393863654301 Centerline is valid? [True, True] Translation: X:-5.82, Y:0.02, Z:0.05 [[ 9.93408827e-01 1.12516715e-01 -2.18835945e-02 -5.82189554e+00] [-1.12540348e-01 9.93647144e-01 1.52543561e-04 1.62855454e-02] [ 2.17617349e-02 2.31124921e-03 9.99760514e-01 4.98228210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.126338938 meters 0.049659176066902275 Centerline is valid? [True, True] Translation: X:-5.85, Y:0.02, Z:0.06 [[ 9.93550116e-01 1.12571078e-01 -1.36352391e-02 -5.85309187e+00] [-1.12580244e-01 9.93642632e-01 9.59321190e-05 1.98553062e-02] [ 1.35593540e-02 1.43974517e-03 9.99907031e-01 6.18859521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.156338938 meters 0.048050080573848214 Centerline is valid? [True, True] Translation: X:-5.88, Y:0.02, Z:0.06 [[ 9.93213935e-01 1.15775107e-01 -1.10546019e-02 -5.88298349e+00] [-1.15781327e-01 9.93274724e-01 7.77886482e-05 1.92388846e-02] [ 1.09892626e-02 1.20265571e-03 9.99938893e-01 6.43316867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1863389380000005 meters 0.0511379460518795 Centerline is valid? [True, True] Translation: X:-5.91, Y:0.03, Z:0.05 [[ 9.93114861e-01 1.16069770e-01 -1.58329163e-02 -5.91483317e+00] [-1.16082587e-01 9.93239559e-01 1.10170619e-04 3.12342264e-02] [ 1.57386663e-02 1.72851381e-03 9.99874645e-01 4.92258149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.216338938000001 meters 0.05442948686004823 Centerline is valid? [True, True] Translation: X:-5.95, Y:0.04, Z:0.05 [[ 9.92902128e-01 1.17491911e-01 -1.84665748e-02 -5.94609731e+00] [-1.17509588e-01 9.93071740e-01 1.28687365e-04 4.41809717e-02] [ 1.83537533e-02 2.04222564e-03 9.99829470e-01 4.63334411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.246338938 meters 0.052082549991136026 Centerline is valid? [True, True] Translation: X:-5.98, Y:0.05, Z:0.05 [[ 9.92740182e-01 1.18854743e-01 -1.84521453e-02 -5.97641155e+00] [-1.18872680e-01 9.92909498e-01 1.25588346e-04 4.56790510e-02] [ 1.83362371e-02 2.06877936e-03 9.99829737e-01 4.61021307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.276338938 meters 0.05526538085478619 Centerline is valid? [True, True] Translation: X:-6.01, Y:0.05, Z:0.05 [[ 9.92918794e-01 1.17293730e-01 -1.88268056e-02 -6.00720215e+00] [-1.17312113e-01 9.93095087e-01 1.28814640e-04 5.19209391e-02] [ 1.87119173e-02 2.08070988e-03 9.99822752e-01 4.53088775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.306338938000001 meters 0.0537559730159524 Centerline is valid? [True, True] Translation: X:-6.04, Y:0.04, Z:0.04 [[ 9.92749949e-01 1.18403079e-01 -2.06942125e-02 -6.03724719e+00] [-1.18425525e-01 9.92962927e-01 1.41813813e-04 4.36821417e-02] [ 2.05653770e-02 2.30993731e-03 9.99785842e-01 4.10779114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.336338938 meters 0.0534533257880203 Centerline is valid? [True, True] Translation: X:-6.07, Y:0.04, Z:0.04 [[ 9.93026957e-01 1.15811966e-01 -2.20238599e-02 -6.06814552e+00] [-1.15836770e-01 9.93268252e-01 1.50455248e-04 4.42663466e-02] [ 2.18930253e-02 2.40176667e-03 9.99757434e-01 4.45092086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.366338938 meters 0.05166746069033812 Centerline is valid? [True, True] Translation: X:-6.10, Y:0.04, Z:0.04 [[ 9.93589214e-01 1.11072439e-01 -2.10567489e-02 -6.09884319e+00] [-1.11094065e-01 9.93809885e-01 1.43567564e-04 4.47032473e-02] [ 2.09423516e-02 2.19663265e-03 9.99778272e-01 4.39599555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.396338938 meters 0.05269287035739999 Centerline is valid? [True, True] Translation: X:-6.13, Y:0.05, Z:0.05 [[ 9.94245340e-01 1.05191069e-01 -2.02742168e-02 -6.12979541e+00] [-1.05209919e-01 9.94450026e-01 1.37596075e-04 4.85437010e-02] [ 2.01761693e-02 1.99624445e-03 9.99794447e-01 4.71354466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.426338938000001 meters 0.047796628583195735 Centerline is valid? [True, True] Translation: X:-6.16, Y:0.04, Z:0.05 [[ 9.94641546e-01 1.01115259e-01 -2.15383402e-02 -6.16033873e+00] [-1.01135610e-01 9.94872639e-01 1.45106663e-04 3.53306299e-02] [ 2.14425778e-02 2.03396405e-03 9.99768013e-01 5.03602425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.456338938 meters 0.05099608736066041 Centerline is valid? [True, True] Translation: X:-6.19, Y:0.04, Z:0.05 [[ 9.95049493e-01 9.74158717e-02 -1.96635290e-02 -6.19094583e+00] [-9.74321314e-02 9.95242163e-01 1.31706862e-04 4.48912338e-02] [ 1.95828034e-02 1.78480469e-03 9.99806645e-01 4.57358499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.486338938 meters 0.04495380257992009 Centerline is valid? [True, True] Translation: X:-6.22, Y:0.03, Z:0.05 [[ 9.95655012e-01 9.15797273e-02 -1.68597332e-02 -6.22124495e+00] [-9.15908565e-02 9.95796717e-01 1.12489350e-04 3.40306467e-02] [ 1.67991688e-02 1.43219682e-03 9.99857858e-01 5.29922846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5163389380000005 meters 0.041524914123493566 Centerline is valid? [True, True] Translation: X:-6.25, Y:0.03, Z:0.05 [[ 9.95954731e-01 8.83638473e-02 -1.63096642e-02 -6.25129617e+00] [-8.83738252e-02 9.96087373e-01 1.09343662e-04 3.14155535e-02] [ 1.62555126e-02 1.33244608e-03 9.99866983e-01 5.36272719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.546338938000001 meters 0.04004665015290477 Centerline is valid? [True, True] Translation: X:-6.28, Y:0.02, Z:0.05 [[ 9.96370464e-01 8.29785242e-02 -1.89858587e-02 -6.28212720e+00] [-8.29910789e-02 9.96550282e-01 1.27035718e-04 2.40309849e-02] [ 1.89309040e-02 1.44908226e-03 9.99819744e-01 4.50759958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.576338938 meters 0.039090553443934556 Centerline is valid? [True, True] Translation: X:-6.31, Y:0.01, Z:0.05 [[ 9.96686133e-01 7.86025276e-02 -2.09378880e-02 -6.31269118e+00] [-7.86168420e-02 9.96904896e-01 1.39862546e-04 1.27725834e-02] [ 2.08840766e-02 1.50667157e-03 9.99780769e-01 4.65570871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.606338938 meters 0.03967612801199657 Centerline is valid? [True, True] Translation: X:-6.34, Y:0.01, Z:0.05 [[ 9.97059357e-01 7.35062539e-02 -2.16672167e-02 -6.34298240e+00] [-7.35203979e-02 9.97293703e-01 1.44158700e-04 9.39056751e-03] [ 2.16191754e-02 1.44924761e-03 9.99765228e-01 4.67826053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.636338938000001 meters 0.0379457334133894 Centerline is valid? [True, True] Translation: X:-6.37, Y:0.01, Z:0.05 [[ 9.97446526e-01 6.84363574e-02 -2.04179466e-02 -6.37369406e+00] [-6.84478605e-02 9.97654686e-01 1.35760340e-04 1.33051588e-02] [ 2.03793511e-02 1.26215108e-03 9.99791523e-01 4.80531001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.666338938 meters 0.03630644885676198 Centerline is valid? [True, True] Translation: X:-6.41, Y:0.01, Z:0.05 [[ 9.97587303e-01 6.65181707e-02 -1.98722327e-02 -6.40506520e+00] [-6.65288279e-02 9.97784495e-01 1.25066605e-04 1.27333250e-02] [ 1.98365249e-02 1.19731149e-03 9.99802520e-01 4.88862412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.696338938 meters 0.03630644885676198 Centerline is valid? [True, True] Translation: X:-6.44, Y:0.01, Z:0.05 [[ 9.97594469e-01 6.64106164e-02 -1.98722375e-02 -6.43773084e+00] [-6.64212676e-02 9.97791661e-01 1.24297051e-04 1.30809985e-02] [ 1.98366075e-02 1.19594115e-03 9.99802520e-01 4.92463636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7263389380000005 meters 0.03456847920641821 Centerline is valid? [True, True] Translation: X:-6.47, Y:-0.00, Z:0.05 [[ 9.97962207e-01 6.09993515e-02 -1.87220000e-02 -6.46755549e+00] [-6.10078299e-02 9.98137280e-01 1.18486634e-04 -1.78813766e-03] [ 1.86943538e-02 1.02394341e-03 9.99824721e-01 5.09576832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.756338938000001 meters 0.03260811168914953 Centerline is valid? [True, True] Translation: X:-6.50, Y:-0.04, Z:0.05 [[ 9.98871838e-01 4.32346204e-02 -1.96422684e-02 -6.49871378e+00] [-4.32405258e-02 9.99064683e-01 1.24165552e-04 -3.66012046e-02] [ 1.96292649e-02 7.25316539e-04 9.99807064e-01 5.25499775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.786338938 meters 0.030443900815303074 Centerline is valid? [True, True] Translation: X:-6.53, Y:-0.05, Z:0.05 [[ 9.99408580e-01 2.92326762e-02 -1.81091608e-02 -6.52919682e+00] [-2.92353893e-02 9.99572548e-01 1.14958355e-04 -4.86955237e-02] [ 1.81047806e-02 4.14538000e-04 9.99836009e-01 5.43206084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.816338938 meters 0.027663964947408914 Centerline is valid? [True, True] Translation: X:-6.56, Y:-0.05, Z:0.05 [[ 9.99715390e-01 1.61283128e-02 -1.75788762e-02 -6.55954172e+00] [-1.61288376e-02 9.99869916e-01 1.11929058e-04 -5.10689372e-02] [ 1.75783947e-02 1.71629638e-04 9.99845473e-01 5.29927321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.846338938000001 meters 0.02613530900243352 Centerline is valid? [True, True] Translation: X:-6.59, Y:-0.06, Z:0.04 [[ 9.99743857e-01 5.83216286e-03 -2.18679467e-02 -6.58790793e+00] [-5.83046662e-03 9.99982993e-01 1.41325169e-04 -5.96786086e-02] [ 2.18683990e-02 -1.37886357e-05 9.99760858e-01 4.38798071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.876338938 meters 0.030190005587523792 Centerline is valid? [True, True] Translation: X:-6.62, Y:-0.08, Z:0.05 [[ 9.99643757e-01 -8.95970852e-03 -2.51412357e-02 -6.61848450e+00] [ 8.96661567e-03 9.99959786e-01 1.62011271e-04 -8.36339998e-02] [ 2.51387731e-02 -3.87385353e-04 9.99683896e-01 4.51003352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.906338938 meters 0.029413225174405925 Centerline is valid? [True, True] Translation: X:-6.65, Y:-0.11, Z:0.05 [[ 9.99582771e-01 -1.95098989e-02 -2.12990203e-02 -6.64761350e+00] [ 1.95174039e-02 9.99809507e-01 1.44529154e-04 -1.07932360e-01] [ 2.12921432e-02 -5.60170433e-04 9.99773140e-01 5.25946012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9363389380000005 meters 0.029558635355876297 Centerline is valid? [True, True] Translation: X:-6.68, Y:-0.11, Z:0.06 [[ 9.99414105e-01 -3.09613914e-02 -1.45890285e-02 -6.67608496e+00] [ 3.09661178e-02 9.99520430e-01 9.81356890e-05 -1.11235532e-01] [ 1.45789936e-02 -5.49843766e-04 9.99893570e-01 6.44822907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.966338938000001 meters 0.030794361252128023 Centerline is valid? [True, True] Translation: X:-6.70, Y:-0.10, Z:0.06 [[ 9.99182210e-01 -3.75335773e-02 -1.50380334e-02 -6.70498911e+00] [ 3.75393469e-02 9.99295145e-01 1.01480446e-04 -1.01802695e-01] [ 1.50236248e-02 -6.65915409e-04 9.99886917e-01 6.21768452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.996338938 meters 0.034118506054424645 Centerline is valid? [True, True] Translation: X:-6.73, Y:-0.11, Z:0.05 [[ 9.98916479e-01 -4.10416793e-02 -2.19419356e-02 -6.73477559e+00] [ 4.10548194e-02 9.99156884e-01 1.48537872e-04 -1.11432257e-01] [ 2.19173398e-02 -1.04919913e-03 9.99759236e-01 4.61705252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.026338938 meters 0.03156476886388614 Centerline is valid? [True, True] Translation: X:-6.76, Y:-0.12, Z:0.04 [[ 9.98907420e-01 -3.94337293e-02 -2.50788225e-02 -6.76271677e+00] [ 3.94504569e-02 9.99221513e-01 1.72397993e-04 -1.24592219e-01] [ 2.50525007e-02 -1.16158064e-03 9.99685462e-01 4.42707069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.056338938000001 meters 0.03445860490617991 Centerline is valid? [True, True] Translation: X:-6.79, Y:-0.13, Z:0.06 [[ 9.98873619e-01 -4.25376135e-02 -2.10248424e-02 -6.78997639e+00] [ 4.25500963e-02 9.99094324e-01 1.46520371e-04 -1.33179551e-01] [ 2.09995681e-02 -1.04096440e-03 9.99778943e-01 6.32833493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.086338938000001 meters 0.034623086400731265 Centerline is valid? [True, True] Translation: X:-6.82, Y:-0.13, Z:0.07 [[ 9.98955373e-01 -4.29316178e-02 -1.56537128e-02 -6.81921611e+00] [ 4.29385954e-02 9.99077707e-01 1.09769641e-04 -1.29262929e-01] [ 1.56345629e-02 -7.81803414e-04 9.99877467e-01 6.77650203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.116338938 meters 0.03403629706070662 Centerline is valid? [True, True] Translation: X:-6.85, Y:-0.12, Z:0.06 [[ 9.99101825e-01 -3.87111224e-02 -1.72334892e-02 -6.84907235e+00] [ 3.87189515e-02 9.99250133e-01 1.20745340e-04 -1.18537225e-01] [ 1.72158922e-02 -7.87899522e-04 9.99851485e-01 5.95600703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.146338938 meters 0.03254540966510133 Centerline is valid? [True, True] Translation: X:-6.88, Y:-0.12, Z:0.06 [[ 9.99226221e-01 -3.40458129e-02 -1.96937232e-02 -6.87812559e+00] [ 3.40551581e-02 9.99419945e-01 1.39258887e-04 -1.16602544e-01] [ 1.96775585e-02 -8.09823988e-04 9.99806050e-01 5.82164680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.176338938000001 meters 0.028917299477366407 Centerline is valid? [True, True] Translation: X:-6.91, Y:-0.11, Z:0.05 [[ 9.99437633e-01 -2.52299788e-02 -2.20876852e-02 -6.90736470e+00] [ 2.52395816e-02 9.99681419e-01 1.56043673e-04 -1.11117997e-01] [ 2.20767115e-02 -7.13439851e-04 9.99756025e-01 5.34166464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.206338938 meters 0.03176269309277999 Centerline is valid? [True, True] Translation: X:-6.94, Y:-0.09, Z:0.06 [[ 9.99626205e-01 -1.74360412e-02 -2.10579108e-02 -6.93678291e+00] [ 1.74430584e-02 9.99847847e-01 1.49585707e-04 -9.00883497e-02] [ 2.10520986e-02 -5.16844159e-04 9.99778246e-01 5.58661069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.236338938 meters 0.027157049827107375 Centerline is valid? [True, True] Translation: X:-6.97, Y:-0.08, Z:0.05 [[ 9.99741331e-01 -8.60773013e-03 -2.10517945e-02 -6.96685969e+00] [ 8.61279171e-03 9.99962898e-01 1.49777112e-04 -8.49465369e-02] [ 2.10497242e-02 -3.31053090e-04 9.99778375e-01 4.93556726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2663389380000005 meters 0.027578620099077782 Centerline is valid? [True, True] Translation: X:-7.00, Y:-0.09, Z:0.04 [[ 9.99742600e-01 -5.31818239e-05 -2.26876729e-02 -6.99540856e+00] [ 5.70388353e-05 9.99999984e-01 1.69357628e-04 -8.83017549e-02] [ 2.26876636e-02 -1.70608114e-04 9.99742587e-01 4.47075790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.296338938000001 meters 0.027056448887210188 Centerline is valid? [True, True] Translation: X:-7.02, Y:-0.08, Z:0.05 [[ 9.99703078e-01 7.63596826e-03 -2.31397632e-02 -7.02301100e+00] [-7.63400871e-03 9.99970846e-01 1.73019895e-04 -8.29426034e-02] [ 2.31404097e-02 3.68063211e-06 9.99732225e-01 4.82978811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.326338938 meters 0.02751528556630862 Centerline is valid? [True, True] Translation: X:-7.05, Y:-0.07, Z:0.05 [[ 9.99647566e-01 1.65143656e-02 -2.07850858e-02 -7.05192157e+00] [-1.65145557e-02 9.99863612e-01 1.62513657e-04 -6.55936368e-02] [ 2.07849348e-02 1.80800076e-04 9.99783954e-01 4.95298692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.356338938 meters 0.02851141355935986 Centerline is valid? [True, True] Translation: X:-7.08, Y:-0.05, Z:0.04 [[ 9.99537703e-01 2.50743370e-02 -1.71946982e-02 -7.07966817e+00] [-2.50756335e-02 9.99685547e-01 1.40232652e-04 -5.15237596e-02] [ 1.71928076e-02 2.91000128e-04 9.99852150e-01 4.47897135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.386338938000001 meters 0.029666435932823646 Centerline is valid? [True, True] Translation: X:-7.11, Y:-0.05, Z:0.04 [[ 9.99292053e-01 3.18942364e-02 -1.99537149e-02 -7.10852877e+00] [-3.18973925e-02 9.99491136e-01 1.60154117e-04 -5.36338521e-02] [ 1.99486692e-02 4.76430742e-04 9.99800892e-01 4.36402911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.416338938 meters 0.03172362935449334 Centerline is valid? [True, True] Translation: X:-7.14, Y:-0.05, Z:0.03 [[ 9.98776684e-01 4.06612968e-02 -2.81388428e-02 -7.13938689e+00] [-4.06710579e-02 9.99172565e-01 2.25590128e-04 -5.14652078e-02] [ 2.81247325e-02 9.19122345e-04 9.99603999e-01 3.24330190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.446338938 meters 0.033174075384116666 Centerline is valid? [True, True] Translation: X:-7.17, Y:-0.04, Z:0.04 [[ 9.98676711e-01 4.45482603e-02 -2.56958910e-02 -7.16824208e+00] [-4.45574467e-02 9.99006801e-01 2.15233077e-04 -4.31917595e-02] [ 2.56799581e-02 9.29995034e-04 9.99669783e-01 3.80702739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4763389380000005 meters 0.03293003251359168 Centerline is valid? [True, True] Translation: X:-7.20, Y:-0.04, Z:0.05 [[ 9.98683116e-01 4.82116060e-02 -1.75406573e-02 -7.19750120e+00] [-4.82164564e-02 9.98836900e-01 1.46526823e-04 -3.70666841e-02] [ 1.75273200e-02 6.99414473e-04 9.99846140e-01 4.55016346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.506338938000001 meters 0.03300298798473296 Centerline is valid? [True, True] Translation: X:-7.23, Y:-0.03, Z:0.04 [[ 9.98625703e-01 5.02140034e-02 -1.50086598e-02 -7.22941744e+00] [-5.02178153e-02 9.98738282e-01 1.23023603e-04 -3.03688803e-02] [ 1.49959006e-02 6.30847573e-04 9.99887356e-01 4.19198073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.536338938 meters 0.03477897299171861 Centerline is valid? [True, True] Translation: X:-7.26, Y:-0.03, Z:0.03 [[ 9.98391790e-01 5.28139209e-02 -2.06039896e-02 -7.26027473e+00] [-5.28216383e-02 9.98603948e-01 1.69870267e-04 -2.50550582e-02] [ 2.05841969e-02 9.18739405e-04 9.99787701e-01 3.33690314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.566338938 meters 0.03596426097300235 Centerline is valid? [True, True] Translation: X:-7.29, Y:-0.03, Z:0.02 [[ 9.98099567e-01 5.49512550e-02 -2.78857130e-02 -7.29080317e+00] [-5.49662337e-02 9.98488187e-01 2.29681829e-04 -3.04082708e-02] [ 2.78561763e-02 1.30352728e-03 9.99611092e-01 1.65032835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.596338938000001 meters 0.035660682541171676 Centerline is valid? [True, True] Translation: X:-7.32, Y:-0.04, Z:0.02 [[ 9.98302578e-01 5.19458438e-02 -2.63361197e-02 -7.32114721e+00] [-5.19581405e-02 9.98649240e-01 2.17642427e-04 -4.12904336e-02] [ 2.63118515e-02 1.15110281e-03 9.99653121e-01 1.98661627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.626338938000001 meters 0.0343701389129747 Centerline is valid? [True, True] Translation: X:-7.35, Y:-0.04, Z:0.03 [[ 9.98535327e-01 5.02864405e-02 -1.99618180e-02 -7.35183300e+00] [-5.02931747e-02 9.98734484e-01 1.64845696e-04 -4.43158233e-02] [ 1.99448455e-02 8.39338948e-04 9.99800729e-01 3.33716549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.656338938 meters 0.034487734689223566 Centerline is valid? [True, True] Translation: X:-7.38, Y:-0.04, Z:0.03 [[ 9.98650325e-01 4.85322554e-02 -1.84972547e-02 -7.38261887e+00] [-4.85377645e-02 9.98821337e-01 1.51263887e-04 -3.90767041e-02] [ 1.84827939e-02 7.46755664e-04 9.99828900e-01 3.27304625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6863389380000005 meters 0.034118879031068666 Centerline is valid? [True, True] Translation: X:-7.41, Y:-0.04, Z:0.03 [[ 9.98702965e-01 4.57641429e-02 -2.23165859e-02 -7.41486591e+00] [-4.57715088e-02 9.98951919e-01 1.80886521e-04 -4.43204707e-02] [ 2.23014745e-02 8.40811905e-04 9.99750938e-01 2.66386339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.716338938000001 meters 0.033028268212660514 Centerline is valid? [True, True] Translation: X:-7.44, Y:-0.06, Z:0.02 [[ 9.98774487e-01 4.36937450e-02 -2.32461056e-02 -7.44395342e+00] [-4.37011166e-02 9.99044632e-01 1.91043806e-04 -6.34296720e-02] [ 2.32322445e-02 8.25071094e-04 9.99729755e-01 2.32842917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.746338938 meters 0.031160989209940856 Centerline is valid? [True, True] Translation: X:-7.47, Y:-0.09, Z:0.04 [[ 9.99193010e-01 3.66918101e-02 -1.63413689e-02 -7.47310462e+00] [-3.66945080e-02 9.99326521e-01 1.34812220e-04 -8.58998907e-02] [ 1.63353098e-02 4.64935063e-04 9.99866462e-01 3.66359116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.776338938 meters 0.0336447177223873 Centerline is valid? [True, True] Translation: X:-7.50, Y:-0.09, Z:0.04 [[ 9.99313300e-01 3.31688265e-02 -1.65153475e-02 -7.50305478e+00] [-3.31710995e-02 9.99449678e-01 1.36363284e-04 -8.74955747e-02] [ 1.65107817e-02 4.11562590e-04 9.99863603e-01 3.81677291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.806338938000001 meters 0.032039390614882736 Centerline is valid? [True, True] Translation: X:-7.53, Y:-0.10, Z:0.03 [[ 9.99413782e-01 2.70607346e-02 -2.09716449e-02 -7.53030448e+00] [-2.70629783e-02 9.99633715e-01 1.76866974e-04 -9.50794200e-02] [ 2.09687495e-02 3.90791878e-04 9.99780055e-01 3.08918848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.836338938000001 meters 0.030839247516852904 Centerline is valid? [True, True] Translation: X:-7.56, Y:-0.10, Z:0.02 [[ 9.99398404e-01 2.40827084e-02 -2.49570403e-02 -7.55904588e+00] [-2.40849351e-02 9.99709894e-01 2.11410104e-04 -1.00984458e-01] [ 2.49548914e-02 3.89805776e-04 9.99688502e-01 2.01079672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.866338938 meters 0.032241306233087824 Centerline is valid? [True, True] Translation: X:-7.59, Y:-0.11, Z:0.03 [[ 9.99594082e-01 2.04119286e-02 -1.98752091e-02 -7.58908294e+00] [-2.04126168e-02 9.99791627e-01 1.68263564e-04 -1.08318622e-01] [ 1.98745023e-02 2.37509765e-04 9.99802454e-01 2.93970266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.896338938 meters 0.029890359327066036 Centerline is valid? [True, True] Translation: X:-7.62, Y:-0.12, Z:0.03 [[ 9.99646670e-01 1.89160395e-02 -1.86740339e-02 -7.61811102e+00] [-1.89162591e-02 9.99821058e-01 1.64894000e-04 -1.15948469e-01] [ 1.86738115e-02 1.88407126e-04 9.99825611e-01 2.68578763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.926338938000001 meters 0.029997514877208666 Centerline is valid? [True, True] Translation: X:-7.65, Y:-0.13, Z:0.02 [[ 9.99601922e-01 1.90457052e-02 -2.08148653e-02 -7.64704885e+00] [-1.90459100e-02 9.99818592e-01 1.88415666e-04 -1.26229288e-01] [ 2.08146779e-02 2.08097391e-04 9.99783329e-01 2.11200008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.956338938000001 meters 0.030765051553827045 Centerline is valid? [True, True] Translation: X:-7.68, Y:-0.14, Z:0.03 [[ 9.99553905e-01 2.03486524e-02 -2.18614703e-02 -7.67518446e+00] [-2.03490727e-02 9.99792916e-01 2.03250441e-04 -1.36394527e-01] [ 2.18610790e-02 2.41700876e-04 9.99760989e-01 2.58988348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.986338938 meters 0.030527881671449503 Centerline is valid? [True, True] Translation: X:-7.70, Y:-0.14, Z:0.03 [[ 9.99588144e-01 2.12248475e-02 -1.93144386e-02 -7.70355802e+00] [-2.12252402e-02 9.99774702e-01 1.84684165e-04 -1.39329023e-01] [ 1.93140069e-02 2.25345496e-04 9.99813442e-01 2.55678637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.016338938 meters 0.030490506389864995 Centerline is valid? [True, True] Translation: X:-7.73, Y:-0.14, Z:0.03 [[ 9.99547041e-01 2.28160716e-02 -1.96249971e-02 -7.73134689e+00] [-2.28167869e-02 9.99739646e-01 1.87487906e-04 -1.35080136e-01] [ 1.96241654e-02 2.60376397e-04 9.99807394e-01 2.59390968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.046338938000002 meters 0.03091777024626154 Centerline is valid? [True, True] Translation: X:-7.76, Y:-0.14, Z:0.02 [[ 9.99498944e-01 2.24102885e-02 -2.23526111e-02 -7.75985650e+00] [-2.24110879e-02 9.99748817e-01 2.14771904e-04 -1.37355027e-01] [ 2.23518096e-02 2.86282041e-04 9.99750126e-01 2.31071539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.076338938000001 meters 0.0332235767188954 Centerline is valid? [True, True] Translation: X:-7.79, Y:-0.15, Z:0.03 [[ 9.99539478e-01 2.09703825e-02 -2.19334398e-02 -7.78750561e+00] [-2.09707600e-02 9.99780067e-01 2.12824244e-04 -1.51485251e-01] [ 2.19330789e-02 2.47234668e-04 9.99759411e-01 2.59385256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.106338938000002 meters 0.032987842104253456 Centerline is valid? [True, True] Translation: X:-7.82, Y:-0.16, Z:0.03 [[ 9.99606464e-01 2.14020084e-02 -1.81348196e-02 -7.81654208e+00] [-2.14023240e-02 9.99770928e-01 1.76696074e-04 -1.61479986e-01] [ 1.81344471e-02 2.11500748e-04 9.99835535e-01 3.03763858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.136338938000002 meters 0.030709745106081716 Centerline is valid? [True, True] Translation: X:-7.84, Y:-0.16, Z:0.03 [[ 9.99594734e-01 2.25446723e-02 -1.73811696e-02 -7.84428606e+00] [-2.25451017e-02 9.99745812e-01 1.71266420e-04 -1.64961995e-01] [ 1.73806127e-02 2.20663224e-04 9.99848921e-01 2.85232324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.166338938 meters 0.03082854474007727 Centerline is valid? [True, True] Translation: X:-7.87, Y:-0.17, Z:0.02 [[ 9.99591299e-01 2.11064053e-02 -1.92809208e-02 -7.87277529e+00] [-2.11065441e-02 9.99777213e-01 1.96320352e-04 -1.65166718e-01] [ 1.92807689e-02 2.10713489e-04 9.99814086e-01 2.15557220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.196338938000002 meters 0.03155511575205153 Centerline is valid? [True, True] Translation: X:-7.90, Y:-0.17, Z:0.02 [[ 9.99582631e-01 2.02895567e-02 -2.05644900e-02 -7.90080687e+00] [-2.02895464e-02 9.99794124e-01 2.09165352e-04 -1.68652184e-01] [ 2.05645001e-02 2.08166121e-04 9.99788507e-01 1.95699533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.226338938000001 meters 0.030704939775560366 Centerline is valid? [True, True] Translation: X:-7.93, Y:-0.17, Z:0.02 [[ 9.99618181e-01 2.04887505e-02 -1.85392402e-02 -7.92812266e+00] [-2.04887357e-02 9.99790066e-01 1.90760646e-04 -1.69589201e-01] [ 1.85392567e-02 1.89157782e-04 9.99828115e-01 2.21223330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.256338938 meters 0.032960863542271554 Centerline is valid? [True, True] Translation: X:-7.96, Y:-0.18, Z:0.03 [[ 9.99720895e-01 1.78446826e-02 -1.54822437e-02 -7.95725771e+00] [-1.78443486e-02 9.99840764e-01 1.59727440e-04 -1.76409719e-01] [ 1.54826287e-02 1.16587695e-04 9.99880130e-01 2.87782075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.286338938000002 meters 0.03080098021465864 Centerline is valid? [True, True] Translation: X:-7.99, Y:-0.19, Z:0.02 [[ 9.99636522e-01 1.99621018e-02 -1.81200897e-02 -7.98589480e+00] [-1.99619676e-02 9.99800722e-01 1.88296722e-04 -1.85297022e-01] [ 1.81202376e-02 1.73484363e-04 9.99835800e-01 1.91549500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.316338938000001 meters 0.03272694859825885 Centerline is valid? [True, True] Translation: X:-8.02, Y:-0.19, Z:0.01 [[ 9.99569111e-01 1.81983164e-02 -2.30307172e-02 -8.01637168e+00] [-1.81976407e-02 9.99834381e-01 2.38936143e-04 -1.92673595e-01] [ 2.30312511e-02 1.80271529e-04 9.99734729e-01 1.47958162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.346338938 meters 0.03311578501577508 Centerline is valid? [True, True] Translation: X:-8.04, Y:-0.20, Z:0.02 [[ 9.99629007e-01 1.79971172e-02 -2.04438808e-02 -8.04474925e+00] [-1.79965125e-02 9.99838027e-01 2.13571372e-04 -1.95465481e-01] [ 2.04444131e-02 1.54426419e-04 9.99790979e-01 2.11033246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.376338938000002 meters 0.03175301571119485 Centerline is valid? [True, True] Translation: X:-8.08, Y:-0.20, Z:0.03 [[ 9.99709908e-01 1.94364830e-02 -1.42239943e-02 -8.07509718e+00] [-1.94363345e-02 9.99811086e-01 1.48689005e-04 -2.03800939e-01] [ 1.42241972e-02 1.27816441e-04 9.99898823e-01 2.61155787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.406338938000001 meters 0.030865591247656903 Centerline is valid? [True, True] Translation: X:-8.10, Y:-0.22, Z:0.03 [[ 9.99701325e-01 1.97210580e-02 -1.44339764e-02 -8.10254389e+00] [-1.97209058e-02 9.99805512e-01 1.52891621e-04 -2.15165890e-01] [ 1.44341843e-02 1.31805132e-04 9.99895813e-01 2.55547812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.436338938000002 meters 0.030790710609263503 Centerline is valid? [True, True] Translation: X:-8.13, Y:-0.22, Z:0.01 [[ 9.99658370e-01 1.73898680e-02 -1.95124499e-02 -8.13217171e+00] [-1.73891506e-02 9.99848776e-01 2.06450020e-04 -2.17248051e-01] [ 1.95130893e-02 1.32925439e-04 9.99809593e-01 1.29288591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.466338938000002 meters 0.0312344105354715 Centerline is valid? [True, True] Translation: X:-8.16, Y:-0.22, Z:0.01 [[ 9.99660204e-01 1.54968854e-02 -2.09600518e-02 -8.16035021e+00] [-1.54955644e-02 9.99879911e-01 2.25446708e-04 -2.17943138e-01] [ 2.09610284e-02 9.94177292e-05 9.99780289e-01 8.83621710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.496338938000001 meters 0.03234630130411657 Centerline is valid? [True, True] Translation: X:-8.19, Y:-0.24, Z:0.02 [[ 9.99786004e-01 1.65272430e-02 -1.24417268e-02 -8.19067424e+00] [-1.65268628e-02 9.99863413e-01 1.33383150e-04 -2.38324686e-01] [ 1.24422318e-02 7.22681040e-05 9.99922590e-01 1.61208794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.526338938000002 meters 0.03400300016301889 Centerline is valid? [True, True] Translation: X:-8.22, Y:-0.25, Z:0.02 [[ 9.99787396e-01 1.53345083e-02 -1.37846119e-02 -8.21900448e+00] [-1.53338481e-02 9.99882418e-01 1.53586637e-04 -2.48234992e-01] [ 1.37853462e-02 5.78171608e-05 9.99904976e-01 1.64134625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.556338938000001 meters 0.030645341417248825 Centerline is valid? [True, True] Translation: X:-8.25, Y:-0.24, Z:0.01 [[ 9.99687197e-01 1.57793912e-02 -1.94040879e-02 -8.24815316e+00] [-1.57782194e-02 9.99875493e-01 2.13493525e-04 -2.43915687e-01] [ 1.94050408e-02 9.27352121e-05 9.99811700e-01 6.38545189e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.586338938 meters 0.030645341417248825 Centerline is valid? [True, True] Translation: X:-8.28, Y:-0.24, Z:0.01 [[ 9.99682684e-01 1.60628724e-02 -1.94039960e-02 -8.27548777e+00] [-1.60615937e-02 9.99870980e-01 2.21749027e-04 -2.43781064e-01] [ 1.94050544e-02 8.99804374e-05 9.99811700e-01 6.68878322e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.616338938000002 meters 0.030872088927945986 Centerline is valid? [True, True] Translation: X:-8.30, Y:-0.23, Z:-0.00 [[ 9.99663786e-01 1.74181133e-02 -1.92073760e-02 -8.30298446e+00] [-1.74170050e-02 9.99848287e-01 2.24992487e-04 -2.32655604e-01] [ 1.92083810e-02 1.09618124e-04 9.99815496e-01 -4.79765142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.646338938000001 meters 0.03402641117464314 Centerline is valid? [True, True] Translation: X:-8.33, Y:-0.23, Z:0.01 [[ 9.99711713e-01 1.87585941e-02 -1.49868710e-02 -8.33229333e+00] [-1.87580940e-02 9.99824036e-01 1.73956188e-04 -2.30471018e-01] [ 1.49874970e-02 1.07219096e-04 9.99887675e-01 1.16746588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.676338938 meters 0.03331209999872968 Centerline is valid? [True, True] Translation: X:-8.36, Y:-0.24, Z:0.01 [[ 9.99670063e-01 2.22546765e-02 -1.28255345e-02 -8.36033991e+00] [-2.22545763e-02 9.99752325e-01 1.50544163e-04 -2.42072715e-01] [ 1.28257082e-02 1.34932343e-04 9.99917738e-01 9.81265726e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.706338938000002 meters 0.03383293994809991 Centerline is valid? [True, True] Translation: X:-8.39, Y:-0.26, Z:0.00 [[ 9.99580556e-01 2.43054524e-02 -1.57466515e-02 -8.38857731e+00] [-2.43055380e-02 9.99704559e-01 1.85969844e-04 -2.56553003e-01] [ 1.57465194e-02 1.96838996e-04 9.99875997e-01 4.66095240e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.736338938000001 meters 0.035076509369883276 Centerline is valid? [True, True] Translation: X:-8.42, Y:-0.26, Z:0.01 [[ 9.99606973e-01 2.26877672e-02 -1.64670644e-02 -8.41531354e+00] [-2.26876010e-02 9.99742584e-01 1.96924963e-04 -2.62633383e-01] [ 1.64672933e-02 1.76750621e-04 9.99864389e-01 1.04142104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.766338938000002 meters 0.03751632504106219 Centerline is valid? [True, True] Translation: X:-8.44, Y:-0.26, Z:0.02 [[ 9.99695228e-01 2.05795790e-02 -1.36356974e-02 -8.44422772e+00] [-2.05792664e-02 9.99788211e-01 1.63249223e-04 -2.58499665e-01] [ 1.36361692e-02 1.17413182e-04 9.99907016e-01 2.26546173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.796338938000002 meters 0.030871782863864734 Centerline is valid? [True, True] Translation: X:-8.47, Y:-0.26, Z:0.00 [[ 9.99657036e-01 2.24510101e-02 -1.34819672e-02 -8.47362372e+00] [-2.24508367e-02 9.99747935e-01 1.64228122e-04 -2.55294649e-01] [ 1.34822560e-02 1.38509646e-04 9.99909101e-01 4.73985057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.826338938000001 meters 0.03226582700217402 Centerline is valid? [True, True] Translation: X:-8.50, Y:-0.26, Z:0.01 [[ 9.99690703e-01 1.97849773e-02 -1.50682633e-02 -8.50244219e+00] [-1.97843887e-02 9.99804252e-01 1.88143389e-04 -2.63740940e-01] [ 1.50690362e-02 1.10031181e-04 9.99886450e-01 9.90525841e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.856338938000002 meters 0.03113580486530558 Centerline is valid? [True, True] Translation: X:-8.53, Y:-0.27, Z:0.00 [[ 9.99745430e-01 1.57722291e-02 -1.61341810e-02 -8.53066590e+00] [-1.57710405e-02 9.99875609e-01 2.00914879e-04 -2.73934546e-01] [ 1.61353429e-02 5.35890892e-05 9.99869815e-01 4.00451386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.886338938000002 meters 0.030707055002137502 Centerline is valid? [True, True] Translation: X:-8.56, Y:-0.28, Z:0.01 [[ 9.99808870e-01 1.31751561e-02 -1.44443394e-02 -8.55931254e+00] [-1.31738558e-02 9.99913204e-01 1.85164640e-04 -2.75206140e-01] [ 1.44455253e-02 5.15839575e-06 9.99895658e-01 5.32874063e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.916338938 meters 0.03373734747590425 Centerline is valid? [True, True] Translation: X:-8.59, Y:-0.28, Z:0.01 [[ 9.99844250e-01 1.12707650e-02 -1.35811085e-02 -8.58849226e+00] [-1.12693960e-02 9.99936483e-01 1.77330547e-04 -2.83019094e-01] [ 1.35822446e-02 -2.42520373e-05 9.99907757e-01 1.01031947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.946338938000002 meters 0.03218853065110421 Centerline is valid? [True, True] Translation: X:-8.62, Y:-0.30, Z:0.01 [[ 9.99826752e-01 1.21116367e-02 -1.41341506e-02 -8.61757331e+00] [-1.21101927e-02 9.99926651e-01 1.87750137e-04 -2.96466968e-01] [ 1.41353879e-02 -1.65503213e-05 9.99900090e-01 5.57752606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.976338938000001 meters 0.03203030834055751 Centerline is valid? [True, True] Translation: X:-8.65, Y:-0.30, Z:0.01 [[ 9.99854912e-01 1.27729417e-02 -1.12697723e-02 -8.64615819e+00] [-1.27720297e-02 9.99918423e-01 1.52896628e-04 -2.99766524e-01] [ 1.12708059e-02 -8.93657794e-06 9.99936482e-01 9.58310328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.006338938 meters 0.029956070383030275 Centerline is valid? [True, True] Translation: X:-8.67, Y:-0.29, Z:0.01 [[ 9.99858237e-01 1.32610337e-02 -1.03755389e-02 -8.67343491e+00] [-1.32602833e-02 9.99912069e-01 1.41116934e-04 -2.89770830e-01] [ 1.03764979e-02 -3.51434360e-06 9.99946163e-01 6.91491793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.036338938000002 meters 0.030380572732896082 Centerline is valid? [True, True] Translation: X:-8.70, Y:-0.29, Z:0.01 [[ 9.99772450e-01 1.66082944e-02 -1.33870254e-02 -8.70089466e+00] [-1.66073277e-02 9.99862072e-01 1.83382491e-04 -2.85549523e-01] [ 1.33882246e-02 3.89819557e-05 9.99910373e-01 6.77415856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.066338938000001 meters 0.031401974246005035 Centerline is valid? [True, True] Translation: X:-8.73, Y:-0.30, Z:0.01 [[ 9.99693040e-01 1.98018761e-02 -1.48900040e-02 -8.72844201e+00] [-1.98010232e-02 9.99803920e-01 2.04721178e-04 -2.96221471e-01] [ 1.48911382e-02 9.01789781e-05 9.99889117e-01 5.15450450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.096338938 meters 0.03120504205816193 Centerline is valid? [True, True] Translation: X:-8.76, Y:-0.31, Z:0.01 [[ 9.99704309e-01 2.17649480e-02 -1.08435382e-02 -8.75695171e+00] [-2.17645589e-02 9.99763112e-01 1.53898581e-04 -3.07122014e-01] [ 1.08443191e-02 8.21517513e-05 9.99941195e-01 8.21491646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.126338938000002 meters 0.031236461419907425 Centerline is valid? [True, True] Translation: X:-8.79, Y:-0.30, Z:0.01 [[ 9.99676444e-01 2.37900795e-02 -9.00223543e-03 -8.78601603e+00] [-2.37898713e-02 9.99716972e-01 1.30224126e-04 -3.03812048e-01] [ 9.00278559e-03 8.39800307e-05 9.99959471e-01 1.10787735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.156338938000001 meters 0.03203407034631389 Centerline is valid? [True, True] Translation: X:-8.81, Y:-0.30, Z:0.01 [[ 9.99634047e-01 2.47951609e-02 -1.08153377e-02 -8.81384289e+00] [-2.47949333e-02 9.99692546e-01 1.55154124e-04 -2.99949573e-01] [ 1.08158596e-02 1.13068233e-04 9.99941500e-01 1.07413674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.186338938000002 meters 0.03378158067811268 Centerline is valid? [True, True] Translation: X:-8.84, Y:-0.29, Z:0.00 [[ 9.99587296e-01 2.34836325e-02 -1.65456108e-02 -8.84359126e+00] [-2.34829284e-02 9.99724210e-01 2.36859373e-04 -2.92742332e-01] [ 1.65466100e-02 1.51777775e-04 9.99863084e-01 1.76979423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.216338938000002 meters 0.03165276323882837 Centerline is valid? [True, True] Translation: X:-8.87, Y:-0.30, Z:-0.00 [[ 9.99572735e-01 2.49823640e-02 -1.51732897e-02 -8.87174965e+00] [-2.49819158e-02 9.99687879e-01 2.19108277e-04 -2.97177018e-01] [ 1.51740277e-02 1.60043188e-04 9.99884855e-01 -1.81111408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.246338938000001 meters 0.035121390448183853 Centerline is valid? [True, True] Translation: X:-8.90, Y:-0.31, Z:0.01 [[ 9.99723450e-01 2.13121529e-02 -9.94063231e-03 -8.90080900e+00] [-2.13117746e-02 9.99772868e-01 1.43998184e-04 -3.05708612e-01] [ 9.94144338e-03 6.78941532e-05 9.99950580e-01 1.33112261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.276338938000002 meters 0.034445086969497656 Centerline is valid? [True, True] Translation: X:-8.93, Y:-0.31, Z:0.02 [[ 9.99704623e-01 2.26210730e-02 -8.88562437e-03 -8.92908470e+00] [-2.26207852e-02 9.99744108e-01 1.32908705e-04 -3.08531149e-01] [ 8.88635716e-03 6.81303530e-05 9.99960513e-01 1.54251989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.306338938000001 meters 0.03379546976379344 Centerline is valid? [True, True] Translation: X:-8.96, Y:-0.31, Z:0.01 [[ 9.99634740e-01 2.39668893e-02 -1.24889706e-02 -8.95773384e+00] [-2.39664514e-02 9.99712746e-01 1.84741702e-04 -3.05869256e-01] [ 1.24898107e-02 1.14642083e-04 9.99921993e-01 9.09059646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.336338938 meters 0.031615584295427546 Centerline is valid? [True, True] Translation: X:-8.99, Y:-0.31, Z:-0.00 [[ 9.99591710e-01 2.38941886e-02 -1.56678230e-02 -8.98534808e+00] [-2.38934696e-02 9.99714483e-01 2.33103571e-04 -3.06450268e-01] [ 1.56689194e-02 1.41350255e-04 9.99877225e-01 -2.32372272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.366338938000002 meters 0.03318881643588553 Centerline is valid? [True, True] Translation: X:-9.01, Y:-0.31, Z:0.00 [[ 9.99616770e-01 2.33545707e-02 -1.48619457e-02 -9.01365652e+00] [-2.33537848e-02 9.99727238e-01 2.26451352e-04 -3.08596030e-01] [ 1.48631806e-02 1.20718113e-04 9.99889530e-01 2.97715633e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.396338938000001 meters 0.03154578848022309 Centerline is valid? [True, True] Translation: X:-9.04, Y:-0.31, Z:0.00 [[ 9.99642428e-01 2.40566332e-02 -1.16745035e-02 -9.04208762e+00] [-2.40561854e-02 9.99710592e-01 1.78798809e-04 -3.11082403e-01] [ 1.16754261e-02 1.02109144e-04 9.99931835e-01 4.99737795e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.426338938 meters 0.034339463213720896 Centerline is valid? [True, True] Translation: X:-9.07, Y:-0.31, Z:0.01 [[ 9.99645725e-01 2.47443689e-02 -9.80518248e-03 -9.07003771e+00] [-2.47440804e-02 9.99693807e-01 1.50755092e-04 -3.12685487e-01] [ 9.80591054e-03 9.19185404e-05 9.99951917e-01 1.12069907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.456338938000002 meters 0.03259817230594335 Centerline is valid? [True, True] Translation: X:-9.10, Y:-0.32, Z:0.01 [[ 9.99623979e-01 2.50022205e-02 -1.12600872e-02 -9.09895168e+00] [-2.50018072e-02 9.99687390e-01 1.77486816e-04 -3.16539185e-01] [ 1.12610048e-02 1.04102453e-04 9.99936587e-01 5.98342543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.486338938000001 meters 0.032123656792824334 Centerline is valid? [True, True] Translation: X:-9.13, Y:-0.32, Z:0.01 [[ 9.99593718e-01 2.58429602e-02 -1.20224999e-02 -9.12738690e+00] [-2.58425191e-02 9.99666008e-01 1.92068652e-04 -3.23189383e-01] [ 1.20234481e-02 1.18701064e-04 9.99927709e-01 6.02746707e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.516338938000002 meters 0.03161447188816989 Centerline is valid? [True, True] Translation: X:-9.15, Y:-0.32, Z:0.01 [[ 9.99629467e-01 2.54149229e-02 -9.74730476e-03 -9.15497326e+00] [-2.54146158e-02 9.99676984e-01 1.55381928e-04 -3.20639199e-01] [ 9.74810525e-03 9.23996519e-05 9.99952482e-01 7.27238139e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.546338938000002 meters 0.032307285220345476 Centerline is valid? [True, True] Translation: X:-9.18, Y:-0.32, Z:0.01 [[ 9.99659869e-01 2.45717277e-02 -8.73936605e-03 -9.18333893e+00] [-2.45714143e-02 9.99698067e-01 1.43243484e-04 -3.16229066e-01] [ 8.74024708e-03 7.15438216e-05 9.99961801e-01 1.04954719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.576338938000001 meters 0.03470537235027026 Centerline is valid? [True, True] Translation: X:-9.21, Y:-0.32, Z:0.02 [[ 9.99677588e-01 2.33904599e-02 -9.87956051e-03 -9.21093013e+00] [-2.33900136e-02 9.99726403e-01 1.60723975e-04 -3.15076607e-01] [ 9.88061690e-03 7.04108989e-05 9.99951183e-01 1.59412689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.606338938000002 meters 0.0358103155276573 Centerline is valid? [True, True] Translation: X:-9.24, Y:-0.32, Z:0.02 [[ 9.99671357e-01 2.33652217e-02 -1.05472319e-02 -9.23915909e+00] [-2.33647019e-02 9.99726993e-01 1.72519859e-04 -3.21257892e-01] [ 1.05483834e-02 7.39697682e-05 9.99944362e-01 1.65741605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.636338938000002 meters 0.0315797812759491 Centerline is valid? [True, True] Translation: X:-9.27, Y:-0.33, Z:0.01 [[ 9.99655164e-01 2.48691338e-02 -8.43089148e-03 -9.26717957e+00] [-2.48688388e-02 9.99690713e-01 1.39836660e-04 -3.28757485e-01] [ 8.43176153e-03 6.98780416e-05 9.99964450e-01 7.60256153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.666338938 meters 0.03210316129910196 Centerline is valid? [True, True] Translation: X:-9.30, Y:-0.33, Z:0.01 [[ 9.99634698e-01 2.59538075e-02 -7.54127358e-03 -9.29546540e+00] [-2.59535766e-02 9.99663141e-01 1.28500801e-04 -3.29874695e-01] [ 7.54206832e-03 6.72691624e-05 9.99971556e-01 6.34154977e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.696338938000002 meters 0.032025601975396584 Centerline is valid? [True, True] Translation: X:-9.33, Y:-0.33, Z:0.01 [[ 9.99597768e-01 2.63629105e-02 -1.04546535e-02 -9.32537257e+00] [-2.63625305e-02 9.99652433e-01 1.74175940e-04 -3.25797701e-01] [ 1.04556116e-02 1.01505242e-04 9.99945333e-01 6.44772946e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.726338938000001 meters 0.034043172127672286 Centerline is valid? [True, True] Translation: X:-9.35, Y:-0.33, Z:0.01 [[ 9.99587091e-01 2.60365048e-02 -1.21551318e-02 -9.35274774e+00] [-2.60359421e-02 9.99660986e-01 2.04552125e-04 -3.26192020e-01] [ 1.21563368e-02 1.12002643e-04 9.99926103e-01 6.30365047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.756338938 meters 0.03353799796883711 Centerline is valid? [True, True] Translation: X:-9.38, Y:-0.33, Z:0.00 [[ 9.99633946e-01 2.49613484e-02 -1.04357158e-02 -9.38131024e+00] [-2.49608282e-02 9.99688414e-01 1.80106873e-04 -3.32210175e-01] [ 1.04369598e-02 8.04431645e-05 9.99945530e-01 2.64968111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.786338938000002 meters 0.03561133776005769 Centerline is valid? [True, True] Translation: X:-9.41, Y:-0.33, Z:0.02 [[ 9.99680099e-01 2.37875903e-02 -8.59358715e-03 -9.40996795e+00] [-2.37871747e-02 9.99717034e-01 1.50587416e-04 -3.31441189e-01] [ 8.59473757e-03 5.38779157e-05 9.99963063e-01 1.75316216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.816338938000001 meters 0.03221362858936276 Centerline is valid? [True, True] Translation: X:-9.44, Y:-0.32, Z:0.01 [[ 9.99630859e-01 2.53278657e-02 -9.83077539e-03 -9.43791320e+00] [-2.53273994e-02 9.99679195e-01 1.71953437e-04 -3.20957623e-01] [ 9.83197684e-03 7.70980125e-05 9.99951662e-01 1.01684739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.846338938000002 meters 0.033167027805931386 Centerline is valid? [True, True] Translation: X:-9.47, Y:-0.33, Z:-0.00 [[ 9.99591712e-01 2.54142191e-02 -1.30585764e-02 -9.46693694e+00] [-2.54133557e-02 9.99677002e-01 2.32076211e-04 -3.33567442e-01] [ 1.30602566e-02 9.98807915e-05 9.99914706e-01 -1.74076043e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.876338938000002 meters 0.03254899567027402 Centerline is valid? [True, True] Translation: X:-9.49, Y:-0.34, Z:-0.00 [[ 9.99560500e-01 2.65471546e-02 -1.31929951e-02 -9.49459826e+00] [-2.65463785e-02 9.99647555e-01 2.33974811e-04 -3.41800928e-01] [ 1.31945567e-02 1.16354263e-04 9.99912941e-01 -1.37532777e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.906338938000001 meters 0.034617360543699925 Centerline is valid? [True, True] Translation: X:-9.52, Y:-0.35, Z:0.01 [[ 9.99652831e-01 2.44855620e-02 -9.73012670e-03 -9.52302383e+00] [-2.44850384e-02 9.99700182e-01 1.72941495e-04 -3.47506878e-01] [ 9.73144400e-03 6.53610717e-05 9.99952646e-01 1.10827480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.936338938000002 meters 0.03202185699501256 Centerline is valid? [True, True] Translation: X:-9.55, Y:-0.32, Z:0.02 [[ 9.99656194e-01 2.49549670e-02 -8.04632823e-03 -9.55096087e+00] [-2.49545908e-02 9.99688575e-01 1.47169169e-04 -3.23738888e-01] [ 8.04749501e-03 5.36742571e-05 9.99967617e-01 1.71232419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.966338938000002 meters 0.0340819038944737 Centerline is valid? [True, True] Translation: X:-9.58, Y:-0.32, Z:0.02 [[ 9.99624875e-01 2.53745626e-02 -1.03072767e-02 -9.57964235e+00] [-2.53739913e-02 9.99678011e-01 1.86215450e-04 -3.22903257e-01] [ 1.03086830e-02 7.53911532e-05 9.99946861e-01 1.69680245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.996338938000001 meters 0.03433918432072142 Centerline is valid? [True, True] Translation: X:-9.61, Y:-0.33, Z:0.01 [[ 9.99517957e-01 2.80361479e-02 -1.33352303e-02 -9.60914738e+00] [-2.80353635e-02 9.99606902e-01 2.45790385e-04 -3.33763557e-01] [ 1.33368793e-02 1.28186127e-04 9.99911052e-01 6.17973420e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.026338938000002 meters 0.03620136823933306 Centerline is valid? [True, True] Translation: X:-9.64, Y:-0.34, Z:0.01 [[ 9.99570799e-01 2.66290511e-02 -1.22111333e-02 -9.63768543e+00] [-2.66282465e-02 9.99645379e-01 2.28494883e-04 -3.39958181e-01] [ 1.22128876e-02 9.67642545e-05 9.99925415e-01 1.39004922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.056338938000001 meters 0.034591744584035265 Centerline is valid? [True, True] Translation: X:-9.67, Y:-0.33, Z:0.02 [[ 9.99574728e-01 2.72151007e-02 -1.04738260e-02 -9.66663886e+00] [-2.72145100e-02 9.99629597e-01 1.98942287e-04 -3.34906417e-01] [ 1.04753607e-02 8.61823613e-05 9.99945128e-01 1.84725608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.086338938 meters 0.03241194571553599 Centerline is valid? [True, True] Translation: X:-9.69, Y:-0.33, Z:0.02 [[ 9.99550036e-01 2.85549918e-02 -9.18353273e-03 -9.69485022e+00] [-2.85545998e-02 9.99592219e-01 1.73828412e-04 -3.30636020e-01] [ 9.18475153e-03 8.84819063e-05 9.99957815e-01 1.58736335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.116338938000002 meters 0.032895936015586616 Centerline is valid? [True, True] Translation: X:-9.72, Y:-0.33, Z:0.01 [[ 9.99545243e-01 2.85486470e-02 -9.70984432e-03 -9.72423344e+00] [-2.85482114e-02 9.99592400e-01 1.83497888e-04 -3.28014822e-01] [ 9.71112520e-03 9.37842470e-05 9.99952842e-01 1.31473116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.146338938000001 meters 0.032614968017744723 Centerline is valid? [True, True] Translation: X:-9.75, Y:-0.33, Z:0.01 [[ 9.99544199e-01 2.80886883e-02 -1.10643568e-02 -9.75161280e+00] [-2.80880779e-02 9.99605430e-01 2.10586278e-04 -3.29226578e-01] [ 1.10659062e-02 1.00286224e-04 9.99938766e-01 1.26107021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.176338938 meters 0.033927757034164396 Centerline is valid? [True, True] Translation: X:-9.78, Y:-0.33, Z:0.02 [[ 9.99576093e-01 2.79378545e-02 -8.19209652e-03 -9.78067330e+00] [-2.79374817e-02 9.99609660e-01 1.59957610e-04 -3.32253284e-01] [ 8.19336769e-03 6.89767432e-05 9.99966431e-01 1.71351228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.206338938000002 meters 0.03242969701972875 Centerline is valid? [True, True] Translation: X:-9.81, Y:-0.34, Z:0.02 [[ 9.99599964e-01 2.71401825e-02 -7.95754152e-03 -9.81133121e+00] [-2.71398266e-02 9.99631635e-01 1.52720323e-04 -3.36703930e-01] [ 7.95875510e-03 6.33070682e-05 9.99968327e-01 1.81384276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.236338938000001 meters 0.0338365250355282 Centerline is valid? [True, True] Translation: X:-9.84, Y:-0.34, Z:0.02 [[ 9.99574421e-01 2.75403465e-02 -9.61801722e-03 -9.84112562e+00] [-2.75398416e-02 9.99620690e-01 1.84967291e-04 -3.35720753e-01] [ 9.61946307e-03 7.99900977e-05 9.99953729e-01 2.33834028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.266338938000002 meters 0.032846692781566066 Centerline is valid? [True, True] Translation: X:-9.87, Y:-0.33, Z:0.02 [[ 9.99541534e-01 2.78027579e-02 -1.19886681e-02 -9.86990181e+00] [-2.78019235e-02 9.99613424e-01 2.36282427e-04 -3.30960333e-01] [ 1.19906029e-02 9.71339340e-05 9.99928105e-01 1.76274009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.296338938000002 meters 0.03252261760105565 Centerline is valid? [True, True] Translation: X:-9.90, Y:-0.34, Z:0.01 [[ 9.99606230e-01 2.58036089e-02 -1.10253334e-02 -9.89914962e+00] [-2.58027514e-02 9.99667029e-01 2.20038653e-04 -3.37266657e-01] [ 1.10273401e-02 6.45319294e-05 9.99939195e-01 9.50648621e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.326338938000001 meters 0.032222377861738205 Centerline is valid? [True, True] Translation: X:-9.93, Y:-0.34, Z:0.02 [[ 9.99679715e-01 2.41794719e-02 -7.47132482e-03 -9.92663241e+00] [-2.41790267e-02 9.99707633e-01 1.49923165e-04 -3.37892633e-01] [ 7.47276552e-03 3.07742157e-05 9.99972078e-01 1.88413530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.356338938000002 meters 0.03348523005039641 Centerline is valid? [True, True] Translation: X:-9.96, Y:-0.32, Z:0.03 [[ 9.99665172e-01 2.48439061e-02 -7.23360563e-03 -9.95552476e+00] [-2.48435125e-02 9.99691342e-01 1.44268902e-04 -3.24229400e-01] [ 7.23495712e-03 3.54875751e-05 9.99973827e-01 2.64046825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.386338938000002 meters 0.03194956114364645 Centerline is valid? [True, True] Translation: X:-9.99, Y:-0.32, Z:0.02 [[ 9.99608421e-01 2.68435159e-02 -7.90122914e-03 -9.98555106e+00] [-2.68431122e-02 9.99639646e-01 1.57158335e-04 -3.21348039e-01] [ 7.90260059e-03 5.49967851e-05 9.99968772e-01 1.72806704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.416338938 meters 0.033334610240280414 Centerline is valid? [True, True] Translation: X:-10.02, Y:-0.34, Z:0.02 [[ 9.99668900e-01 2.43897985e-02 -8.19927202e-03 -1.00154685e+01] [-2.43892785e-02 9.99702524e-01 1.63419742e-04 -3.35335601e-01] [ 8.20081871e-03 3.66086947e-05 9.99966372e-01 1.71170329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.446338938000002 meters 0.03215242108457045 Centerline is valid? [True, True] Translation: X:-10.04, Y:-0.35, Z:0.01 [[ 9.99705259e-01 2.21342239e-02 -9.97350894e-03 -1.00447479e+01] [-2.21332933e-02 9.99755008e-01 2.03685342e-04 -3.46817679e-01] [ 9.97557393e-03 1.71212909e-05 9.99950243e-01 1.09906324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.476338938000001 meters 0.03476240925537425 Centerline is valid? [True, True] Translation: X:-10.07, Y:-0.35, Z:0.02 [[ 9.99704360e-01 2.16410744e-02 -1.10840667e-02 -1.00734204e+01] [-2.16398679e-02 9.99765804e-01 2.28782833e-04 -3.45496279e-01] [ 1.10864219e-02 1.11425431e-05 9.99938544e-01 1.83595629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.506338938 meters 0.03476240925537425 Centerline is valid? [True, True] Translation: X:-10.10, Y:-0.35, Z:0.02 [[ 9.99698422e-01 2.19137118e-02 -1.10839978e-02 -1.01007861e+01] [-2.19124851e-02 9.99759866e-01 2.32118444e-04 -3.45116185e-01] [ 1.10864227e-02 1.08294948e-05 9.99938544e-01 1.86642268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.536338938000002 meters 0.032040672611426936 Centerline is valid? [True, True] Translation: X:-10.13, Y:-0.33, Z:0.02 [[ 9.99657722e-01 2.47369724e-02 -8.51596985e-03 -1.01286174e+01] [-2.47363481e-02 9.99693994e-01 1.78641335e-04 -3.30215378e-01] [ 8.51778295e-03 3.20738044e-05 9.99963723e-01 2.10403419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.566338938000001 meters 0.031913077885470334 Centerline is valid? [True, True] Translation: X:-10.16, Y:-0.32, Z:0.03 [[ 9.99637343e-01 2.64045768e-02 -5.28971066e-03 -1.01559576e+01] [-2.64043567e-02 9.99651338e-01 1.11470838e-04 -3.17895913e-01] [ 5.29080968e-03 2.82409945e-05 9.99986003e-01 3.13176814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.596338938000002 meters 0.03225341768041092 Centerline is valid? [True, True] Translation: X:-10.19, Y:-0.32, Z:0.03 [[ 9.99577002e-01 2.80627918e-02 -7.63523376e-03 -1.01869261e+01] [-2.80624109e-02 9.99606161e-01 1.57042494e-04 -3.20831660e-01] [ 7.63663376e-03 5.72870013e-05 9.99970839e-01 2.58545944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.626338938000002 meters 0.03237855389585326 Centerline is valid? [True, True] Translation: X:-10.22, Y:-0.33, Z:0.01 [[ 9.99463252e-01 3.07896126e-02 -1.11896418e-02 -1.02181477e+01] [-3.07889414e-02 9.99525881e-01 2.32291344e-04 -3.31352779e-01] [ 1.11914887e-02 1.12350563e-04 9.99937367e-01 1.04642326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.656338938000001 meters 0.03672121678364962 Centerline is valid? [True, True] Translation: X:-10.25, Y:-0.33, Z:0.03 [[ 9.99453494e-01 3.13459888e-02 -1.04948841e-02 -1.02460567e+01] [-3.13454093e-02 9.99508588e-01 2.19743169e-04 -3.31444790e-01] [ 1.04966149e-02 1.09343359e-04 9.99944903e-01 2.58087872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.686338938000002 meters 0.03303750461835855 Centerline is valid? [True, True] Translation: X:-10.27, Y:-0.31, Z:0.02 [[ 9.99290453e-01 3.68480216e-02 -7.79838566e-03 -1.02749006e+01] [-3.68478411e-02 9.99320874e-01 1.66874456e-04 -3.12633188e-01] [ 7.79923857e-03 1.20597625e-04 9.99969578e-01 2.45882738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.716338938000002 meters 0.03424688259871404 Centerline is valid? [True, True] Translation: X:-10.31, Y:-0.31, Z:0.03 [[ 9.99207906e-01 3.91316839e-02 -7.22986199e-03 -1.03073115e+01] [-3.91316147e-02 9.99234054e-01 1.51087899e-04 -3.05769278e-01] [ 7.23023663e-03 1.31947950e-04 9.99973853e-01 3.03530091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.746338938000001 meters 0.03431384469725503 Centerline is valid? [True, True] Translation: X:-10.34, Y:-0.31, Z:0.02 [[ 9.99070072e-01 4.15688947e-02 -1.14462942e-02 -1.03382722e+01] [-4.15688764e-02 9.99135612e-01 2.39617277e-04 -3.09399113e-01] [ 1.14463608e-02 2.36415138e-04 9.99934460e-01 2.48431570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.776338938000002 meters 0.03392919553405711 Centerline is valid? [True, True] Translation: X:-10.37, Y:-0.30, Z:0.03 [[ 9.99030275e-01 4.23015653e-02 -1.22101282e-02 -1.03695859e+01] [-4.23016043e-02 9.99104854e-01 2.55188106e-04 -3.00901848e-01] [ 1.22099932e-02 2.61567369e-04 9.99925421e-01 2.72626102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.806338938000001 meters 0.03406974649786144 Centerline is valid? [True, True] Translation: X:-10.40, Y:-0.30, Z:0.03 [[ 9.99013473e-01 4.30291354e-02 -1.09806210e-02 -1.03996214e+01] [-4.30292068e-02 9.99073788e-01 2.29852590e-04 -2.96353214e-01] [ 1.09803410e-02 2.42861578e-04 9.99939685e-01 2.96713071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.836338938 meters 0.03555626052148706 Centerline is valid? [True, True] Translation: X:-10.43, Y:-0.31, Z:0.04 [[ 9.99158094e-01 4.05420868e-02 -6.28027686e-03 -1.04296771e+01] [-4.05420611e-02 9.99177824e-01 1.31462319e-04 -3.05052034e-01] [ 6.28044312e-03 1.23263728e-04 9.99980270e-01 3.87174979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.866338938000002 meters 0.03371668512278384 Centerline is valid? [True, True] Translation: X:-10.46, Y:-0.30, Z:0.03 [[ 9.99096495e-01 4.12441582e-02 -1.02525069e-02 -1.04610780e+01] [-4.12441343e-02 9.99149076e-01 2.13854181e-04 -3.04612455e-01] [ 1.02526030e-02 2.09194807e-04 9.99947419e-01 2.71036752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.896338938000001 meters 0.033535023872492874 Centerline is valid? [True, True] Translation: X:-10.49, Y:-0.30, Z:0.03 [[ 9.99112130e-01 3.92106988e-02 -1.54101441e-02 -1.04917756e+01] [-3.92104087e-02 9.99230925e-01 3.21075362e-04 -3.02568520e-01] [ 1.54108821e-02 2.83447758e-04 9.99881205e-01 2.78295848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.926338938000002 meters 0.03658718424525963 Centerline is valid? [True, True] Translation: X:-10.52, Y:-0.30, Z:0.04 [[ 9.99204735e-01 3.75120621e-02 -1.35182601e-02 -1.05206205e+01] [-3.75115946e-02 9.99296151e-01 2.88232454e-04 -3.04498867e-01] [ 1.35195575e-02 2.19088261e-04 9.99908583e-01 3.93990191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.956338938000002 meters 0.03567178728057962 Centerline is valid? [True, True] Translation: X:-10.55, Y:-0.30, Z:0.05 [[ 9.99334918e-01 3.58111793e-02 -6.87612536e-03 -1.05505922e+01] [-3.58110256e-02 9.99358569e-01 1.45506441e-04 -3.04827833e-01] [ 6.87692556e-03 1.00831434e-04 9.99976349e-01 4.82248961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.986338938000001 meters 0.033176660824222264 Centerline is valid? [True, True] Translation: X:-10.58, Y:-0.30, Z:0.05 [[ 9.99322141e-01 3.64880818e-02 -4.88649908e-03 -1.05814054e+01] [-3.64880169e-02 9.99334085e-01 1.02448399e-04 -2.97606449e-01] [ 4.88698324e-03 7.59197083e-05 9.99988056e-01 4.57315294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.016338938000002 meters 0.03321632921624568 Centerline is valid? [True, True] Translation: X:-10.61, Y:-0.29, Z:0.04 [[ 9.99270952e-01 3.64978274e-02 -1.12014390e-02 -1.06119958e+01] [-3.64974818e-02 9.99333717e-01 2.35334295e-04 -2.93481099e-01] [ 1.12025649e-02 1.73661593e-04 9.99937234e-01 4.01709618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.046338938000002 meters 0.03641671353562724 Centerline is valid? [True, True] Translation: X:-10.64, Y:-0.30, Z:0.04 [[ 9.99244656e-01 3.59935823e-02 -1.46485315e-02 -1.06418602e+01] [-3.59929158e-02 9.99351997e-01 3.09216009e-04 -3.03357197e-01] [ 1.46501690e-02 2.18260916e-04 9.99892657e-01 3.58973430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.076338938000001 meters 0.03644555357559394 Centerline is valid? [True, True] Translation: X:-10.67, Y:-0.31, Z:0.04 [[ 9.99325178e-01 3.49413771e-02 -1.13264520e-02 -1.06713507e+01] [-3.49409055e-02 9.99389351e-01 2.39579858e-04 -3.09668370e-01] [ 1.13279068e-02 1.56338307e-04 9.99935825e-01 4.22248752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.106338938000002 meters 0.03690279280851238 Centerline is valid? [True, True] Translation: X:-10.70, Y:-0.30, Z:0.06 [[ 9.99429082e-01 3.31642490e-02 -6.45315207e-03 -1.06998391e+01] [-3.31640545e-02 9.99449912e-01 1.37180407e-04 -2.99349634e-01] [ 6.45415175e-03 7.69105983e-05 9.99979169e-01 6.41567292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.136338938000002 meters 0.0331692110396513 Centerline is valid? [True, True] Translation: X:-10.73, Y:-0.29, Z:0.05 [[ 9.99367767e-01 3.47459038e-02 -7.53582456e-03 -1.07321739e+01] [-3.47456983e-02 9.99396173e-01 1.58234589e-04 -2.88180603e-01] [ 7.53677223e-03 1.03702939e-04 9.99971593e-01 4.96611437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.166338938 meters 0.033838501007846494 Centerline is valid? [True, True] Translation: X:-10.76, Y:-0.30, Z:0.04 [[ 9.99247231e-01 3.59907926e-02 -1.44787208e-02 -1.07624727e+01] [-3.59901432e-02 9.99352098e-01 3.05495897e-04 -2.98927599e-01] [ 1.44803351e-02 2.15825306e-04 9.99895131e-01 3.64108811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.196338938000002 meters 0.03413493355859552 Centerline is valid? [True, True] Translation: X:-10.79, Y:-0.31, Z:0.04 [[ 9.99237878e-01 3.64650513e-02 -1.39270716e-02 -1.07917259e+01] [-3.64644100e-02 9.99334907e-01 3.00064263e-04 -3.06619914e-01] [ 1.39287507e-02 2.08006873e-04 9.99902969e-01 4.38669970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.226338938000001 meters 0.03384375470419049 Centerline is valid? [True, True] Translation: X:-10.82, Y:-0.30, Z:0.05 [[ 9.99249231e-01 3.70466515e-02 -1.13366489e-02 -1.08201830e+01] [-3.70462262e-02 9.99313522e-01 2.47578497e-04 -3.04349203e-01] [ 1.13380385e-02 1.72587438e-04 9.99935707e-01 4.97211771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.256338938 meters 0.03329595606033374 Centerline is valid? [True, True] Translation: X:-10.85, Y:-0.30, Z:0.06 [[ 9.99320407e-01 3.58804621e-02 -8.44492356e-03 -1.08485395e+01] [-3.58801930e-02 9.99356082e-01 1.83419159e-04 -3.02952091e-01] [ 8.44606688e-03 1.19710979e-04 9.99964324e-01 5.63833892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.286338938000002 meters 0.03494178071788768 Centerline is valid? [True, True] Translation: X:-10.88, Y:-0.30, Z:0.06 [[ 9.99300301e-01 3.54965115e-02 -1.17858131e-02 -1.08787186e+01] [-3.54959752e-02 9.99369787e-01 2.54746930e-04 -3.03190080e-01] [ 1.17874282e-02 1.63780247e-04 9.99930512e-01 5.86273648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.316338938000001 meters 0.033536713948273095 Centerline is valid? [True, True] Translation: X:-10.91, Y:-0.30, Z:0.05 [[ 9.99226179e-01 3.70302376e-02 -1.32591717e-02 -1.09070333e+01] [-3.70296092e-02 9.99314126e-01 2.92975415e-04 -2.98241986e-01] [ 1.32609265e-02 1.98233242e-04 9.99912050e-01 5.18883692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.346338938000002 meters 0.03532827538384113 Centerline is valid? [True, True] Translation: X:-10.94, Y:-0.29, Z:0.06 [[ 9.99248509e-01 3.73797739e-02 -1.02551983e-02 -1.09356678e+01] [-3.73793839e-02 9.99301120e-01 2.29763583e-04 -2.93722757e-01] [ 1.02566197e-02 1.53742078e-04 9.99947388e-01 5.71299978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.376338938000002 meters 0.03439667535651157 Centerline is valid? [True, True] Translation: X:-10.97, Y:-0.29, Z:0.06 [[ 9.99179252e-01 3.95167756e-02 -8.90208734e-03 -1.09657107e+01] [-3.95165879e-02 9.99218895e-01 1.97043193e-04 -2.88899794e-01] [ 8.90292039e-03 1.54898647e-04 9.99960356e-01 6.18733215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.406338938000001 meters 0.033816738783566246 Centerline is valid? [True, True] Translation: X:-11.00, Y:-0.29, Z:0.06 [[ 9.99178003e-01 3.93038770e-02 -9.92590566e-03 -1.09969196e+01] [-3.93036575e-02 9.99227289e-01 2.17255362e-04 -2.85938738e-01] [ 9.92677478e-03 1.73047618e-04 9.99950713e-01 5.76599377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.436338938000002 meters 0.03377295878160659 Centerline is valid? [True, True] Translation: X:-11.03, Y:-0.28, Z:0.06 [[ 9.99193452e-01 3.85940351e-02 -1.10880556e-02 -1.10285771e+01] [-3.85937102e-02 9.99254956e-01 2.43343214e-04 -2.84634451e-01] [ 1.10891861e-02 1.84782257e-04 9.99938496e-01 5.63544645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.466338938000002 meters 0.03434540285897941 Centerline is valid? [True, True] Translation: X:-11.06, Y:-0.29, Z:0.05 [[ 9.99113450e-01 4.06014796e-02 -1.11280582e-02 -1.10595755e+01] [-4.06012767e-02 9.99175398e-01 2.44235515e-04 -2.86100292e-01] [ 1.11287983e-02 2.07794381e-04 9.99938051e-01 5.47470843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.496338938000001 meters 0.03391106339884298 Centerline is valid? [True, True] Translation: X:-11.09, Y:-0.29, Z:0.06 [[ 9.99091870e-01 4.07925068e-02 -1.23047396e-02 -1.10896943e+01] [-4.07922758e-02 9.99167612e-01 2.69853978e-04 -2.90353585e-01] [ 1.23055053e-02 2.32329414e-04 9.99924257e-01 6.04375081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.526338938000002 meters 0.033887777765554 Centerline is valid? [True, True] Translation: X:-11.12, Y:-0.28, Z:0.07 [[ 9.99003328e-01 4.28185193e-02 -1.26065161e-02 -1.11201210e+01] [-4.28184356e-02 9.99082832e-01 2.76675357e-04 -2.78451576e-01] [ 1.26068006e-02 2.63391694e-04 9.99920496e-01 6.71777726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.556338938000001 meters 0.034789506253178684 Centerline is valid? [True, True] Translation: X:-11.15, Y:-0.28, Z:0.08 [[ 9.98947578e-01 4.46161901e-02 -1.06363753e-02 -1.11505564e+01] [-4.46162322e-02 9.99004173e-01 2.33436654e-04 -2.81439777e-01] [ 1.06361984e-02 2.41364010e-04 9.99943405e-01 7.54092032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.586338938 meters 0.034246158400507466 Centerline is valid? [True, True] Translation: X:-11.18, Y:-0.29, Z:0.07 [[ 9.98879054e-01 4.57842063e-02 -1.20183888e-02 -1.11817151e+01] [-4.57843548e-02 9.98951312e-01 2.62922385e-04 -2.85671051e-01] [ 1.20178229e-02 2.87626513e-04 9.99927742e-01 7.03219486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.616338938000002 meters 0.03659290545593342 Centerline is valid? [True, True] Translation: X:-11.21, Y:-0.27, Z:0.08 [[ 9.98735568e-01 4.85356163e-02 -1.30980629e-02 -1.12131095e+01] [-4.85360407e-02 9.98821391e-01 2.85664625e-04 -2.70815632e-01] [ 1.30964903e-02 3.50424692e-04 9.99914176e-01 7.58623587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.646338938000001 meters 0.034591864071645634 Centerline is valid? [True, True] Translation: X:-11.24, Y:-0.26, Z:0.08 [[ 9.98716839e-01 4.92461193e-02 -1.18107894e-02 -1.12440528e+01] [-4.92465215e-02 9.98786621e-01 2.56952227e-04 -2.61306024e-01] [ 1.18091123e-02 3.25017776e-04 9.99930217e-01 7.60171582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.676338938000002 meters 0.03512630102810962 Centerline is valid? [True, True] Translation: X:-11.28, Y:-0.26, Z:0.07 [[ 9.98599880e-01 5.19456086e-02 -9.99667729e-03 -1.12761889e+01] [-5.19460417e-02 9.98649870e-01 2.16503274e-04 -2.63816492e-01] [ 9.99442687e-03 3.03087672e-04 9.99950009e-01 7.41091084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.706338938000002 meters 0.035371310756148876 Centerline is valid? [True, True] Translation: X:-11.31, Y:-0.27, Z:0.07 [[ 9.98468485e-01 5.37594068e-02 -1.30618303e-02 -1.13067323e+01] [-5.37602938e-02 9.98553830e-01 2.83455416e-04 -2.70626162e-01] [ 1.30581790e-02 4.19186533e-04 9.99914650e-01 7.32897492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.736338938000001 meters 0.03601427297496808 Centerline is valid? [True, True] Translation: X:-11.34, Y:-0.26, Z:0.08 [[ 9.98483577e-01 5.26393840e-02 -1.61133997e-02 -1.13385458e+01] [-5.26406165e-02 9.98613461e-01 3.47930190e-04 -2.60287306e-01] [ 1.61093727e-02 5.00816716e-04 9.99870110e-01 7.73306017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.766338938000002 meters 0.03455030968262504 Centerline is valid? [True, True] Translation: X:-11.37, Y:-0.25, Z:0.09 [[ 9.98563342e-01 5.18334029e-02 -1.35849550e-02 -1.13679647e+01] [-5.18341889e-02 9.98655661e-01 2.94473397e-04 -2.53463665e-01] [ 1.35819558e-02 4.10114787e-04 9.99907677e-01 8.53437843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.796338938000002 meters 0.03501981866447786 Centerline is valid? [True, True] Translation: X:-11.40, Y:-0.25, Z:0.09 [[ 9.98680084e-01 5.05821565e-02 -8.91821845e-03 -1.13994989e+01] [-5.05824531e-02 9.98719870e-01 1.92441008e-04 -2.53465018e-01] [ 8.91653605e-03 2.58918364e-04 9.99960213e-01 8.64442847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.826338938000001 meters 0.03615315814561901 Centerline is valid? [True, True] Translation: X:-11.43, Y:-0.27, Z:0.09 [[ 9.98644801e-01 5.10364452e-02 -1.01902911e-02 -1.14315887e+01] [-5.10368663e-02 9.98696746e-01 2.18888520e-04 -2.66761316e-01] [ 1.01881818e-02 3.01488641e-04 9.99948054e-01 8.71728815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.856338938000002 meters 0.036896504517653965 Centerline is valid? [True, True] Translation: X:-11.46, Y:-0.28, Z:0.09 [[ 9.98647100e-01 4.96955514e-02 -1.53075868e-02 -1.14625261e+01] [-4.96963409e-02 9.98764319e-01 3.29037199e-04 -2.77032572e-01] [ 1.53050232e-02 4.32139007e-04 9.99882778e-01 8.90691486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.886338938000002 meters 0.03484094257704914 Centerline is valid? [True, True] Translation: X:-11.49, Y:-0.26, Z:0.09 [[ 9.98841927e-01 4.58352555e-02 -1.46264595e-02 -1.14911961e+01] [-4.58355374e-02 9.98948949e-01 3.16130599e-04 -2.63033865e-01] [ 1.46255763e-02 3.54647133e-04 9.99892978e-01 9.20709037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.916338938 meters 0.03653894273891194 Centerline is valid? [True, True] Translation: X:-11.52, Y:-0.26, Z:0.10 [[ 9.98919458e-01 4.45146938e-02 -1.33550912e-02 -1.15195623e+01] [-4.45148010e-02 9.99008683e-01 2.89385786e-04 -2.61951753e-01] [ 1.33547340e-02 3.05426133e-04 9.99910775e-01 9.89557701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.946338938000002 meters 0.03703802694990153 Centerline is valid? [True, True] Translation: X:-11.55, Y:-0.27, Z:0.10 [[ 9.98901951e-01 4.44145661e-02 -1.49076700e-02 -1.15496691e+01] [-4.44146910e-02 9.99013129e-01 3.22859187e-04 -2.71468632e-01] [ 1.49072977e-02 3.39614885e-04 9.99888822e-01 1.00657531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.976338938000001 meters 0.0338752725498336 Centerline is valid? [True, True] Translation: X:-11.58, Y:-0.28, Z:0.09 [[ 9.99017543e-01 4.19619909e-02 -1.42527083e-02 -1.15785633e+01] [-4.19617653e-02 9.99119168e-01 3.15008532e-04 -2.78652639e-01] [ 1.42533724e-02 2.83369752e-04 9.99898375e-01 9.27900019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.006338938000003 meters 0.033893586216862004 Centerline is valid? [True, True] Translation: X:-11.61, Y:-0.27, Z:0.10 [[ 9.99099306e-01 4.10748127e-02 -1.06506590e-02 -1.16075894e+01] [-4.10746463e-02 9.99156053e-01 2.34460342e-04 -2.74717914e-01] [ 1.06513008e-02 2.03222885e-04 9.99943253e-01 9.84520106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.036338938000002 meters 0.03354891343781827 Centerline is valid? [True, True] Translation: X:-11.64, Y:-0.27, Z:0.10 [[ 9.99170269e-01 3.93098699e-02 -1.06540386e-02 -1.16389522e+01] [-3.93096178e-02 9.99227051e-01 2.33154232e-04 -2.71051882e-01] [ 1.06549688e-02 1.85845408e-04 9.99943217e-01 1.01965779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.066338938000001 meters 0.03331741324034713 Centerline is valid? [True, True] Translation: X:-11.67, Y:-0.27, Z:0.09 [[ 9.99177057e-01 3.83853997e-02 -1.31061054e-02 -1.16704521e+01] [-3.83849436e-02 9.99262985e-01 2.86437811e-04 -2.68826039e-01] [ 1.31074410e-02 2.16875027e-04 9.99914070e-01 9.45172948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.096338938000002 meters 0.03567968084813805 Centerline is valid? [True, True] Translation: X:-11.70, Y:-0.27, Z:0.10 [[ 9.99210171e-01 3.78461506e-02 -1.21120856e-02 -1.16982373e+01] [-3.78456921e-02 9.99283559e-01 2.67132921e-04 -2.69257728e-01] [ 1.21135179e-02 1.91468330e-04 9.99926610e-01 1.03276676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.126338938000002 meters 0.033317634075494915 Centerline is valid? [True, True] Translation: X:-11.73, Y:-0.27, Z:0.10 [[ 9.99215394e-01 3.80583046e-02 -1.09618114e-02 -1.17269742e+01] [-3.80578913e-02 9.99275506e-01 2.46376837e-04 -2.71480087e-01] [ 1.09632463e-02 1.70999896e-04 9.99939887e-01 1.02237475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.156338938000001 meters 0.03343194633465893 Centerline is valid? [True, True] Translation: X:-11.76, Y:-0.27, Z:0.10 [[ 9.99080638e-01 4.06933934e-02 -1.34880200e-02 -1.17563563e+01] [-4.06930476e-02 9.99171650e-01 3.00199791e-04 -2.72141403e-01] [ 1.34890634e-02 2.48944842e-04 9.99908987e-01 1.01007593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.186338938000002 meters 0.03416697743619384 Centerline is valid? [True, True] Translation: X:-11.79, Y:-0.27, Z:0.09 [[ 9.98922281e-01 4.29504448e-02 -1.75936406e-02 -1.17860455e+01] [-4.29501925e-02 9.99077138e-01 3.92371003e-04 -2.68535443e-01] [ 1.75942566e-02 3.63702113e-04 9.99845143e-01 8.98904170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.216338938000002 meters 0.03427411380055717 Centerline is valid? [True, True] Translation: X:-11.81, Y:-0.27, Z:0.09 [[ 9.98985755e-01 4.15555781e-02 -1.73377018e-02 -1.18144265e+01] [-4.15550874e-02 9.99136139e-01 3.88722491e-04 -2.72660980e-01] [ 1.73388781e-02 3.32141485e-04 9.99849615e-01 9.31989015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.246338938000001 meters 0.03353946518794045 Centerline is valid? [True, True] Translation: X:-11.84, Y:-0.27, Z:0.10 [[ 9.99043053e-01 4.17876015e-02 -1.29141179e-02 -1.18425132e+01] [-4.17873353e-02 9.99126486e-01 2.90560085e-04 -2.73197590e-01] [ 1.29149790e-02 2.49364541e-04 9.99916567e-01 1.03220684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.276338938000002 meters 0.034216408281092694 Centerline is valid? [True, True] Translation: X:-11.87, Y:-0.26, Z:0.11 [[ 9.99005411e-01 4.28044737e-02 -1.24885883e-02 -1.18714903e+01] [-4.28043037e-02 9.99083436e-01 2.81034001e-04 -2.61998354e-01] [ 1.24891713e-02 2.53810839e-04 9.99921975e-01 1.11768064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.306338938000001 meters 0.033657546287236204 Centerline is valid? [True, True] Translation: X:-11.90, Y:-0.26, Z:0.11 [[ 9.99016898e-01 4.28095165e-02 -1.15145030e-02 -1.19008959e+01] [-4.28093717e-02 9.99083225e-01 2.59162478e-04 -2.62643688e-01] [ 1.15150414e-02 2.34020945e-04 9.99933672e-01 1.08287268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.336338938000003 meters 0.036082214586881364 Centerline is valid? [True, True] Translation: X:-11.93, Y:-0.27, Z:0.12 [[ 9.99047267e-01 4.22349098e-02 -1.09896167e-02 -1.19317842e+01] [-4.22347496e-02 9.99107684e-01 2.46760565e-04 -2.66282007e-01] [ 1.09902324e-02 2.17618241e-04 9.99939582e-01 1.16638717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.366338938000002 meters 0.03376454619353903 Centerline is valid? [True, True] Translation: X:-11.96, Y:-0.28, Z:0.10 [[ 9.99108088e-01 3.99918341e-02 -1.35529331e-02 -1.19640027e+01] [-3.99913927e-02 9.99199978e-01 3.03689852e-04 -2.81826497e-01] [ 1.35542355e-02 2.38581681e-04 9.99908109e-01 1.00165564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.396338938000001 meters 0.03376454619353903 Centerline is valid? [True, True] Translation: X:-11.99, Y:-0.28, Z:0.10 [[ 9.99096800e-01 4.02729007e-02 -1.35527678e-02 -1.19913632e+01] [-4.02723858e-02 9.99188690e-01 3.11013532e-04 -2.81384105e-01] [ 1.35542977e-02 2.35069668e-04 9.99908109e-01 1.00468820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.426338938000002 meters 0.0354382400637175 Centerline is valid? [True, True] Translation: X:-12.02, Y:-0.27, Z:0.12 [[ 9.99148086e-01 3.87656987e-02 -1.41535174e-02 -1.20192014e+01] [-3.87649839e-02 9.99248303e-01 3.24947825e-04 -2.73197671e-01] [ 1.41554751e-02 2.23989877e-04 9.99899781e-01 1.16923700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.456338938000002 meters 0.03324824555073309 Centerline is valid? [True, True] Translation: X:-12.05, Y:-0.26, Z:0.11 [[ 9.99121899e-01 3.95635633e-02 -1.37896985e-02 -1.20473115e+01] [-3.95628827e-02 9.99217031e-01 3.22249884e-04 -2.59783311e-01] [ 1.37916509e-02 2.23593308e-04 9.99904866e-01 1.10843049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.486338938000001 meters 0.0337436710052277 Centerline is valid? [True, True] Translation: X:-12.08, Y:-0.26, Z:0.11 [[ 9.99047691e-01 4.07523137e-02 -1.55871762e-02 -1.20765986e+01] [-4.07515898e-02 9.99169243e-01 3.64187773e-04 -2.57843113e-01] [ 1.55890685e-02 2.71361258e-04 9.99878446e-01 1.05735731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.516338938000002 meters 0.03361463065119386 Centerline is valid? [True, True] Translation: X:-12.10, Y:-0.27, Z:0.11 [[ 9.98946819e-01 4.23050538e-02 -1.77633180e-02 -1.21047784e+01] [-4.23043443e-02 9.99104684e-01 4.15871127e-04 -2.73197919e-01] [ 1.77650077e-02 3.36032381e-04 9.99842133e-01 1.05172495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.546338938000002 meters 0.03591252115395139 Centerline is valid? [True, True] Translation: X:-12.13, Y:-0.27, Z:0.11 [[ 9.99054788e-01 4.02896988e-02 -1.63177754e-02 -1.21335039e+01] [-4.02887361e-02 9.99188004e-01 3.87861951e-04 -2.71913460e-01] [ 1.63201523e-02 2.69927208e-04 9.99866781e-01 1.12666516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.576338938000001 meters 0.034686774352566244 Centerline is valid? [True, True] Translation: X:-12.16, Y:-0.27, Z:0.12 [[ 9.99132439e-01 3.94300939e-02 -1.34028808e-02 -1.21620716e+01] [-3.94293811e-02 9.99222309e-01 3.17524068e-04 -2.65055566e-01] [ 1.34049775e-02 2.11218700e-04 9.99910127e-01 1.23093674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.606338938000002 meters 0.03305365669297387 Centerline is valid? [True, True] Translation: X:-12.19, Y:-0.26, Z:0.13 [[ 9.99115904e-01 4.04046492e-02 -1.16135759e-02 -1.21899903e+01] [-4.04041520e-02 9.99183380e-01 2.77526182e-04 -2.60623466e-01] [ 1.16153053e-02 1.91955862e-04 9.99932522e-01 1.27781329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.636338938000002 meters 0.033432666103160646 Centerline is valid? [True, True] Translation: X:-12.22, Y:-0.26, Z:0.12 [[ 9.99085642e-01 4.11720357e-02 -1.15214132e-02 -1.22210696e+01] [-4.11716097e-02 9.99152052e-01 2.74261641e-04 -2.61820398e-01] [ 1.15229355e-02 2.00344259e-04 9.99933589e-01 1.23584162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.666338938 meters 0.033689111473089305 Centerline is valid? [True, True] Translation: X:-12.25, Y:-0.26, Z:0.13 [[ 9.99095203e-01 3.99986512e-02 -1.44528100e-02 -1.22517755e+01] [-3.99978610e-02 9.99199706e-01 3.43845007e-04 -2.60711069e-01] [ 1.44549968e-02 2.34547588e-04 9.99895494e-01 1.26083155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.696338938000002 meters 0.03298611137062431 Centerline is valid? [True, True] Translation: X:-12.28, Y:-0.26, Z:0.12 [[ 9.99190327e-01 3.78978124e-02 -1.35072531e-02 -1.22808893e+01] [-3.78968540e-02 9.99281603e-01 3.26989223e-04 -2.59036845e-01] [ 1.35099417e-02 1.85157930e-04 9.99908719e-01 1.22653301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.726338938000001 meters 0.0324079830601695 Centerline is valid? [True, True] Translation: X:-12.31, Y:-0.26, Z:0.13 [[ 9.99180821e-01 3.79970290e-02 -1.39252729e-02 -1.23085160e+01] [-3.79960279e-02 9.99277834e-01 3.36542376e-04 -2.56565882e-01] [ 1.39280041e-02 1.92838369e-04 9.99902982e-01 1.25156224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.756338938000003 meters 0.032395441980838977 Centerline is valid? [True, True] Translation: X:-12.34, Y:-0.25, Z:0.12 [[ 9.99345560e-01 3.35417265e-02 -1.35427111e-02 -1.23375366e+01] [-3.35403057e-02 9.99437310e-01 3.32086770e-04 -2.53463372e-01] [ 1.35462295e-02 1.22357231e-04 9.99908238e-01 1.23435190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.786338938000002 meters 0.0326570345517441 Centerline is valid? [True, True] Translation: X:-12.37, Y:-0.25, Z:0.13 [[ 9.99378162e-01 3.22824815e-02 -1.41820220e-02 -1.23656184e+01] [-3.22807442e-02 9.99478779e-01 3.51457954e-04 -2.51703478e-01] [ 1.41859760e-02 1.06566820e-04 9.99899368e-01 1.31354502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.816338938000001 meters 0.03312386593131037 Centerline is valid? [True, True] Translation: X:-12.39, Y:-0.25, Z:0.14 [[ 9.99423806e-01 3.16165393e-02 -1.23470530e-02 -1.23934508e+01] [-3.16151781e-02 9.99500069e-01 3.05465029e-04 -2.52453172e-01] [ 1.23505380e-02 8.50652570e-05 9.99923726e-01 1.40776689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.846338938000002 meters 0.03197729354080021 Centerline is valid? [True, True] Translation: X:-12.42, Y:-0.25, Z:0.14 [[ 9.99398768e-01 3.24403562e-02 -1.22362246e-02 -1.24205070e+01] [-3.24390588e-02 9.99473669e-01 3.04540447e-04 -2.51387961e-01] [ 1.22396637e-02 9.25742621e-05 9.99925088e-01 1.43504917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.876338938000002 meters 0.03502526512908236 Centerline is valid? [True, True] Translation: X:-12.45, Y:-0.25, Z:0.15 [[ 9.99316599e-01 3.42758631e-02 -1.38383452e-02 -1.24492810e+01] [-3.42743192e-02 9.99412402e-01 3.48783679e-04 -2.46515313e-01] [ 1.38421687e-02 1.25754542e-04 9.99904185e-01 1.53731159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.906338938000001 meters 0.03308283718124829 Centerline is valid? [True, True] Translation: X:-12.48, Y:-0.25, Z:0.14 [[ 9.99321753e-01 3.40631263e-02 -1.39906461e-02 -1.24776645e+01] [-3.40614701e-02 9.99419676e-01 3.56717500e-04 -2.46180318e-01] [ 1.39946779e-02 1.20066415e-04 9.99902062e-01 1.41633678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.936338938000002 meters 0.03301093786477094 Centerline is valid? [True, True] Translation: X:-12.51, Y:-0.24, Z:0.15 [[ 9.99263637e-01 3.63880967e-02 -1.21692674e-02 -1.25056464e+01] [-3.63870240e-02 9.99337725e-01 3.09622490e-04 -2.43126691e-01] [ 1.21724745e-02 1.33408928e-04 9.99925904e-01 1.46898127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.966338938000002 meters 0.03264315989511095 Centerline is valid? [True, True] Translation: X:-12.53, Y:-0.23, Z:0.16 [[ 9.99210338e-01 3.87814102e-02 -8.64312777e-03 -1.25328962e+01] [-3.87809417e-02 9.99247712e-01 2.21855563e-04 -2.31429238e-01] [ 8.64522952e-03 1.13508262e-04 9.99962623e-01 1.56308955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.996338938000001 meters 0.03261018597507841 Centerline is valid? [True, True] Translation: X:-12.56, Y:-0.22, Z:0.16 [[ 9.99166227e-01 3.99188039e-02 -8.56386414e-03 -1.25648243e+01] [-3.99184095e-02 9.99202919e-01 2.17048738e-04 -2.20081901e-01] [ 8.56570237e-03 1.24988067e-04 9.99963306e-01 1.61259948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.026338938000002 meters 0.033623691583555965 Centerline is valid? [True, True] Translation: X:-12.60, Y:-0.22, Z:0.15 [[ 9.99299793e-01 3.54385443e-02 -1.20014089e-02 -1.25969726e+01] [-3.54374523e-02 9.99371850e-01 3.03700790e-04 -2.18804386e-01] [ 1.20046330e-02 1.21811219e-04 9.99927934e-01 1.52638504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.056338938000001 meters 0.03332667103654775 Centerline is valid? [True, True] Translation: X:-12.63, Y:-0.22, Z:0.15 [[ 9.99269920e-01 3.50729276e-02 -1.51498318e-02 -1.26252643e+01] [-3.50711048e-02 9.99384745e-01 3.86054824e-04 -2.20492025e-01] [ 1.51540509e-02 1.45548367e-04 9.99885160e-01 1.49732897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.086338938000003 meters 0.03485748030891863 Centerline is valid? [True, True] Translation: X:-12.65, Y:-0.22, Z:0.16 [[ 9.99375674e-01 3.30769830e-02 -1.24167431e-02 -1.26548428e+01] [-3.30756022e-02 9.99452802e-01 3.16595305e-04 -2.18097888e-01] [ 1.24204207e-02 9.42936101e-05 9.99922859e-01 1.61986109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.116338938000002 meters 0.03441207434517796 Centerline is valid? [True, True] Translation: X:-12.68, Y:-0.21, Z:0.17 [[ 9.99438926e-01 3.22066261e-02 -9.19597383e-03 -1.26824468e+01] [-3.22058189e-02 9.99481230e-01 2.35879982e-04 -2.13851650e-01] [ 9.19880013e-03 6.04162319e-05 9.99957688e-01 1.72123687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.146338938000001 meters 0.03323282065656287 Centerline is valid? [True, True] Translation: X:-12.71, Y:-0.22, Z:0.16 [[ 9.99618566e-01 2.61154850e-02 -8.98355884e-03 -1.27134616e+01] [-2.61144768e-02 9.99658933e-01 2.29532304e-04 -2.15141736e-01] [ 8.98648919e-03 5.15618682e-06 9.99959621e-01 1.63317404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.176338938000002 meters 0.03339326599577259 Centerline is valid? [True, True] Translation: X:-12.74, Y:-0.22, Z:0.16 [[ 9.99620284e-01 2.40715341e-02 -1.34108105e-02 -1.27417935e+01] [-2.40690814e-02 9.99710238e-01 3.44286604e-04 -2.19479048e-01] [ 1.34152120e-02 -2.13699842e-05 9.99910012e-01 1.55662179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.206338938000002 meters 0.034295118319041286 Centerline is valid? [True, True] Translation: X:-12.77, Y:-0.22, Z:0.17 [[ 9.99768643e-01 1.97887783e-02 -8.42994384e-03 -1.27709826e+01] [-1.97876526e-02 9.99804182e-01 2.16932706e-04 -2.20697536e-01] [ 8.43258594e-03 -5.00737170e-05 9.99964444e-01 1.65261754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.236338938000001 meters 0.03449865096807409 Centerline is valid? [True, True] Translation: X:-12.80, Y:-0.21, Z:0.17 [[ 9.99696302e-01 2.32669345e-02 -8.12117553e-03 -1.27981223e+01] [-2.32659959e-02 9.99729288e-01 2.10049820e-04 -2.13162486e-01] [ 8.12386425e-03 -2.10387923e-05 9.99967001e-01 1.72720488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.266338938000002 meters 0.03340363258485466 Centerline is valid? [True, True] Translation: X:-12.83, Y:-0.20, Z:0.18 [[ 9.99630264e-01 2.63268292e-02 -6.79956780e-03 -1.28267060e+01] [-2.63262410e-02 9.99653389e-01 1.75999596e-04 -1.99955905e-01] [ 6.80184451e-03 3.07253801e-06 9.99976867e-01 1.78468651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.296338938000002 meters 0.03423810411948883 Centerline is valid? [True, True] Translation: X:-12.86, Y:-0.20, Z:0.17 [[ 9.99616209e-01 2.66548113e-02 -7.54692748e-03 -1.28577000e+01] [-2.66541056e-02 9.99644697e-01 1.94085897e-04 -1.98399128e-01] [ 7.54941936e-03 7.14519357e-06 9.99971503e-01 1.71432634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.326338938000001 meters 0.03441594162991352 Centerline is valid? [True, True] Translation: X:-12.89, Y:-0.19, Z:0.17 [[ 9.99564934e-01 2.85745364e-02 -7.31018492e-03 -1.28890941e+01] [-2.85739275e-02 9.99591664e-01 1.87733349e-04 -1.94746969e-01] [ 7.31256431e-03 2.12290214e-05 9.99973263e-01 1.69175496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.356338938000002 meters 0.035383150053145955 Centerline is valid? [True, True] Translation: X:-12.92, Y:-0.19, Z:0.17 [[ 9.99674066e-01 2.50797659e-02 -4.77158296e-03 -1.29199041e+01] [-2.50794667e-02 9.99685453e-01 1.22523455e-04 -1.92474749e-01] [ 4.77315494e-03 -2.81476390e-06 9.99988608e-01 1.71112593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.386338938000002 meters 0.03514508199528212 Centerline is valid? [True, True] Translation: X:-12.95, Y:-0.18, Z:0.18 [[ 9.99598642e-01 2.77605580e-02 -5.64862646e-03 -1.29505355e+01] [-2.77601851e-02 9.99614601e-01 1.44412268e-04 -1.81643026e-01] [ 5.65045846e-03 1.24526095e-05 9.99984036e-01 1.77196836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.416338938000003 meters 0.03583640083645222 Centerline is valid? [True, True] Translation: X:-12.98, Y:-0.18, Z:0.17 [[ 9.99696713e-01 2.43654540e-02 -3.57860916e-03 -1.29830759e+01] [-2.43652849e-02 9.99703118e-01 9.08485965e-05 -1.79770496e-01] [ 3.57976030e-03 -3.62721142e-06 9.99993593e-01 1.73891209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.446338938000002 meters 0.03618020529664988 Centerline is valid? [True, True] Translation: X:-13.01, Y:-0.18, Z:0.17 [[ 9.99737216e-01 2.23884329e-02 -4.92512987e-03 -1.30139277e+01] [-2.23880924e-02 9.99749348e-01 1.24265765e-04 -1.82308453e-01] [ 4.92667749e-03 -1.39688472e-05 9.99987864e-01 1.74032311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.476338938000001 meters 0.03701498648103851 Centerline is valid? [True, True] Translation: X:-13.05, Y:-0.19, Z:0.17 [[ 9.99856395e-01 1.66926376e-02 -2.92324177e-03 -1.30466640e+01] [-1.66924939e-02 9.99860668e-01 7.35453705e-05 -1.92583957e-01] [ 2.92406214e-03 -2.47386134e-05 9.99995725e-01 1.71856360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.506338938000003 meters 0.036825291967561395 Centerline is valid? [True, True] Translation: X:-13.08, Y:-0.19, Z:0.18 [[ 9.99870001e-01 1.58825814e-02 -2.77947037e-03 -1.30778874e+01] [-1.58824483e-02 9.99873864e-01 6.99485090e-05 -1.90896318e-01] [ 2.78023074e-03 -2.57946212e-05 9.99996135e-01 1.79933765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.536338938000002 meters 0.03888752309899056 Centerline is valid? [True, True] Translation: X:-13.11, Y:-0.19, Z:0.19 [[ 9.99929543e-01 1.17958843e-02 -1.32928845e-03 -1.31095119e+01] [-1.17958510e-02 9.99930426e-01 3.28741048e-05 -1.88678425e-01] [ 1.32958374e-03 -1.71917001e-05 9.99999116e-01 1.86044828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.566338938000001 meters 0.040777700024203035 Centerline is valid? [True, True] Translation: X:-13.14, Y:-0.19, Z:0.18 [[ 9.99975118e-01 7.04379469e-03 -3.84790476e-04 -1.31420488e+01] [-7.04379177e-03 9.99975192e-01 8.95018256e-06 -1.87885942e-01] [ 3.84843973e-04 -6.23957588e-06 9.99999926e-01 1.84278896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.596338938000002 meters 0.03996958939252047 Centerline is valid? [True, True] Translation: X:-13.17, Y:-0.19, Z:0.17 [[ 9.99988026e-01 4.88696131e-03 -2.57724934e-04 -1.31748697e+01] [-4.88696005e-03 9.99988059e-01 5.54528601e-06 -1.88208963e-01] [ 2.57748956e-04 -4.28572815e-06 9.99999967e-01 1.72725191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.626338938000002 meters 0.04177092490061486 Centerline is valid? [True, True] Translation: X:-13.21, Y:-0.19, Z:0.18 [[ 9.99983710e-01 5.58844596e-03 1.16173183e-03 -1.32065499e+01] [-5.58841522e-03 9.99984384e-01 -2.97090335e-05 -1.90536590e-01] [-1.16187971e-03 2.32163097e-05 9.99999325e-01 1.79648021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.656338938000001 meters 0.03895100903705581 Centerline is valid? [True, True] Translation: X:-13.24, Y:-0.19, Z:0.18 [[ 9.99937784e-01 1.00668870e-02 4.80478072e-03 -1.32377932e+01] [-1.00664170e-02 9.99949325e-01 -1.21991258e-04 -1.92606845e-01] [-4.80576531e-03 7.36167415e-05 9.99988450e-01 1.82441662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.686338938000002 meters 0.040803064304871836 Centerline is valid? [True, True] Translation: X:-13.27, Y:-0.19, Z:0.18 [[ 9.99945478e-01 8.69139706e-03 5.78799667e-03 -1.32694083e+01] [-8.69070726e-03 9.99962225e-01 -1.44319318e-04 -1.85186946e-01] [-5.78903236e-03 9.40096648e-05 9.99983239e-01 1.80342218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.716338938000002 meters 0.043228894283876565 Centerline is valid? [True, True] Translation: X:-13.30, Y:-0.18, Z:0.17 [[ 9.99988014e-01 4.69594208e-03 1.38566967e-03 -1.33006259e+01] [-4.69589851e-03 9.99988974e-01 -3.46933131e-05 -1.77696806e-01] [-1.38581731e-03 2.81859331e-05 9.99999039e-01 1.72563353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.746338938000001 meters 0.04277514284388709 Centerline is valid? [True, True] Translation: X:-13.33, Y:-0.18, Z:0.17 [[ 9.99978487e-01 5.22216521e-03 3.96915733e-03 -1.33314034e+01] [-5.22181517e-03 9.99986361e-01 -9.85486080e-05 -1.79674434e-01] [-3.96961783e-03 7.78202819e-05 9.99992118e-01 1.74450279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.776338938000002 meters 0.04189173367246422 Centerline is valid? [True, True] Translation: X:-13.36, Y:-0.18, Z:0.18 [[ 9.99938138e-01 6.30822799e-03 9.16118117e-03 -1.33635840e+01] [-6.30641552e-03 9.99980089e-01 -2.26716939e-04 -1.84513874e-01] [-9.16242894e-03 1.68928698e-04 9.99958010e-01 1.84695055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.806338938000001 meters 0.043152060371867154 Centerline is valid? [True, True] Translation: X:-13.39, Y:-0.18, Z:0.19 [[ 9.99927059e-01 3.59635983e-03 1.15300719e-02 -1.33948905e+01] [-3.59332076e-03 9.99993504e-01 -2.84282826e-04 -1.79084649e-01] [-1.15310194e-02 2.42830843e-04 9.99933486e-01 1.89365570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.836338938000003 meters 0.04506869413750789 Centerline is valid? [True, True] Translation: X:-13.43, Y:-0.18, Z:0.18 [[ 9.99871588e-01 -3.55807093e-03 1.56252324e-02 -1.34258958e+01] [ 3.56447167e-03 9.99993574e-01 -3.81810970e-04 -1.84301384e-01] [-1.56237735e-02 4.37457639e-04 9.99877846e-01 1.77661677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.866338938000002 meters 0.04597140578235949 Centerline is valid? [True, True] Translation: X:-13.46, Y:-0.20, Z:0.17 [[ 9.99911219e-01 -5.94330995e-03 1.19260567e-02 -1.34586953e+01] [ 5.94720389e-03 9.99982273e-01 -2.91068178e-04 -1.98290017e-01] [-1.19241154e-02 3.61969027e-04 9.99928840e-01 1.70103161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.896338938000001 meters 0.046842610017491 Centerline is valid? [True, True] Translation: X:-13.49, Y:-0.20, Z:0.16 [[ 9.99902042e-01 -9.72411101e-03 1.00672098e-02 -1.34895854e+01] [ 9.72705443e-03 9.99952661e-01 -2.43453770e-04 -2.03286436e-01] [-1.00643659e-02 3.41354219e-04 9.99949295e-01 1.63285607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.926338938000002 meters 0.04713969137581489 Centerline is valid? [True, True] Translation: X:-13.52, Y:-0.19, Z:0.17 [[ 9.99847115e-01 -1.25799575e-02 1.21446001e-02 -1.35206058e+01] [ 1.25844453e-02 9.99920770e-01 -2.93183158e-04 -1.92891150e-01] [-1.21399497e-02 4.45971391e-04 9.99926209e-01 1.66939921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.956338938000002 meters 0.051043700669057834 Centerline is valid? [True, True] Translation: X:-13.55, Y:-0.19, Z:0.17 [[ 9.99750273e-01 -1.50384235e-02 1.65298946e-02 -1.35518316e+01] [ 1.50470617e-02 9.99886707e-01 -3.98326756e-04 -1.90261864e-01] [-1.65220317e-02 6.46953628e-04 9.99863293e-01 1.66858423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.986338938000001 meters 0.04833869569648393 Centerline is valid? [True, True] Translation: X:-13.58, Y:-0.21, Z:0.16 [[ 9.99695651e-01 -1.57825705e-02 1.89609041e-02 -1.35840830e+01] [ 1.57940253e-02 9.99875163e-01 -4.54521660e-04 -2.05734168e-01] [-1.89513636e-02 7.53852326e-04 9.99820123e-01 1.61293116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.016338938000002 meters 0.04924333570610972 Centerline is valid? [True, True] Translation: X:-13.62, Y:-0.21, Z:0.15 [[ 9.99672028e-01 -1.82591508e-02 1.79565927e-02 -1.36161545e+01] [ 1.82697697e-02 9.99833002e-01 -4.27487336e-04 -2.12475449e-01] [-1.79457884e-02 7.55409945e-04 9.99838676e-01 1.52849906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.046338938000002 meters 0.05095958799995862 Centerline is valid? [True, True] Translation: X:-13.65, Y:-0.21, Z:0.15 [[ 9.99541680e-01 -2.23818602e-02 2.03833624e-02 -1.36472187e+01] [ 2.23963826e-02 9.99749052e-01 -4.84430683e-04 -2.08690518e-01] [-2.03674047e-02 9.40722240e-04 9.99792120e-01 1.48294089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.076338938000001 meters 0.05063191471380083 Centerline is valid? [True, True] Translation: X:-13.68, Y:-0.20, Z:0.15 [[ 9.99565718e-01 -2.24394581e-02 1.91009276e-02 -1.36786205e+01] [ 2.24521831e-02 9.99747816e-01 -4.51984465e-04 -2.02972460e-01] [-1.90859684e-02 8.80645702e-04 9.99817458e-01 1.48747279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.106338938000002 meters 0.052472294998461885 Centerline is valid? [True, True] Translation: X:-13.71, Y:-0.22, Z:0.15 [[ 9.99355437e-01 -2.69212772e-02 2.37477376e-02 -1.37100098e+01] [ 2.69421370e-02 9.99636839e-01 -5.58814486e-04 -2.15651772e-01] [-2.37240693e-02 1.19826909e-03 9.99717827e-01 1.50172161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.136338938000002 meters 0.05105624955799465 Centerline is valid? [True, True] Translation: X:-13.74, Y:-0.22, Z:0.15 [[ 9.99427443e-01 -2.31055871e-02 2.47167697e-02 -1.37406141e+01] [ 2.31270136e-02 9.99732366e-01 -5.81337050e-04 -2.23409136e-01] [-2.46967225e-02 1.15262927e-03 9.99694325e-01 1.52869463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.166338938000003 meters 0.05128277750177504 Centerline is valid? [True, True] Translation: X:-13.77, Y:-0.23, Z:0.15 [[ 9.99306433e-01 -2.51607509e-02 2.74515826e-02 -1.37721378e+01] [ 2.51879359e-02 9.99682526e-01 -6.44897158e-04 -2.26104907e-01] [-2.74266413e-02 1.33589858e-03 9.99622926e-01 1.47761396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.196338938000002 meters 0.05319491336471435 Centerline is valid? [True, True] Translation: X:-13.80, Y:-0.23, Z:0.14 [[ 9.99162945e-01 -2.88095493e-02 2.90416870e-02 -1.38033460e+01] [ 2.88414930e-02 9.99583765e-01 -6.81549365e-04 -2.25968499e-01] [-2.90099637e-02 1.51858448e-03 9.99577969e-01 1.39888442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.226338938000001 meters 0.051856852202605816 Centerline is valid? [True, True] Translation: X:-13.83, Y:-0.22, Z:0.13 [[ 9.99270295e-01 -2.79612093e-02 2.60201605e-02 -1.38343485e+01] [ 2.79864675e-02 9.99608118e-01 -6.06983651e-04 -2.20755136e-01] [-2.59929916e-02 1.33475311e-03 9.99661234e-01 1.31623217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.256338938000003 meters 0.0539653009141651 Centerline is valid? [True, True] Translation: X:-13.87, Y:-0.23, Z:0.13 [[ 9.99161876e-01 -3.15258791e-02 2.61087234e-02 -1.38656761e+01] [ 3.15524469e-02 9.99501914e-01 -6.06140046e-04 -2.34997970e-01] [-2.60766099e-02 1.42942613e-03 9.99658925e-01 1.26036581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.286338938000002 meters 0.05486487022830734 Centerline is valid? [True, True] Translation: X:-13.90, Y:-0.25, Z:0.12 [[ 9.99038000e-01 -3.42968120e-02 2.73276876e-02 -1.38970473e+01] [ 3.43269385e-02 9.99410456e-01 -6.33919145e-04 -2.47351335e-01] [-2.72898353e-02 1.57138517e-03 9.99626328e-01 1.21982652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.316338938000001 meters 0.05486487022830734 Centerline is valid? [True, True] Translation: X:-13.93, Y:-0.25, Z:0.12 [[ 9.99028922e-01 -3.45601495e-02 2.73277907e-02 -1.39297253e+01] [ 3.45902524e-02 9.99401380e-01 -6.29448127e-04 -2.46449792e-01] [-2.72896779e-02 1.57411206e-03 9.99626328e-01 1.22345070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.346338938000002 meters 0.05496180454636861 Centerline is valid? [True, True] Translation: X:-13.96, Y:-0.25, Z:0.12 [[ 9.98766417e-01 -3.95040723e-02 3.00844143e-02 -1.39589187e+01] [ 3.95427054e-02 9.99217643e-01 -6.90064052e-04 -2.45239733e-01] [-3.00336172e-02 1.87883193e-03 9.99547123e-01 1.19295011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.376338938000002 meters 0.05594730742594487 Centerline is valid? [True, True] Translation: X:-13.99, Y:-0.24, Z:0.12 [[ 9.98767818e-01 -3.91334463e-02 3.05191759e-02 -1.39898941e+01] [ 3.91729604e-02 9.99232201e-01 -6.97675541e-04 -2.43131929e-01] [-3.04684409e-02 1.89234235e-03 9.99533938e-01 1.18099091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.406338938000001 meters 0.05767679716803914 Centerline is valid? [True, True] Translation: X:-14.02, Y:-0.25, Z:0.11 [[ 9.98502814e-01 -4.28354803e-02 3.40184183e-02 -1.40210289e+01] [ 4.28866637e-02 9.99079642e-01 -7.75992018e-04 -2.54038976e-01] [-3.39538692e-02 2.23376668e-03 9.99420905e-01 1.09369061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.436338938000002 meters 0.057398724159180396 Centerline is valid? [True, True] Translation: X:-14.05, Y:-0.26, Z:0.10 [[ 9.98275161e-01 -4.75789473e-02 3.43939995e-02 -1.40511402e+01] [ 4.76340811e-02 9.98864544e-01 -7.84915510e-04 -2.61331169e-01] [-3.43176012e-02 2.42188822e-03 9.99408043e-01 9.60254579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.466338938000002 meters 0.058439203415689006 Centerline is valid? [True, True] Translation: X:-14.08, Y:-0.27, Z:0.09 [[ 9.98120438e-01 -5.18175709e-02 3.27189554e-02 -1.40820754e+01] [ 5.18697270e-02 9.98653580e-01 -7.46723782e-04 -2.72171778e-01] [-3.26362085e-02 2.44244355e-03 9.99464313e-01 9.34228247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.496338938000003 meters 0.06108875418902668 Centerline is valid? [True, True] Translation: X:-14.11, Y:-0.28, Z:0.10 [[ 9.98076424e-01 -5.27986739e-02 3.24923425e-02 -1.41149939e+01] [ 5.28505650e-02 9.98602158e-01 -7.39658477e-04 -2.83737973e-01] [-3.24078704e-02 2.45547435e-03 9.99471711e-01 9.50127692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.526338938000002 meters 0.05884760441249502 Centerline is valid? [True, True] Translation: X:-14.14, Y:-0.28, Z:0.09 [[ 9.97784848e-01 -5.54370382e-02 3.67713518e-02 -1.41446330e+01] [ 5.55052648e-02 9.98458044e-01 -8.36395287e-04 -2.78092328e-01] [-3.66682848e-02 2.87554616e-03 9.99323355e-01 9.19124955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.556338938000001 meters 0.05959108441138577 Centerline is valid? [True, True] Translation: X:-14.17, Y:-0.28, Z:0.08 [[ 9.97365623e-01 -5.99128437e-02 4.08933488e-02 -1.41740285e+01] [ 6.00010102e-02 9.98197882e-01 -9.30987401e-04 -2.79489818e-01] [-4.07638760e-02 3.38217707e-03 9.99163083e-01 8.30211662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.586338938000003 meters 0.06188572740988602 Centerline is valid? [True, True] Translation: X:-14.21, Y:-0.30, Z:0.08 [[ 9.97263623e-01 -6.14239571e-02 4.11383467e-02 -1.42062224e+01] [ 6.15144077e-02 9.98105757e-01 -9.35279787e-04 -2.95261285e-01] [-4.10029721e-02 3.46332154e-03 9.99153022e-01 7.53124392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.616338938000002 meters 0.05925002750027825 Centerline is valid? [True, True] Translation: X:-14.24, Y:-0.29, Z:0.07 [[ 9.97176303e-01 -6.24559015e-02 4.16975002e-02 -1.42380787e+01] [ 6.25493945e-02 9.98041427e-01 -9.40031736e-04 -2.90863618e-01] [-4.15571221e-02 3.54553076e-03 9.99129839e-01 7.10976640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.646338938000001 meters 0.06136987306242485 Centerline is valid? [True, True] Translation: X:-14.27, Y:-0.30, Z:0.06 [[ 9.96939803e-01 -6.40531937e-02 4.48131318e-02 -1.42695786e+01] [ 6.41626499e-02 9.97938946e-01 -1.00691311e-03 -2.97172153e-01] [-4.46562735e-02 3.87916104e-03 9.98994880e-01 6.09081350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.676338938000002 meters 0.06397727114976742 Centerline is valid? [True, True] Translation: X:-14.30, Y:-0.31, Z:0.05 [[ 9.97049082e-01 -6.28722215e-02 4.40478449e-02 -1.43014876e+01] [ 6.29767678e-02 9.98014504e-01 -9.88461926e-04 -3.06247902e-01] [-4.38982413e-02 3.75953596e-03 9.99028934e-01 4.65219754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.706338938000002 meters 0.06330349367263158 Centerline is valid? [True, True] Translation: X:-14.33, Y:-0.31, Z:0.04 [[ 9.97070752e-01 -6.28733140e-02 4.35529788e-02 -1.43330359e+01] [ 6.29752079e-02 9.98014620e-01 -9.70113157e-04 -3.14564648e-01] [-4.34055153e-02 3.71002935e-03 9.99050648e-01 3.61778258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.736338938000001 meters 0.06303815566081303 Centerline is valid? [True, True] Translation: X:-14.36, Y:-0.32, Z:0.03 [[ 9.97003088e-01 -6.52290494e-02 4.15934232e-02 -1.43635988e+01] [ 6.53238905e-02 9.97863686e-01 -9.23724634e-04 -3.15559466e-01] [-4.14443129e-02 3.63800054e-03 9.99134192e-01 2.61983290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.766338938000002 meters 0.06402929993983657 Centerline is valid? [True, True] Translation: X:-14.39, Y:-0.32, Z:0.02 [[ 9.96747699e-01 -6.91696425e-02 4.13471297e-02 -1.43940129e+01] [ 6.92667157e-02 9.97597754e-01 -9.18068367e-04 -3.15964835e-01] [-4.11843013e-02 3.77906241e-03 9.99144420e-01 1.76459907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.796338938000002 meters 0.06481507606826536 Centerline is valid? [True, True] Translation: X:-14.42, Y:-0.33, Z:0.02 [[ 9.96313184e-01 -7.30326983e-02 4.50140396e-02 -1.44248276e+01] [ 7.31516654e-02 9.97320327e-01 -9.99111904e-04 -3.26518293e-01] [-4.48204489e-02 4.28828032e-03 9.98985855e-01 2.06534716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.826338938000001 meters 0.06426668490968589 Centerline is valid? [True, True] Translation: X:-14.46, Y:-0.34, Z:0.03 [[ 9.95964212e-01 -7.50431673e-02 4.92322241e-02 -1.44556032e+01] [ 7.51879353e-02 9.97168782e-01 -1.09255727e-03 -3.36091454e-01] [-4.90108480e-02 4.78981722e-03 9.98786761e-01 2.77487667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.856338938000002 meters 0.06697323878526922 Centerline is valid? [True, True] Translation: X:-14.49, Y:-0.35, Z:0.03 [[ 9.95378882e-01 -8.16718074e-02 5.05034311e-02 -1.44867747e+01] [ 8.18325702e-02 9.96645461e-01 -1.12024343e-03 -3.45701885e-01] [-5.02425231e-02 5.24789222e-03 9.98723259e-01 2.75627397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.886338938000002 meters 0.0661902675300329 Centerline is valid? [True, True] Translation: X:-14.52, Y:-0.35, Z:0.01 [[ 9.95396177e-01 -8.41871346e-02 4.58145927e-02 -1.45183192e+01] [ 8.43218134e-02 9.96438061e-01 -1.01159018e-03 -3.53351818e-01] [-4.55662410e-02 4.87010254e-03 9.98949448e-01 1.42593244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.916338938000003 meters 0.06648652326638559 Centerline is valid? [True, True] Translation: X:-14.55, Y:-0.36, Z:0.01 [[ 9.95115378e-01 -8.73105800e-02 4.60678606e-02 -1.45495548e+01] [ 8.74499722e-02 9.96168395e-01 -1.01527939e-03 -3.61519381e-01] [-4.58027022e-02 5.03895327e-03 9.98937797e-01 6.36702889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.946338938000002 meters 0.07002528662218016 Centerline is valid? [True, True] Translation: X:-14.58, Y:-0.37, Z:0.02 [[ 9.94756772e-01 -9.03986134e-02 4.78231595e-02 -1.45806983e+01] [ 9.05523349e-02 9.95891141e-01 -1.05325739e-03 -3.74901674e-01] [-4.75314479e-02 5.37823368e-03 9.98855263e-01 1.68877263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.976338938000001 meters 0.07059722995431562 Centerline is valid? [True, True] Translation: X:-14.61, Y:-0.37, Z:0.01 [[ 9.94604109e-01 -9.05046265e-02 5.07107445e-02 -1.46112667e+01] [ 9.06774432e-02 9.95879693e-01 -1.11293766e-03 -3.74177914e-01] [-5.04010747e-02 5.70525302e-03 9.98712762e-01 7.88652408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.006338938000003 meters 0.06512646935560085 Centerline is valid? [True, True] Translation: X:-14.64, Y:-0.36, Z:-0.01 [[ 9.94311578e-01 -9.21954464e-02 5.33337145e-02 -1.46405583e+01] [ 9.23890024e-02 9.95722302e-01 -1.16985187e-03 -3.62044189e-01] [-5.29977140e-02 6.09064594e-03 9.98576059e-01 -8.67338429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.036338938000002 meters 0.06856645742957936 Centerline is valid? [True, True] Translation: X:-14.67, Y:-0.38, Z:-0.01 [[ 9.94317416e-01 -9.13858520e-02 5.46031338e-02 -1.46734393e+01] [ 9.15869914e-02 9.95796371e-01 -1.18749226e-03 -3.76240170e-01] [-5.42650825e-02 6.18168099e-03 9.98507430e-01 -1.12369745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.066338938000001 meters 0.06802704500488238 Centerline is valid? [True, True] Translation: X:-14.70, Y:-0.39, Z:-0.04 [[ 9.94710915e-01 -8.68660753e-02 5.48131347e-02 -1.47037616e+01] [ 8.70617693e-02 9.96202207e-01 -1.18796920e-03 -3.87029017e-01] [-5.45017716e-02 5.95381442e-03 9.98495923e-01 -3.87748151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.096338938000002 meters 0.06960788127326924 Centerline is valid? [True, True] Translation: X:-14.74, Y:-0.41, Z:-0.06 [[ 9.95001890e-01 -8.53192442e-02 5.18831944e-02 -1.47355492e+01] [ 8.54924007e-02 9.96338189e-01 -1.12327368e-03 -4.05329935e-01] [-5.15973711e-02 5.55327828e-03 9.98652528e-01 -5.54675181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.126338938000002 meters 0.06687202082569504 Centerline is valid? [True, True] Translation: X:-14.77, Y:-0.39, Z:-0.07 [[ 9.94543895e-01 -8.86959218e-02 5.49133267e-02 -1.47650512e+01] [ 8.88950168e-02 9.96040292e-01 -1.18886511e-03 -3.91992884e-01] [-5.45904384e-02 6.06389963e-03 9.98490417e-01 -7.41819570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.156338938000001 meters 0.068218715259611 Centerline is valid? [True, True] Translation: X:-14.80, Y:-0.40, Z:-0.08 [[ 9.94171290e-01 -9.03750069e-02 5.87860903e-02 -1.47965412e+01] [ 9.06060889e-02 9.95885997e-01 -1.27187285e-03 -4.00594034e-01] [-5.84292986e-02 6.59083719e-03 9.98269792e-01 -8.15235111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.186338938000002 meters 0.0654718241744959 Centerline is valid? [True, True] Translation: X:-14.83, Y:-0.40, Z:-0.10 [[ 9.94181919e-01 -8.93725510e-02 6.01236993e-02 -1.48274401e+01] [ 8.96121286e-02 9.95975898e-01 -1.29485147e-03 -3.99121148e-01] [-5.97660312e-02 6.67513060e-03 9.98190094e-01 -9.76327601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.216338938000002 meters 0.06697589303316182 Centerline is valid? [True, True] Translation: X:-14.86, Y:-0.41, Z:-0.11 [[ 9.94155475e-01 -9.05560022e-02 5.87750065e-02 -1.48601388e+01] [ 9.07862308e-02 9.95869615e-01 -1.25320891e-03 -4.10862921e-01] [-5.84187575e-02 6.58184581e-03 9.98270468e-01 -1.13472185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.246338938000003 meters 0.06909286013725184 Centerline is valid? [True, True] Translation: X:-14.89, Y:-0.42, Z:-0.13 [[ 9.94071761e-01 -9.20661047e-02 5.78374133e-02 -1.48923479e+01] [ 9.22912105e-02 9.95731302e-01 -1.22729940e-03 -4.23301636e-01] [-5.74775301e-02 6.55790856e-03 9.98325261e-01 -1.25593985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.276338938000002 meters 0.07177287278103192 Centerline is valid? [True, True] Translation: X:-14.93, Y:-0.44, Z:-0.14 [[ 9.94117580e-01 -9.36571184e-02 5.43928391e-02 -1.49259494e+01] [ 9.38578560e-02 9.95584953e-01 -1.14218873e-03 -4.41205957e-01] [-5.40457180e-02 6.24066516e-03 9.98518960e-01 -1.38672152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.306338938000001 meters 0.07223829091132024 Centerline is valid? [True, True] Translation: X:-14.96, Y:-0.45, Z:-0.15 [[ 9.93435045e-01 -1.00733632e-01 5.42175918e-02 -1.49562852e+01] [ 1.00943265e-01 9.94891536e-01 -1.13503002e-03 -4.53423490e-01] [-5.38262875e-02 6.60047931e-03 9.98528500e-01 -1.45882984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.336338938000003 meters 0.07072438944354001 Centerline is valid? [True, True] Translation: X:-14.99, Y:-0.45, Z:-0.15 [[ 9.92881331e-01 -1.04269965e-01 5.75711543e-02 -1.49855487e+01] [ 1.04512267e-01 9.94522867e-01 -1.20571395e-03 -4.45915244e-01] [-5.71301097e-02 7.21402273e-03 9.98340678e-01 -1.47840705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.366338938000002 meters 0.07281980686678635 Centerline is valid? [True, True] Translation: X:-15.02, Y:-0.46, Z:-0.14 [[ 9.92527576e-01 -1.06022900e-01 6.03999641e-02 -1.50170495e+01] [ 1.06292804e-01 9.94334069e-01 -1.26419993e-03 -4.61489107e-01] [-5.99237080e-02 7.67483483e-03 9.98173455e-01 -1.42641034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.396338938000001 meters 0.07277945353324566 Centerline is valid? [True, True] Translation: X:-15.05, Y:-0.47, Z:-0.14 [[ 9.92241769e-01 -1.07837281e-01 6.18659309e-02 -1.50478988e+01] [ 1.08123906e-01 9.94136583e-01 -1.29423436e-03 -4.66552157e-01] [-6.13636184e-02 7.97337947e-03 9.98083630e-01 -1.39825781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.426338938000002 meters 0.07159614833359584 Centerline is valid? [True, True] Translation: X:-15.08, Y:-0.47, Z:-0.14 [[ 9.91736660e-01 -1.12715987e-01 6.12658390e-02 -1.50781815e+01] [ 1.13006141e-01 9.93593464e-01 -1.28072810e-03 -4.69763957e-01] [-6.07289786e-02 8.19356103e-03 9.98120662e-01 -1.44472343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.456338938000002 meters 0.07260752294801451 Centerline is valid? [True, True] Translation: X:-15.11, Y:-0.48, Z:-0.14 [[ 9.91453594e-01 -1.16289258e-01 5.91318896e-02 -1.51085037e+01] [ 1.16565677e-01 9.93182218e-01 -1.23513633e-03 -4.78279499e-01] [-5.85851082e-02 8.11732907e-03 9.98249415e-01 -1.42498011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.486338938000001 meters 0.07601847646582852 Centerline is valid? [True, True] Translation: X:-15.14, Y:-0.49, Z:-0.15 [[ 9.91340691e-01 -1.18606461e-01 5.63572615e-02 -1.51392066e+01] [ 1.18861152e-01 9.92910188e-01 -1.17700468e-03 -4.92036120e-01] [-5.58180987e-02 7.86550164e-03 9.98409973e-01 -1.48079681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.516338938000002 meters 0.07369952769644751 Centerline is valid? [True, True] Translation: X:-15.17, Y:-0.48, Z:-0.16 [[ 9.90780873e-01 -1.21882535e-01 5.91431253e-02 -1.51688234e+01] [ 1.22168842e-01 9.92508563e-01 -1.23585551e-03 -4.84970132e-01] [-5.85494290e-02 8.44990913e-03 9.98248748e-01 -1.57775616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.546338938000002 meters 0.07338780768362932 Centerline is valid? [True, True] Translation: X:-15.20, Y:-0.49, Z:-0.17 [[ 9.90364801e-01 -1.23738789e-01 6.21793598e-02 -1.51990996e+01] [ 1.24058870e-01 9.92274010e-01 -1.29872955e-03 -4.88711036e-01] [-6.15382595e-02 9.00011715e-03 9.98064146e-01 -1.67808438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.576338938000003 meters 0.07505805277834499 Centerline is valid? [True, True] Translation: X:-15.23, Y:-0.51, Z:-0.18 [[ 9.90496432e-01 -1.23587808e-01 6.03562073e-02 -1.52310130e+01] [ 1.23888968e-01 9.92295288e-01 -1.25887877e-03 -5.08219812e-01] [-5.97355981e-02 8.72438314e-03 9.98176108e-01 -1.78024698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.606338938000002 meters 0.07482964992563619 Centerline is valid? [True, True] Translation: X:-15.26, Y:-0.52, Z:-0.19 [[ 9.90973075e-01 -1.21366997e-01 5.69422235e-02 -1.52625447e+01] [ 1.21631313e-01 9.92574640e-01 -1.18634051e-03 -5.16689730e-01] [-5.63754244e-02 8.10158889e-03 9.98376770e-01 -1.93379135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.636338938000002 meters 0.07318443637922056 Centerline is valid? [True, True] Translation: X:-15.29, Y:-0.51, Z:-0.21 [[ 9.91081220e-01 -1.20336184e-01 5.72469882e-02 -1.52925083e+01] [ 1.20601645e-01 9.92700268e-01 -1.19245009e-03 -5.14804486e-01] [-5.66856056e-02 8.08589586e-03 9.98359334e-01 -2.09443961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.666338938000003 meters 0.07832772457903997 Centerline is valid? [True, True] Translation: X:-15.32, Y:-0.53, Z:-0.22 [[ 9.91758541e-01 -1.14811541e-01 5.68621675e-02 -1.53242123e+01] [ 1.15064474e-01 9.93357321e-01 -1.18339408e-03 -5.31701674e-01] [-5.63485830e-02 7.71645660e-03 9.98381337e-01 -2.19086910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.696338938000002 meters 0.07325073242330489 Centerline is valid? [True, True] Translation: X:-15.35, Y:-0.52, Z:-0.24 [[ 9.92049690e-01 -1.13246182e-01 5.48882014e-02 -1.53547688e+01] [ 1.13479371e-01 9.93539698e-01 -1.14046399e-03 -5.24358807e-01] [-5.44044538e-02 7.36007554e-03 9.98491855e-01 -2.44610455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.726338938000001 meters 0.07166487858505252 Centerline is valid? [True, True] Translation: X:-15.38, Y:-0.53, Z:-0.25 [[ 9.92345291e-01 -1.11017388e-01 5.40921737e-02 -1.53845510e+01] [ 1.11240404e-01 9.93792895e-01 -1.12031168e-03 -5.28980759e-01] [-5.36320438e-02 7.12897128e-03 9.98535318e-01 -2.52651268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.756338938000003 meters 0.07347205329503524 Centerline is valid? [True, True] Translation: X:-15.42, Y:-0.54, Z:-0.26 [[ 9.92663333e-01 -1.08305298e-01 5.37537950e-02 -1.54158890e+01] [ 1.08521514e-01 9.94093480e-01 -1.11129977e-03 -5.39331786e-01] [-5.33159375e-02 6.93658973e-03 9.98553601e-01 -2.55707663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.786338938000002 meters 0.07290443013081238 Centerline is valid? [True, True] Translation: X:-15.45, Y:-0.54, Z:-0.26 [[ 9.93024500e-01 -1.05039360e-01 5.35637531e-02 -1.54469627e+01] [ 1.05249332e-01 9.94445249e-01 -1.10658676e-03 -5.40073742e-01] [-5.31499846e-02 6.73641700e-03 9.98563819e-01 -2.64772092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.816338938000001 meters 0.07328515937005005 Centerline is valid? [True, True] Translation: X:-15.48, Y:-0.55, Z:-0.28 [[ 9.93473582e-01 -1.01743628e-01 5.15604167e-02 -1.54781925e+01] [ 1.01933745e-01 9.94790621e-01 -1.06429831e-03 -5.50789941e-01] [-5.11835333e-02 6.31309860e-03 9.98669310e-01 -2.78061811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.846338938000002 meters 0.07111118622078139 Centerline is valid? [True, True] Translation: X:-15.51, Y:-0.55, Z:-0.29 [[ 9.93803145e-01 -9.84224991e-02 5.16557870e-02 -1.55079906e+01] [ 9.86087797e-02 9.95125709e-01 -1.06389231e-03 -5.52766945e-01] [-5.12992907e-02 6.15101364e-03 9.98664382e-01 -2.91252186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.876338938000002 meters 0.0716421381476498 Centerline is valid? [True, True] Translation: X:-15.54, Y:-0.56, Z:-0.31 [[ 9.94075032e-01 -9.82750226e-02 4.64419099e-02 -1.55392465e+01] [ 9.84253258e-02 9.95143981e-01 -9.55208843e-04 -5.55665329e-01] [-4.61225139e-02 5.52060937e-03 9.98920536e-01 -3.06649779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.906338938000003 meters 0.07166635250292305 Centerline is valid? [True, True] Translation: X:-15.57, Y:-0.56, Z:-0.32 [[ 9.94201816e-01 -9.82072050e-02 4.37960434e-02 -1.55701102e+01] [ 9.83407288e-02 9.95152396e-01 -8.99528874e-04 -5.55123928e-01] [-4.34953973e-02 5.20124807e-03 9.99040088e-01 -3.20163420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.936338938000002 meters 0.07003219749673026 Centerline is valid? [True, True] Translation: X:-15.60, Y:-0.56, Z:-0.33 [[ 9.94076321e-01 -1.01183941e-01 3.96746510e-02 -1.56006452e+01] [ 1.01295819e-01 9.94856016e-01 -8.14669421e-04 -5.63817194e-01] [-3.93881338e-02 4.82871983e-03 9.99212319e-01 -3.27192196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.966338938000002 meters 0.07032557005061717 Centerline is valid? [True, True] Translation: X:-15.63, Y:-0.57, Z:-0.33 [[ 9.93842925e-01 -1.02577556e-01 4.18818031e-02 -1.56312008e+01] [ 1.02703441e-01 9.94711649e-01 -8.59533328e-04 -5.67045072e-01] [-4.15721486e-02 5.15564642e-03 9.99122203e-01 -3.27980915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.996338938000003 meters 0.07019238539789584 Centerline is valid? [True, True] Translation: X:-15.66, Y:-0.57, Z:-0.33 [[ 9.93972077e-01 -1.01081971e-01 4.24493177e-02 -1.56619831e+01] [ 1.01209923e-01 9.94864711e-01 -8.70479395e-04 -5.70635494e-01] [-4.21433384e-02 5.16152438e-03 9.99098242e-01 -3.32606564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.026338938 meters 0.07117814431878845 Centerline is valid? [True, True] Translation: X:-15.69, Y:-0.58, Z:-0.34 [[ 9.94322950e-01 -9.76256704e-02 4.23213932e-02 -1.56935275e+01] [ 9.77497238e-02 9.95210651e-01 -8.66858934e-04 -5.84005620e-01] [-4.20340736e-02 4.99884223e-03 9.99103672e-01 -3.36786956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.056338938 meters 0.0675336491745017 Centerline is valid? [True, True] Translation: X:-15.72, Y:-0.57, Z:-0.35 [[ 9.94736199e-01 -9.47933218e-02 3.89117101e-02 -1.57232457e+01] [ 9.48959716e-02 9.95486877e-01 -7.95396560e-04 -5.72665374e-01] [-3.86606985e-02 4.48377429e-03 9.99242336e-01 -3.45137670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.086338938 meters 0.06725468771248673 Centerline is valid? [True, True] Translation: X:-15.75, Y:-0.57, Z:-0.35 [[ 9.95618160e-01 -8.70037189e-02 3.42758290e-02 -1.57537667e+01] [ 8.70787657e-02 9.96201184e-01 -6.99989448e-04 -5.74145867e-01] [-3.40847198e-02 3.68161909e-03 9.99412166e-01 -3.48376968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.116338938000002 meters 0.06713931364476171 Centerline is valid? [True, True] Translation: X:-15.78, Y:-0.57, Z:-0.35 [[ 9.96109234e-01 -8.23154277e-02 3.14732469e-02 -1.57847083e+01] [ 8.23763721e-02 9.96601084e-01 -6.42464120e-04 -5.73230948e-01] [-3.13133873e-02 3.23261634e-03 9.99504388e-01 -3.54293817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.146338938 meters 0.06623840713510729 Centerline is valid? [True, True] Translation: X:-15.81, Y:-0.57, Z:-0.37 [[ 9.96783158e-01 -7.41325413e-02 3.04582110e-02 -1.58146969e+01] [ 7.41858308e-02 9.97244241e-01 -6.21729155e-04 -5.69862348e-01] [-3.03281852e-02 2.87929684e-03 9.99535848e-01 -3.66577632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.176338938 meters 0.0635072159933254 Centerline is valid? [True, True] Translation: X:-15.85, Y:-0.57, Z:-0.37 [[ 9.97430815e-01 -6.52905266e-02 2.94773891e-02 -1.58454184e+01] [ 6.53366023e-02 9.97863100e-01 -6.01585572e-04 -5.68350503e-01] [-2.93751210e-02 2.52599243e-03 9.99565266e-01 -3.72164739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.206338938000002 meters 0.0635072159933254 Centerline is valid? [True, True] Translation: X:-15.88, Y:-0.57, Z:-0.37 [[ 9.97413106e-01 -6.55604624e-02 2.94774921e-02 -1.58780713e+01] [ 6.56065059e-02 9.97845394e-01 -5.96502574e-04 -5.67563996e-01] [-2.93748727e-02 2.52887475e-03 9.99565266e-01 -3.71802555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.236338938 meters 0.060747897609898835 Centerline is valid? [True, True] Translation: X:-15.91, Y:-0.58, Z:-0.38 [[ 9.97922268e-01 -5.78535958e-02 2.83568200e-02 -1.59091074e+01] [ 5.78930207e-02 9.98322629e-01 -5.70607596e-04 -5.76027428e-01] [-2.82762434e-02 2.21108400e-03 9.99597702e-01 -3.77734588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.266338938 meters 0.060457975454051585 Centerline is valid? [True, True] Translation: X:-15.94, Y:-0.58, Z:-0.38 [[ 9.98297223e-01 -5.22745544e-02 2.58848519e-02 -1.59401579e+01] [ 5.23055263e-02 9.98630993e-01 -5.20438006e-04 -5.80461142e-01] [-2.58222097e-02 1.87347262e-03 9.99664796e-01 -3.79362334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.296338938 meters 0.05956003994445321 Centerline is valid? [True, True] Translation: X:-15.97, Y:-0.57, Z:-0.39 [[ 9.98567834e-01 -4.84429870e-02 2.27059064e-02 -1.59700769e+01] [ 4.84658293e-02 9.98824737e-01 -4.56466780e-04 -5.70585493e-01] [-2.26571084e-02 1.55627363e-03 9.99742083e-01 -3.89075241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.326338938 meters 0.05861436224606169 Centerline is valid? [True, True] Translation: X:-16.00, Y:-0.57, Z:-0.39 [[ 9.98559895e-01 -5.02120211e-02 1.88915196e-02 -1.60022512e+01] [ 5.02281127e-02 9.98737700e-01 -3.77973869e-04 -5.73754994e-01] [-1.88486940e-02 1.32631492e-03 9.99821468e-01 -3.89491616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.356338938 meters 0.05812048248608244 Centerline is valid? [True, True] Translation: X:-16.03, Y:-0.58, Z:-0.40 [[ 9.98890735e-01 -4.40582325e-02 1.66184034e-02 -1.60324324e+01] [ 4.40697980e-02 9.99028400e-01 -3.30201774e-04 -5.83678455e-01] [-1.65877089e-02 1.06220517e-03 9.99861850e-01 -3.97539347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.386338938 meters 0.05688514147949244 Centerline is valid? [True, True] Translation: X:-16.07, Y:-0.60, Z:-0.40 [[ 9.98856923e-01 -4.51937071e-02 1.55684579e-02 -1.60651086e+01] [ 4.52039797e-02 9.98977730e-01 -3.08391143e-04 -5.97905951e-01] [-1.55386054e-02 1.01179488e-03 9.99878757e-01 -4.02241712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.416338938 meters 0.05707345931449474 Centerline is valid? [True, True] Translation: X:-16.10, Y:-0.61, Z:-0.40 [[ 9.99022886e-01 -4.29320553e-02 1.04933837e-02 -1.60959588e+01] [ 4.29365788e-02 9.99077779e-01 -2.06080928e-04 -6.07559633e-01] [-1.04748590e-02 6.56429561e-04 9.99944922e-01 -4.03416274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.446338938 meters 0.05602074522164017 Centerline is valid? [True, True] Translation: X:-16.13, Y:-0.61, Z:-0.41 [[ 9.98979030e-01 -4.49571433e-02 4.44443954e-03 -1.61265740e+01] [ 4.49579749e-02 9.98988875e-01 -8.73177602e-05 -6.09033532e-01] [-4.43602010e-03 2.87041612e-04 9.99990120e-01 -4.13916641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.476338938 meters 0.056813674228377284 Centerline is valid? [True, True] Translation: X:-16.16, Y:-0.61, Z:-0.43 [[ 9.99176333e-01 -4.05742955e-02 -6.17590390e-04 -1.61562029e+01] [ 4.05743107e-02 9.99176524e-01 1.22120211e-05 -6.14889553e-01] [ 6.16586325e-04 -3.72602669e-05 9.99999809e-01 -4.28848496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.506338938 meters 0.05491750722549192 Centerline is valid? [True, True] Translation: X:-16.19, Y:-0.62, Z:-0.42 [[ 9.99184311e-01 -4.03497855e-02 -1.61468291e-03 -1.61862568e+01] [ 4.03498892e-02 9.99185611e-01 3.16698173e-05 -6.19232216e-01] [ 1.61209006e-03 -9.67962610e-05 9.99998696e-01 -4.24138341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.536338938 meters 0.05806912772940002 Centerline is valid? [True, True] Translation: X:-16.22, Y:-0.63, Z:-0.44 [[ 9.99568288e-01 -2.90168139e-02 -4.61102660e-03 -1.62168115e+01] [ 2.90175384e-02 9.99578898e-01 9.02789101e-05 -6.27196883e-01] [ 4.60646528e-03 -2.24040577e-04 9.99989365e-01 -4.41275298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.566338938 meters 0.05039075368139662 Centerline is valid? [True, True] Translation: X:-16.25, Y:-0.62, Z:-0.43 [[ 9.99621626e-01 -2.68537957e-02 -5.95646095e-03 -1.62455447e+01] [ 2.68549741e-02 9.99639333e-01 1.17931567e-04 -6.22367031e-01] [ 5.95114574e-03 -2.77847549e-04 9.99982253e-01 -4.28780580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.596338938 meters 0.051911786278448724 Centerline is valid? [True, True] Translation: X:-16.28, Y:-0.62, Z:-0.44 [[ 9.99821223e-01 -1.69242684e-02 -8.43161054e-03 -1.62757308e+01] [ 1.69262693e-02 9.99856727e-01 1.66007790e-04 -6.18466359e-01] [ 8.42759295e-03 -3.08693823e-04 9.99964440e-01 -4.35162793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.626338938 meters 0.04794768201699099 Centerline is valid? [True, True] Translation: X:-16.31, Y:-0.61, Z:-0.44 [[ 9.99848645e-01 -8.53140640e-03 -1.51624961e-02 -1.63051511e+01] [ 8.53692582e-03 9.99963515e-01 2.99329949e-04 -6.09145247e-01] [ 1.51593892e-02 -4.28725749e-04 9.99884998e-01 -4.37878681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.656338938 meters 0.04595130390206492 Centerline is valid? [True, True] Translation: X:-16.33, Y:-0.60, Z:-0.45 [[ 9.99766630e-01 4.27479827e-03 -2.11757213e-02 -1.63336717e+01] [-4.26687786e-03 9.99990809e-01 4.19200627e-04 -6.04809773e-01] [ 2.11773187e-02 -3.28748582e-04 9.99775681e-01 -4.46829370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.686338938 meters 0.04498690699787578 Centerline is valid? [True, True] Translation: X:-16.36, Y:-0.61, Z:-0.46 [[ 9.99599089e-01 1.31801651e-02 -2.50588251e-02 -1.63624063e+01] [-1.31716599e-02 9.99913123e-01 5.04443162e-04 -6.09908673e-01] [ 2.50632967e-02 -1.74174603e-04 9.99685851e-01 -4.58173128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.716338938 meters 0.04409923220344677 Centerline is valid? [True, True] Translation: X:-16.39, Y:-0.61, Z:-0.46 [[ 9.99303145e-01 2.22712248e-02 -2.99535918e-02 -1.63921067e+01] [-2.22632096e-02 9.99751963e-01 6.01105599e-04 -6.06029250e-01] [ 2.99595495e-02 6.61763774e-05 9.99551110e-01 -4.60707497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.746338938 meters 0.04420290509802202 Centerline is valid? [True, True] Translation: X:-16.42, Y:-0.60, Z:-0.46 [[ 9.99065777e-01 2.88148308e-02 -3.22068174e-02 -1.64213306e+01] [-2.88089264e-02 9.99584727e-01 6.47448446e-04 -5.98357150e-01] [ 3.22120989e-02 2.81000250e-04 9.99481016e-01 -4.55128205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.776338938 meters 0.04431812677508402 Centerline is valid? [True, True] Translation: X:-16.45, Y:-0.60, Z:-0.46 [[ 9.98839249e-01 3.20979320e-02 -3.59148506e-02 -1.64509161e+01] [-3.20926665e-02 9.99484636e-01 7.23237731e-04 -5.95712982e-01] [ 3.59195558e-02 4.30205090e-04 9.99354592e-01 -4.61101111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.806338938 meters 0.04448703611652434 Centerline is valid? [True, True] Translation: X:-16.48, Y:-0.60, Z:-0.46 [[ 9.98590564e-01 3.57214556e-02 -3.92538196e-02 -1.64802897e+01] [-3.57179103e-02 9.99361598e-01 7.91840276e-04 -6.00335175e-01] [ 3.92570456e-02 6.11340180e-04 9.99228958e-01 -4.62919745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.836338938 meters 0.04587472524717979 Centerline is valid? [True, True] Translation: X:-16.51, Y:-0.61, Z:-0.47 [[ 9.98353521e-01 3.71699549e-02 -4.36879938e-02 -1.65101523e+01] [-3.71669049e-02 9.99308682e-01 8.82354369e-04 -6.07611245e-01] [ 4.36905886e-02 7.42845917e-04 9.99044834e-01 -4.70073183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.866338938000002 meters 0.04445677758176378 Centerline is valid? [True, True] Translation: X:-16.54, Y:-0.61, Z:-0.46 [[ 9.98467354e-01 3.15650159e-02 -4.54597966e-02 -1.65386804e+01] [-3.15552715e-02 9.99501574e-01 9.32134135e-04 -6.10200914e-01] [ 4.54665611e-02 5.03790723e-04 9.98965734e-01 -4.60516714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.896338938 meters 0.043974856766756665 Centerline is valid? [True, True] Translation: X:-16.57, Y:-0.61, Z:-0.46 [[ 9.98386255e-01 3.22917928e-02 -4.67132206e-02 -1.65678911e+01] [-3.22817927e-02 9.99478338e-01 9.68661071e-04 -6.08889932e-01] [ 4.67201319e-02 5.40888606e-04 9.98907872e-01 -4.63624597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.926338938 meters 0.04780083122846902 Centerline is valid? [True, True] Translation: X:-16.60, Y:-0.60, Z:-0.46 [[ 9.97845504e-01 4.23363100e-02 -5.01197182e-02 -1.65980412e+01] [-4.23375642e-02 9.99102825e-01 1.03709262e-03 -6.00442305e-01] [ 5.01186587e-02 1.08708858e-03 9.98742679e-01 -4.64531065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.956338938000002 meters 0.04491790007826268 Centerline is valid? [True, True] Translation: X:-16.63, Y:-0.60, Z:-0.46 [[ 9.97916714e-01 4.35328385e-02 -4.76143268e-02 -1.66264364e+01] [-4.35351804e-02 9.99051406e-01 9.88343908e-04 -6.01174236e-01] [ 4.76121856e-02 1.08661341e-03 9.98865306e-01 -4.57834968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.986338938 meters 0.055272185075771495 Centerline is valid? [True, True] Translation: X:-16.66, Y:-0.58, Z:-0.45 [[ 9.95676196e-01 7.21887296e-02 -5.84610941e-02 -1.66559960e+01] [-7.22414466e-02 9.97386434e-01 1.21398325e-03 -5.75213654e-01] [ 5.83959381e-02 3.01457979e-03 9.98288950e-01 -4.50883736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.016338938 meters 0.05566453329896358 Centerline is valid? [True, True] Translation: X:-16.69, Y:-0.57, Z:-0.47 [[ 9.94909904e-01 7.69134241e-02 -6.51045940e-02 -1.66858097e+01] [-7.69888136e-02 9.97031038e-01 1.35378928e-03 -5.67902408e-01] [ 6.50154255e-02 3.66542709e-03 9.97877527e-01 -4.66929330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.046338938 meters 0.05822755689259461 Centerline is valid? [True, True] Translation: X:-16.72, Y:-0.56, Z:-0.47 [[ 9.93819742e-01 8.64407783e-02 -6.96441853e-02 -1.67161148e+01] [-8.65503380e-02 9.96246426e-01 1.44853149e-03 -5.63372048e-01] [ 6.95079828e-02 4.58814858e-03 9.97570844e-01 -4.69118135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.076338938 meters 0.05984169565974421 Centerline is valid? [True, True] Translation: X:-16.75, Y:-0.56, Z:-0.46 [[ 9.92813476e-01 9.70240314e-02 -7.00552572e-02 -1.67451794e+01] [-9.71609235e-02 9.95267616e-01 1.45887965e-03 -5.56064256e-01] [ 6.98652752e-02 5.35823811e-03 9.97542046e-01 -4.59882478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.106338938 meters 0.06527822536315869 Centerline is valid? [True, True] Translation: X:-16.77, Y:-0.54, Z:-0.45 [[ 9.91163049e-01 1.10296302e-01 -7.36921668e-02 -1.67746072e+01] [-1.10484054e-01 9.93876709e-01 1.53630661e-03 -5.36470705e-01] [ 7.34103772e-02 6.61907901e-03 9.97279853e-01 -4.52226994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.136338938 meters 0.0676119887250069 Centerline is valid? [True, True] Translation: X:-16.80, Y:-0.53, Z:-0.45 [[ 9.89554565e-01 1.20607114e-01 -7.89663615e-02 -1.68030555e+01] [-1.20855049e-01 9.92668795e-01 1.64947787e-03 -5.27835213e-01] [ 7.85863817e-02 7.91123513e-03 9.96875917e-01 -4.50183080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.166338938 meters 0.07821995772564136 Centerline is valid? [True, True] Translation: X:-16.83, Y:-0.51, Z:-0.45 [[ 9.87274841e-01 1.35017946e-01 -8.40151323e-02 -1.68324308e+01] [-1.35350035e-01 9.90796287e-01 1.75677254e-03 -5.11127172e-01] [ 8.34790770e-02 9.63703376e-03 9.96462930e-01 -4.52335659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.196338938 meters 0.08528278190112155 Centerline is valid? [True, True] Translation: X:-16.86, Y:-0.49, Z:-0.45 [[ 9.85187407e-01 1.45535274e-01 -9.06932059e-02 -1.68619110e+01] [-1.45966227e-01 9.89287752e-01 1.89843262e-03 -4.88258320e-01] [ 8.99979667e-02 1.13678332e-02 9.95877070e-01 -4.48306233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.226338938 meters 0.08447304983136418 Centerline is valid? [True, True] Translation: X:-16.89, Y:-0.49, Z:-0.44 [[ 9.84217718e-01 1.50534889e-01 -9.30308016e-02 -1.68910150e+01] [-1.51010180e-01 9.88530285e-01 1.94991013e-03 -4.88322088e-01] [ 9.22572942e-02 1.21294620e-02 9.95661322e-01 -4.36067149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.256338938 meters 0.08375047452460285 Centerline is valid? [True, True] Translation: X:-16.92, Y:-0.49, Z:-0.43 [[ 9.83616700e-01 1.53599138e-01 -9.43689153e-02 -1.69212203e+01] [-1.54101972e-01 9.88052966e-01 1.97957958e-03 -4.85801626e-01] [ 9.35455484e-02 1.25952884e-02 9.95535328e-01 -4.31756698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.286338938 meters 0.08079356411380474 Centerline is valid? [True, True] Translation: X:-16.95, Y:-0.49, Z:-0.42 [[ 9.83095299e-01 1.55436609e-01 -9.67630831e-02 -1.69505737e+01] [-1.55973886e-01 9.87759087e-01 2.03310250e-03 -4.93239024e-01] [ 9.58946332e-02 1.30937805e-02 9.95305366e-01 -4.20866340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.316338938 meters 0.09236978547141225 Centerline is valid? [True, True] Translation: X:-16.98, Y:-0.47, Z:-0.43 [[ 9.82213432e-01 1.59136325e-01 -9.96614498e-02 -1.69800227e+01] [-1.59724913e-01 9.87159337e-01 2.09663986e-03 -4.68021245e-01] [ 9.87153822e-02 1.38590685e-02 9.95019196e-01 -4.27460966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.346338938 meters 0.09278004436110401 Centerline is valid? [True, True] Translation: X:-17.01, Y:-0.46, Z:-0.42 [[ 9.81966061e-01 1.59846481e-01 -1.00954236e-01 -1.70097403e+01] [-1.60454107e-01 9.87041014e-01 2.12517268e-03 -4.61460226e-01] [ 9.99856729e-02 1.41116743e-02 9.94888801e-01 -4.15139313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.376338938 meters 0.09036729739806118 Centerline is valid? [True, True] Translation: X:-17.04, Y:-0.46, Z:-0.41 [[ 9.82392820e-01 1.57931028e-01 -9.98105091e-02 -1.70393049e+01] [-1.58514962e-01 9.87354335e-01 2.10323210e-03 -4.60695773e-01] [ 9.88805045e-02 1.37552589e-02 9.95004241e-01 -4.09130947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.406338938 meters 0.08952636808900036 Centerline is valid? [True, True] Translation: X:-17.07, Y:-0.46, Z:-0.41 [[ 9.82794858e-01 1.54196414e-01 -1.01674644e-01 -1.70697777e+01] [-1.54782810e-01 9.87946195e-01 2.14419351e-03 -4.63382276e-01] [ 1.00779705e-01 1.36301848e-02 9.94815395e-01 -4.10278855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.436338938 meters 0.08942393893772616 Centerline is valid? [True, True] Translation: X:-17.10, Y:-0.46, Z:-0.40 [[ 9.82538450e-01 1.55265903e-01 -1.02521672e-01 -1.70999769e+01] [-1.55867728e-01 9.87775566e-01 2.16373321e-03 -4.62078137e-01] [ 1.01604357e-01 1.38538690e-02 9.94728418e-01 -4.04014902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.466338938 meters 0.09100504428233022 Centerline is valid? [True, True] Translation: X:-17.13, Y:-0.45, Z:-0.39 [[ 9.82577717e-01 1.56494164e-01 -1.00252716e-01 -1.71295164e+01] [-1.57075311e-01 9.87584353e-01 2.11951187e-03 -4.52866802e-01] [ 9.93397046e-02 1.36646413e-02 9.94959748e-01 -3.93253726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.496338938 meters 0.09055469678284912 Centerline is valid? [True, True] Translation: X:-17.16, Y:-0.45, Z:-0.39 [[ 9.82268854e-01 1.57503442e-01 -1.01688568e-01 -1.71592663e+01] [-1.58106573e-01 9.87419708e-01 2.15205929e-03 -4.48677123e-01] [ 1.00748253e-01 1.39637303e-02 9.94813954e-01 -3.92038873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.526338938000002 meters 0.09338035913824529 Centerline is valid? [True, True] Translation: X:-17.19, Y:-0.44, Z:-0.39 [[ 9.81067757e-01 1.61128607e-01 -1.07441275e-01 -1.71896841e+01] [-1.61823475e-01 9.86817094e-01 2.27724410e-03 -4.40339513e-01] [ 1.06391816e-01 1.51523898e-02 9.94208824e-01 -3.93584441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.556338938 meters 0.09611086878196297 Centerline is valid? [True, True] Translation: X:-17.22, Y:-0.43, Z:-0.38 [[ 9.79997401e-01 1.65622459e-01 -1.10337191e-01 -1.72191249e+01] [-1.66383139e-01 9.86058400e-01 2.34166785e-03 -4.30030471e-01] [ 1.09186747e-01 1.60634199e-02 9.93891453e-01 -3.81560218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.586338938 meters 0.09484913675472659 Centerline is valid? [True, True] Translation: X:-17.25, Y:-0.42, Z:-0.37 [[ 9.80176523e-01 1.67840014e-01 -1.05279215e-01 -1.72494082e+01] [-1.68544043e-01 9.85691584e-01 2.23762240e-03 -4.23767869e-01] [ 1.04148399e-01 1.55509197e-02 9.94440184e-01 -3.73877997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.616338938000002 meters 0.09796630022842635 Centerline is valid? [True, True] Translation: X:-17.28, Y:-0.40, Z:-0.37 [[ 9.79097220e-01 1.73718119e-01 -1.05785860e-01 -1.72790575e+01] [-1.74462092e-01 9.84661317e-01 2.25137054e-03 -4.03950724e-01] [ 1.04554348e-01 1.62513118e-02 9.94386385e-01 -3.69861653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.646338938 meters 0.10232733346171026 Centerline is valid? [True, False] Translation: X:-17.34, Y:-0.36, Z:-0.40 [[ 9.93527986e-01 8.75054715e-02 -7.24219124e-02 -1.73376210e+01] [-8.88465648e-02 9.95924683e-01 -1.55020720e-02 -3.57234849e-01] [ 7.07702540e-02 2.18361805e-02 9.97253605e-01 -3.98063733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.676338938 meters 0.10576270046396197 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.34, Z:-0.40 [[ 0.9964195 0.05178848 -0.06682919 -17.37120489] [ -0.05311491 0.99842208 -0.01822511 -0.33642307] [ 0.06577988 0.02170948 0.99759797 -0.40427955] [ 0. 0. 0. 1. ]] SLAMing on 17.706338938000002 meters 0.11426571970856923 Centerline is valid? [False, False] Translation: X:-17.40, Y:-0.33, Z:-0.41 [[ 9.96823368e-01 4.47496704e-02 -6.58835321e-02 -1.73992558e+01] [-4.56391127e-02 9.98885230e-01 -1.20568713e-02 -3.26872176e-01] [ 6.52705461e-02 1.50254371e-02 9.97754475e-01 -4.07382570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.736338938 meters 0.11543355704784485 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.31, Z:-0.41 [[ 9.97426725e-01 3.61839466e-02 -6.18922530e-02 -1.74284966e+01] [-3.68174901e-02 9.99280333e-01 -9.12621972e-03 -3.12717146e-01] [ 6.15174885e-02 1.13814528e-02 9.98041112e-01 -4.08193175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.766338938 meters 0.10684190094195427 Centerline is valid? [False, False] Translation: X:-17.46, Y:-0.30, Z:-0.41 [[ 9.97912136e-01 2.81714348e-02 -5.81183267e-02 -1.74597362e+01] [-2.85910223e-02 9.99570701e-01 -6.40051550e-03 -2.99176062e-01] [ 5.79130649e-02 8.04881447e-03 9.98289183e-01 -4.06685999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.796338938 meters 0.11117341864425787 Centerline is valid? [False, False] Translation: X:-17.49, Y:-0.29, Z:-0.41 [[ 9.98146729e-01 2.09411234e-02 -5.71364716e-02 -1.74937650e+01] [-2.10146676e-02 9.99778932e-01 -6.86562533e-04 -2.90334635e-01] [ 5.71094632e-02 1.88599411e-03 9.98366141e-01 -4.06097854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.826338938 meters 0.11749569337488303 Centerline is valid? [False, False] Translation: X:-17.53, Y:-0.28, Z:-0.41 [[ 9.98245908e-01 1.37697996e-02 -5.75803767e-02 -1.75287008e+01] [-1.34832756e-02 9.99894722e-01 5.36164078e-03 -2.83370425e-01] [ 5.76481434e-02 -4.57586388e-03 9.98326476e-01 -4.05949904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.856338938 meters 0.10649749468275552 Centerline is valid? [False, False] Translation: X:-17.56, Y:-0.28, Z:-0.41 [[ 9.98195588e-01 5.85398715e-03 -5.97603416e-02 -1.75641328e+01] [-5.27698389e-03 9.99937971e-01 9.80854479e-03 -2.75554460e-01] [ 5.98140538e-02 -9.47549178e-03 9.98164563e-01 -4.06568930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.886338938 meters 0.10867195267025771 Centerline is valid? [False, False] Translation: X:-17.61, Y:-0.27, Z:-0.41 [[ 9.98114396e-01 7.33800548e-05 -6.13811602e-02 -1.76056299e+01] [ 4.69398378e-04 9.99960920e-01 8.82828647e-03 -2.74476777e-01] [ 6.13794092e-02 -8.84045204e-03 9.98075355e-01 -4.10228713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.916338938 meters 0.10858701703932294 Centerline is valid? [False, False] Translation: X:-17.64, Y:-0.28, Z:-0.41 [[ 9.97853427e-01 -3.29920044e-03 -6.54037737e-02 -1.76410453e+01] [ 3.67958422e-03 9.99977006e-01 5.69632494e-03 -2.77860394e-01] [ 6.53834765e-02 -5.92475605e-03 9.97842622e-01 -4.09134371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.946338938 meters 0.11419020657522289 Centerline is valid? [False, False] Translation: X:-17.68, Y:-0.28, Z:-0.41 [[ 9.97696947e-01 -6.53882360e-03 -6.75133040e-02 -1.76767739e+01] [ 6.67979144e-03 9.99975956e-01 1.86246470e-03 -2.77669474e-01] [ 6.74995023e-02 -2.30915014e-03 9.97716636e-01 -4.07940606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.976338938 meters 0.10166610368806386 Centerline is valid? [False, False] Translation: X:-17.73, Y:-0.28, Z:-0.41 [[ 9.97876769e-01 -6.84048664e-03 -6.47700735e-02 -1.77306358e+01] [ 6.54146783e-03 9.99966951e-01 -4.82756587e-03 -2.75126166e-01] [ 6.48009558e-02 4.39362448e-03 9.97888537e-01 -4.08085944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.006338938 meters 0.09821500262024764 Centerline is valid? [False, True] Translation: X:-17.76, Y:-0.28, Z:-0.41 [[ 9.97694176e-01 -6.77922501e-03 -6.75305319e-02 -1.77639627e+01] [ 6.42260411e-03 9.99964268e-01 -5.49659619e-03 -2.75895091e-01] [ 6.75653816e-02 5.05020014e-03 9.97702067e-01 -4.07441713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.036338938 meters 0.10181640707430888 Centerline is valid? [True, False] Translation: X:-17.78, Y:-0.27, Z:-0.41 [[ 9.97939120e-01 -9.13655053e-03 -6.35140658e-02 -1.77790403e+01] [ 9.07666271e-03 9.99958048e-01 -1.23138773e-03 -2.71204250e-01] [ 6.35226519e-02 6.52354233e-04 9.97980184e-01 -4.09759136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.066338938 meters 0.09893035107844406 Centerline is valid? [False, True] Translation: X:-17.81, Y:-0.27, Z:-0.41 [[ 9.97664507e-01 -9.27208505e-03 -6.76724444e-02 -1.78096622e+01] [ 9.17286047e-03 9.99956350e-01 -1.77683845e-03 -2.72224701e-01] [ 6.76859655e-02 1.15193876e-03 9.97706010e-01 -4.12196226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.096338938 meters 0.09700999546154379 Centerline is valid? [True, True] Translation: X:-17.84, Y:-0.27, Z:-0.39 [[ 9.97590022e-01 -1.13646385e-02 -6.84470144e-02 -1.78366989e+01] [ 1.06242394e-02 9.99881155e-01 -1.11714526e-02 -2.73708701e-01] [ 6.85658394e-02 1.04173322e-02 9.97592204e-01 -3.92217407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.126338938 meters 0.09700999546154379 Centerline is valid? [True, True] Translation: X:-17.86, Y:-0.28, Z:-0.39 [[ 9.97592817e-01 -1.10859723e-02 -6.84519737e-02 -1.78641767e+01] [ 1.03469711e-02 9.99884402e-01 -1.11410478e-02 -2.78391117e-01] [ 6.85675702e-02 1.04059587e-02 9.97592203e-01 -3.90684509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.156338938 meters 0.09931907327905903 Centerline is valid? [True, True] Translation: X:-17.90, Y:-0.26, Z:-0.38 [[ 9.97821502e-01 -1.24592654e-02 -6.47843813e-02 -1.78964695e+01] [ 1.17995929e-02 9.99874670e-01 -1.05552648e-02 -2.61963211e-01] [ 6.49077727e-02 9.76784082e-03 9.97843460e-01 -3.80403968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.186338938 meters 0.09855633366964134 Centerline is valid? [True, True] Translation: X:-17.92, Y:-0.26, Z:-0.37 [[ 9.97999438e-01 -1.03637388e-02 -6.23675727e-02 -1.79235885e+01] [ 9.74926835e-03 9.99900973e-01 -1.01486739e-02 -2.57766300e-01] [ 6.24665748e-02 9.52033267e-03 9.98001648e-01 -3.69809335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.216338938 meters 0.09728555821671883 Centerline is valid? [True, True] Translation: X:-17.95, Y:-0.26, Z:-0.36 [[ 9.98079545e-01 -8.31298405e-03 -6.13849826e-02 -1.79524846e+01] [ 7.71382405e-03 9.99920333e-01 -9.99123489e-03 -2.55943455e-01] [ 6.14631492e-02 9.49853422e-03 9.98064156e-01 -3.57004734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.246338938 meters 0.0993425846427994 Centerline is valid? [True, True] Translation: X:-17.98, Y:-0.25, Z:-0.36 [[ 9.98110091e-01 -9.74422812e-03 -6.06736807e-02 -1.79840378e+01] [ 9.16150140e-03 9.99909271e-01 -9.87507315e-03 -2.47345290e-01] [ 6.07644008e-02 9.30054815e-03 9.98108805e-01 -3.55485350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.276338938000002 meters 0.09879144059408897 Centerline is valid? [True, True] Translation: X:-18.01, Y:-0.24, Z:-0.35 [[ 9.98092359e-01 -8.72783412e-03 -6.11184810e-02 -1.80137437e+01] [ 8.13483861e-03 9.99917462e-01 -9.94451226e-03 -2.44844520e-01] [ 6.12002304e-02 9.42835272e-03 9.98080978e-01 -3.45198210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.306338938 meters 0.09417421250872435 Centerline is valid? [True, True] Translation: X:-18.04, Y:-0.25, Z:-0.33 [[ 9.98265425e-01 -8.56730439e-03 -5.82472587e-02 -1.80415129e+01] [ 8.02867872e-03 9.99922880e-01 -9.47497479e-03 -2.47932479e-01] [ 5.83239416e-02 8.99089120e-03 9.98257222e-01 -3.26851870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.336338938 meters 0.10793784716187221 Centerline is valid? [True, False] Translation: X:-18.07, Y:-0.24, Z:-0.33 [[ 9.98604261e-01 -5.09932183e-03 -5.25692527e-02 -1.80724805e+01] [ 4.57791693e-03 9.99939178e-01 -1.00340845e-02 -2.43331653e-01] [ 5.26172223e-02 9.77942190e-03 9.98566868e-01 -3.29144609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.366338938000002 meters 0.09774156956912322 Centerline is valid? [False, True] Translation: X:-18.11, Y:-0.24, Z:-0.33 [[ 9.98731884e-01 -2.66939650e-03 -5.02742320e-02 -1.81057932e+01] [ 2.09318584e-03 9.99931561e-01 -1.15105163e-02 -2.38370064e-01] [ 5.03015175e-02 1.13906863e-02 9.98669119e-01 -3.29222881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.396338938 meters 0.09343599075256374 Centerline is valid? [True, True] Translation: X:-18.14, Y:-0.23, Z:-0.31 [[ 9.98752593e-01 -6.05651926e-03 -4.95638636e-02 -1.81355684e+01] [ 5.67412390e-03 9.99953072e-01 -7.85227496e-03 -2.32161885e-01] [ 4.96090952e-02 7.56124848e-03 9.98740089e-01 -3.14896228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.426338938 meters 0.09430725385421929 Centerline is valid? [True, True] Translation: X:-18.17, Y:-0.22, Z:-0.31 [[ 9.98799583e-01 -1.08113336e-02 -4.77755967e-02 -1.81672615e+01] [ 1.04614402e-02 9.99916641e-01 -7.56767744e-03 -2.22369598e-01] [ 4.78534308e-02 7.05879153e-03 9.98829426e-01 -3.10966080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.456338938000002 meters 0.0914163910522407 Centerline is valid? [True, True] Translation: X:-18.20, Y:-0.22, Z:-0.30 [[ 9.98884259e-01 -1.68310713e-02 -4.41242837e-02 -1.81970591e+01] [ 1.65384675e-02 9.99838810e-01 -6.98806688e-03 -2.22036051e-01] [ 4.42347879e-02 6.25052198e-03 9.99001609e-01 -2.96515528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.486338938 meters 0.08797675376702462 Centerline is valid? [True, True] Translation: X:-18.23, Y:-0.23, Z:-0.28 [[ 9.98877802e-01 -1.90613854e-02 -4.33566736e-02 -1.82250628e+01] [ 1.87809310e-02 9.99800042e-01 -6.86673612e-03 -2.26060867e-01] [ 4.34788936e-02 6.04475158e-03 9.99036059e-01 -2.81399749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.516338938 meters 0.08604101814300782 Centerline is valid? [True, True] Translation: X:-18.26, Y:-0.22, Z:-0.28 [[ 9.98769220e-01 -2.43494073e-02 -4.32105494e-02 -1.82552718e+01] [ 2.40757445e-02 9.99686721e-01 -6.84246361e-03 -2.23696941e-01] [ 4.33636223e-02 5.79371590e-03 9.99042556e-01 -2.76981876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.546338938 meters 0.08696682721616514 Centerline is valid? [True, True] Translation: X:-18.29, Y:-0.22, Z:-0.28 [[ 9.98563891e-01 -3.26895734e-02 -4.24446429e-02 -1.82872047e+01] [ 3.24329332e-02 9.99451314e-01 -6.72125245e-03 -2.16107140e-01] [ 4.26410690e-02 5.33499573e-03 9.99076212e-01 -2.79634027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.576338938 meters 0.0843774383566109 Centerline is valid? [True, True] Translation: X:-18.32, Y:-0.22, Z:-0.27 [[ 9.98490705e-01 -3.65312426e-02 -4.10095179e-02 -1.83153012e+01] [ 3.62949490e-02 9.99320034e-01 -6.49199155e-03 -2.22927730e-01] [ 4.12187933e-02 4.99375486e-03 9.99137665e-01 -2.68504207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.606338938 meters 0.07875589550759442 Centerline is valid? [True, True] Translation: X:-18.34, Y:-0.24, Z:-0.25 [[ 9.98532592e-01 -3.76160619e-02 -3.89576001e-02 -1.83408371e+01] [ 3.74037782e-02 9.99281223e-01 -6.16395071e-03 -2.39890699e-01] [ 3.91614618e-02 4.69774424e-03 9.99221853e-01 -2.54249852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.636338938 meters 0.08033527637274994 Centerline is valid? [True, True] Translation: X:-18.37, Y:-0.24, Z:-0.25 [[ 9.98359348e-01 -4.40108700e-02 -3.66286176e-02 -1.83717805e+01] [ 4.38274616e-02 9.99022304e-01 -5.79559801e-03 -2.35745019e-01] [ 3.68478753e-02 4.18075011e-03 9.99312141e-01 -2.52957388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.666338938 meters 0.07949423702474602 Centerline is valid? [True, True] Translation: X:-18.40, Y:-0.24, Z:-0.25 [[ 9.98262909e-01 -4.71736677e-02 -3.52960314e-02 -1.84005187e+01] [ 4.70053312e-02 9.98879028e-01 -5.58444466e-03 -2.38571597e-01] [ 3.55199043e-02 3.91564233e-03 9.99361298e-01 -2.46300166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.696338938 meters 0.07642517120736932 Centerline is valid? [True, True] Translation: X:-18.43, Y:-0.24, Z:-0.24 [[ 9.98306711e-01 -4.82577937e-02 -3.24791712e-02 -1.84302740e+01] [ 4.81158686e-02 9.98828548e-01 -5.13767736e-03 -2.36728323e-01] [ 3.26890564e-02 3.56621425e-03 9.99459208e-01 -2.39537093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.726338938 meters 0.07575335317668279 Centerline is valid? [True, True] Translation: X:-18.46, Y:-0.24, Z:-0.23 [[ 9.98274021e-01 -4.81388791e-02 -3.36396742e-02 -1.84592121e+01] [ 4.79867304e-02 9.98833826e-01 -5.31617649e-03 -2.36891571e-01] [ 3.38563593e-02 3.69274291e-03 9.99419887e-01 -2.32410858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.756338938 meters 0.07310927566981146 Centerline is valid? [True, True] Translation: X:-18.49, Y:-0.24, Z:-0.23 [[ 9.98141461e-01 -5.12530377e-02 -3.29658848e-02 -1.84875692e+01] [ 5.11085467e-02 9.98679507e-01 -5.21141532e-03 -2.43571415e-01] [ 3.31894544e-02 3.51689124e-03 9.99442891e-01 -2.25412671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.786338938 meters 0.07130795237134917 Centerline is valid? [True, True] Translation: X:-18.52, Y:-0.24, Z:-0.21 [[ 9.98000980e-01 -5.68184276e-02 -2.76714665e-02 -1.85173923e+01] [ 5.67187787e-02 9.98380615e-01 -4.37345676e-03 -2.43658661e-01] [ 2.78751487e-02 2.79522235e-03 9.99607504e-01 -2.14050844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.816338938 meters 0.07078619256795374 Centerline is valid? [True, True] Translation: X:-18.55, Y:-0.24, Z:-0.21 [[ 9.97866851e-01 -5.98774154e-02 -2.60085051e-02 -1.85479989e+01] [ 5.97904184e-02 9.98202489e-01 -4.11052274e-03 -2.42369641e-01] [ 2.62078820e-02 2.54669498e-03 9.99653271e-01 -2.08118896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.846338938 meters 0.07117454630182844 Centerline is valid? [True, True] Translation: X:-18.58, Y:-0.22, Z:-0.21 [[ 9.97488862e-01 -6.57426759e-02 -2.63414367e-02 -1.85821434e+01] [ 6.56554672e-02 9.97833668e-01 -4.16295592e-03 -2.23465723e-01] [ 2.65580562e-02 2.42304283e-03 9.99644336e-01 -2.09567382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.876338938 meters 0.06363781588775773 Centerline is valid? [True, True] Translation: X:-18.61, Y:-0.24, Z:-0.19 [[ 9.97225609e-01 -7.09471770e-02 -2.25295907e-02 -1.86077846e+01] [ 7.08847246e-02 9.97478163e-01 -3.55963553e-03 -2.37606877e-01] [ 2.27253208e-02 1.95275588e-03 9.99739839e-01 -1.89265831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.906338938 meters 0.06327579437978206 Centerline is valid? [True, True] Translation: X:-18.64, Y:-0.24, Z:-0.18 [[ 9.97225849e-01 -7.21325632e-02 -1.83711383e-02 -1.86381509e+01] [ 7.20912465e-02 9.97393818e-01 -2.90227407e-03 -2.39145134e-01] [ 1.85326083e-02 1.56982447e-03 9.99827024e-01 -1.81011783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.936338938 meters 0.06157811092382007 Centerline is valid? [True, True] Translation: X:-18.67, Y:-0.24, Z:-0.17 [[ 9.97054106e-01 -7.50604655e-02 -1.57808616e-02 -1.86680846e+01] [ 7.50303504e-02 9.97178135e-01 -2.49264024e-03 -2.39885731e-01] [ 1.59234289e-02 1.30125361e-03 9.99872367e-01 -1.71922554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.966338938 meters 0.060957893765716684 Centerline is valid? [True, True] Translation: X:-18.70, Y:-0.24, Z:-0.17 [[ 9.96678952e-01 -7.97631882e-02 -1.63981944e-02 -1.86986083e+01] [ 7.97313153e-02 9.96813028e-01 -2.58938960e-03 -2.38510826e-01] [ 1.65524718e-02 1.27334050e-03 9.99862188e-01 -1.73715608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.996338938 meters 0.05888209462146614 Centerline is valid? [True, True] Translation: X:-18.73, Y:-0.24, Z:-0.17 [[ 9.96475894e-01 -8.22138745e-02 -1.66334713e-02 -1.87271825e+01] [ 8.21814399e-02 9.96613927e-01 -2.62534183e-03 -2.41799445e-01] [ 1.67929887e-02 1.24912722e-03 9.99858208e-01 -1.70016997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.026338938000002 meters 0.05709673665057867 Centerline is valid? [True, True] Translation: X:-18.76, Y:-0.25, Z:-0.17 [[ 9.96352017e-01 -8.42949534e-02 -1.33048287e-02 -1.87563042e+01] [ 8.42743833e-02 9.96440373e-01 -2.10021097e-03 -2.47791970e-01] [ 1.34345056e-02 9.71293205e-04 9.99909281e-01 -1.66384624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.056338938 meters 0.05472262021202753 Centerline is valid? [True, True] Translation: X:-18.78, Y:-0.26, Z:-0.15 [[ 9.96246218e-01 -8.58068313e-02 -1.14306851e-02 -1.87836242e+01] [ 8.57917498e-02 9.96311458e-01 -1.80416414e-03 -2.57313859e-01] [ 1.15433321e-02 8.16733223e-04 9.99933040e-01 -1.53409241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.086338938 meters 0.0541690241001736 Centerline is valid? [True, True] Translation: X:-18.81, Y:-0.26, Z:-0.15 [[ 9.96092862e-01 -8.76584615e-02 -1.07239857e-02 -1.88139752e+01] [ 8.76452844e-02 9.96150308e-01 -1.69351924e-03 -2.60280781e-01] [ 1.08311529e-02 7.46995657e-04 9.99941062e-01 -1.49048187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.116338938000002 meters 0.055551245448557475 Centerline is valid? [True, True] Translation: X:-18.85, Y:-0.26, Z:-0.15 [[ 9.95927448e-01 -8.97144752e-02 -8.93488760e-03 -1.88451620e+01] [ 8.97054188e-02 9.95967344e-01 -1.41006300e-03 -2.56512054e-01] [ 9.02535933e-03 6.02812613e-04 9.99959089e-01 -1.51610013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.146338938 meters 0.05155650687137048 Centerline is valid? [True, True] Translation: X:-18.87, Y:-0.27, Z:-0.14 [[ 9.95551741e-01 -9.38349067e-02 -8.47002376e-03 -1.88721148e+01] [ 9.38269190e-02 9.95587627e-01 -1.33642760e-03 -2.69694952e-01] [ 8.55805441e-03 5.35766594e-04 9.99963236e-01 -1.39859317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.176338938 meters 0.05260061362765128 Centerline is valid? [True, True] Translation: X:-18.90, Y:-0.27, Z:-0.15 [[ 9.95329809e-01 -9.62576391e-02 -7.28279672e-03 -1.89033593e+01] [ 9.62518015e-02 9.95356354e-01 -1.14867093e-03 -2.67851354e-01] [ 7.35954634e-03 4.42324110e-04 9.99972820e-01 -1.49287222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.206338938000002 meters 0.05111121903123993 Centerline is valid? [True, True] Translation: X:-18.93, Y:-0.28, Z:-0.14 [[ 9.94907963e-01 -1.00658713e-01 -5.09591872e-03 -1.89315647e+01] [ 1.00655915e-01 9.94920972e-01 -8.03367822e-04 -2.76566272e-01] [ 5.15090238e-03 2.86342685e-04 9.99986693e-01 -1.39512614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.236338938 meters 0.04913590145290286 Centerline is valid? [True, True] Translation: X:-18.96, Y:-0.28, Z:-0.13 [[ 9.94861874e-01 -1.01114388e-01 -5.07259475e-03 -1.89594237e+01] [ 1.01111645e-01 9.94874768e-01 -7.95110505e-04 -2.78562836e-01] [ 5.12699364e-03 2.78126729e-04 9.99986818e-01 -1.31794815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.266338938 meters 0.049566709605329114 Centerline is valid? [True, True] Translation: X:-18.99, Y:-0.28, Z:-0.13 [[ 9.94319982e-01 -1.06427551e-01 -9.74382552e-04 -1.89904071e+01] [ 1.06427452e-01 9.94320458e-01 -1.53031638e-04 -2.78590352e-01] [ 9.85135288e-04 4.84613630e-05 9.99999514e-01 -1.29660262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.296338938 meters 0.046656389640932466 Centerline is valid? [True, True] Translation: X:-19.02, Y:-0.28, Z:-0.13 [[ 9.94460847e-01 -1.05104076e-01 -8.69681560e-04 -1.90187193e+01] [ 1.05104008e-01 9.94461227e-01 -1.22942384e-04 -2.79577293e-01] [ 8.77786337e-04 3.08543696e-05 9.99999614e-01 -1.26021724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.326338938 meters 0.044350782182313975 Centerline is valid? [True, True] Translation: X:-19.05, Y:-0.28, Z:-0.12 [[ 9.94129042e-01 -1.08195918e-01 1.04449896e-03 -1.90480818e+01] [ 1.08195804e-01 9.94129589e-01 1.65059010e-04 -2.84841975e-01] [-1.05622604e-03 -5.10795496e-05 9.99999441e-01 -1.21629420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.356338938 meters 0.042541525564232296 Centerline is valid? [True, True] Translation: X:-19.08, Y:-0.29, Z:-0.11 [[ 9.93545727e-01 -1.13271911e-01 6.03015617e-03 -1.90759502e+01] [ 1.13268226e-01 9.93563992e-01 9.50169998e-04 -2.93137406e-01] [-6.09897360e-03 -2.61012247e-04 9.99981367e-01 -1.12974553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.386338938 meters 0.041619488442068815 Centerline is valid? [True, True] Translation: X:-19.10, Y:-0.29, Z:-0.11 [[ 9.93447606e-01 -1.14125967e-01 6.09237915e-03 -1.91047656e+01] [ 1.14122148e-01 9.93466250e-01 9.72002751e-04 -2.93393154e-01] [-6.16350383e-03 -2.70358412e-04 9.99980969e-01 -1.06672955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.416338938 meters 0.03937697697371594 Centerline is valid? [True, True] Translation: X:-19.13, Y:-0.29, Z:-0.11 [[ 9.93372704e-01 -1.14801555e-01 5.59223708e-03 -1.91341655e+01] [ 1.14798349e-01 9.93388415e-01 8.92077493e-04 -2.91577442e-01] [-5.65767541e-03 -2.44185849e-04 9.99983965e-01 -1.08494479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.446338938 meters 0.03846885394327481 Centerline is valid? [True, True] Translation: X:-19.16, Y:-0.29, Z:-0.11 [[ 9.92997262e-01 -1.17729543e-01 9.80778542e-03 -1.91643926e+01] [ 1.17720061e-01 9.93045625e-01 1.54055545e-03 -2.93498831e-01] [-9.92094729e-03 -3.75194253e-04 9.99950716e-01 -1.10994950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.476338938 meters 0.03816529473942227 Centerline is valid? [True, True] Translation: X:-19.19, Y:-0.30, Z:-0.10 [[ 9.92553075e-01 -1.20946771e-01 1.45007486e-02 -1.91937609e+01] [ 1.20926405e-01 9.92658865e-01 2.27637630e-03 -3.01283282e-01] [-1.46696170e-02 -5.05900900e-04 9.99892267e-01 -1.01282756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.506338938 meters 0.03471982256793721 Centerline is valid? [True, True] Translation: X:-19.22, Y:-0.31, Z:-0.10 [[ 9.92488466e-01 -1.21372397e-01 1.53422857e-02 -1.92200545e+01] [ 1.21349600e-01 9.92606900e-01 2.41165351e-03 -3.09664177e-01] [-1.55215668e-02 -5.31758068e-04 9.99879392e-01 -9.67778016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.536338938 meters 0.03397205563258925 Centerline is valid? [True, True] Translation: X:-19.25, Y:-0.31, Z:-0.10 [[ 9.92526509e-01 -1.21081877e-01 1.51759344e-02 -1.92476189e+01] [ 1.21059433e-01 9.92642378e-01 2.39234703e-03 -3.11641127e-01] [-1.53539455e-02 -5.37277838e-04 9.99881977e-01 -9.80401466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.566338938 meters 0.03330180244616627 Centerline is valid? [True, True] Translation: X:-19.28, Y:-0.31, Z:-0.10 [[ 9.92523611e-01 -1.21187055e-01 1.45113351e-02 -1.92762776e+01] [ 1.21166716e-01 9.92629562e-01 2.27595463e-03 -3.07885164e-01] [-1.46801964e-02 -5.00647890e-04 9.99892115e-01 -1.00119296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.596338938 meters 0.0333571962779064 Centerline is valid? [True, True] Translation: X:-19.30, Y:-0.31, Z:-0.10 [[ 9.92587667e-01 -1.20535909e-01 1.55182873e-02 -1.93043713e+01] [ 1.20512596e-01 9.92708819e-01 2.43217267e-03 -3.10302945e-01] [-1.56983048e-02 -5.43995507e-04 9.99876626e-01 -9.61280172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.626338938 meters 0.033216342735058926 Centerline is valid? [True, True] Translation: X:-19.33, Y:-0.32, Z:-0.09 [[ 9.92645570e-01 -1.19534475e-01 1.91384600e-02 -1.93327005e+01] [ 1.19498925e-01 9.92829814e-01 2.99459759e-03 -3.18716945e-01] [-1.93591914e-02 -6.85548619e-04 9.99812358e-01 -9.00064735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.656338938 meters 0.03268175576384922 Centerline is valid? [True, True] Translation: X:-19.36, Y:-0.33, Z:-0.09 [[ 9.92743842e-01 -1.18279545e-01 2.16705659e-02 -1.93590185e+01] [ 1.18233633e-01 9.92980010e-01 3.39227731e-03 -3.26267591e-01] [-2.19196757e-02 -8.05472672e-04 9.99759411e-01 -8.58400350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.686338938000002 meters 0.0326264680918589 Centerline is valid? [True, True] Translation: X:-19.39, Y:-0.33, Z:-0.09 [[ 9.92715235e-01 -1.18637273e-01 2.10157020e-02 -1.93876250e+01] [ 1.18594246e-01 9.92937362e-01 3.28640627e-03 -3.28869369e-01] [-2.12571660e-02 -7.70124248e-04 9.99773744e-01 -8.72861784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.716338938 meters 0.03236152581896801 Centerline is valid? [True, True] Translation: X:-19.42, Y:-0.33, Z:-0.09 [[ 9.92524169e-01 -1.20494847e-01 1.94104756e-02 -1.94168303e+01] [ 1.20458520e-01 9.92713724e-01 3.03426705e-03 -3.32440728e-01] [-1.96346591e-02 -6.73426224e-04 9.99806995e-01 -9.14704570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.746338938 meters 0.03196440900447744 Centerline is valid? [True, True] Translation: X:-19.45, Y:-0.34, Z:-0.09 [[ 9.92656000e-01 -1.19581212e-01 1.82865790e-02 -1.94453838e+01] [ 1.19548836e-01 9.92824209e-01 2.85748677e-03 -3.36725231e-01] [-1.84970601e-02 -6.50362158e-04 9.99828703e-01 -9.17798267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.776338938000002 meters 0.031946804153526444 Centerline is valid? [True, True] Translation: X:-19.47, Y:-0.34, Z:-0.09 [[ 9.92570901e-01 -1.20070826e-01 1.96469670e-02 -1.94739068e+01] [ 1.20033582e-01 9.92765090e-01 3.06834960e-03 -3.43323058e-01] [-1.98732422e-02 -6.87258708e-04 9.99802271e-01 -9.23359697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.806338938 meters 0.03145587648441169 Centerline is valid? [True, True] Translation: X:-19.50, Y:-0.35, Z:-0.08 [[ 9.92307852e-01 -1.21897237e-01 2.15914502e-02 -1.95006167e+01] [ 1.21852720e-01 9.92542470e-01 3.37049954e-03 -3.53499101e-01] [-2.18412859e-02 -7.13596221e-04 9.99761196e-01 -8.39612484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.836338938 meters 0.030499181013458932 Centerline is valid? [True, True] Translation: X:-19.53, Y:-0.36, Z:-0.08 [[ 9.91920133e-01 -1.24609529e-01 2.38099771e-02 -1.95301763e+01] [ 1.24556285e-01 9.92205600e-01 3.71211181e-03 -3.59594984e-01] [-2.40869571e-02 -7.16436143e-04 9.99709610e-01 -8.01517035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.866338938000002 meters 0.02998421271021679 Centerline is valid? [True, True] Translation: X:-19.56, Y:-0.37, Z:-0.08 [[ 9.91695558e-01 -1.26585295e-01 2.27174581e-02 -1.95574643e+01] [ 1.26537260e-01 9.91955519e-01 3.54539883e-03 -3.65529209e-01] [-2.29835033e-02 -6.41351366e-04 9.99735639e-01 -8.03512326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.896338938 meters 0.03058910424356709 Centerline is valid? [True, True] Translation: X:-19.59, Y:-0.37, Z:-0.09 [[ 9.91473666e-01 -1.28689787e-01 2.04672488e-02 -1.95866852e+01] [ 1.28651349e-01 9.91684758e-01 3.18930892e-03 -3.70888133e-01] [-2.07074901e-02 -5.28976657e-04 9.99785437e-01 -8.65765640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.926338938 meters 0.03084579616275489 Centerline is valid? [True, True] Translation: X:-19.61, Y:-0.38, Z:-0.08 [[ 9.91488149e-01 -1.28631990e-01 2.01261529e-02 -1.96131832e+01] [ 1.28594807e-01 9.91692260e-01 3.13633264e-03 -3.80734033e-01] [-2.03623827e-02 -5.21517905e-04 9.99792529e-01 -7.88878571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.956338938000002 meters 0.030013917673412764 Centerline is valid? [True, True] Translation: X:-19.64, Y:-0.38, Z:-0.08 [[ 9.91298554e-01 -1.29783537e-01 2.19865856e-02 -1.96422389e+01] [ 1.29739524e-01 9.91542204e-01 3.42262769e-03 -3.83704746e-01] [-2.22448283e-02 -5.40316734e-04 9.99752407e-01 -7.65460335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.986338938 meters 0.03164943055744615 Centerline is valid? [True, True] Translation: X:-19.67, Y:-0.39, Z:-0.07 [[ 9.91120161e-01 -1.30979227e-01 2.29187284e-02 -1.96706214e+01] [ 1.30931741e-01 9.91384969e-01 3.56689652e-03 -3.87761257e-01] [-2.31884722e-02 -5.34434039e-04 9.99730968e-01 -7.11748588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.016338938 meters 0.03164943055744615 Centerline is valid? [True, True] Translation: X:-19.70, Y:-0.39, Z:-0.07 [[ 9.91133448e-01 -1.30878640e-01 2.29187879e-02 -1.96976909e+01] [ 1.30831136e-01 9.91398252e-01 3.56651458e-03 -3.92110936e-01] [-2.31884269e-02 -5.36400833e-04 9.99730968e-01 -6.95992240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.046338938 meters 0.028925813189718326 Centerline is valid? [True, True] Translation: X:-19.72, Y:-0.40, Z:-0.06 [[ 9.90984657e-01 -1.31908672e-01 2.34416636e-02 -1.97239949e+01] [ 1.31859336e-01 9.91261737e-01 3.64480748e-03 -4.00666385e-01] [-2.37176059e-02 -5.20946087e-04 9.99718562e-01 -6.38934632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.076338938 meters 0.030436746802215992 Centerline is valid? [True, True] Translation: X:-19.75, Y:-0.40, Z:-0.07 [[ 9.91149272e-01 -1.30644538e-01 2.35611129e-02 -1.97526620e+01] [ 1.30594405e-01 9.91429120e-01 3.66069523e-03 -4.04090006e-01] [-2.38374232e-02 -5.51345901e-04 9.99715696e-01 -6.52099169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.106338938 meters 0.029479451501949323 Centerline is valid? [True, True] Translation: X:-19.78, Y:-0.41, Z:-0.06 [[ 9.91361747e-01 -1.29229768e-01 2.23954080e-02 -1.97804256e+01] [ 1.29184145e-01 9.91614521e-01 3.47816260e-03 -4.08718434e-01] [-2.26570939e-02 -5.54985709e-04 9.99743141e-01 -6.09598881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.136338938 meters 0.032321519442264496 Centerline is valid? [True, True] Translation: X:-19.81, Y:-0.41, Z:-0.06 [[ 9.91501063e-01 -1.28489549e-01 2.03979770e-02 -1.98092437e+01] [ 1.28451568e-01 9.91710727e-01 3.16687219e-03 -4.07297466e-01] [-2.06358026e-02 -5.19805021e-04 9.99786924e-01 -5.58138048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.166338938 meters 0.03000650765756536 Centerline is valid? [True, True] Translation: X:-19.84, Y:-0.41, Z:-0.06 [[ 9.91632975e-01 -1.27378981e-01 2.09437021e-02 -1.98387029e+01] [ 1.27338727e-01 9.91853964e-01 3.24997450e-03 -4.07766676e-01] [-2.11870724e-02 -5.55837534e-04 9.99775374e-01 -5.58505377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.196338938 meters 0.031459519953829736 Centerline is valid? [True, True] Translation: X:-19.87, Y:-0.41, Z:-0.05 [[ 9.91814892e-01 -1.25430340e-01 2.38841114e-02 -1.98680566e+01] [ 1.25377478e-01 9.92102197e-01 3.70398364e-03 -4.06996989e-01] [-2.41600713e-02 -6.79136486e-04 9.99707872e-01 -5.37809045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.226338938 meters 0.030778752014245805 Centerline is valid? [True, True] Translation: X:-19.89, Y:-0.41, Z:-0.05 [[ 9.91972528e-01 -1.24277174e-01 2.33599505e-02 -1.98948426e+01] [ 1.24226281e-01 9.92247300e-01 3.62296912e-03 -4.13568404e-01] [-2.36291002e-02 -6.91966066e-04 9.99720554e-01 -4.64506187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.256338938 meters 0.031166854439084523 Centerline is valid? [True, True] Translation: X:-19.93, Y:-0.41, Z:-0.05 [[ 9.92005199e-01 -1.24770677e-01 1.89199136e-02 -1.99252532e+01] [ 1.24737471e-01 9.92185456e-01 2.92979127e-03 -4.12910209e-01] [-1.91376152e-02 -5.46345992e-04 9.99816710e-01 -5.45769925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.286338938 meters 0.03380750825829151 Centerline is valid? [True, True] Translation: X:-19.95, Y:-0.42, Z:-0.05 [[ 9.92132891e-01 -1.23913351e-01 1.78271624e-02 -1.99528622e+01] [ 1.23883716e-01 9.92292900e-01 2.76147483e-03 -4.18803460e-01] [-1.80319503e-02 -5.31254884e-04 9.99837270e-01 -5.19936213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.316338938 meters 0.03328934857630964 Centerline is valid? [True, True] Translation: X:-19.98, Y:-0.42, Z:-0.05 [[ 9.92018304e-01 -1.24742121e-01 1.84143264e-02 -1.99812605e+01] [ 1.24710542e-01 9.92189051e-01 2.85791515e-03 -4.23278883e-01] [-1.86269954e-02 -5.38643521e-04 9.99826357e-01 -5.18263029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.346338938 meters 0.030609393697962693 Centerline is valid? [True, True] Translation: X:-20.01, Y:-0.43, Z:-0.04 [[ 9.92014665e-01 -1.24491826e-01 2.02160812e-02 -2.00077085e+01] [ 1.24453968e-01 9.92220461e-01 3.12504162e-03 -4.29156157e-01] [-2.04478515e-02 -5.84115601e-04 9.99790750e-01 -3.95704066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.376338938 meters 0.031223511793917216 Centerline is valid? [True, True] Translation: X:-20.04, Y:-0.43, Z:-0.04 [[ 9.91956513e-01 -1.24446102e-01 2.31396566e-02 -2.00366953e+01] [ 1.24396582e-01 9.92226146e-01 3.57291625e-03 -4.31207024e-01] [-2.34044078e-02 -6.65683357e-04 9.99725858e-01 -3.59888116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.406338938 meters 0.031126360485043726 Centerline is valid? [True, True] Translation: X:-20.06, Y:-0.44, Z:-0.03 [[ 9.92078681e-01 -1.23787308e-01 2.13680327e-02 -2.00649548e+01] [ 1.23744937e-01 9.92308575e-01 3.29901686e-03 -4.38213746e-01] [-2.16120585e-02 -6.28698447e-04 9.99766235e-01 -3.42139487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.436338938000002 meters 0.030761641665642336 Centerline is valid? [True, True] Translation: X:-20.09, Y:-0.44, Z:-0.03 [[ 9.92072144e-01 -1.24029745e-01 2.02356786e-02 -2.00922223e+01] [ 1.23991775e-01 9.92278324e-01 3.12520911e-03 -4.44097137e-01] [-2.04670441e-02 -5.91375187e-04 9.99790353e-01 -3.39255049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.466338938 meters 0.03053211640609751 Centerline is valid? [True, True] Translation: X:-20.12, Y:-0.44, Z:-0.04 [[ 9.91989023e-01 -1.24474656e-01 2.15368996e-02 -2.01216706e+01] [ 1.24431871e-01 9.92222597e-01 3.32064724e-03 -4.43488555e-01] [-2.17827349e-02 -6.14168886e-04 9.99762539e-01 -3.74479674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.496338938 meters 0.03278938836044866 Centerline is valid? [True, True] Translation: X:-20.15, Y:-0.44, Z:-0.04 [[ 9.92100355e-01 -1.23350839e-01 2.28354210e-02 -2.01501820e+01] [ 1.23302487e-01 9.92362894e-01 3.51887372e-03 -4.44512738e-01] [-2.30950805e-02 -6.75411664e-04 9.99733045e-01 -3.63567731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.526338938000002 meters 0.03202053150185985 Centerline is valid? [True, True] Translation: X:-20.18, Y:-0.45, Z:-0.04 [[ 9.92108549e-01 -1.22976359e-01 2.44426204e-02 -2.01781964e+01] [ 1.22920898e-01 9.92409332e-01 3.76443561e-03 -4.50737472e-01] [-2.47200212e-02 -7.30219911e-04 9.99694147e-01 -3.68379152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.556338938 meters 0.03181505125774231 Centerline is valid? [True, True] Translation: X:-20.20, Y:-0.46, Z:-0.02 [[ 9.92040924e-01 -1.23834478e-01 2.27997127e-02 -2.02037653e+01] [ 1.23786464e-01 9.92302668e-01 3.51076747e-03 -4.61414916e-01] [-2.30589698e-02 -6.60529185e-04 9.99733888e-01 -2.49667167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.586338938 meters 0.030911857673458925 Centerline is valid? [True, True] Translation: X:-20.23, Y:-0.46, Z:-0.03 [[ 9.92191291e-01 -1.22882164e-01 2.13638901e-02 -2.02327043e+01] [ 1.22839820e-01 9.92421063e-01 3.28816337e-03 -4.58250433e-01] [-2.16060311e-02 -6.38150651e-04 9.99766359e-01 -2.67528443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.616338938000002 meters 0.034310998064551027 Centerline is valid? [True, True] Translation: X:-20.26, Y:-0.45, Z:-0.03 [[ 9.92252511e-01 -1.22302006e-01 2.18442932e-02 -2.02622689e+01] [ 1.22257627e-01 9.92492709e-01 3.36070024e-03 -4.54887608e-01] [-2.20913221e-02 -6.64031806e-04 9.99755736e-01 -3.26809143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.646338938 meters 0.03375470976166509 Centerline is valid? [True, True] Translation: X:-20.29, Y:-0.47, Z:-0.02 [[ 9.92145144e-01 -1.22959377e-01 2.30000943e-02 -2.02871717e+01] [ 1.22910379e-01 9.92411470e-01 3.53737335e-03 -4.69311426e-01] [-2.32605107e-02 -6.82637483e-04 9.99729205e-01 -2.29676472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.676338938 meters 0.030685262683901735 Centerline is valid? [True, True] Translation: X:-20.31, Y:-0.48, Z:-0.02 [[ 9.92017263e-01 -1.23875713e-01 2.35914673e-02 -2.03144975e+01] [ 1.23824586e-01 9.92297514e-01 3.62144650e-03 -4.78265014e-01] [-2.38583636e-02 -6.71333784e-04 9.99715123e-01 -1.69480261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.706338938000002 meters 0.031094958171142047 Centerline is valid? [True, True] Translation: X:-20.34, Y:-0.48, Z:-0.02 [[ 9.91855725e-01 -1.25462283e-01 2.19416460e-02 -2.03442049e+01] [ 1.25418490e-01 9.92098216e-01 3.36621242e-03 -4.78356453e-01] [-2.21906006e-02 -5.86908947e-04 9.99753586e-01 -1.77361595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.736338938 meters 0.030121306710927782 Centerline is valid? [True, True] Translation: X:-20.37, Y:-0.48, Z:-0.02 [[ 9.91708787e-01 -1.26664090e-01 2.16769374e-02 -2.03721424e+01] [ 1.26621632e-01 9.91945514e-01 3.32571278e-03 -4.79403116e-01] [-2.19235892e-02 -5.53369399e-04 9.99759496e-01 -2.03851041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.766338938 meters 0.035246809470648476 Centerline is valid? [True, True] Translation: X:-20.40, Y:-0.48, Z:-0.02 [[ 9.91693965e-01 -1.26685687e-01 2.22219780e-02 -2.04003329e+01] [ 1.26641133e-01 9.91942750e-01 3.40661264e-03 -4.83363076e-01] [-2.24744990e-02 -5.64100739e-04 9.99747257e-01 -1.78528932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.796338938 meters 0.031213437369908795 Centerline is valid? [True, True] Translation: X:-20.43, Y:-0.49, Z:-0.01 [[ 9.91524120e-01 -1.27653144e-01 2.41783780e-02 -2.04285211e+01] [ 1.27600767e-01 9.91818698e-01 3.70320248e-03 -4.94289394e-01] [-2.44532928e-02 -5.86635022e-04 9.99700801e-01 -1.19157973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.826338938 meters 0.031673114466881445 Centerline is valid? [True, True] Translation: X:-20.46, Y:-0.50, Z:-0.01 [[ 9.91484969e-01 -1.27943193e-01 2.42506651e-02 -2.04558516e+01] [ 1.27890567e-01 9.91781327e-01 3.71512436e-03 -4.96554554e-01] [-2.45266817e-02 -5.82058648e-04 9.99699006e-01 -9.52417171e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.856338938 meters 0.030581807081850577 Centerline is valid? [True, True] Translation: X:-20.49, Y:-0.49, Z:-0.01 [[ 9.91666347e-01 -1.27003112e-01 2.16348036e-02 -2.04861246e+01] [ 1.26961063e-01 9.91902173e-01 3.31178092e-03 -4.94664260e-01] [-2.18802152e-02 -5.37404034e-04 9.99760455e-01 -1.32040364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.886338938 meters 0.034876576927711934 Centerline is valid? [True, True] Translation: X:-20.51, Y:-0.50, Z:-0.01 [[ 9.91763017e-01 -1.26123600e-01 2.23373146e-02 -2.05142908e+01] [ 1.26078568e-01 9.92014369e-01 3.41863599e-03 -4.99711056e-01] [-2.25901077e-02 -5.74220118e-04 9.99744646e-01 -1.18347909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.916338938 meters 0.03142685694598257 Centerline is valid? [True, True] Translation: X:-20.54, Y:-0.51, Z:-0.01 [[ 9.92070944e-01 -1.23784118e-01 2.17424730e-02 -2.05421447e+01] [ 1.23740922e-01 9.92308985e-01 3.32616867e-03 -5.05669978e-01] [-2.19869781e-02 -6.09361651e-04 9.99758071e-01 -8.69941592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.946338938 meters 0.03121879068198405 Centerline is valid? [True, True] Translation: X:-20.57, Y:-0.51, Z:-0.00 [[ 9.92193481e-01 -1.22722134e-01 2.21669465e-02 -2.05693797e+01] [ 1.22676958e-01 9.92440860e-01 3.39162495e-03 -5.06579777e-01] [-2.24156109e-02 -6.45774590e-04 9.99748530e-01 -3.27938196e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.976338938 meters 0.03283824373253764 Centerline is valid? [True, True] Translation: X:-20.60, Y:-0.51, Z:0.00 [[ 9.92212879e-01 -1.22480343e-01 2.26311427e-02 -2.05969018e+01] [ 1.22433300e-01 9.92470720e-01 3.45792096e-03 -5.06963502e-01] [-2.28842738e-02 -6.60188222e-04 9.99737903e-01 8.87560902e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.006338938 meters 0.03619378965674689 Centerline is valid? [True, True] Translation: X:-20.63, Y:-0.51, Z:0.00 [[ 9.92394169e-01 -1.20633331e-01 2.45237322e-02 -2.06262455e+01] [ 1.20577605e-01 9.92696844e-01 3.74392603e-03 -5.05265416e-01] [-2.47962738e-02 -7.58437482e-04 9.99692237e-01 1.63569426e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.036338938 meters 0.032428561691521245 Centerline is valid? [True, True] Translation: X:-20.65, Y:-0.51, Z:-0.00 [[ 9.92687235e-01 -1.18377948e-01 2.36371371e-02 -2.06541538e+01] [ 1.18325577e-01 9.92968301e-01 3.60703268e-03 -5.13936185e-01] [-2.38979210e-02 -7.83777404e-04 9.99714097e-01 -6.20003330e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.066338938 meters 0.0326957070139355 Centerline is valid? [True, True] Translation: X:-20.68, Y:-0.52, Z:0.00 [[ 9.92766875e-01 -1.17859769e-01 2.28693607e-02 -2.06812286e+01] [ 1.17810646e-01 9.93029951e-01 3.48826630e-03 -5.22771658e-01] [-2.31210864e-02 -7.68781091e-04 9.99732376e-01 2.59176043e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.096338938000002 meters 0.035332532283852136 Centerline is valid? [True, True] Translation: X:-20.71, Y:-0.52, Z:0.00 [[ 9.92813058e-01 -1.17535406e-01 2.25313337e-02 -2.07110939e+01] [ 1.17487675e-01 9.93068399e-01 3.43519677e-03 -5.20792623e-01] [-2.27789127e-02 -7.63354198e-04 9.99740235e-01 2.35145023e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.126338938 meters 0.03558430976078159 Centerline is valid? [True, True] Translation: X:-20.74, Y:-0.52, Z:0.01 [[ 9.92874433e-01 -1.17156768e-01 2.17865001e-02 -2.07390959e+01] [ 1.17112082e-01 9.93113154e-01 3.32021762e-03 -5.23871445e-01] [-2.20254458e-02 -7.45096807e-04 9.99757133e-01 5.17169362e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.156338938 meters 0.03325679761955925 Centerline is valid? [True, True] Translation: X:-20.77, Y:-0.53, Z:-0.00 [[ 9.92974757e-01 -1.16647942e-01 1.98592584e-02 -2.07681167e+01] [ 1.16610732e-01 9.93173089e-01 3.02547148e-03 -5.27468251e-01] [-2.00765960e-02 -6.88414155e-04 9.99798208e-01 -2.32501469e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.186338938000002 meters 0.03418322016120269 Centerline is valid? [True, True] Translation: X:-20.79, Y:-0.54, Z:0.01 [[ 9.92714938e-01 -1.18465701e-01 2.19756777e-02 -2.07945435e+01] [ 1.18420625e-01 9.92957885e-01 3.34588922e-03 -5.39258233e-01] [-2.22172956e-02 -7.19140712e-04 9.99752907e-01 5.60737300e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.216338938 meters 0.032106691498861264 Centerline is valid? [True, True] Translation: X:-20.82, Y:-0.54, Z:0.01 [[ 9.92465394e-01 -1.20078744e-01 2.43626194e-02 -2.08230942e+01] [ 1.20023896e-01 9.92764084e-01 3.70652717e-03 -5.41560372e-01] [-2.46314086e-02 -7.54503440e-04 9.99696316e-01 1.36458239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.246338938 meters 0.03126663117513171 Centerline is valid? [True, True] Translation: X:-20.85, Y:-0.55, Z:0.02 [[ 9.92302153e-01 -1.21103370e-01 2.58923125e-02 -2.08499552e+01] [ 1.21041799e-01 9.92639600e-01 3.93796796e-03 -5.50768481e-01] [-2.61786359e-02 -7.73602014e-04 9.99656981e-01 1.65016987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.276338938000002 meters 0.03115163683570912 Centerline is valid? [True, True] Translation: X:-20.88, Y:-0.56, Z:0.01 [[ 9.92089420e-01 -1.23220135e-01 2.39871043e-02 -2.08765465e+01] [ 1.23167910e-01 9.92379139e-01 3.64824777e-03 -5.60646162e-01] [-2.42538395e-02 -6.64946509e-04 9.99705611e-01 1.20778283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.306338938 meters 0.030974174967978756 Centerline is valid? [True, True] Translation: X:-20.90, Y:-0.57, Z:0.01 [[ 9.91963051e-01 -1.24826192e-01 2.06815546e-02 -2.09039793e+01] [ 1.24787763e-01 9.92178478e-01 3.14344980e-03 -5.68023174e-01] [-2.09121782e-02 -5.37381134e-04 9.99781172e-01 8.10762166e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.336338938 meters 0.03393690387732615 Centerline is valid? [True, True] Translation: X:-20.93, Y:-0.57, Z:0.01 [[ 9.91616987e-01 -1.27640397e-01 2.00917846e-02 -2.09317386e+01] [ 1.27604738e-01 9.91820405e-01 3.05220083e-03 -5.73679142e-01] [-2.03170261e-02 -4.62807281e-04 9.99793481e-01 8.33400102e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.366338938000002 meters 0.03263745077683363 Centerline is valid? [True, True] Translation: X:-20.96, Y:-0.58, Z:0.01 [[ 9.91319693e-01 -1.29389982e-01 2.33130407e-02 -2.09601972e+01] [ 1.29342563e-01 9.91593663e-01 3.53689783e-03 -5.80661241e-01] [-2.35747026e-02 -4.90828027e-04 9.99721958e-01 1.46005713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.396338938 meters 0.029528862989570477 Centerline is valid? [True, True] Translation: X:-20.99, Y:-0.59, Z:0.02 [[ 9.91046730e-01 -1.31140423e-01 2.50712812e-02 -2.09879270e+01] [ 1.31086153e-01 9.91363685e-01 3.80314435e-03 -5.89387426e-01] [-2.53535037e-02 -4.82595975e-04 9.99678432e-01 2.33164150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.426338938 meters 0.03188226933566716 Centerline is valid? [True, True] Translation: X:-21.02, Y:-0.60, Z:0.02 [[ 9.90842528e-01 -1.32650480e-01 2.51979176e-02 -2.10162665e+01] [ 1.32596168e-01 9.91162778e-01 3.82157490e-03 -5.95681671e-01] [-2.54821718e-02 -4.45431612e-04 9.99675178e-01 2.45108520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.456338938000002 meters 0.029196541595555302 Centerline is valid? [True, True] Translation: X:-21.04, Y:-0.60, Z:0.03 [[ 9.90935191e-01 -1.31950767e-01 2.52278118e-02 -2.10430107e+01] [ 1.31896101e-01 9.91256163e-01 3.82605080e-03 -6.01188404e-01] [-2.55120743e-02 -4.63918361e-04 9.99674406e-01 2.62831986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.486338938 meters 0.03156204025934798 Centerline is valid? [True, True] Translation: X:-21.07, Y:-0.61, Z:0.03 [[ 9.90809694e-01 -1.32891573e-01 2.52186404e-02 -2.10700228e+01] [ 1.32837376e-01 9.91130486e-01 3.81978076e-03 -6.12097750e-01] [-2.55025800e-02 -4.34697798e-04 9.99674662e-01 2.97018573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.516338938 meters 0.029379000431143415 Centerline is valid? [True, True] Translation: X:-21.10, Y:-0.62, Z:0.03 [[ 9.90858972e-01 -1.32841583e-01 2.34863953e-02 -2.10982405e+01] [ 1.32794596e-01 9.91137200e-01 3.55598622e-03 -6.19890746e-01] [-2.37506230e-02 -4.04614470e-04 9.99717832e-01 2.54518509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.546338938 meters 0.0293514336634185 Centerline is valid? [True, True] Translation: X:-21.12, Y:-0.62, Z:0.03 [[ 9.90717602e-01 -1.34012321e-01 2.27888460e-02 -2.11249652e+01] [ 1.33968387e-01 9.90979598e-01 3.45067979e-03 -6.22590344e-01] [-2.30457151e-02 -3.65664260e-04 9.99734345e-01 2.56848385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.576338938 meters 0.030986935068067545 Centerline is valid? [True, True] Translation: X:-21.15, Y:-0.62, Z:0.03 [[ 9.90773714e-01 -1.33563739e-01 2.29820717e-02 -2.11533241e+01] [ 1.33519017e-01 9.91040154e-01 3.47646785e-03 -6.23821914e-01] [-2.32404859e-02 -3.75849332e-04 9.99729833e-01 2.80835197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.606338938 meters 0.02895263402722581 Centerline is valid? [True, True] Translation: X:-21.18, Y:-0.64, Z:0.03 [[ 9.90720543e-01 -1.33919073e-01 2.32053383e-02 -2.11793912e+01] [ 1.33873648e-01 9.90992203e-01 3.50710399e-03 -6.35324039e-01] [-2.34659774e-02 -3.67976675e-04 9.99724568e-01 2.64031159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.636338938 meters 0.03153044913757434 Centerline is valid? [True, True] Translation: X:-21.21, Y:-0.64, Z:0.03 [[ 9.90549381e-01 -1.35441877e-01 2.16199397e-02 -2.12071075e+01] [ 1.35402859e-01 9.90785246e-01 3.26529892e-03 -6.44730357e-01] [-2.18629755e-02 -3.07038166e-04 9.99760929e-01 2.74108659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.666338938 meters 0.028747869885374543 Centerline is valid? [True, True] Translation: X:-21.24, Y:-0.65, Z:0.03 [[ 9.90346300e-01 -1.36979959e-01 2.12296356e-02 -2.12358298e+01] [ 1.36942724e-01 9.90573783e-01 3.20480454e-03 -6.49768232e-01] [-2.14685144e-02 -2.66622200e-04 9.99769489e-01 2.71092398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.696338938 meters 0.033076547585579645 Centerline is valid? [True, True] Translation: X:-21.26, Y:-0.65, Z:0.03 [[ 9.90176756e-01 -1.37863838e-01 2.33142550e-02 -2.12636399e+01] [ 1.37819222e-01 9.90451155e-01 3.51746192e-03 -6.53101682e-01] [-2.35765616e-02 -2.69756549e-04 9.99721998e-01 3.31699043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.726338938 meters 0.02869686675542324 Centerline is valid? [True, True] Translation: X:-21.29, Y:-0.66, Z:0.04 [[ 9.90330917e-01 -1.36459366e-01 2.49703293e-02 -2.12907126e+01] [ 1.36407775e-01 9.90645616e-01 3.76587760e-03 -6.59903170e-01] [-2.52506365e-02 -3.23317948e-04 9.99681100e-01 3.66400477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.756338938 meters 0.029779363511292033 Centerline is valid? [True, True] Translation: X:-21.32, Y:-0.67, Z:0.04 [[ 9.90420946e-01 -1.35677802e-01 2.56492320e-02 -2.13186872e+01] [ 1.35623182e-01 9.90752952e-01 3.86534343e-03 -6.68382109e-01] [-2.59364936e-02 -3.49686651e-04 9.99663531e-01 4.18216674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.786338938 meters 0.028701752247173824 Centerline is valid? [True, True] Translation: X:-21.35, Y:-0.67, Z:0.04 [[ 9.90588783e-01 -1.34465021e-01 2.55542599e-02 -2.13478729e+01] [ 1.34410462e-01 9.90918269e-01 3.84868552e-03 -6.72863468e-01] [-2.58396966e-02 -3.77704830e-04 9.99666028e-01 3.84416896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.816338938 meters 0.02975053511157605 Centerline is valid? [True, True] Translation: X:-21.38, Y:-0.67, Z:0.03 [[ 9.91402025e-01 -1.29188279e-01 2.07945506e-02 -2.13803414e+01] [ 1.29151041e-01 9.91619995e-01 3.12949145e-03 -6.66980198e-01] [-2.10245858e-02 -4.16946288e-04 9.99778872e-01 3.18300330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.846338938000002 meters 0.03233966165502335 Centerline is valid? [True, True] Translation: X:-21.41, Y:-0.67, Z:0.03 [[ 9.91690064e-01 -1.27257731e-01 1.88755633e-02 -2.14085020e+01] [ 1.27226641e-01 9.91869596e-01 2.84379759e-03 -6.68990783e-01] [-1.90839926e-02 -4.18691295e-04 9.99817796e-01 2.84998116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.876338938 meters 0.030950683976735293 Centerline is valid? [True, True] Translation: X:-21.44, Y:-0.67, Z:0.03 [[ 9.92064487e-01 -1.24031017e-01 2.05999949e-02 -2.14367051e+01] [ 1.23993350e-01 9.92278204e-01 3.10075114e-03 -6.74742810e-01] [-2.08255152e-02 -5.21882717e-04 9.99782989e-01 3.37899868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.906338938 meters 0.030937711776957685 Centerline is valid? [True, True] Translation: X:-21.46, Y:-0.68, Z:0.04 [[ 9.92125360e-01 -1.23084427e-01 2.31839304e-02 -2.14644042e+01] [ 1.23036509e-01 9.92396017e-01 3.48752132e-03 -6.81647832e-01] [-2.34368998e-02 -6.07588491e-04 9.99725134e-01 4.48328490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.936338938000002 meters 0.030937711776957685 Centerline is valid? [True, True] Translation: X:-21.49, Y:-0.69, Z:0.05 [[ 9.92138191e-01 -1.22980942e-01 2.31839942e-02 -2.14914975e+01] [ 1.22933006e-01 9.92408845e-01 3.48709793e-03 -6.85858573e-01] [-2.34368475e-02 -6.09604947e-04 9.99725134e-01 4.64085985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.966338938 meters 0.030553973523469478 Centerline is valid? [True, True] Translation: X:-21.52, Y:-0.69, Z:0.05 [[ 9.91891927e-01 -1.24405338e-01 2.59560671e-02 -2.15193416e+01] [ 1.24345858e-01 9.92231274e-01 3.89944858e-03 -6.89052496e-01] [-2.62395337e-02 -6.40302141e-04 9.99655479e-01 4.87133359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.996338938 meters 0.02983412710224192 Centerline is valid? [True, True] Translation: X:-21.55, Y:-0.69, Z:0.04 [[ 9.91738258e-01 -1.25951914e-01 2.43175542e-02 -2.15481378e+01] [ 1.25900208e-01 9.92036190e-01 3.65184180e-03 -6.91367155e-01] [-2.45838502e-02 -5.60086085e-04 9.99697615e-01 4.49748098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.026338938000002 meters 0.02944747262614882 Centerline is valid? [True, True] Translation: X:-21.58, Y:-0.70, Z:0.04 [[ 9.91416041e-01 -1.28865956e-01 2.20861659e-02 -2.15753059e+01] [ 1.28824055e-01 9.91661923e-01 3.31553438e-03 -7.04797514e-01] [-2.23292692e-02 -4.41844530e-04 9.99750573e-01 3.81273776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.056338938 meters 0.029123887175824634 Centerline is valid? [True, True] Translation: X:-21.60, Y:-0.72, Z:0.04 [[ 9.91243416e-01 -1.30350394e-01 2.11013249e-02 -2.16013396e+01] [ 1.30312511e-01 9.91467914e-01 3.16637753e-03 -7.20489691e-01] [-2.13340252e-02 -3.88884242e-04 9.99772328e-01 4.28019662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.086338938 meters 0.028678486988998896 Centerline is valid? [True, True] Translation: X:-21.63, Y:-0.73, Z:0.05 [[ 9.90815798e-01 -1.32963033e-01 2.45944217e-02 -2.16295955e+01] [ 1.32912475e-01 9.91120923e-01 3.68639411e-03 -7.31076171e-01] [-2.48662001e-02 -3.83632083e-04 9.99690715e-01 5.00743792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.116338938000002 meters 0.029043591009474602 Centerline is valid? [True, True] Translation: X:-21.66, Y:-0.73, Z:0.05 [[ 9.90622301e-01 -1.33897088e-01 2.71850547e-02 -2.16582693e+01] [ 1.33835654e-01 9.90995162e-01 4.07516616e-03 -7.34575325e-01] [-2.74859105e-02 -3.98620908e-04 9.99622112e-01 5.42671710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.146338938 meters 0.031692830033962165 Centerline is valid? [True, True] Translation: X:-21.69, Y:-0.74, Z:0.06 [[ 9.91010138e-01 -1.31148628e-01 2.64375604e-02 -2.16859347e+01] [ 1.31089556e-01 9.91362610e-01 3.96281568e-03 -7.35605600e-01] [-2.67289267e-02 -4.61502470e-04 9.99642612e-01 5.79002512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.176338938 meters 0.03202890224510854 Centerline is valid? [True, True] Translation: X:-21.72, Y:-0.74, Z:0.05 [[ 9.91704072e-01 -1.26194617e-01 2.44530667e-02 -2.17153875e+01] [ 1.26142662e-01 9.92005353e-01 3.66186174e-03 -7.41963519e-01] [-2.47196803e-02 -5.46908261e-04 9.99694272e-01 4.86728428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.206338938000002 meters 0.030831584260218963 Centerline is valid? [True, True] Translation: X:-21.74, Y:-0.75, Z:0.05 [[ 9.91914917e-01 -1.24567989e-01 2.42407590e-02 -2.17427780e+01] [ 1.24516426e-01 9.92210903e-01 3.63093598e-03 -7.47701606e-01] [-2.45042437e-02 -5.83206887e-04 9.99699556e-01 5.10611652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.236338938 meters 0.030234658946321748 Centerline is valid? [True, True] Translation: X:-21.77, Y:-0.75, Z:0.05 [[ 9.92130443e-01 -1.22649848e-01 2.51832941e-02 -2.17708528e+01] [ 1.22593654e-01 9.92449792e-01 3.76914676e-03 -7.52715000e-01] [-2.54554402e-02 -6.52173194e-04 9.99675745e-01 5.42770564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.266338938 meters 0.033599158724212326 Centerline is valid? [True, True] Translation: X:-21.80, Y:-0.76, Z:0.05 [[ 9.92435010e-01 -1.20042784e-01 2.57387069e-02 -2.17999339e+01] [ 1.19983258e-01 9.92768449e-01 3.85033787e-03 -7.55068360e-01] [-2.60147814e-02 -7.32996190e-04 9.99661290e-01 5.00296996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.296338938 meters 0.03108052248444558 Centerline is valid? [True, True] Translation: X:-21.83, Y:-0.76, Z:0.05 [[ 9.92511511e-01 -1.19785167e-01 2.39251966e-02 -2.18269891e+01] [ 1.19733682e-01 9.92799598e-01 3.57816803e-03 -7.62959560e-01] [-2.41815371e-02 -6.86721062e-04 9.99707348e-01 4.97450080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.326338938 meters 0.032086980650603836 Centerline is valid? [True, True] Translation: X:-21.86, Y:-0.77, Z:0.04 [[ 9.92422956e-01 -1.20493457e-01 2.40416898e-02 -2.18556346e+01] [ 1.20441742e-01 9.92713895e-01 3.59288363e-03 -7.68022706e-01] [-2.42994385e-02 -6.70037185e-04 9.99704501e-01 4.43667706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.356338938 meters 0.030826193627545614 Centerline is valid? [True, True] Translation: X:-21.88, Y:-0.78, Z:0.05 [[ 9.92318549e-01 -1.21355211e-01 2.40168902e-02 -2.18817255e+01] [ 1.21303883e-01 9.92608933e-01 3.58804060e-03 -7.79490254e-01] [-2.42748072e-02 -6.47137211e-04 9.99705114e-01 5.30860616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.386338938 meters 0.033507610722662076 Centerline is valid? [True, True] Translation: X:-21.91, Y:-0.80, Z:0.06 [[ 9.91541442e-01 -1.26787096e-01 2.77596935e-02 -2.19099600e+01] [ 1.26720801e-01 9.91929779e-01 4.14162146e-03 -7.96450853e-01] [-2.80607707e-02 -5.88858729e-04 9.99606046e-01 5.54235028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.416338938 meters 0.029595759079226455 Centerline is valid? [True, True] Translation: X:-21.94, Y:-0.81, Z:0.06 [[ 9.91326855e-01 -1.28399937e-01 2.80093503e-02 -2.19382280e+01] [ 1.28333086e-01 9.91722318e-01 4.17892230e-03 -8.08728259e-01] [-2.83140712e-02 -5.48151548e-04 9.99598926e-01 5.89479544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.446338938 meters 0.028920373630918057 Centerline is valid? [True, True] Translation: X:-21.97, Y:-0.82, Z:0.06 [[ 9.91336533e-01 -1.28887220e-01 2.52974657e-02 -2.19663786e+01] [ 1.28832828e-01 9.91659140e-01 3.77513306e-03 -8.16099664e-01] [-2.55730295e-02 -4.83283281e-04 9.99672840e-01 5.69897987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.476338938 meters 0.030983152228722208 Centerline is valid? [True, True] Translation: X:-21.99, Y:-0.82, Z:0.05 [[ 9.91380850e-01 -1.28715126e-01 2.44218351e-02 -2.19945015e+01] [ 1.28664398e-01 9.91681499e-01 3.64385712e-03 -8.21959684e-01] [-2.46877016e-02 -4.70229467e-04 9.99695102e-01 5.49303937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.506338938 meters 0.03077039051489414 Centerline is valid? [True, True] Translation: X:-22.02, Y:-0.83, Z:0.06 [[ 9.91384692e-01 -1.27873964e-01 2.83661941e-02 -2.20231886e+01] [ 1.27805263e-01 9.91790264e-01 4.22935887e-03 -8.28309812e-01] [-2.86741400e-02 -5.67572738e-04 9.99588651e-01 5.64064401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.536338938 meters 0.029260836194812484 Centerline is valid? [True, True] Translation: X:-22.05, Y:-0.84, Z:0.07 [[ 9.91669546e-01 -1.25165227e-01 3.04167447e-02 -2.20512982e+01] [ 1.25085063e-01 9.92135672e-01 4.53169555e-03 -8.38354839e-01] [-3.07447481e-02 -6.89264059e-04 9.99527031e-01 6.70134228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.566338938 meters 0.02958543590247335 Centerline is valid? [True, True] Translation: X:-22.08, Y:-0.85, Z:0.06 [[ 9.91864199e-01 -1.23979423e-01 2.88879417e-02 -2.20819305e+01] [ 1.23906833e-01 9.92284555e-01 4.29641122e-03 -8.45527946e-01] [-2.91977250e-02 -6.82043103e-04 9.99573423e-01 6.47566297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.596338938000002 meters 0.030295584613774813 Centerline is valid? [True, True] Translation: X:-22.11, Y:-0.85, Z:0.06 [[ 9.91969301e-01 -1.23632572e-01 2.66813332e-02 -2.21135458e+01] [ 1.23570222e-01 9.92327851e-01 3.97947425e-03 -8.49200432e-01] [-2.69686227e-02 -6.50498037e-04 9.99636069e-01 6.05253421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.626338938 meters 0.03249233344806132 Centerline is valid? [True, True] Translation: X:-22.14, Y:-0.85, Z:0.06 [[ 9.92003885e-01 -1.23118420e-01 2.77515077e-02 -2.21430148e+01] [ 1.23050714e-01 9.92391745e-01 4.14091522e-03 -8.53729982e-01] [-2.80501900e-02 -6.92961150e-04 9.99606276e-01 6.49886852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.656338938 meters 0.03151103006011643 Centerline is valid? [True, True] Translation: X:-22.17, Y:-0.86, Z:0.06 [[ 9.92055196e-01 -1.22431917e-01 2.89294500e-02 -2.21723861e+01] [ 1.22358029e-01 9.92476636e-01 4.31734700e-03 -8.61688850e-01] [-2.92403843e-02 -7.43296036e-04 9.99572132e-01 6.44324930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.686338938000002 meters 0.029892146730798694 Centerline is valid? [True, True] Translation: X:-22.20, Y:-0.87, Z:0.06 [[ 9.91886218e-01 -1.23802451e-01 2.88908912e-02 -2.22029394e+01] [ 1.23729543e-01 9.92306641e-01 4.30467391e-03 -8.74253820e-01] [-2.92015524e-02 -6.95089972e-04 9.99573302e-01 6.41223962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.716338938 meters 0.029517930527176897 Centerline is valid? [True, True] Translation: X:-22.23, Y:-0.89, Z:0.06 [[ 9.91605964e-01 -1.26317495e-01 2.75953528e-02 -2.22325262e+01] [ 1.26251689e-01 9.91989681e-01 4.12111627e-03 -8.88072677e-01] [-2.78948743e-02 -6.02563573e-04 9.99610681e-01 6.49448712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.746338938 meters 0.02907506948667923 Centerline is valid? [True, True] Translation: X:-22.26, Y:-0.89, Z:0.06 [[ 9.91195934e-01 -1.29413809e-01 2.79765396e-02 -2.22636270e+01] [ 1.29347210e-01 9.91590533e-01 4.18493281e-03 -8.94501319e-01] [-2.82828599e-02 -5.29401050e-04 9.99599820e-01 6.49102685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.776338938000002 meters 0.02965530741856495 Centerline is valid? [True, True] Translation: X:-22.29, Y:-0.90, Z:0.07 [[ 9.90959356e-01 -1.31052894e-01 2.87174989e-02 -2.22936756e+01] [ 1.30983374e-01 9.91375253e-01 4.29689583e-03 -9.01739826e-01] [-2.90329384e-02 -4.96534233e-04 9.99578332e-01 7.01253974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.806338938 meters 0.02904541995067688 Centerline is valid? [True, True] Translation: X:-22.32, Y:-0.92, Z:0.07 [[ 9.90884182e-01 -1.31357484e-01 2.98956252e-02 -2.23232906e+01] [ 1.31282393e-01 9.91334937e-01 4.46941381e-03 -9.16597102e-01] [-3.02236687e-02 -5.03902222e-04 9.99543034e-01 7.00816001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.836338938 meters 0.028823662539819866 Centerline is valid? [True, True] Translation: X:-22.35, Y:-0.93, Z:0.08 [[ 9.90664089e-01 -1.32793743e-01 3.08299159e-02 -2.23531422e+01] [ 1.32714369e-01 9.91143577e-01 4.61586262e-03 -9.28337020e-01] [-3.11698308e-02 -4.81196515e-04 9.99513987e-01 7.68125073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.866338938000002 meters 0.028670587391285713 Centerline is valid? [True, True] Translation: X:-22.39, Y:-0.93, Z:0.07 [[ 9.90739543e-01 -1.31962132e-01 3.19555095e-02 -2.23862964e+01] [ 1.31876182e-01 9.91254615e-01 4.79178002e-03 -9.28611850e-01] [-3.23083797e-02 -5.33235365e-04 9.99477806e-01 7.22981747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.896338938 meters 0.029596711171234802 Centerline is valid? [True, True] Translation: X:-22.42, Y:-0.93, Z:0.07 [[ 9.90825972e-01 -1.31576220e-01 3.08478758e-02 -2.24183333e+01] [ 1.31495708e-01 9.91305913e-01 4.63311627e-03 -9.33717876e-01] [-3.11892896e-02 -5.34248660e-04 9.99513353e-01 6.90768218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.926338938 meters 0.031198537464372338 Centerline is valid? [True, True] Translation: X:-22.45, Y:-0.95, Z:0.07 [[ 9.91278552e-01 -1.28541634e-01 2.90496319e-02 -2.24486527e+01] [ 1.28468592e-01 9.91703929e-01 4.37469761e-03 -9.45902223e-01] [-2.93709649e-02 -6.04578601e-04 9.99568397e-01 6.76224186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.956338938000002 meters 0.029739930577405975 Centerline is valid? [True, True] Translation: X:-22.48, Y:-0.96, Z:0.07 [[ 9.91378465e-01 -1.27809509e-01 2.88698486e-02 -2.24800182e+01] [ 1.27737173e-01 9.91798541e-01 4.34372274e-03 -9.55080399e-01] [-2.91882428e-02 -6.18520334e-04 9.99573741e-01 7.18472952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.986338938 meters 0.030752728313122816 Centerline is valid? [True, True] Translation: X:-22.51, Y:-0.96, Z:0.07 [[ 9.91366806e-01 -1.26889619e-01 3.30284710e-02 -2.25126553e+01] [ 1.26793941e-01 9.91916558e-01 4.98386615e-03 -9.55861611e-01] [-3.33938882e-02 -7.53029448e-04 9.99441985e-01 7.41313677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.016338938 meters 0.029793515005765814 Centerline is valid? [True, True] Translation: X:-22.54, Y:-0.96, Z:0.08 [[ 9.91447521e-01 -1.26024825e-01 3.39051021e-02 -2.25437673e+01] [ 1.25923560e-01 9.92026765e-01 5.11421434e-03 -9.61678189e-01] [-3.42792867e-02 -8.01023987e-04 9.99411972e-01 7.67507074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.046338938 meters 0.0324102193553944 Centerline is valid? [True, True] Translation: X:-22.58, Y:-0.97, Z:0.07 [[ 9.91627801e-01 -1.25056395e-01 3.21745611e-02 -2.25751043e+01] [ 1.24964310e-01 9.92149309e-01 4.86510138e-03 -9.74771070e-01] [-3.25303806e-02 -8.03697965e-04 9.99470424e-01 7.49522973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.076338938 meters 0.03014361383961981 Centerline is valid? [True, True] Translation: X:-22.61, Y:-0.98, Z:0.08 [[ 9.91450184e-01 -1.26344509e-01 3.26128357e-02 -2.26068379e+01] [ 1.26250618e-01 9.91986124e-01 4.93063686e-03 -9.82910797e-01] [-3.29744394e-02 -7.71090161e-04 9.99455898e-01 7.50537923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.106338938 meters 0.0297211135769607 Centerline is valid? [True, True] Translation: X:-22.64, Y:-0.99, Z:0.08 [[ 9.91309873e-01 -1.27143020e-01 3.37548081e-02 -2.26376281e+01] [ 1.27042593e-01 9.91884088e-01 5.11221655e-03 -9.89055117e-01] [-3.41308398e-02 -7.79492386e-04 9.99417069e-01 7.83948722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.136338938 meters 0.03145486974093329 Centerline is valid? [True, True] Translation: X:-22.67, Y:-1.00, Z:0.08 [[ 9.90994534e-01 -1.29061922e-01 3.56770863e-02 -2.26670752e+01] [ 1.28950516e-01 9.91636240e-01 5.41586188e-03 -9.99258538e-01] [-3.60776732e-02 -7.66510826e-04 9.99348695e-01 8.17593161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.166338938 meters 0.029296707875248462 Centerline is valid? [True, True] Translation: X:-22.70, Y:-1.01, Z:0.08 [[ 9.90938984e-01 -1.30040241e-01 3.36075302e-02 -2.26984269e+01] [ 1.29941992e-01 9.91508479e-01 5.10052754e-03 -1.01091721e+00] [-3.39854249e-02 -6.87282176e-04 9.99422092e-01 8.25393383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.196338938 meters 0.029162731742017625 Centerline is valid? [True, True] Translation: X:-22.73, Y:-1.02, Z:0.08 [[ 9.90801259e-01 -1.31206591e-01 3.31314893e-02 -2.27304571e+01] [ 1.31111727e-01 9.91354842e-01 5.02920164e-03 -1.02198285e+00] [-3.35049267e-02 -6.39012523e-04 9.99438348e-01 7.84328321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.226338938 meters 0.02811677823870329 Centerline is valid? [True, True] Translation: X:-22.76, Y:-1.02, Z:0.08 [[ 9.90290221e-01 -1.34229632e-01 3.61619092e-02 -2.27597660e+01] [ 1.34118003e-01 9.90950071e-01 5.50623668e-03 -1.02493305e+00] [-3.65737466e-02 -6.02809294e-04 9.99330775e-01 8.44238157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.256338938000003 meters 0.02812108129416787 Centerline is valid? [True, True] Translation: X:-22.79, Y:-1.03, Z:0.09 [[ 9.90206092e-01 -1.34603484e-01 3.70647823e-02 -2.27916590e+01] [ 1.34486652e-01 9.90899361e-01 5.63887108e-03 -1.03050112e+00] [-3.74864808e-02 -5.98926011e-04 9.99296955e-01 8.52574771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.286338938 meters 0.028631445345637593 Centerline is valid? [True, True] Translation: X:-22.82, Y:-1.04, Z:0.09 [[ 9.90318867e-01 -1.34162496e-01 3.56225634e-02 -2.28228415e+01] [ 1.34054000e-01 9.90959164e-01 5.42772093e-03 -1.03900206e+00] [-3.60287022e-02 -5.99827325e-04 9.99350576e-01 8.52862455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.316338938 meters 0.028415982656747468 Centerline is valid? [True, True] Translation: X:-22.85, Y:-1.05, Z:0.09 [[ 9.90398461e-01 -1.33888607e-01 3.44199005e-02 -2.28527939e+01] [ 1.33786856e-01 9.90996208e-01 5.25294003e-03 -1.04717336e+00] [-3.48132997e-02 -5.97573449e-04 9.99393655e-01 8.59195545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.346338938000002 meters 0.02812191466733018 Centerline is valid? [True, True] Translation: X:-22.89, Y:-1.05, Z:0.08 [[ 9.90572428e-01 -1.32539105e-01 3.46359741e-02 -2.28853046e+01] [ 1.32434982e-01 9.91177559e-01 5.29350290e-03 -1.05153102e+00] [-3.50319964e-02 -6.56583421e-04 9.99385976e-01 8.39904400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.376338938 meters 0.028724580741381546 Centerline is valid? [True, True] Translation: X:-22.92, Y:-1.06, Z:0.09 [[ 9.90700656e-01 -1.30982668e-01 3.68205221e-02 -2.29181486e+01] [ 1.30863563e-01 9.91384362e-01 5.63681382e-03 -1.05533517e+00] [-3.72416147e-02 -7.65930427e-04 9.99305997e-01 9.13209841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.406338938 meters 0.029635223600355767 Centerline is valid? [True, True] Translation: X:-22.95, Y:-1.06, Z:0.09 [[ 9.90936298e-01 -1.29234831e-01 3.66553095e-02 -2.29491951e+01] [ 1.29115196e-01 9.91613662e-01 5.62238087e-03 -1.06159756e+00] [-3.70745131e-02 -8.38663826e-04 9.99312152e-01 9.43510004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.436338938000002 meters 0.028732687684036577 Centerline is valid? [True, True] Translation: X:-22.98, Y:-1.07, Z:0.09 [[ 9.91047676e-01 -1.28430493e-01 3.64707064e-02 -2.29812684e+01] [ 1.28311186e-01 9.91718128e-01 5.60298497e-03 -1.06533694e+00] [-3.68882548e-02 -8.73225627e-04 9.99319015e-01 9.14958167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.466338938 meters 0.028783797790573083 Centerline is valid? [True, True] Translation: X:-23.01, Y:-1.07, Z:0.09 [[ 9.91156557e-01 -1.27753629e-01 3.58843856e-02 -2.30135570e+01] [ 1.27637362e-01 9.91805532e-01 5.52184106e-03 -1.07093339e+00] [-3.62957674e-02 -8.92820663e-04 9.99340693e-01 9.02266830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.496338938 meters 0.02928350534633674 Centerline is valid? [True, True] Translation: X:-23.05, Y:-1.08, Z:0.10 [[ 9.91150362e-01 -1.27724581e-01 3.61578783e-02 -2.30452934e+01] [ 1.27606210e-01 9.91809258e-01 5.57225134e-03 -1.07866797e+00] [-3.65734320e-02 -9.08969124e-04 9.99330555e-01 9.64054276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.526338938000002 meters 0.029871385652910604 Centerline is valid? [True, True] Translation: X:-23.08, Y:-1.08, Z:0.10 [[ 9.91045982e-01 -1.28090717e-01 3.76912367e-02 -2.30772726e+01] [ 1.27961897e-01 9.91762005e-01 5.82051390e-03 -1.08155943e+00] [-3.81262903e-02 -9.45354760e-04 9.99272482e-01 9.97868739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.556338938 meters 0.028904514471014744 Centerline is valid? [True, True] Translation: X:-23.11, Y:-1.09, Z:0.10 [[ 9.90796150e-01 -1.29498456e-01 3.94098814e-02 -2.31075967e+01] [ 1.29358227e-01 9.91579174e-01 6.09843412e-03 -1.08834227e+00] [-3.98677555e-02 -9.44312665e-04 9.99204519e-01 1.02905978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.586338938 meters 0.03134081406438238 Centerline is valid? [True, True] Translation: X:-23.14, Y:-1.10, Z:0.10 [[ 9.90677375e-01 -1.30411986e-01 3.93834056e-02 -2.31378269e+01] [ 1.30272542e-01 9.91459473e-01 6.09746302e-03 -1.09592942e+00] [-3.98422328e-02 -9.10042283e-04 9.99205569e-01 1.03584200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.616338938000002 meters 0.028340247383866715 Centerline is valid? [True, True] Translation: X:-23.17, Y:-1.11, Z:0.10 [[ 9.90591075e-01 -1.31639388e-01 3.74218376e-02 -2.31686365e+01] [ 1.31514078e-01 9.91297327e-01 5.80144831e-03 -1.10820425e+00] [-3.78598667e-02 -8.25364431e-04 9.99282717e-01 1.03358831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.646338938 meters 0.028515240847956144 Centerline is valid? [True, True] Translation: X:-23.20, Y:-1.11, Z:0.11 [[ 9.90298692e-01 -1.33792899e-01 3.75228143e-02 -2.32000964e+01] [ 1.33668097e-01 9.91009027e-01 5.82657488e-03 -1.11429834e+00] [-3.79650020e-02 -7.54446304e-04 9.99278785e-01 1.05770403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.676338938 meters 0.029256032412949634 Centerline is valid? [True, True] Translation: X:-23.23, Y:-1.11, Z:0.11 [[ 9.90256965e-01 -1.34005111e-01 3.78651919e-02 -2.32332071e+01] [ 1.33877824e-01 9.90980347e-01 5.88890730e-03 -1.11479978e+00] [-3.83128047e-02 -7.62221985e-04 9.99265504e-01 1.09947023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.706338938000002 meters 0.028886324264647975 Centerline is valid? [True, True] Translation: X:-23.26, Y:-1.12, Z:0.11 [[ 9.90316360e-01 -1.33246652e-01 3.89722564e-02 -2.32644375e+01] [ 1.33110685e-01 9.91082562e-01 6.07467929e-03 -1.12101677e+00] [-3.94341544e-02 -8.28230524e-04 9.99221828e-01 1.12428715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.736338938 meters 0.02831335795343141 Centerline is valid? [True, True] Translation: X:-23.29, Y:-1.13, Z:0.12 [[ 9.90253320e-01 -1.33328660e-01 4.02719466e-02 -2.32941952e+01] [ 1.33183289e-01 9.91071507e-01 6.28333834e-03 -1.13155484e+00] [-4.07501278e-02 -8.58546364e-04 9.99169000e-01 1.16715434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.766338938 meters 0.028912839834338216 Centerline is valid? [True, True] Translation: X:-23.33, Y:-1.14, Z:0.12 [[ 9.90410218e-01 -1.32176753e-01 4.02107746e-02 -2.33259210e+01] [ 1.32030521e-01 9.91225742e-01 6.28245204e-03 -1.13749730e+00] [-4.06883490e-02 -9.13155161e-04 9.99171469e-01 1.19223802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.796338938 meters 0.028890148902305006 Centerline is valid? [True, True] Translation: X:-23.36, Y:-1.14, Z:0.12 [[ 9.90453805e-01 -1.32221487e-01 3.89709980e-02 -2.33585786e+01] [ 1.32083816e-01 9.91219795e-01 6.09778904e-03 -1.13917257e+00] [-3.94350834e-02 -8.92140226e-04 9.99221736e-01 1.20364596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.826338938 meters 0.028890148902305006 Centerline is valid? [True, True] Translation: X:-23.39, Y:-1.14, Z:0.12 [[ 9.90417870e-01 -1.32490791e-01 3.89696449e-02 -2.33907883e+01] [ 1.32352989e-01 9.91183837e-01 6.10642139e-03 -1.14402566e+00] [-3.94351267e-02 -8.90159898e-04 9.99221736e-01 1.22229281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.856338938 meters 0.031578952871211964 Centerline is valid? [True, True] Translation: X:-23.42, Y:-1.15, Z:0.13 [[ 9.90542007e-01 -1.31504918e-01 3.91533949e-02 -2.34212353e+01] [ 1.31364574e-01 9.91315067e-01 6.14704914e-03 -1.14898627e+00] [-3.96217175e-02 -9.45541349e-04 9.99214304e-01 1.25720658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.886338938 meters 0.03258497194352594 Centerline is valid? [True, True] Translation: X:-23.45, Y:-1.16, Z:0.13 [[ 9.90527586e-01 -1.31695102e-01 3.88780349e-02 -2.34537257e+01] [ 1.31556562e-01 9.91289826e-01 6.11168590e-03 -1.15648280e+00] [-3.93442796e-02 -9.39132845e-04 9.99225273e-01 1.27090571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.916338938 meters 0.03330814686606266 Centerline is valid? [True, True] Translation: X:-23.48, Y:-1.16, Z:0.13 [[ 9.90726135e-01 -1.30722202e-01 3.70598449e-02 -2.34849815e+01] [ 1.30595236e-01 9.91418588e-01 5.83671892e-03 -1.15972561e+00] [-3.75048079e-02 -9.42750781e-04 9.99296002e-01 1.30661741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.946338938 meters 0.03127808232791096 Centerline is valid? [True, True] Translation: X:-23.52, Y:-1.16, Z:0.13 [[ 9.90838099e-01 -1.29400533e-01 3.86699396e-02 -2.35181893e+01] [ 1.29260930e-01 9.91591857e-01 6.09933613e-03 -1.15754825e+00] [-3.91340545e-02 -1.04494228e-03 9.99233423e-01 1.30385123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.976338938 meters 0.030189182207044696 Centerline is valid? [True, True] Translation: X:-23.55, Y:-1.17, Z:0.14 [[ 9.90824280e-01 -1.28915867e-01 4.05948845e-02 -2.35476949e+01] [ 1.28761024e-01 9.91654889e-01 6.41708151e-03 -1.16601974e+00] [-4.10833794e-02 -1.13116126e-03 9.99155081e-01 1.35435179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.006338938000003 meters 0.033459005204312914 Centerline is valid? [True, True] Translation: X:-23.58, Y:-1.17, Z:0.14 [[ 9.90846666e-01 -1.27912069e-01 4.31437919e-02 -2.35803146e+01] [ 1.27736284e-01 9.91784731e-01 6.81826259e-03 -1.17136844e+00] [-4.36614921e-02 -1.24482509e-03 9.99045607e-01 1.40697051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.036338938 meters 0.031075221866884713 Centerline is valid? [True, True] Translation: X:-23.61, Y:-1.18, Z:0.14 [[ 9.91089032e-01 -1.27126742e-01 3.97658524e-02 -2.36129000e+01] [ 1.26976242e-01 9.91885764e-01 6.29798350e-03 -1.17534743e+00] [-4.02438250e-02 -1.19254386e-03 9.99189177e-01 1.39727245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.066338938 meters 0.03108461593268551 Centerline is valid? [True, True] Translation: X:-23.64, Y:-1.18, Z:0.14 [[ 9.91321805e-01 -1.26800627e-01 3.46796600e-02 -2.36433083e+01] [ 1.26685842e-01 9.91927662e-01 5.49638385e-03 -1.17998295e+00] [-3.50966590e-02 -1.05526324e-03 9.99383365e-01 1.36554098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.096338938000002 meters 0.030703716144958784 Centerline is valid? [True, True] Translation: X:-23.68, Y:-1.18, Z:0.14 [[ 9.91168316e-01 -1.27228529e-01 3.73934685e-02 -2.36752752e+01] [ 1.27095510e-01 9.91872800e-01 5.92282242e-03 -1.18431124e+00] [-3.78431163e-02 -1.11797197e-03 9.99283067e-01 1.43100268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.126338938 meters 0.030612895876852047 Centerline is valid? [True, True] Translation: X:-23.71, Y:-1.19, Z:0.15 [[ 9.91014528e-01 -1.27590571e-01 4.01354167e-02 -2.37054812e+01] [ 1.27437156e-01 9.91826202e-01 6.36840715e-03 -1.19018028e+00] [-4.06199066e-02 -1.19644066e-03 9.99173955e-01 1.52024607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.156338938 meters 0.03182610709730205 Centerline is valid? [True, True] Translation: X:-23.74, Y:-1.19, Z:0.15 [[ 9.91025924e-01 -1.27675462e-01 3.95802223e-02 -2.37370451e+01] [ 1.27525919e-01 9.91815289e-01 6.29060933e-03 -1.19322141e+00] [-4.00594261e-02 -1.18665269e-03 9.99196594e-01 1.53083080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.186338938000002 meters 0.034063361328779594 Centerline is valid? [True, True] Translation: X:-23.77, Y:-1.19, Z:0.15 [[ 9.91241864e-01 -1.26525743e-01 3.78259695e-02 -2.37709784e+01] [ 1.26388106e-01 9.91962617e-01 6.01769277e-03 -1.19096813e+00] [-3.82833408e-02 -1.18423635e-03 9.99266222e-01 1.47669433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.216338938 meters 0.032204532548184395 Centerline is valid? [True, True] Translation: X:-23.80, Y:-1.20, Z:0.15 [[ 9.91400755e-01 -1.25624402e-01 3.66476888e-02 -2.38029381e+01] [ 1.25494583e-01 9.92077171e-01 5.83058413e-03 -1.19785129e+00] [-3.70897991e-02 -1.18135908e-03 9.99311238e-01 1.46813904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.246338938 meters 0.03224802897317715 Centerline is valid? [True, True] Translation: X:-23.83, Y:-1.21, Z:0.15 [[ 9.91325671e-01 -1.26145330e-01 3.68886125e-02 -2.38322301e+01] [ 1.26013755e-01 9.92011070e-01 5.87970100e-03 -1.20698480e+00] [-3.73356087e-02 -1.18022597e-03 9.99302086e-01 1.53645997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.276338938000002 meters 0.03248055785133372 Centerline is valid? [True, True] Translation: X:-23.86, Y:-1.21, Z:0.16 [[ 9.91351987e-01 -1.25774609e-01 3.74430881e-02 -2.38627710e+01] [ 1.25638688e-01 9.92058099e-01 5.97057728e-03 -1.21218473e+00] [-3.78966659e-02 -1.21464318e-03 9.99280925e-01 1.58760833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.306338938 meters 0.03077838718727477 Centerline is valid? [True, True] Translation: X:-23.89, Y:-1.22, Z:0.16 [[ 9.91118113e-01 -1.27446942e-01 3.79758146e-02 -2.38927032e+01] [ 1.27307957e-01 9.91844691e-01 6.06572394e-03 -1.21972098e+00] [-3.84391681e-02 -1.17722550e-03 9.99260249e-01 1.61248630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.336338938 meters 0.031140318741150672 Centerline is valid? [True, True] Translation: X:-23.93, Y:-1.22, Z:0.16 [[ 9.91162318e-01 -1.27199130e-01 3.76515666e-02 -2.39256343e+01] [ 1.27062247e-01 9.91876500e-01 6.01612236e-03 -1.21963016e+00] [-3.81109497e-02 -1.17886113e-03 9.99272819e-01 1.60422757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.366338938000002 meters 0.030961431842227983 Centerline is valid? [True, True] Translation: X:-23.96, Y:-1.22, Z:0.16 [[ 9.90969348e-01 -1.28714422e-01 3.75812162e-02 -2.39577684e+01] [ 1.28578779e-01 9.91681060e-01 6.01433369e-03 -1.22364536e+00] [-3.80427118e-02 -1.12787344e-03 9.99275478e-01 1.59596986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.396338938 meters 0.031035408946254246 Centerline is valid? [True, True] Translation: X:-23.99, Y:-1.23, Z:0.17 [[ 9.90866480e-01 -1.29517765e-01 3.75335437e-02 -2.39891436e+01] [ 1.29382694e-01 9.91576486e-01 6.01585169e-03 -1.22918588e+00] [-3.79965391e-02 -1.10471480e-03 9.99277260e-01 1.66209151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.426338938 meters 0.03020773025217276 Centerline is valid? [True, True] Translation: X:-24.02, Y:-1.24, Z:0.17 [[ 9.90500728e-01 -1.31735539e-01 3.94215143e-02 -2.40180566e+01] [ 1.31587866e-01 9.91284308e-01 6.32892204e-03 -1.24369074e+00] [-3.99116724e-02 -1.08140896e-03 9.99202627e-01 1.72805267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.456338938000002 meters 0.030785378308430447 Centerline is valid? [True, True] Translation: X:-24.05, Y:-1.25, Z:0.17 [[ 9.90325529e-01 -1.33033961e-01 3.94628013e-02 -2.40490004e+01] [ 1.32886653e-01 9.91110935e-01 6.34442985e-03 -1.25232299e+00] [-3.99560385e-02 -1.03897128e-03 9.99200898e-01 1.72262211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.486338938 meters 0.03254701165996323 Centerline is valid? [True, True] Translation: X:-24.08, Y:-1.26, Z:0.17 [[ 9.90280215e-01 -1.33954347e-01 3.74343173e-02 -2.40818635e+01] [ 1.33822121e-01 9.90987040e-01 6.02719037e-03 -1.25518669e+00] [-3.79042916e-02 -9.59067655e-04 9.99280914e-01 1.65811006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.516338938 meters 0.030067264784191222 Centerline is valid? [True, True] Translation: X:-24.11, Y:-1.26, Z:0.17 [[ 9.90329038e-01 -1.34493042e-01 3.40590270e-02 -2.41126886e+01] [ 1.34383580e-01 9.90914162e-01 5.49336563e-03 -1.25705979e+00] [-3.44883917e-02 -8.63265517e-04 9.99404726e-01 1.69428057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.546338938 meters 0.02974120877567281 Centerline is valid? [True, True] Translation: X:-24.14, Y:-1.26, Z:0.17 [[ 9.90195059e-01 -1.34749772e-01 3.68272311e-02 -2.41442854e+01] [ 1.34621737e-01 9.90879223e-01 5.94589051e-03 -1.26013300e+00] [-3.72925455e-02 -9.29845577e-04 9.99303958e-01 1.73377992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.576338938 meters 0.029829389173821202 Centerline is valid? [True, True] Translation: X:-24.17, Y:-1.27, Z:0.18 [[ 9.89950144e-01 -1.35136014e-01 4.16769792e-02 -2.41738912e+01] [ 1.34972167e-01 9.90826511e-01 6.73344195e-03 -1.26867854e+00] [-4.22045864e-02 -1.04053964e-03 9.99108448e-01 1.80955295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.606338938 meters 0.030100519101556797 Centerline is valid? [True, True] Translation: X:-24.20, Y:-1.28, Z:0.19 [[ 9.90131971e-01 -1.34215129e-01 4.03110316e-02 -2.42046548e+01] [ 1.34060742e-01 9.90951659e-01 6.52125915e-03 -1.27836323e+00] [-4.08215353e-02 -1.05278038e-03 9.99165899e-01 1.85066501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.636338938 meters 0.030117769420223657 Centerline is valid? [True, True] Translation: X:-24.24, Y:-1.29, Z:0.18 [[ 9.90104108e-01 -1.35430216e-01 3.67765067e-02 -2.42362324e+01] [ 1.35302270e-01 9.90786458e-01 5.95736181e-03 -1.28513664e+00] [-3.72444716e-02 -9.22463575e-04 9.99305758e-01 1.83087711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.666338938000003 meters 0.03267399472110476 Centerline is valid? [True, True] Translation: X:-24.27, Y:-1.29, Z:0.18 [[ 9.90003894e-01 -1.36232128e-01 3.65116131e-02 -2.42701257e+01] [ 1.36106260e-01 9.90676541e-01 5.92264488e-03 -1.28647701e+00] [-3.69780531e-02 -8.93982370e-04 9.99315678e-01 1.79232692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.696338938 meters 0.029878737857289273 Centerline is valid? [True, True] Translation: X:-24.30, Y:-1.29, Z:0.18 [[ 9.89863128e-01 -1.37079694e-01 3.71503211e-02 -2.43007591e+01] [ 1.36949529e-01 9.90559623e-01 6.03818327e-03 -1.29147711e+00] [-3.76273204e-02 -8.89255988e-04 9.99291446e-01 1.83074098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.726338938 meters 0.02981194268087176 Centerline is valid? [True, True] Translation: X:-24.33, Y:-1.30, Z:0.18 [[ 9.89719797e-01 -1.37665442e-01 3.87678836e-02 -2.43326807e+01] [ 1.37523788e-01 9.90478365e-01 6.31001952e-03 -1.29538327e+00] [-3.92674215e-02 -9.13645038e-04 9.99228320e-01 1.84987300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.756338938000003 meters 0.02966317547390164 Centerline is valid? [True, True] Translation: X:-24.36, Y:-1.30, Z:0.19 [[ 9.89589827e-01 -1.38382711e-01 3.95246759e-02 -2.43629709e+01] [ 1.38235634e-01 9.90378409e-01 6.44337535e-03 -1.30353197e+00] [-4.00360374e-02 -9.12580077e-04 9.99197820e-01 1.89756095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.786338938 meters 0.029248455564097185 Centerline is valid? [True, True] Translation: X:-24.39, Y:-1.31, Z:0.19 [[ 9.89564547e-01 -1.38800044e-01 3.86853438e-02 -2.43935884e+01] [ 1.38659132e-01 9.90320031e-01 6.31512236e-03 -1.31194071e+00] [-3.91874102e-02 -8.85144998e-04 9.99231486e-01 1.91546864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.816338938 meters 0.0301330105907875 Centerline is valid? [True, True] Translation: X:-24.42, Y:-1.32, Z:0.19 [[ 9.89638055e-01 -1.38429803e-01 3.81275467e-02 -2.44248722e+01] [ 1.38292334e-01 9.90371844e-01 6.23231693e-03 -1.31770356e+00] [-3.86231871e-02 -8.94990581e-04 9.99253446e-01 1.94580234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.846338938000002 meters 0.029644414993427834 Centerline is valid? [True, True] Translation: X:-24.45, Y:-1.32, Z:0.20 [[ 9.89503591e-01 -1.38998795e-01 3.95218668e-02 -2.44549926e+01] [ 1.38851038e-01 9.90292126e-01 6.47266131e-03 -1.32320582e+00] [-4.00378856e-02 -9.17069393e-04 9.99197742e-01 1.99173896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.876338938 meters 0.02962593144663537 Centerline is valid? [True, True] Translation: X:-24.49, Y:-1.33, Z:0.20 [[ 9.89492878e-01 -1.39114009e-01 3.93844830e-02 -2.44882005e+01] [ 1.38967269e-01 9.90275952e-01 6.45266407e-03 -1.32655747e+00] [-3.98991624e-02 -9.11711080e-04 9.99203295e-01 2.03272145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.906338938 meters 0.02977520685946642 Centerline is valid? [True, True] Translation: X:-24.52, Y:-1.33, Z:0.20 [[ 9.89470050e-01 -1.39518913e-01 3.85161374e-02 -2.45203485e+01] [ 1.39378435e-01 9.90219009e-01 6.32182929e-03 -1.32842735e+00] [-3.90214262e-02 -8.86941768e-04 9.99237980e-01 2.00428776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.936338938000002 meters 0.029407427939935782 Centerline is valid? [True, True] Translation: X:-24.55, Y:-1.33, Z:0.20 [[ 9.89545772e-01 -1.39070018e-01 3.81928825e-02 -2.45517067e+01] [ 1.38931109e-01 9.90282134e-01 6.28029241e-03 -1.33311981e+00] [-3.86951296e-02 -9.08457272e-04 9.99250650e-01 1.98812095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.966338938 meters 0.03108407289059804 Centerline is valid? [True, True] Translation: X:-24.58, Y:-1.34, Z:0.20 [[ 9.89566320e-01 -1.39136646e-01 3.74097930e-02 -2.45832732e+01] [ 1.39003311e-01 9.90272791e-01 6.15453123e-03 -1.33893359e+00] [-3.79022209e-02 -8.90231716e-04 9.99281056e-01 2.02153058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.996338938 meters 0.030040672084862604 Centerline is valid? [True, True] Translation: X:-24.61, Y:-1.34, Z:0.21 [[ 9.89798244e-01 -1.37487300e-01 3.73721567e-02 -2.46149502e+01] [ 1.37352705e-01 9.90503063e-01 6.15768352e-03 -1.34483574e+00] [-3.78638390e-02 -9.61697532e-04 9.99282445e-01 2.05184632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.026338938000002 meters 0.030858194648960943 Centerline is valid? [True, True] Translation: X:-24.65, Y:-1.35, Z:0.20 [[ 9.89829171e-01 -1.37318895e-01 3.71716610e-02 -2.46475256e+01] [ 1.37185279e-01 9.90526414e-01 6.13374957e-03 -1.34760259e+00] [-3.76617918e-02 -9.71959580e-04 9.99290070e-01 2.03377397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.056338938 meters 0.03408901777481341 Centerline is valid? [True, True] Translation: X:-24.68, Y:-1.36, Z:0.21 [[ 9.89660001e-01 -1.38329962e-01 3.79197166e-02 -2.46774254e+01] [ 1.38191264e-01 9.90385731e-01 6.26730146e-03 -1.35950872e+00] [-3.84221018e-02 -9.62324012e-04 9.99261135e-01 2.07994614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.086338938 meters 0.03000153191090584 Centerline is valid? [True, True] Translation: X:-24.71, Y:-1.37, Z:0.21 [[ 9.89669265e-01 -1.38274902e-01 3.78787157e-02 -2.47077719e+01] [ 1.38136137e-01 9.90393410e-01 6.26903837e-03 -1.36584841e+00] [-3.83816811e-02 -9.71855146e-04 9.99262679e-01 2.09581962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.116338938000002 meters 0.029529850516764183 Centerline is valid? [True, True] Translation: X:-24.74, Y:-1.37, Z:0.21 [[ 9.89404120e-01 -1.39918329e-01 3.87601434e-02 -2.47398279e+01] [ 1.39773819e-01 9.90162601e-01 6.42679710e-03 -1.36830238e+00] [-3.92780711e-02 -9.41046257e-04 9.99227876e-01 2.14464695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.146338938 meters 0.02924045353528705 Centerline is valid? [True, True] Translation: X:-24.77, Y:-1.38, Z:0.21 [[ 9.89176104e-01 -1.41643630e-01 3.83108133e-02 -2.47701148e+01] [ 1.41503716e-01 9.89917339e-01 6.35305815e-03 -1.37515290e+00] [-3.88244085e-02 -8.63170880e-04 9.99245676e-01 2.13963096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.176338938 meters 0.030184848118113033 Centerline is valid? [True, True] Translation: X:-24.80, Y:-1.39, Z:0.22 [[ 9.88839673e-01 -1.43911768e-01 3.85422340e-02 -2.48010487e+01] [ 1.43771539e-01 9.89590210e-01 6.40011162e-03 -1.38754867e+00] [-3.90620688e-02 -7.87407970e-04 9.99236476e-01 2.15576489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.206338938000002 meters 0.028355517352857344 Centerline is valid? [True, True] Translation: X:-24.83, Y:-1.40, Z:0.22 [[ 9.88333963e-01 -1.47069157e-01 3.95808102e-02 -2.48302241e+01] [ 1.46923291e-01 9.89125969e-01 6.58510902e-03 -1.40078934e+00] [-4.01188737e-02 -6.92943996e-04 9.99194674e-01 2.18787616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.236338938 meters 0.028427259080512184 Centerline is valid? [True, True] Translation: X:-24.86, Y:-1.41, Z:0.22 [[ 9.88020797e-01 -1.49051544e-01 3.99817734e-02 -2.48610343e+01] [ 1.48904206e-01 9.88829232e-01 6.65483299e-03 -1.40996228e+00] [-4.05270594e-02 -6.21659191e-04 9.99178248e-01 2.22020573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.266338938 meters 0.03044732838312422 Centerline is valid? [True, True] Translation: X:-24.89, Y:-1.42, Z:0.22 [[ 9.87743447e-01 -1.51196607e-01 3.87616884e-02 -2.48931475e+01] [ 1.51059425e-01 9.88503571e-01 6.46074259e-03 -1.41935010e+00] [-3.92929098e-02 -5.26237807e-04 9.99227597e-01 2.19919105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.296338938 meters 0.031659890448647005 Centerline is valid? [True, True] Translation: X:-24.93, Y:-1.43, Z:0.22 [[ 9.87354177e-01 -1.54188235e-01 3.68472302e-02 -2.49252282e+01] [ 1.54065994e-01 9.88041412e-01 6.15129654e-03 -1.42749437e+00] [-3.73550469e-02 -3.96603171e-04 9.99301978e-01 2.22292078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.326338938 meters 0.028261886477122605 Centerline is valid? [True, True] Translation: X:-24.96, Y:-1.43, Z:0.23 [[ 9.87191183e-01 -1.55060787e-01 3.75462358e-02 -2.49554769e+01] [ 1.54934036e-01 9.87904857e-01 6.27999365e-03 -1.43321396e+00] [-3.80658894e-02 -3.82364512e-04 9.99275158e-01 2.28297320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.356338938 meters 0.02829284478765082 Centerline is valid? [True, True] Translation: X:-24.99, Y:-1.44, Z:0.23 [[ 9.87065867e-01 -1.55139020e-01 4.04086367e-02 -2.49877710e+01] [ 1.54991849e-01 9.87892560e-01 6.76883316e-03 -1.43666124e+00] [-4.09695017e-02 -4.18274846e-04 9.99160310e-01 2.30868538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.386338938 meters 0.03139933325938235 Centerline is valid? [True, True] Translation: X:-25.02, Y:-1.44, Z:0.23 [[ 9.87075057e-01 -1.54827541e-01 4.13674443e-02 -2.50205984e+01] [ 1.54672586e-01 9.87941409e-01 6.93991489e-03 -1.44190702e+00] [-4.19431012e-02 -4.51807282e-04 9.99119899e-01 2.32352682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.416338938000003 meters 0.028778662202629736 Centerline is valid? [True, True] Translation: X:-25.05, Y:-1.45, Z:0.23 [[ 9.87722665e-01 -1.51590021e-01 3.77412565e-02 -2.50515385e+01] [ 1.51458168e-01 9.88443302e-01 6.34518761e-03 -1.44687732e+00] [-3.82669593e-02 -5.51064054e-04 9.99267400e-01 2.30451296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.446338938 meters 0.031469173081989696 Centerline is valid? [True, True] Translation: X:-25.08, Y:-1.45, Z:0.23 [[ 9.87674552e-01 -1.51711123e-01 3.85060351e-02 -2.50824711e+01] [ 1.51574046e-01 9.88424720e-01 6.47164025e-03 -1.45291627e+00] [-3.90421367e-02 -5.55358867e-04 9.99237411e-01 2.31271988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.476338938 meters 0.028474356049075174 Centerline is valid? [True, True] Translation: X:-25.11, Y:-1.46, Z:0.24 [[ 9.87919783e-01 -1.50075491e-01 3.86244747e-02 -2.51134540e+01] [ 1.49935917e-01 9.88674338e-01 6.50179961e-03 -1.45693840e+00] [-3.91627878e-02 -6.32060436e-04 9.99232644e-01 2.35325240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.506338938000003 meters 0.029009676793254294 Centerline is valid? [True, True] Translation: X:-25.15, Y:-1.46, Z:0.24 [[ 9.88120484e-01 -1.47683239e-01 4.25155193e-02 -2.51456811e+01] [ 1.47511663e-01 9.89034384e-01 7.16220456e-03 -1.46033655e+00] [-4.31070480e-02 -8.05586072e-04 9.99070134e-01 2.40360918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.536338938 meters 0.032469434681205944 Centerline is valid? [True, True] Translation: X:-25.18, Y:-1.46, Z:0.25 [[ 9.88320618e-01 -1.46367461e-01 4.24137011e-02 -2.51773082e+01] [ 1.46195031e-01 9.89229906e-01 7.15587437e-03 -1.46379803e+00] [-4.30042887e-02 -8.71625849e-04 9.99074507e-01 2.45229319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.566338938 meters 0.029866881088909458 Centerline is valid? [True, True] Translation: X:-25.21, Y:-1.46, Z:0.24 [[ 9.89057990e-01 -1.42455135e-01 3.83513702e-02 -2.52103006e+01] [ 1.42310785e-01 9.89800801e-01 6.48183729e-03 -1.46150740e+00] [-3.88835880e-02 -9.53099355e-04 9.99243293e-01 2.37135128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.596338938000002 meters 0.02964611403388327 Centerline is valid? [True, True] Translation: X:-25.24, Y:-1.47, Z:0.23 [[ 9.89126786e-01 -1.42152158e-01 3.76956914e-02 -2.52410472e+01] [ 1.42012482e-01 9.89844364e-01 6.37107464e-03 -1.46711279e+00] [-3.82185297e-02 -9.48541863e-04 9.99268955e-01 2.34906552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.626338938 meters 0.03021497285448775 Centerline is valid? [True, True] Translation: X:-25.27, Y:-1.48, Z:0.24 [[ 9.89232846e-01 -1.41425273e-01 3.76466381e-02 -2.52715844e+01] [ 1.41285120e-01 9.89948446e-01 6.37101962e-03 -1.47735424e+00] [-3.81692541e-02 -9.83512081e-04 9.99270805e-01 2.38676739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.656338938 meters 0.033324352459948886 Centerline is valid? [True, True] Translation: X:-25.30, Y:-1.49, Z:0.25 [[ 9.88946600e-01 -1.42982893e-01 3.92493803e-02 -2.53014145e+01] [ 1.42831347e-01 9.89724681e-01 6.65293428e-03 -1.48591198e+00] [-3.97973362e-02 -9.73354896e-04 9.99207298e-01 2.48324618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.686338938000002 meters 0.03029654929267759 Centerline is valid? [True, True] Translation: X:-25.33, Y:-1.49, Z:0.25 [[ 9.88806077e-01 -1.43409269e-01 4.11864449e-02 -2.53344219e+01] [ 1.43242347e-01 9.89662950e-01 6.99107208e-03 -1.48704979e+00] [-4.17632831e-02 -1.01317155e-03 9.99127020e-01 2.48496573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.716338938 meters 0.029223032823220783 Centerline is valid? [True, True] Translation: X:-25.36, Y:-1.50, Z:0.25 [[ 9.88623317e-01 -1.44223547e-01 4.27025187e-02 -2.53637937e+01] [ 1.44044249e-01 9.89544597e-01 7.26252941e-03 -1.49734808e+00] [-4.33034744e-02 -1.02885370e-03 9.99061435e-01 2.50029378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.746338938 meters 0.029223032823220783 Centerline is valid? [True, True] Translation: X:-25.40, Y:-1.50, Z:0.25 [[ 9.88583821e-01 -1.44493931e-01 4.27028360e-02 -2.53959228e+01] [ 1.44314966e-01 9.89505166e-01 7.26066741e-03 -1.50263974e+00] [-4.33037992e-02 -1.01512003e-03 9.99061435e-01 2.51897624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.776338938000002 meters 0.029236850344818682 Centerline is valid? [True, True] Translation: X:-25.42, Y:-1.52, Z:0.25 [[ 9.88353332e-01 -1.46345755e-01 4.17206418e-02 -2.54249710e+01] [ 1.46175943e-01 9.89233067e-01 7.10870350e-03 -1.51507264e+00] [-4.23117670e-02 -9.27356640e-04 9.99104026e-01 2.51666380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.806338938 meters 0.028964962150988833 Centerline is valid? [True, True] Translation: X:-25.46, Y:-1.53, Z:0.25 [[ 9.87890163e-01 -1.49880715e-01 4.01098215e-02 -2.54552105e+01] [ 1.49726756e-01 9.88703807e-01 6.83234955e-03 -1.52741269e+00] [-4.06807707e-02 -7.44097446e-04 9.99171918e-01 2.50498507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.836338938 meters 0.028174611295271927 Centerline is valid? [True, True] Translation: X:-25.48, Y:-1.54, Z:0.25 [[ 9.87254841e-01 -1.54134151e-01 3.96300769e-02 -2.54840734e+01] [ 1.53986777e-01 9.88049763e-01 6.76304920e-03 -1.54105308e+00] [-4.01989049e-02 -5.74345245e-04 9.99191532e-01 2.51947683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.866338938000002 meters 0.02820132885877574 Centerline is valid? [True, True] Translation: X:-25.51, Y:-1.55, Z:0.26 [[ 9.86739175e-01 -1.57125375e-01 4.07113916e-02 -2.55143982e+01] [ 1.56972467e-01 9.87578555e-01 6.94568111e-03 -1.55256930e+00] [-4.12970401e-02 -4.63008066e-04 9.99146806e-01 2.57493532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.896338938 meters 0.02797399550936586 Centerline is valid? [True, True] Translation: X:-25.55, Y:-1.56, Z:0.26 [[ 9.86090505e-01 -1.60367474e-01 4.36782566e-02 -2.55453094e+01] [ 1.60193997e-01 9.87057313e-01 7.46615359e-03 -1.56151702e+00] [-4.43102708e-02 -3.65308667e-04 9.99017751e-01 2.64453902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.926338938 meters 0.02759351331907583 Centerline is valid? [True, True] Translation: X:-25.58, Y:-1.57, Z:0.27 [[ 9.85826036e-01 -1.61817701e-01 4.42951211e-02 -2.55771836e+01] [ 1.61640699e-01 9.86820621e-01 7.57272947e-03 -1.56509622e+00] [-4.49367406e-02 -3.05499563e-04 9.98989788e-01 2.66319300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.956338938000002 meters 0.029452596794693586 Centerline is valid? [True, True] Translation: X:-25.61, Y:-1.57, Z:0.27 [[ 9.85896104e-01 -1.61654714e-01 4.33200282e-02 -2.56083692e+01] [ 1.61484830e-01 9.86847330e-01 7.41592409e-03 -1.56828758e+00] [-4.39490733e-02 -3.15803264e-04 9.99033723e-01 2.70018972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.986338938 meters 0.02773417731158349 Centerline is valid? [True, True] Translation: X:-25.64, Y:-1.57, Z:0.27 [[ 9.86304033e-01 -1.59559870e-01 4.17732212e-02 -2.56403143e+01] [ 1.59399650e-01 9.87188171e-01 7.16005488e-03 -1.57306059e+00] [-4.23804872e-02 -4.03354161e-04 9.99101462e-01 2.66231302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.016338938 meters 0.029730656970375934 Centerline is valid? [True, True] Translation: X:-25.67, Y:-1.58, Z:0.26 [[ 9.86623726e-01 -1.57798842e-01 4.09041313e-02 -2.56703213e+01] [ 1.57643273e-01 9.87471162e-01 7.02160620e-03 -1.58181343e+00] [-4.14996514e-02 -4.79422151e-04 9.99138403e-01 2.62916204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.046338938 meters 0.028206586608162772 Centerline is valid? [True, True] Translation: X:-25.70, Y:-1.59, Z:0.27 [[ 9.87232104e-01 -1.54171313e-01 4.00496965e-02 -2.57012141e+01] [ 1.54018871e-01 9.88043933e-01 6.88286520e-03 -1.58846566e+00] [-4.06320000e-02 -6.26576456e-04 9.99173983e-01 2.67036989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.076338938 meters 0.029497135608377918 Centerline is valid? [True, True] Translation: X:-25.74, Y:-1.59, Z:0.27 [[ 9.87415529e-01 -1.52484370e-01 4.19415019e-02 -2.57351330e+01] [ 1.52315206e-01 9.88305606e-01 7.21856769e-03 -1.58743211e+00] [-4.25517402e-02 -7.39397333e-04 9.99093991e-01 2.73740922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.106338938 meters 0.03052432714894079 Centerline is valid? [True, True] Translation: X:-25.77, Y:-1.59, Z:0.28 [[ 9.87890362e-01 -1.48351030e-01 4.54379281e-02 -2.57676976e+01] [ 1.48147407e-01 9.88934252e-01 7.83528077e-03 -1.58617776e+00] [-4.60974954e-02 -1.00888710e-03 9.98936436e-01 2.77138274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.136338938 meters 0.03182247644594847 Centerline is valid? [True, True] Translation: X:-25.80, Y:-1.59, Z:0.28 [[ 9.88415049e-01 -1.45230883e-01 4.40872038e-02 -2.57987340e+01] [ 1.45035547e-01 9.89397144e-01 7.61453591e-03 -1.58695399e+00] [-4.47256193e-02 -1.13211017e-03 9.98998667e-01 2.80106975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.166338938000003 meters 0.0304886156783097 Centerline is valid? [True, True] Translation: X:-25.83, Y:-1.59, Z:0.27 [[ 9.88826458e-01 -1.43053592e-01 4.19273944e-02 -2.58301063e+01] [ 1.42874926e-01 9.89714250e-01 7.24280038e-03 -1.59139128e+00] [-4.25322483e-02 -1.17149926e-03 9.99094408e-01 2.74626352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.196338938 meters 0.030696802137832595 Centerline is valid? [True, True] Translation: X:-25.86, Y:-1.60, Z:0.28 [[ 9.88848988e-01 -1.42834970e-01 4.21408475e-02 -2.58603607e+01] [ 1.42654334e-01 9.89745809e-01 7.27841662e-03 -1.60084303e+00] [-4.27483396e-02 -1.18568037e-03 9.99085168e-01 2.79021775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.226338938 meters 0.032015124245141066 Centerline is valid? [True, True] Translation: X:-25.89, Y:-1.61, Z:0.28 [[ 9.88655137e-01 -1.43736827e-01 4.35975242e-02 -2.58912359e+01] [ 1.43543920e-01 9.89615225e-01 7.53983646e-03 -1.60827018e+00] [-4.42285259e-02 -1.19613850e-03 9.99020724e-01 2.82801550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.256338938000003 meters 0.031549975725637926 Centerline is valid? [True, True] Translation: X:-25.92, Y:-1.62, Z:0.28 [[ 9.88243749e-01 -1.46192271e-01 4.47449780e-02 -2.59207650e+01] [ 1.45990971e-01 9.89255552e-01 7.75173393e-03 -1.61817607e+00] [-4.53974615e-02 -1.12823981e-03 9.98968367e-01 2.84817828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.286338938 meters 0.03334030789827322 Centerline is valid? [True, True] Translation: X:-25.95, Y:-1.63, Z:0.28 [[ 9.87817246e-01 -1.49670152e-01 4.26137679e-02 -2.59521987e+01] [ 1.49490880e-01 9.88735555e-01 7.38099861e-03 -1.62593139e+00] [-4.32384627e-02 -9.20708073e-04 9.99064356e-01 2.84670625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.316338938 meters 0.030810007193602402 Centerline is valid? [True, True] Translation: X:-25.98, Y:-1.64, Z:0.28 [[ 9.87307827e-01 -1.53253159e-01 4.16740188e-02 -2.59815565e+01] [ 1.53084411e-01 9.88186670e-01 7.22974304e-03 -1.63778844e+00] [-4.22896909e-02 -7.58339276e-04 9.99105103e-01 2.83821102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.346338938000002 meters 0.02795265782166174 Centerline is valid? [True, True] Translation: X:-26.01, Y:-1.66, Z:0.29 [[ 9.86330411e-01 -1.58205511e-01 4.60796741e-02 -2.60083746e+01] [ 1.58004244e-01 9.87406017e-01 8.00097319e-03 -1.65517481e+00] [-4.67651455e-02 -6.10819110e-04 9.98905725e-01 2.91772341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.376338938 meters 0.028313371347733644 Centerline is valid? [True, True] Translation: X:-26.04, Y:-1.66, Z:0.29 [[ 9.85750771e-01 -1.61697682e-01 4.63602908e-02 -2.60403869e+01] [ 1.61497702e-01 9.86840239e-01 8.05204940e-03 -1.65913792e+00] [-4.70521982e-02 -4.50233475e-04 9.98892331e-01 2.93606294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.406338938 meters 0.028069884172129047 Centerline is valid? [True, True] Translation: X:-26.07, Y:-1.67, Z:0.29 [[ 9.85622873e-01 -1.62928047e-01 4.47437622e-02 -2.60720976e+01] [ 1.62742537e-01 9.86637877e-01 7.78243158e-03 -1.66549493e+00] [-4.54138669e-02 -3.88829184e-04 9.98968182e-01 2.92281138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.436338938000002 meters 0.028547012885520157 Centerline is valid? [True, True] Translation: X:-26.10, Y:-1.67, Z:0.29 [[ 9.85792126e-01 -1.62216026e-01 4.35872039e-02 -2.61038051e+01] [ 1.62038910e-01 9.86755180e-01 7.58988418e-03 -1.67380544e+00] [-4.42411001e-02 -4.19225031e-04 9.99020795e-01 2.88926580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.466338938 meters 0.02839718471836206 Centerline is valid? [True, True] Translation: X:-26.14, Y:-1.68, Z:0.29 [[ 9.85754501e-01 -1.62513560e-01 4.33290479e-02 -2.61363491e+01] [ 1.62338453e-01 9.86706224e-01 7.55337673e-03 -1.68206819e+00] [-4.39805674e-02 -4.11804519e-04 9.99032302e-01 2.91184045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.496338938 meters 0.028276428152636143 Centerline is valid? [True, True] Translation: X:-26.17, Y:-1.69, Z:0.30 [[ 9.85805577e-01 -1.61425047e-01 4.61445473e-02 -2.61658544e+01] [ 1.61224669e-01 9.86884847e-01 8.05630834e-03 -1.69007654e+00] [-4.68398445e-02 -5.02314314e-04 9.98902286e-01 3.00073983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.526338938000002 meters 0.02825442333340932 Centerline is valid? [True, True] Translation: X:-26.20, Y:-1.69, Z:0.30 [[ 9.85910712e-01 -1.60161823e-01 4.82520400e-02 -2.61986855e+01] [ 1.59940742e-01 9.87090590e-01 8.43357090e-03 -1.69401940e+00] [-4.89798708e-02 -5.97280784e-04 9.98799587e-01 3.03212084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.556338938 meters 0.029457504661686167 Centerline is valid? [True, True] Translation: X:-26.23, Y:-1.70, Z:0.30 [[ 9.86469723e-01 -1.57422290e-01 4.57789032e-02 -2.62301092e+01] [ 1.57219870e-01 9.87531126e-01 8.01176709e-03 -1.69841563e+00] [-4.64693225e-02 -7.06012477e-04 9.98919468e-01 3.03590436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.586338938 meters 0.029034286964738917 Centerline is valid? [True, True] Translation: X:-26.26, Y:-1.70, Z:0.30 [[ 9.86712863e-01 -1.56552935e-01 4.34615369e-02 -2.62620747e+01] [ 1.56369286e-01 9.87669309e-01 7.61463364e-03 -1.70362690e+00] [-4.41177194e-02 -7.17407469e-04 9.99026082e-01 2.97155112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.616338938000002 meters 0.028860787859669425 Centerline is valid? [True, True] Translation: X:-26.29, Y:-1.71, Z:0.30 [[ 9.86695955e-01 -1.56622423e-01 4.35948327e-02 -2.62935941e+01] [ 1.56437318e-01 9.87658286e-01 7.64689454e-03 -1.70755464e+00] [-4.42544729e-02 -7.25301184e-04 9.99020028e-01 2.97965508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.646338938 meters 0.030812826149214954 Centerline is valid? [True, True] Translation: X:-26.32, Y:-1.71, Z:0.31 [[ 9.86462585e-01 -1.57249330e-01 4.65211317e-02 -2.63238716e+01] [ 1.57038674e-01 9.87558645e-01 8.17175346e-03 -1.71208986e+00] [-4.72273485e-02 -7.55512209e-04 9.98883881e-01 3.06060182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.676338938 meters 0.029043065990854423 Centerline is valid? [True, True] Translation: X:-26.36, Y:-1.72, Z:0.31 [[ 9.86436042e-01 -1.56745023e-01 4.87332901e-02 -2.63551275e+01] [ 1.56512743e-01 9.87638757e-01 8.57010967e-03 -1.72153478e+00] [-4.94742081e-02 -8.26484164e-04 9.98775060e-01 3.12147493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.706338938000002 meters 0.02880787281053901 Centerline is valid? [True, True] Translation: X:-26.39, Y:-1.73, Z:0.31 [[ 9.86332224e-01 -1.57498524e-01 4.84041274e-02 -2.63857059e+01] [ 1.57269657e-01 9.87518902e-01 8.52489131e-03 -1.73073587e+00] [-4.91426486e-02 -7.95874509e-04 9.98791453e-01 3.11988184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.736338938 meters 0.030864120672147766 Centerline is valid? [True, True] Translation: X:-26.42, Y:-1.74, Z:0.31 [[ 9.86323876e-01 -1.58256535e-01 4.60443422e-02 -2.64162648e+01] [ 1.58050041e-01 9.87397763e-01 8.11434374e-03 -1.73825014e+00] [-4.67482284e-02 -7.26060799e-04 9.98906440e-01 3.09906387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.766338938 meters 0.028787955680694644 Centerline is valid? [True, True] Translation: X:-26.45, Y:-1.75, Z:0.31 [[ 9.86166407e-01 -1.60007743e-01 4.32820939e-02 -2.64465235e+01] [ 1.59826812e-01 9.87115572e-01 7.63136345e-03 -1.74531392e+00] [-4.39455062e-02 -6.08155163e-04 9.99033744e-01 3.07566359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.796338938 meters 0.028809686862120775 Centerline is valid? [True, True] Translation: X:-26.48, Y:-1.75, Z:0.31 [[ 9.86033669e-01 -1.61007935e-01 4.25916352e-02 -2.64778995e+01] [ 1.60833320e-01 9.86952951e-01 7.51763941e-03 -1.75405416e+00] [-4.32463397e-02 -5.62491489e-04 9.99064281e-01 3.08551050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.826338938000003 meters 0.0295087215298374 Centerline is valid? [True, True] Translation: X:-26.51, Y:-1.76, Z:0.32 [[ 9.86128134e-01 -1.59834534e-01 4.47685676e-02 -2.65095200e+01] [ 1.59639881e-01 9.87143602e-01 7.91311846e-03 -1.75768759e+00] [-4.54577947e-02 -6.56499928e-04 9.98966044e-01 3.15640781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.856338938 meters 0.03192152849517752 Centerline is valid? [True, True] Translation: X:-26.54, Y:-1.76, Z:0.32 [[ 9.85962290e-01 -1.60042553e-01 4.75893256e-02 -2.65404056e+01] [ 1.59822222e-01 9.87109868e-01 8.42414178e-03 -1.76114148e+00] [-4.83241140e-02 -7.00054383e-04 9.98831462e-01 3.22829832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.886338938 meters 0.030212289650800413 Centerline is valid? [True, True] Translation: X:-26.57, Y:-1.77, Z:0.32 [[ 9.86174593e-01 -1.59023897e-01 4.65947751e-02 -2.65716511e+01] [ 1.58811107e-01 9.87274454e-01 8.25742032e-03 -1.76854601e+00] [-4.73149583e-02 -7.43490322e-04 9.98879743e-01 3.23800432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.916338938000003 meters 0.03141952449475447 Centerline is valid? [True, True] Translation: X:-26.60, Y:-1.78, Z:0.32 [[ 9.86632590e-01 -1.56606462e-01 4.50616144e-02 -2.66025584e+01] [ 1.56404408e-01 9.87660724e-01 7.99716946e-03 -1.77627473e+00] [-4.57579952e-02 -8.42432881e-04 9.98952199e-01 3.22937688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.946338938 meters 0.0313557335326965 Centerline is valid? [True, True] Translation: X:-26.63, Y:-1.78, Z:0.32 [[ 9.87089553e-01 -1.54488439e-01 4.22792787e-02 -2.66332971e+01] [ 1.54308474e-01 9.87994199e-01 7.50720951e-03 -1.77989505e+00] [-4.29314591e-02 -8.86237114e-04 9.99077627e-01 3.21177493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.976338938 meters 0.03195612397902523 Centerline is valid? [True, True] Translation: X:-26.66, Y:-1.78, Z:0.33 [[ 9.87045098e-01 -1.54197718e-01 4.43287559e-02 -2.66644107e+01] [ 1.53999560e-01 9.88039561e-01 7.87151324e-03 -1.78198654e+00] [-4.50123339e-02 -9.42929645e-04 9.98985986e-01 3.27115225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.006338938000003 meters 0.03499913096008757 Centerline is valid? [True, True] Translation: X:-26.69, Y:-1.79, Z:0.33 [[ 9.87298718e-01 -1.52833719e-01 4.33946486e-02 -2.66945892e+01] [ 1.52642277e-01 9.88251423e-01 7.71098153e-03 -1.78735373e+00] [-4.40633213e-02 -9.89184190e-04 9.99028250e-01 3.31213514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.036338938 meters 0.033147298209861516 Centerline is valid? [True, True] Translation: X:-26.73, Y:-1.79, Z:0.33 [[ 9.87440105e-01 -1.52106872e-01 4.27263148e-02 -2.67260570e+01] [ 1.51920422e-01 9.88363536e-01 7.59645779e-03 -1.79382546e+00] [-4.33846050e-02 -1.01004732e-03 9.99057934e-01 3.29652225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.066338938 meters 0.03360808536181833 Centerline is valid? [True, True] Translation: X:-26.76, Y:-1.80, Z:0.33 [[ 9.87527777e-01 -1.51263955e-01 4.36818686e-02 -2.67558143e+01] [ 1.51067756e-01 9.88492816e-01 7.77730579e-03 -1.80128671e+00] [-4.43556394e-02 -1.08138363e-03 9.99015219e-01 3.34636694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.096338938000002 meters 0.03616026805164227 Centerline is valid? [True, True] Translation: X:-26.79, Y:-1.81, Z:0.34 [[ 9.87578841e-01 -1.50477152e-01 4.52179049e-02 -2.67861047e+01] [ 1.50265554e-01 9.88612798e-01 8.06220921e-03 -1.80861034e+00] [-4.59161778e-02 -1.16737368e-03 9.98944614e-01 3.41876060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.126338938 meters 0.034728118105753804 Centerline is valid? [True, True] Translation: X:-26.82, Y:-1.81, Z:0.34 [[ 9.87760060e-01 -1.49808892e-01 4.34437653e-02 -2.68178973e+01] [ 1.49612752e-01 9.88714297e-01 7.75007741e-03 -1.81311014e+00] [-4.41145024e-02 -1.15547565e-03 9.99025813e-01 3.41885816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.156338938 meters 0.035111968712211804 Centerline is valid? [True, True] Translation: X:-26.85, Y:-1.82, Z:0.34 [[ 9.87576334e-01 -1.51945768e-01 4.00682984e-02 -2.68493413e+01] [ 1.51780295e-01 9.88388339e-01 7.15772272e-03 -1.82128065e+00] [-4.06906246e-02 -9.87219387e-04 9.99171306e-01 3.39045902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.186338938000002 meters 0.036559500497161806 Centerline is valid? [True, True] Translation: X:-26.88, Y:-1.83, Z:0.34 [[ 9.87488602e-01 -1.52656814e-01 3.95241382e-02 -2.68822528e+01] [ 1.52496176e-01 9.88278804e-01 7.06549922e-03 -1.82696693e+00] [-4.01394646e-02 -9.49820036e-04 9.99193636e-01 3.39936538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.216338938 meters 0.038798848594257404 Centerline is valid? [True, True] Translation: X:-26.91, Y:-1.84, Z:0.35 [[ 9.87234791e-01 -1.53560650e-01 4.22681238e-02 -2.69119685e+01] [ 1.53377153e-01 9.88138728e-01 7.56983905e-03 -1.83714702e+00] [-4.29291995e-02 -9.90243966e-04 9.99077626e-01 3.47812815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.246338938 meters 0.03681412421048384 Centerline is valid? [True, True] Translation: X:-26.94, Y:-1.84, Z:0.35 [[ 9.87138857e-01 -1.54158265e-01 4.23332862e-02 -2.69449824e+01] [ 1.53974368e-01 9.88045687e-01 7.59043172e-03 -1.84144069e+00] [-4.29973487e-02 -9.74569098e-04 9.99074711e-01 3.52630772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.276338938000002 meters 0.039222624712126695 Centerline is valid? [True, True] Translation: X:-26.97, Y:-1.85, Z:0.36 [[ 9.86949176e-01 -1.55084767e-01 4.33594216e-02 -2.69747834e+01] [ 1.54892137e-01 9.87900690e-01 7.78795997e-03 -1.85025228e+00] [-4.40425965e-02 -9.70287186e-04 9.99029183e-01 3.59305265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.306338938 meters 0.03824843574394261 Centerline is valid? [True, True] Translation: X:-27.01, Y:-1.86, Z:0.36 [[ 9.86921840e-01 -1.55322217e-01 4.31310979e-02 -2.70057316e+01] [ 1.55131433e-01 9.87863391e-01 7.75617396e-03 -1.86133642e+00] [-4.38123388e-02 -9.63748449e-04 9.99039314e-01 3.61263328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.336338938 meters 0.03885822566325873 Centerline is valid? [True, True] Translation: X:-27.04, Y:-1.87, Z:0.36 [[ 9.86748341e-01 -1.56964166e-01 4.11091515e-02 -2.70384106e+01] [ 1.56791860e-01 9.87603925e-01 7.40269130e-03 -1.86658318e+00] [-4.17615167e-02 -8.59013032e-04 9.99127238e-01 3.61125238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.366338938000002 meters 0.03841251292628871 Centerline is valid? [True, True] Translation: X:-27.07, Y:-1.87, Z:0.36 [[ 9.86564519e-01 -1.58545966e-01 3.94160599e-02 -2.70710790e+01] [ 1.58388392e-01 9.87351297e-01 7.10871430e-03 -1.87290757e+00] [-4.00445558e-02 -7.70158977e-04 9.99197598e-01 3.58784333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.396338938 meters 0.03910387836144706 Centerline is valid? [True, True] Translation: X:-27.10, Y:-1.88, Z:0.36 [[ 9.86135515e-01 -1.61371115e-01 3.86795735e-02 -2.71018976e+01] [ 1.61221085e-01 9.86893578e-01 6.98766665e-03 -1.88049830e+00] [-3.93002303e-02 -6.54823448e-04 9.99227233e-01 3.60737299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.426338938 meters 0.04123344381299167 Centerline is valid? [True, True] Translation: X:-27.13, Y:-1.89, Z:0.37 [[ 9.85783592e-01 -1.63374593e-01 3.92358454e-02 -2.71305959e+01] [ 1.63221427e-01 9.86563932e-01 7.09749126e-03 -1.89186534e+00] [-3.98682197e-02 -5.92459759e-04 9.99204771e-01 3.71804204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.456338938000002 meters 0.04003521644036278 Centerline is valid? [True, True] Translation: X:-27.16, Y:-1.90, Z:0.37 [[ 9.85502299e-01 -1.64871634e-01 4.00320123e-02 -2.71628814e+01] [ 1.64713032e-01 9.86314878e-01 7.25105983e-03 -1.89776505e+00] [-4.06796634e-02 -5.52142025e-04 9.99172087e-01 3.68646830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.486338938 meters 0.04193170789907621 Centerline is valid? [True, True] Translation: X:-27.19, Y:-1.91, Z:0.38 [[ 9.85101656e-01 -1.66821344e-01 4.17775735e-02 -2.71931729e+01] [ 1.66649776e-01 9.85987010e-01 7.58079541e-03 -1.90641600e+00] [-4.24567832e-02 -5.05630845e-04 9.99098176e-01 3.75187315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.516338938 meters 0.04108968337843716 Centerline is valid? [True, True] Translation: X:-27.22, Y:-1.92, Z:0.38 [[ 9.84916495e-01 -1.67932446e-01 4.16916177e-02 -2.72236655e+01] [ 1.67762464e-01 9.85798398e-01 7.56791754e-03 -1.91602121e+00] [-4.23704288e-02 -4.59478320e-04 9.99101864e-01 3.82784045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.546338938 meters 0.04211179096182472 Centerline is valid? [True, True] Translation: X:-27.26, Y:-1.92, Z:0.38 [[ 9.84870643e-01 -1.68536558e-01 4.03143352e-02 -2.72550804e+01] [ 1.68377692e-01 9.85695310e-01 7.32864429e-03 -1.92354872e+00] [-4.09727957e-02 -4.29731910e-04 9.99160170e-01 3.80471279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.576338938000003 meters 0.04210046283280906 Centerline is valid? [True, True] Translation: X:-27.29, Y:-1.93, Z:0.38 [[ 9.84801143e-01 -1.69255512e-01 3.89779547e-02 -2.72863636e+01] [ 1.69107190e-01 9.85572126e-01 7.09531770e-03 -1.93183632e+00] [-3.96165073e-02 -3.96024573e-04 9.99214880e-01 3.82087055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.606338938 meters 0.04360242236726727 Centerline is valid? [True, True] Translation: X:-27.32, Y:-1.94, Z:0.38 [[ 9.84668892e-01 -1.70052241e-01 3.88511179e-02 -2.73187813e+01] [ 1.69905143e-01 9.85434979e-01 7.08131422e-03 -1.93732401e+00] [-3.94894438e-02 -3.71745076e-04 9.99219919e-01 3.82587147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.636338938 meters 0.04360242236726727 Centerline is valid? [True, True] Translation: X:-27.35, Y:-1.94, Z:0.38 [[ 9.84623964e-01 -1.70312651e-01 3.88490806e-02 -2.73508146e+01] [ 1.70165316e-01 9.85390005e-01 7.09246938e-03 -1.94296369e+00] [-3.94894330e-02 -3.72649247e-04 9.99219919e-01 3.84450540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.666338938000003 meters 0.043439426182757125 Centerline is valid? [True, True] Translation: X:-27.38, Y:-1.95, Z:0.39 [[ 9.84459307e-01 -1.70957433e-01 4.01675140e-02 -2.73815686e+01] [ 1.70799959e-01 9.85278346e-01 7.34543627e-03 -1.94644823e+00] [-4.08319387e-02 -3.70673360e-04 9.99165960e-01 3.91235550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.696338938 meters 0.046623565600821835 Centerline is valid? [True, True] Translation: X:-27.41, Y:-1.95, Z:0.40 [[ 9.84732396e-01 -1.69093554e-01 4.13458383e-02 -2.74133137e+01] [ 1.68924620e-01 9.85599892e-01 7.57132418e-03 -1.95024495e+00] [-4.20307159e-02 -4.71398173e-04 9.99116208e-01 3.96077206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.726338938 meters 0.04566919371050807 Centerline is valid? [True, True] Translation: X:-27.45, Y:-1.96, Z:0.39 [[ 9.84670224e-01 -1.69588392e-01 4.07961676e-02 -2.74455892e+01] [ 1.69424123e-01 9.85514878e-01 7.47605023e-03 -1.95743767e+00] [-4.14730815e-02 -4.49589105e-04 9.99139520e-01 3.94428049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.756338938000003 meters 0.04643554344142987 Centerline is valid? [True, True] Translation: X:-27.48, Y:-1.97, Z:0.40 [[ 9.84858358e-01 -1.68966439e-01 3.87860494e-02 -2.74753800e+01] [ 1.68817037e-01 9.85621696e-01 7.11900296e-03 -1.96801488e+00] [-3.94312444e-02 -4.63463615e-04 9.99222179e-01 3.97207385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.786338938 meters 0.048637290463045095 Centerline is valid? [True, True] Translation: X:-27.51, Y:-1.97, Z:0.40 [[ 9.84750658e-01 -1.69509742e-01 3.91482983e-02 -2.75066993e+01] [ 1.69357625e-01 9.85528407e-01 7.19400735e-03 -1.97357635e+00] [-3.98012144e-02 -4.54240656e-04 9.99207514e-01 4.02390654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.816338938 meters 0.049761908721865276 Centerline is valid? [True, True] Translation: X:-27.54, Y:-1.98, Z:0.41 [[ 9.84756945e-01 -1.69516613e-01 3.89599299e-02 -2.75380108e+01] [ 1.69365611e-01 9.85527222e-01 7.16826221e-03 -1.97675401e+00] [-3.96112110e-02 -4.60523656e-04 9.99215062e-01 4.08706679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.846338938000002 meters 0.048373674455586775 Centerline is valid? [True, True] Translation: X:-27.57, Y:-1.98, Z:0.41 [[ 9.84735931e-01 -1.69392059e-01 4.00184517e-02 -2.75706260e+01] [ 1.69232172e-01 9.85548624e-01 7.37436049e-03 -1.97629308e+00] [-4.06892882e-02 -4.89388243e-04 9.99171728e-01 4.08131627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.876338938 meters 0.05000274602026871 Centerline is valid? [True, True] Translation: X:-27.60, Y:-1.98, Z:0.41 [[ 9.84682867e-01 -1.69502934e-01 4.08461290e-02 -2.76007438e+01] [ 1.69336008e-01 9.85529553e-01 7.53767061e-03 -1.98363467e+00] [-4.15327246e-02 -5.05494675e-04 9.99137016e-01 4.12358434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.906338938 meters 0.052180475166473284 Centerline is valid? [True, True] Translation: X:-27.63, Y:-2.00, Z:0.42 [[ 9.84848721e-01 -1.68862280e-01 3.94781978e-02 -2.76312440e+01] [ 1.68705493e-01 9.85639517e-01 7.29381486e-03 -1.99658654e+00] [-4.01429220e-02 -5.23115403e-04 9.99193811e-01 4.15240187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.936338938000002 meters 0.05287618613424382 Centerline is valid? [True, True] Translation: X:-27.66, Y:-2.00, Z:0.42 [[ 9.84996584e-01 -1.68224137e-01 3.85015375e-02 -2.76617866e+01] [ 1.68074144e-01 9.85748620e-01 7.12319134e-03 -2.00109356e+00] [-3.91511302e-02 -5.45206195e-04 9.99233152e-01 4.17785460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.966338938 meters 0.054751502683189804 Centerline is valid? [True, True] Translation: X:-27.69, Y:-2.00, Z:0.42 [[ 9.84784052e-01 -1.69348907e-01 3.90040824e-02 -2.76945216e+01] [ 1.69195494e-01 9.85556026e-01 7.22518721e-03 -2.00293159e+00] [-3.96642860e-02 -5.15934133e-04 9.99212929e-01 4.19500717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.996338938 meters 0.05689813562152154 Centerline is valid? [True, True] Translation: X:-27.73, Y:-2.00, Z:0.42 [[ 9.84866250e-01 -1.69230833e-01 3.74084965e-02 -2.77269248e+01] [ 1.69089278e-01 9.85576312e-01 6.93899495e-03 -2.00161991e+00] [-3.80432199e-02 -5.08606283e-04 9.99275965e-01 4.19656902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.026338938000002 meters 0.057981826551959145 Centerline is valid? [True, True] Translation: X:-27.76, Y:-2.01, Z:0.42 [[ 9.84607086e-01 -1.70576426e-01 3.81125799e-02 -2.77582252e+01] [ 1.70430160e-01 9.85344335e-01 7.07829348e-03 -2.01049477e+00] [-3.87614047e-02 -4.73804825e-04 9.99248382e-01 4.19327302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.056338938 meters 0.05969571817296169 Centerline is valid? [True, True] Translation: X:-27.79, Y:-2.02, Z:0.43 [[ 9.84485750e-01 -1.70624610e-01 4.09273913e-02 -2.77867003e+01] [ 1.70455354e-01 9.85335968e-01 7.61586738e-03 -2.02268447e+00] [-4.16266852e-02 -5.21419914e-04 9.99133098e-01 4.28871180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.086338938 meters 0.06529956056202894 Centerline is valid? [True, True] Translation: X:-27.82, Y:-2.03, Z:0.44 [[ 9.84444153e-01 -1.70443223e-01 4.26476077e-02 -2.78185978e+01] [ 1.70259321e-01 9.85367345e-01 7.93461749e-03 -2.02650639e+00] [-4.33759617e-02 -5.50035054e-04 9.99058669e-01 4.36109952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.116338938000002 meters 0.06512026293663861 Centerline is valid? [True, True] Translation: X:-27.85, Y:-2.03, Z:0.44 [[ 9.84446613e-01 -1.71092279e-01 3.99036137e-02 -2.78510601e+01] [ 1.70931449e-01 9.85254883e-01 7.43333967e-03 -2.02689410e+00] [-4.05870173e-02 -4.96943538e-04 9.99175884e-01 4.36657192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.146338938 meters 0.06811839461551307 Centerline is valid? [True, True] Translation: X:-27.88, Y:-2.03, Z:0.43 [[ 9.84400610e-01 -1.71770132e-01 3.80849277e-02 -2.78829759e+01] [ 1.71623797e-01 9.85136952e-01 7.10344823e-03 -2.03254579e+00] [-3.87390298e-02 -4.56358881e-04 9.99249258e-01 4.33111838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.176338938 meters 0.07117211236442562 Centerline is valid? [True, True] Translation: X:-27.91, Y:-2.04, Z:0.44 [[ 9.83889651e-01 -1.74665200e-01 3.81211653e-02 -2.79121195e+01] [ 1.74520396e-01 9.84627820e-01 7.11949689e-03 -2.04306754e+00] [-3.87786882e-02 -3.51878435e-04 9.99247762e-01 4.38294102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.206338938000002 meters 0.0745110963584441 Centerline is valid? [True, True] Translation: X:-27.94, Y:-2.05, Z:0.45 [[ 9.83559304e-01 -1.75853761e-01 4.10676227e-02 -2.79427791e+01] [ 1.75686309e-01 9.84416243e-01 7.67988907e-03 -2.04953610e+00] [-4.17781722e-02 -3.38607298e-04 9.99126854e-01 4.46539795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.236338938000003 meters 0.0774665107555137 Centerline is valid? [True, True] Translation: X:-27.98, Y:-2.05, Z:0.45 [[ 9.83701987e-01 -1.74546121e-01 4.31746763e-02 -2.79752196e+01] [ 1.74359336e-01 9.84648908e-01 8.08394461e-03 -2.05121465e+00] [-4.39229190e-02 -4.24284487e-04 9.99034833e-01 4.54470948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.266338938 meters 0.07904105464558893 Centerline is valid? [True, True] Translation: X:-28.01, Y:-2.05, Z:0.45 [[ 9.83944089e-01 -1.73559762e-01 4.16057527e-02 -2.80076660e+01] [ 1.73385026e-01 9.84823231e-01 7.79974121e-03 -2.05349516e+00] [-4.23280330e-02 -4.60694729e-04 9.99103661e-01 4.52807408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.296338938 meters 0.08545101166398833 Centerline is valid? [True, True] Translation: X:-28.04, Y:-2.06, Z:0.46 [[ 9.84221464e-01 -1.72284965e-01 4.03237002e-02 -2.80385698e+01] [ 1.72119385e-01 9.85047020e-01 7.56870620e-03 -2.06001452e+00] [-4.10247150e-02 -5.08792610e-04 9.99158002e-01 4.56175402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.326338938000003 meters 0.08521087642683235 Centerline is valid? [True, True] Translation: X:-28.07, Y:-2.07, Z:0.46 [[ 9.84270265e-01 -1.72088789e-01 3.99686747e-02 -2.80697716e+01] [ 1.71925558e-01 9.85081304e-01 7.51175381e-03 -2.06636528e+00] [-4.06650829e-02 -5.21959207e-04 9.99172697e-01 4.57753482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.356338938 meters 0.0911092319682108 Centerline is valid? [True, True] Translation: X:-28.10, Y:-2.07, Z:0.46 [[ 9.84482333e-01 -1.70076866e-01 4.32249402e-02 -2.81017121e+01] [ 1.69883481e-01 9.85430574e-01 8.13553024e-03 -2.06905432e+00] [-4.39788431e-02 -6.66082497e-04 9.99032241e-01 4.62892479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.386338938 meters 0.09333691727104666 Centerline is valid? [True, True] Translation: X:-28.13, Y:-2.07, Z:0.47 [[ 9.84695145e-01 -1.68407400e-01 4.48822769e-02 -2.81330418e+01] [ 1.68196612e-01 9.85717169e-01 8.45944531e-03 -2.06946570e+00] [-4.56658641e-02 -7.80927832e-04 9.98956465e-01 4.67818749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.416338938000003 meters 0.09566524122780895 Centerline is valid? [True, True] Translation: X:-28.17, Y:-2.07, Z:0.47 [[ 9.84882981e-01 -1.68625138e-01 3.96368079e-02 -2.81653266e+01] [ 1.68460663e-01 9.85680014e-01 7.47760385e-03 -2.07033159e+00] [-4.03301214e-02 -6.87321832e-04 9.99186173e-01 4.67084725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.446338938 meters 0.09805700876104827 Centerline is valid? [True, True] Translation: X:-28.20, Y:-2.08, Z:0.47 [[ 9.84778855e-01 -1.69497502e-01 3.84864141e-02 -2.81977351e+01] [ 1.69342744e-01 9.85530408e-01 7.26982369e-03 -2.07521878e+00] [-3.91617483e-02 -6.41773703e-04 9.99232678e-01 4.67112206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.476338938 meters 0.10480650915532826 Centerline is valid? [True, False] Translation: X:-28.20, Y:-2.10, Z:0.48 [[ 9.96630589e-01 -8.01918696e-02 1.72259637e-02 -2.82039837e+01] [ 8.00216807e-02 9.96739359e-01 1.03528534e-02 -2.10085290e+00] [-1.80000107e-02 -8.93951981e-03 9.99798022e-01 4.77465173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.506338938000003 meters 0.1060406031298118 Centerline is valid? [False, False] Translation: X:-28.22, Y:-2.12, Z:0.48 [[ 9.98591659e-01 -4.98828689e-02 1.80664752e-02 -2.82169448e+01] [ 4.96955614e-02 9.98707388e-01 1.06726181e-02 -2.12303332e+00] [-1.85755030e-02 -9.75976383e-03 9.99779825e-01 4.83908561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.536338938 meters 0.1143035891492032 Centerline is valid? [False, False] Translation: X:-28.23, Y:-2.13, Z:0.48 [[ 9.99428630e-01 -2.73528360e-02 1.98553685e-02 -2.82318721e+01] [ 2.71875104e-02 9.99593792e-01 8.54926386e-03 -2.13264825e+00] [-2.00811497e-02 -8.00456103e-03 9.99766310e-01 4.81379697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.566338938 meters 0.12028754503341232 Centerline is valid? [False, False] Translation: X:-28.26, Y:-2.14, Z:0.48 [[ 9.99613870e-01 -1.93298014e-02 1.99616982e-02 -2.82624449e+01] [ 1.93344412e-02 9.99813071e-01 -3.94498467e-05 -2.14009070e+00] [-1.99572042e-02 4.25382893e-04 9.99800745e-01 4.79780470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.596338938000002 meters 0.12169637709753102 Centerline is valid? [False, False] Translation: X:-28.28, Y:-2.14, Z:0.48 [[ 9.99652584e-01 -1.41509034e-02 2.22365144e-02 -2.82789106e+01] [ 1.42470630e-02 9.99889802e-01 -4.17193559e-03 -2.14485623e+00] [-2.21750274e-02 4.48729122e-03 9.99744033e-01 4.79365014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.626338938 meters 0.12418289389443167 Centerline is valid? [False, False] Translation: X:-28.30, Y:-2.15, Z:0.48 [[ 9.99740336e-01 -7.13307989e-03 2.16420784e-02 -2.82995700e+01] [ 7.27461955e-03 9.99952619e-01 -6.46835640e-03 -2.14653265e+00] [-2.15949137e-02 6.62411469e-03 9.99744858e-01 4.83476718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.656338938 meters 0.13373542971085636 Centerline is valid? [False, False] Translation: X:-28.32, Y:-2.14, Z:0.50 [[ 9.99743985e-01 -5.80399379e-03 2.18695611e-02 -2.83167973e+01] [ 5.88548042e-03 9.99975970e-01 -3.66350866e-03 -2.14156588e+00] [-2.18477726e-02 3.79128362e-03 9.99754120e-01 4.95426085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.686338938000002 meters 0.13545529310793336 Centerline is valid? [False, False] Translation: X:-28.34, Y:-2.14, Z:0.50 [[ 9.99831049e-01 1.88979473e-04 1.83803842e-02 -2.83369170e+01] [-6.65213453e-05 9.99977801e-01 -6.66281888e-03 -2.14252094e+00] [-1.83812353e-02 6.66047050e-03 9.99808866e-01 4.99095799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.716338938 meters 0.14214812690903186 Centerline is valid? [False, False] Translation: X:-28.35, Y:-2.14, Z:0.51 [[ 9.99842980e-01 9.25127007e-04 1.76963353e-02 -2.83451354e+01] [-8.27265831e-04 9.99984331e-01 -5.53654619e-03 -2.14054101e+00] [-1.77011801e-02 5.52103727e-03 9.99828078e-01 5.05853857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.746338938 meters 0.1496556981644848 Centerline is valid? [False, False] Translation: X:-28.36, Y:-2.14, Z:0.51 [[ 9.99841480e-01 7.94147946e-04 1.77871722e-02 -2.83553363e+01] [-7.00785902e-04 9.99985950e-01 -5.25445944e-03 -2.13996441e+00] [-1.77910951e-02 5.24116151e-03 9.99827989e-01 5.14076625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.776338938000002 meters 0.1573428220079618 Centerline is valid? [False, False] Translation: X:-28.37, Y:-2.14, Z:0.52 [[ 9.99841206e-01 5.11013209e-04 1.78129401e-02 -2.83659862e+01] [-4.16877485e-04 9.99985932e-01 -5.28799465e-03 -2.13801624e+00] [-1.78153917e-02 5.27972913e-03 9.99827353e-01 5.22864563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.806338938 meters 0.16196285236139785 Centerline is valid? [False, False] Translation: X:-28.38, Y:-2.14, Z:0.53 [[ 9.99854011e-01 1.00845374e-03 1.70569523e-02 -2.83780041e+01] [-9.38738503e-04 9.99991176e-01 -4.09471664e-03 -2.13637389e+00] [-1.70609311e-02 4.07810684e-03 9.99846135e-01 5.32582983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.836338938 meters 0.16865380871552457 Centerline is valid? [False, False] Translation: X:-28.39, Y:-2.14, Z:0.54 [[ 9.99857940e-01 1.22094087e-03 1.68110033e-02 -2.83880470e+01] [-1.16654011e-03 9.99994053e-01 -3.24544683e-03 -2.13748529e+00] [-1.68148658e-02 3.22537507e-03 9.99853418e-01 5.40827256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.866338938000002 meters 0.17350739518450983 Centerline is valid? [False, False] Translation: X:-28.40, Y:-2.14, Z:0.55 [[ 9.99900268e-01 5.53552170e-04 1.41119472e-02 -2.84006059e+01] [-5.14657543e-04 9.99996060e-01 -2.75963149e-03 -2.13732718e+00] [-1.41134192e-02 2.75209345e-03 9.99896613e-01 5.49967821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.896338938 meters 0.18026350603103258 Centerline is valid? [False, False] Translation: X:-28.41, Y:-2.13, Z:0.56 [[ 9.99906619e-01 1.81389196e-04 1.36645574e-02 -2.84101628e+01] [-1.43952251e-04 9.99996234e-01 -2.74064523e-03 -2.13412107e+00] [-1.36650030e-02 2.73842226e-03 9.99902880e-01 5.57336975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.926338938 meters 0.18501183778707278 Centerline is valid? [False, False] Translation: X:-28.42, Y:-2.13, Z:0.57 [[ 9.99906233e-01 -2.57223209e-04 1.36915863e-02 -2.84201062e+01] [ 2.97048482e-04 9.99995731e-01 -2.90678649e-03 -2.13169965e+00] [-1.36907802e-02 2.91058100e-03 9.99902041e-01 5.65479923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.956338938000002 meters 0.1895253852020331 Centerline is valid? [False, False] Translation: X:-28.43, Y:-2.13, Z:0.57 [[ 9.99903963e-01 3.73082731e-04 1.38536912e-02 -2.84290000e+01] [-3.46065346e-04 9.99998034e-01 -1.95254002e-03 -2.13058865e+00] [-1.38543924e-02 1.94755822e-03 9.99902127e-01 5.72744202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.986338938000003 meters 0.19580849724953253 Centerline is valid? [False, False] Translation: X:-28.44, Y:-2.13, Z:0.58 [[ 9.99905133e-01 1.04433224e-03 1.37344379e-02 -2.84364599e+01] [-1.03067834e-03 9.99998968e-01 -1.00117699e-03 -2.13103290e+00] [-1.37354693e-02 9.86926227e-04 9.99905177e-01 5.79328422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.016338938 meters 0.1990341614355939 Centerline is valid? [False, False] Translation: X:-28.44, Y:-2.13, Z:0.59 [[ 9.99907199e-01 3.42526452e-04 1.36189900e-02 -2.84442007e+01] [-3.25758234e-04 9.99999186e-01 -1.23343731e-03 -2.13201969e+00] [-1.36194014e-02 1.22888634e-03 9.99906497e-01 5.86477283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.046338938 meters 0.20459830552132718 Centerline is valid? [False, False] Translation: X:-28.45, Y:-2.13, Z:0.59 [[ 9.99906986e-01 -8.15975433e-04 1.36144678e-02 -2.84500366e+01] [ 8.45648476e-04 9.99997279e-01 -2.17390834e-03 -2.13175790e+00] [-1.36126569e-02 2.18521919e-03 9.99904956e-01 5.92332430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.076338938000003 meters 0.20676291901958538 Centerline is valid? [False, False] Translation: X:-28.46, Y:-2.13, Z:0.60 [[ 9.99902066e-01 8.17016737e-04 1.39710753e-02 -2.84556805e+01] [-8.09230827e-04 9.99999514e-01 -5.62931908e-04 -2.12956423e+00] [-1.39715285e-02 5.51570953e-04 9.99902241e-01 5.97374359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.106338938 meters 0.21144583658119093 Centerline is valid? [False, False] Translation: X:-28.46, Y:-2.13, Z:0.60 [[ 9.99896767e-01 -2.65318331e-04 1.43661371e-02 -2.84618529e+01] [ 2.83956988e-04 9.99999121e-01 -1.29537793e-03 -2.13071412e+00] [-1.43657808e-02 1.29932357e-03 9.99895963e-01 6.03264430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.136338938 meters 0.21336785939126734 Centerline is valid? [False, False] Translation: X:-28.47, Y:-2.13, Z:0.61 [[ 9.99893137e-01 -1.46422481e-03 1.45454349e-02 -2.84668423e+01] [ 1.49720968e-03 9.99996332e-01 -2.25708255e-03 -2.13104656e+00] [-1.45420766e-02 2.27861892e-03 9.99891662e-01 6.08097895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.166338938000003 meters 0.21700370952004813 Centerline is valid? [False, False] Translation: X:-28.47, Y:-2.13, Z:0.61 [[ 9.99894692e-01 -8.84812046e-04 1.44852307e-02 -2.84708038e+01] [ 9.08222149e-04 9.99998292e-01 -1.60963752e-03 -2.12955138e+00] [-1.44837818e-02 1.62262382e-03 9.99893788e-01 6.11779854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.196338938 meters 0.21989367981156482 Centerline is valid? [False, False] Translation: X:-28.49, Y:-2.13, Z:0.61 [[ 9.99946817e-01 -5.34079662e-03 8.82259371e-03 -2.84882469e+01] [ 5.32828606e-03 9.99984766e-01 1.44091121e-03 -2.12785024e+00] [-8.83015493e-03 -1.39382528e-03 9.99960042e-01 6.13859641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.226338938 meters 0.22314710675857152 Centerline is valid? [False, False] Translation: X:-28.49, Y:-2.13, Z:0.62 [[ 9.99950809e-01 -3.96987881e-03 9.08949747e-03 -2.84940801e+01] [ 3.94339643e-03 9.99987934e-01 2.92958490e-03 -2.12745634e+00] [-9.10101789e-03 -2.89359730e-03 9.99954398e-01 6.19432859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.256338938000003 meters 0.22600243480643636 Centerline is valid? [False, False] Translation: X:-28.50, Y:-2.13, Z:0.62 [[ 9.99950814e-01 -2.28759984e-03 9.65069176e-03 -2.85004197e+01] [ 2.24149380e-03 9.99986037e-01 4.78559936e-03 -2.12624959e+00] [-9.66150454e-03 -4.76373201e-03 9.99941979e-01 6.24786022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.286338938 meters 0.22705512719380375 Centerline is valid? [False, False] Translation: X:-28.53, Y:-2.13, Z:0.63 [[ 9.99936194e-01 -8.38191821e-03 7.57310799e-03 -2.85279952e+01] [ 8.32814945e-03 9.99940087e-01 7.10381549e-03 -2.12708791e+00] [-7.63219786e-03 -7.04029225e-03 9.99946090e-01 6.31652313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.316338938 meters 0.22292583188808038 Centerline is valid? [False, False] Translation: X:-28.55, Y:-2.13, Z:0.64 [[ 9.99976465e-01 -3.80345795e-03 5.70997312e-03 -2.85514140e+01] [ 3.78857141e-03 9.99989402e-01 2.61566798e-03 -2.12765463e+00] [-5.71986119e-03 -2.59397377e-03 9.99980277e-01 6.36343600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.346338938000002 meters 0.22132734119660705 Centerline is valid? [False, False] Translation: X:-28.56, Y:-2.13, Z:0.64 [[ 9.99977373e-01 -4.09053740e-03 5.34044293e-03 -2.85641874e+01] [ 4.07343081e-03 9.99986551e-01 3.21017388e-03 -2.12520741e+00] [-5.35350245e-03 -3.18834732e-03 9.99980587e-01 6.44433382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.376338938 meters 0.21564782953748046 Centerline is valid? [False, False] Translation: X:-28.59, Y:-2.12, Z:0.65 [[ 9.99978079e-01 -6.52032509e-03 -1.15168202e-03 -2.85946506e+01] [ 6.52623414e-03 9.99965164e-01 5.20381395e-03 -2.12460320e+00] [ 1.11771135e-03 -5.21121603e-03 9.99985797e-01 6.49140258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.406338938 meters 0.21070199804317216 Centerline is valid? [False, False] Translation: X:-28.63, Y:-2.13, Z:0.65 [[ 9.99974989e-01 -5.16826434e-03 -4.82798742e-03 -2.86314424e+01] [ 5.19468486e-03 9.99971514e-01 5.47595220e-03 -2.12650150e+00] [ 4.79954872e-03 -5.50089512e-03 9.99973352e-01 6.51106090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.436338938000002 meters 0.20359486602559626 Centerline is valid? [False, False] Translation: X:-28.66, Y:-2.13, Z:0.66 [[ 9.99980420e-01 4.09828358e-05 -6.25761819e-03 -2.86584240e+01] [-2.85052962e-05 9.99998011e-01 1.99405204e-03 -2.12951446e+00] [ 6.25768746e-03 -1.99383462e-03 9.99978433e-01 6.57662837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.466338938 meters 0.19679283957612062 Centerline is valid? [False, False] Translation: X:-28.68, Y:-2.13, Z:0.67 [[ 9.99969130e-01 -6.49408965e-04 -7.83052335e-03 -2.86756459e+01] [ 6.60336763e-04 9.99998812e-01 1.39303406e-03 -2.13210429e+00] [ 7.82960940e-03 -1.39816184e-03 9.99968371e-01 6.70592725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.496338938 meters 0.1923857306286662 Centerline is valid? [False, False] Translation: X:-28.69, Y:-2.13, Z:0.68 [[ 9.99962453e-01 -1.14545407e-03 -8.58951342e-03 -2.86902482e+01] [ 1.15811850e-03 9.99998250e-01 1.46957733e-03 -2.13327670e+00] [ 8.58781505e-03 -1.47946982e-03 9.99962030e-01 6.80337094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.526338938000002 meters 0.1830674946566691 Centerline is valid? [False, False] Translation: X:-28.72, Y:-2.14, Z:0.69 [[ 9.99909031e-01 1.94484145e-03 -1.33471669e-02 -2.87164168e+01] [-1.99730946e-03 9.99990327e-01 -3.91881872e-03 -2.13950739e+00] [ 1.33394163e-02 3.94512065e-03 9.99903243e-01 6.85569398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.556338938 meters 0.1830674946566691 Centerline is valid? [False, False] Translation: X:-28.72, Y:-2.14, Z:0.69 [[ 9.99909031e-01 1.94484145e-03 -1.33471669e-02 -2.87164168e+01] [-1.99730946e-03 9.99990327e-01 -3.91881872e-03 -2.13950739e+00] [ 1.33394163e-02 3.94512065e-03 9.99903243e-01 6.85569398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.586338938 meters 0.17470138043516747 Centerline is valid? [False, False] Translation: X:-28.74, Y:-2.14, Z:0.69 [[ 9.99805713e-01 5.67655604e-03 -1.88762282e-02 -2.87432741e+01] [-5.82977500e-03 9.99950428e-01 -8.07193663e-03 -2.14479864e+00] [ 1.88294717e-02 8.18041252e-03 9.99789244e-01 6.91420156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.616338938000002 meters 0.16690267560561212 Centerline is valid? [False, False] Translation: X:-28.77, Y:-2.14, Z:0.70 [[ 9.99764498e-01 2.13178587e-03 -2.15963790e-02 -2.87681283e+01] [-2.20535638e-03 9.99991845e-01 -3.38336943e-03 -2.14425464e+00] [ 2.15889903e-02 3.43020035e-03 9.99761046e-01 6.96424681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.646338938 meters 0.15618718652979496 Centerline is valid? [False, False] Translation: X:-28.79, Y:-2.14, Z:0.70 [[ 9.99811879e-01 -3.22671059e-03 -1.91257680e-02 -2.87934112e+01] [ 3.20228174e-03 9.99994018e-01 -1.30776252e-03 -2.14258034e+00] [ 1.91298733e-02 1.24627041e-03 9.99816230e-01 7.00776248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.676338938 meters 0.14803743290232604 Centerline is valid? [False, False] Translation: X:-28.83, Y:-2.14, Z:0.70 [[ 9.99870070e-01 -2.36126659e-03 -1.59457814e-02 -2.88283317e+01] [ 2.31893779e-03 9.99993740e-01 -2.67251337e-03 -2.14050437e+00] [ 1.59519921e-02 2.63518885e-03 9.99869286e-01 6.99237502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.706338938000002 meters 0.13959548051468532 Centerline is valid? [False, False] Translation: X:-28.84, Y:-2.14, Z:0.71 [[ 9.99854387e-01 -3.55286143e-03 -1.66907763e-02 -2.88393228e+01] [ 3.49621809e-03 9.99988034e-01 -3.42164528e-03 -2.13889535e+00] [ 1.67027332e-02 3.36279245e-03 9.99854845e-01 7.07261894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.736338938000003 meters 0.1261218775247557 Centerline is valid? [False, False] Translation: X:-28.85, Y:-2.14, Z:0.72 [[ 9.99839677e-01 -2.93367491e-03 -1.76639100e-02 -2.88506265e+01] [ 2.89361045e-03 9.99993184e-01 -2.29328455e-03 -2.13897772e+00] [ 1.76705174e-02 2.24180441e-03 9.99841351e-01 7.16003179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.766338938 meters 0.11194809379497533 Centerline is valid? [False, False] Translation: X:-28.89, Y:-2.15, Z:0.72 [[ 9.99777045e-01 -2.51473708e-03 -2.09651369e-02 -2.88933589e+01] [ 2.48159180e-03 9.99995630e-01 -1.60683760e-03 -2.14609128e+00] [ 2.09690861e-02 1.55445243e-03 9.99778916e-01 7.19227582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.796338938 meters 0.0973568475802203 Centerline is valid? [False, True] Translation: X:-28.91, Y:-2.14, Z:0.72 [[ 9.99671240e-01 -6.88487363e-03 -2.46983693e-02 -2.89146028e+01] [ 6.94035983e-03 9.99973579e-01 2.16153510e-03 -2.14058910e+00] [ 2.46828348e-02 -2.33224004e-03 9.99692612e-01 7.21589585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.826338938000003 meters 0.08619374703637636 Centerline is valid? [True, True] Translation: X:-28.94, Y:-2.14, Z:0.72 [[ 9.99668223e-01 -7.94675196e-03 -2.45008949e-02 -2.89435971e+01] [ 7.93133812e-03 9.99968283e-01 -7.26227688e-04 -2.14177695e+00] [ 2.45058889e-02 5.31661861e-04 9.99699544e-01 7.24462243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.856338938 meters 0.08497167106979331 Centerline is valid? [True, True] Translation: X:-28.97, Y:-2.14, Z:0.73 [[ 9.99679166e-01 -8.49776834e-03 -2.38611201e-02 -2.89711017e+01] [ 8.48341543e-03 9.99963768e-01 -7.02682301e-04 -2.14317574e+00] [ 2.38662268e-02 5.00033061e-04 9.99715036e-01 7.25062817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.886338938 meters 0.07498151857880274 Centerline is valid? [True, True] Translation: X:-29.00, Y:-2.14, Z:0.73 [[ 9.99731234e-01 -6.10300118e-03 -2.23654548e-02 -2.90000921e+01] [ 6.08987542e-03 9.99981242e-01 -6.54940261e-04 -2.14467188e+00] [ 2.23690324e-02 5.18561402e-04 9.99749647e-01 7.31433813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.916338938000003 meters 0.06595570594362293 Centerline is valid? [True, True] Translation: X:-29.03, Y:-2.14, Z:0.73 [[ 9.99729961e-01 -3.83554591e-03 -2.29193063e-02 -2.90282750e+01] [ 3.82126419e-03 9.99992477e-01 -6.66894687e-04 -2.14459747e+00] [ 2.29216917e-02 5.79133875e-04 9.99737096e-01 7.31248569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.946338938 meters 0.05550597173316877 Centerline is valid? [True, True] Translation: X:-29.06, Y:-2.15, Z:0.73 [[ 9.99666081e-01 -4.00645724e-03 -2.55279091e-02 -2.90559532e+01] [ 3.98885407e-03 9.99991770e-01 -7.40450495e-04 -2.14605634e+00] [ 2.55306656e-02 6.38376141e-04 9.99673836e-01 7.29696184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.976338938 meters 0.03787273529321793 Centerline is valid? [True, True] Translation: X:-29.09, Y:-2.14, Z:0.73 [[ 9.99580353e-01 -9.85527175e-04 -2.89507779e-02 -2.90854505e+01] [ 9.61757520e-04 9.99999189e-01 -8.34950092e-04 -2.14395307e+00] [ 2.89515773e-02 8.06756079e-04 9.99580490e-01 7.31243481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.006338938000003 meters 0.033085672652552266 Centerline is valid? [True, True] Translation: X:-29.11, Y:-2.14, Z:0.73 [[ 9.99547131e-01 1.39989423e-03 -3.00594930e-02 -2.91143478e+01] [-1.42646260e-03 9.99998611e-01 -8.62433402e-04 -2.14327333e+00] [ 3.00582439e-02 9.04921575e-04 9.99547739e-01 7.31077430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 687.85 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%| | 0/1001 [00:00